+ python -m lidar_slam --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 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 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters 0.8661243681654821 Centerline is valid? [0, False] SLAMing on 0.032557844 meters 0.8661243681654821 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 1.00000000e+00 -4.14821691e-17 1.33370165e-16 3.43392090e-13] [ 7.65306294e-17 1.00000000e+00 -3.84931474e-16 5.50940044e-15] [ 1.39947821e-16 -1.48721632e-16 1.00000000e+00 -7.67608003e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062557844 meters SLAMing on 0.09255784400000001 meters 0.7692719038161991 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.01 [[ 9.99999562e-01 -8.08617102e-04 4.70348093e-04 -8.77804598e-03] [ 8.08842360e-04 9.99999558e-01 -4.78924799e-04 -4.45980560e-04] [-4.69960619e-04 4.79305027e-04 9.99999775e-01 8.57115811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12255784400000001 meters 0.7862394587515273 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.01 [[ 9.99999601e-01 -7.64917186e-04 4.61827399e-04 -8.73225375e-03] [ 7.65101468e-04 9.99999628e-01 -3.98982583e-04 -9.55591335e-04] [-4.61522038e-04 3.99335768e-04 9.99999814e-01 8.56219371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15255784400000003 meters 0.7089306129445266 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.01 [[ 9.99997120e-01 -2.21363368e-03 9.27525774e-04 -1.51574372e-02] [ 2.21498768e-03 9.99996479e-01 -1.46131999e-03 -4.99133987e-04] [-9.24287681e-04 1.46337024e-03 9.99998502e-01 1.43680229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18255784400000002 meters 0.7030746176340001 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.01 [[ 9.99997659e-01 -1.97221906e-03 8.90234858e-04 -1.51061678e-02] [ 1.97310762e-03 9.99997555e-01 -9.98350924e-04 -3.41239107e-03] [-8.88263715e-04 1.00010512e-03 9.99999105e-01 1.46189831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21255784400000002 meters 0.7601288927536648 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 9.99998139e-01 -1.74039325e-03 8.32981108e-04 -1.49295737e-02] [ 1.74085164e-03 9.99998334e-01 -5.49896442e-04 -6.23638324e-03] [-8.32022684e-04 5.51345515e-04 9.99999502e-01 1.48150432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24255784400000002 meters 0.7632444929474187 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 9.99998601e-01 -1.49774770e-03 7.45081931e-04 -1.45315071e-02] [ 1.49780225e-03 9.99998876e-01 -7.26715493e-05 -9.24714309e-03] [-7.44972250e-04 7.37874330e-05 9.99999720e-01 1.48362592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272557844 meters 0.7333138842342944 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.01 [[ 9.99999011e-01 -1.24866167e-03 6.46985996e-04 -1.41267047e-02] [ 1.24838599e-03 9.99999130e-01 4.26332774e-04 -1.23865887e-02] [-6.47517778e-04 -4.25524665e-04 9.99999700e-01 1.49094783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302557844 meters 0.9207086428685239 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.02 [[ 9.99994328e-01 -3.12782669e-03 1.24889966e-03 -2.12597646e-02] [ 3.12853158e-03 9.99994948e-01 -5.62859563e-04 -1.39843966e-02] [-1.24713282e-03 5.66763592e-04 9.99999062e-01 2.14989285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332557844 meters 0.5728068048586952 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99994661e-01 -3.03464985e-03 1.21179015e-03 -2.11357862e-02] [ 3.03511799e-03 9.99995320e-01 -3.84666578e-04 -1.51104960e-02] [-1.21061715e-03 3.88342450e-04 9.99999192e-01 2.15953579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362557844 meters 0.9184976846874184 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99994848e-01 -2.98781267e-03 1.17303004e-03 -2.09973735e-02] [ 2.98816110e-03 9.99995492e-01 -2.95397745e-04 -1.56738936e-02] [-1.17214216e-03 2.98901426e-04 9.99999268e-01 2.16730354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392557844 meters 0.9090207394233047 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99995011e-01 -2.95342115e-03 1.11998033e-03 -2.07677686e-02] [ 2.95367819e-03 9.99995612e-01 -2.27919911e-04 -1.61005292e-02] [-1.11930227e-03 2.31226835e-04 9.99999347e-01 2.17040406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422557844 meters 0.5591913181867634 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99995809e-01 -2.71032988e-03 1.01800835e-03 -2.03831326e-02] [ 2.71007164e-03 9.99996295e-01 2.54960608e-04 -1.91297324e-02] [-1.01869560e-03 -2.52200664e-04 9.99999449e-01 2.18752069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.452557844 meters 0.5920400673519061 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99996337e-01 -2.52847852e-03 9.65828011e-04 -2.01752250e-02] [ 2.52788477e-03 9.99996615e-01 6.15486288e-04 -2.14016686e-02] [-9.67380986e-04 -6.13042532e-04 9.99999344e-01 2.19487849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482557844 meters 0.9622948477541665 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99996599e-01 -2.44187662e-03 9.16049972e-04 -2.00183731e-02] [ 2.44115546e-03 9.99996710e-01 7.87542209e-04 -2.24810518e-02] [-9.17970039e-04 -7.85303310e-04 9.99999270e-01 2.20955094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512557844 meters 0.546261976853734 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99996580e-01 -2.46614540e-03 8.71085588e-04 -1.98360597e-02] [ 2.46549991e-03 9.99996686e-01 7.41306146e-04 -2.21930685e-02] [-8.72910870e-04 -7.39155949e-04 9.99999346e-01 2.21349998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5425578440000001 meters 0.5369254595548939 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99996113e-01 -2.67106172e-03 7.99425796e-04 -1.94813019e-02] [ 2.67076999e-03 9.99996367e-01 3.65778168e-04 -1.98215320e-02] [-8.00399907e-04 -3.63641664e-04 9.99999614e-01 2.20793589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5725578440000001 meters 0.5671389042653899 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.02 [[ 9.99995932e-01 -2.75453605e-03 7.40401548e-04 -1.91860012e-02] [ 2.75438012e-03 9.99996184e-01 2.11533193e-04 -1.88472513e-02] [-7.40981398e-04 -2.09492985e-04 9.99999704e-01 2.20341622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6025578440000001 meters SLAMing on 0.632557844 meters 0.5483935816703484 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.03 [[ 9.99998032e-01 -1.34031944e-03 1.46245861e-03 -2.68990548e-02] [ 1.33956943e-03 9.99998971e-01 5.13702230e-04 -1.26753564e-02] [-1.46314563e-03 -5.11742154e-04 9.99998799e-01 2.86337609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6625578440000001 meters 0.5654718370387511 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.02 [[ 9.99999667e-01 -9.63312169e-05 8.10643720e-04 -1.75516842e-02] [ 9.54927650e-05 9.99999461e-01 1.03427897e-03 -9.01729772e-03] [-8.10742916e-04 -1.03420121e-03 9.99999137e-01 2.01853631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6925578440000001 meters 0.5278467272654829 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.03 [[ 0.99999768 0.00159513 0.00144746 -0.0247662 ] [-0.00159836 0.99999622 0.00223508 -0.0084999 ] [-0.00144389 -0.00223739 0.99999645 0.02655842] [ 0. 0. 0. 1. ]] SLAMing on 0.7225578440000001 meters 0.5044020212144541 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.03 [[ 0.99999249 0.00326418 0.00209162 -0.03161959] [-0.00327155 0.99998842 0.00352978 -0.00898 ] [-0.00208007 -0.0035366 0.99999158 0.03253735] [ 0. 0. 0. 1. ]] SLAMing on 0.7525578440000001 meters 0.5350843009942258 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.03 [[ 9.99994252e-01 2.69204719e-03 2.06131660e-03 -3.14294952e-02] [-2.69628871e-03 9.99994248e-01 2.05766794e-03 2.15018495e-04] [-2.05576540e-03 -2.06321402e-03 9.99995758e-01 3.19270818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters 0.5350843009942258 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:0.03 [[ 9.99994252e-01 2.69204719e-03 2.06131660e-03 -3.14294952e-02] [-2.69628871e-03 9.99994248e-01 2.05766794e-03 2.15018495e-04] [-2.05576540e-03 -2.06321402e-03 9.99995758e-01 3.19270818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8125578440000001 meters SLAMing on 0.8425578440000001 meters 0.6416376897489197 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.02 [[ 0.99999258 0.00359657 0.00137935 -0.02207885] [-0.00359924 0.99999165 0.00193612 0.00814504] [-0.00137237 -0.00194107 0.99999717 0.02356112] [ 0. 0. 0. 1. ]] SLAMing on 0.8725578440000001 meters SLAMing on 0.902557844 meters SLAMing on 0.9325578440000001 meters SLAMing on 0.9625578440000001 meters SLAMing on 0.9925578440000001 meters SLAMing on 1.022557844 meters SLAMing on 1.052557844 meters 0.9437872777675707 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.02 [[ 0.99999385 0.00331048 0.00115426 -0.02137678] [-0.00331211 0.99999352 0.00141004 0.01146808] [-0.00114958 -0.00141385 0.99999834 0.02415596] [ 0. 0. 0. 1. ]] SLAMing on 1.082557844 meters SLAMing on 1.1125578440000001 meters SLAMing on 1.1425578440000002 meters SLAMing on 1.1725578440000002 meters 0.9525647100547643 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.02 [[ 0.99995681 0.00919543 0.0013516 -0.02213216] [-0.0092037 0.99993812 0.00624865 0.0117461 ] [-0.00129405 -0.00626082 0.99997956 0.02391619] [ 0. 0. 0. 1. ]] SLAMing on 1.2025578440000002 meters SLAMing on 1.2325578440000002 meters SLAMing on 1.262557844 meters 0.7526321513056342 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.02 [[ 0.99995499 0.00938859 0.00136586 -0.02227956] [-0.00939746 0.9999338 0.00663917 0.00934306] [-0.00130343 -0.0066517 0.99997703 0.02414651] [ 0. 0. 0. 1. ]] SLAMing on 1.292557844 meters 0.7556882199968896 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99996119e-01 2.70400840e-03 6.71128196e-04 -3.21359084e-03] [-2.71033268e-03 9.99950164e-01 9.60847168e-03 8.29657038e-03] [-6.45113362e-04 -9.61025337e-03 9.99953612e-01 3.03323104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.322557844 meters 0.7466664107523829 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99997598e-01 -2.07683544e-03 7.00163219e-04 -3.49338067e-03] [ 2.07374225e-03 9.99988214e-01 4.38995449e-03 1.38989110e-02] [-7.09272180e-04 -4.38849199e-03 9.99990119e-01 3.04682775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3525578440000001 meters 0.7231046313776479 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.04 [[ 0.9999898 -0.00430662 0.00136006 -0.01085042] [ 0.00430294 0.9999871 0.00269784 0.01405265] [-0.00137166 -0.00269196 0.99999544 0.03732115] [ 0. 0. 0. 1. ]] SLAMing on 1.3825578440000001 meters 0.7224601232019475 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99980633e-01 -6.21661615e-03 2.96714522e-04 -3.16291744e-03] [ 6.21609133e-03 9.99979169e-01 1.73807516e-03 1.19132926e-02] [-3.07513288e-04 -1.73619709e-03 9.99998446e-01 3.15202081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4125578440000002 meters 0.7148486395187471 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99981739e-01 -6.04063474e-03 1.80843011e-04 -2.74307104e-03] [ 6.04023515e-03 9.99979480e-01 2.13412839e-03 9.53341171e-03] [-1.93730790e-04 -2.13299708e-03 9.99997706e-01 3.16706329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4425578440000002 meters 0.7007857030111283 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99982342e-01 -5.94180787e-03 9.97025744e-05 -2.47893795e-03] [ 5.94155755e-03 9.99979595e-01 2.34692854e-03 8.24623621e-03] [-1.13645538e-04 -2.34629471e-03 9.99997241e-01 3.18348055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4725578440000002 meters 0.6919481721382521 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.03 [[ 9.99983514e-01 -5.74214538e-03 1.11113480e-05 -2.17538559e-03] [ 5.74209282e-03 9.99979703e-01 2.76092129e-03 5.73334066e-03] [-2.69647339e-05 -2.76081197e-03 9.99996189e-01 3.19920247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5025578440000003 meters 0.691395363354636 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.04 [[ 9.99999087e-01 -3.31523618e-04 1.30966575e-03 1.09066505e-02] [ 3.34446364e-04 9.99997453e-01 -2.23208525e-03 7.40128100e-03] [-1.30892242e-03 2.23252122e-03 9.99996651e-01 4.22834452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532557844 meters 0.671855626873265 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.04 [[ 9.99999115e-01 -2.50836199e-04 1.30660886e-03 1.09379236e-02] [ 2.53523090e-04 9.99997853e-01 -2.05662577e-03 6.35375572e-03] [-1.30609017e-03 2.05695520e-03 9.99997032e-01 4.22507370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562557844 meters 0.6752194205149435 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.04 [[ 9.99999124e-01 -1.96925338e-04 1.30889548e-03 1.09452837e-02] [ 1.99463305e-04 9.99998100e-01 -1.93916628e-03 5.65519463e-03] [-1.30851113e-03 1.93942565e-03 9.99997263e-01 4.22207353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5925578440000001 meters 1.031120904225307 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.04 [[ 9.99999161e-01 -1.31365680e-04 1.28900325e-03 1.10017037e-02] [ 1.33682231e-04 9.99998376e-01 -1.79724301e-03 4.81165508e-03] [-1.28876506e-03 1.79741381e-03 9.99997554e-01 4.22737796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6225578440000001 meters 1.037107848038172 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.04 [[ 9.99999224e-01 -8.72350871e-06 1.24600998e-03 1.11634841e-02] [ 1.06287927e-05 9.99998831e-01 -1.52910969e-03 3.23047690e-03] [-1.24599518e-03 1.52912174e-03 9.99998055e-01 4.23025612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6525578440000002 meters 1.0385436875291885 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.04 [[ 9.99999244e-01 1.29249655e-04 1.22244192e-03 1.12077529e-02] [-1.27752873e-04 9.99999242e-01 -1.22441873e-03 1.44634955e-03] [-1.22259925e-03 1.22426163e-03 9.99998503e-01 4.24296053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6825578440000002 meters 1.0372562215971426 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.04 [[ 9.99999268e-01 2.35734143e-04 1.18655446e-03 1.13615707e-02] [-2.34565784e-04 9.99999488e-01 -9.84708013e-04 5.07653349e-05] [-1.18678598e-03 9.84428967e-04 9.99998811e-01 4.24133868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7125578440000002 meters 1.048304198767167 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.04 [[ 9.99997349e-01 2.27790815e-03 3.36182960e-04 1.81255809e-02] [-2.27829994e-03 9.99996721e-01 1.16966047e-03 -4.43244241e-03] [-3.33517478e-04 -1.17042329e-03 9.99999259e-01 3.69684720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7425578440000002 meters 0.614124404320268 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.04 [[ 9.99997155e-01 2.36377694e-03 3.19194527e-04 1.81763534e-02] [-2.36421103e-03 9.99996272e-01 1.36651735e-03 -5.56542113e-03] [-3.15963195e-04 -1.36726810e-03 9.99999015e-01 3.70113304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7725578440000003 meters 0.6839915446216864 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.04 [[ 9.99996818e-01 2.50469721e-03 2.99852994e-04 1.82202263e-02] [-2.50519832e-03 9.99995446e-01 1.68264672e-03 -7.38811153e-03] [-2.95637108e-04 -1.68339256e-03 9.99998539e-01 3.71052891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.802557844 meters 0.6818065472730307 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.04 [[ 9.99999310e-01 6.49730145e-04 9.78301997e-04 1.17559738e-02] [-6.49568716e-04 9.99999775e-01 -1.65318004e-04 -6.46498233e-03] [-9.78409190e-04 1.64682415e-04 9.99999508e-01 4.28900695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.832557844 meters 0.6969363401610665 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.04 [[ 9.99999247e-01 8.09193086e-04 9.23100138e-04 1.19304927e-02] [-8.09377872e-04 9.99999652e-01 1.99823226e-04 -8.55731832e-03] [-9.22938121e-04 -2.00570212e-04 9.99999554e-01 4.29999762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8625578440000001 meters 0.7733027754734564 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.04 [[ 9.99999123e-01 1.00281891e-03 8.65157001e-04 1.21203422e-02] [-1.00337720e-03 9.99999289e-01 6.45119481e-04 -1.11067989e-02] [-8.64509447e-04 -6.45986994e-04 9.99999418e-01 4.31267969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8925578440000002 meters 0.7738073077294473 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.04 [[ 9.99999030e-01 1.10726118e-03 8.44500226e-04 1.21860704e-02] [-1.10801233e-03 9.99998991e-01 8.89511229e-04 -1.24889727e-02] [-8.43514452e-04 -8.90446083e-04 9.99999248e-01 4.31708239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9225578440000002 meters 0.7634548335615887 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.04 [[ 9.99998842e-01 1.26899772e-03 8.39886472e-04 1.22100558e-02] [-1.27005984e-03 9.99998393e-01 1.26527832e-03 -1.46124198e-02] [-8.38279487e-04 -1.26634356e-03 9.99998847e-01 4.31912841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9525578440000002 meters 0.6857747993818378 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.05 [[ 9.99999570e-01 5.00488310e-04 7.80115629e-04 9.35978190e-03] [-5.00943381e-04 9.99999704e-01 5.83251622e-04 -1.52025847e-02] [-7.79823488e-04 -5.83642165e-04 9.99999526e-01 4.65611717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9825578440000002 meters 0.6496259223544678 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.05 [[ 9.99999543e-01 5.53903357e-04 7.79023379e-04 9.34865571e-03] [-5.54456482e-04 9.99999594e-01 7.09987201e-04 -1.59042008e-02] [-7.78629798e-04 -7.10418811e-04 9.99999445e-01 4.66022914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0125578440000003 meters 0.6744561292746966 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.05 [[ 0.9999975 -0.00148968 0.00166491 0.00262138] [ 0.00149205 0.99999787 -0.00142627 -0.01393323] [-0.00166278 0.00142875 0.9999976 0.05230361] [ 0. 0. 0. 1. ]] SLAMing on 2.042557844 meters 0.679777338027437 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.05 [[ 9.99998005e-01 -1.24076533e-03 1.56562788e-03 2.85290963e-03] [ 1.24201255e-03 9.99998912e-01 -7.95909928e-04 -1.73853181e-02] [-1.56463864e-03 7.97852869e-04 9.99998458e-01 5.26331335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0725578440000003 meters 0.6112684173711748 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.06 [[ 0.99999237 -0.00317866 0.00227148 -0.00396649] [ 0.00318347 0.99999269 -0.00211822 -0.02285282] [-0.00226473 0.00212544 0.99999518 0.05892855] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters 0.6018072514108157 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.03, Z:0.06 [[ 0.99999313 -0.00297652 0.00221046 -0.00378616] [ 0.00298006 0.99999428 -0.00160097 -0.02566998] [-0.00220569 0.00160755 0.99999628 0.05903824] [ 0. 0. 0. 1. ]] SLAMing on 2.1325578440000004 meters 0.5674485441008446 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.06 [[ 0.99998245 -0.00506663 0.00306949 -0.01063905] [ 0.00507812 0.99998009 -0.00374535 -0.02456194] [-0.00305046 0.00376087 0.99998828 0.06481532] [ 0. 0. 0. 1. ]] SLAMing on 2.162557844 meters 0.4936390402770474 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.07 [[ 0.99996698 -0.00714353 0.00387486 -0.01738439] [ 0.00716633 0.99995689 -0.00590359 -0.02381895] [-0.00383252 0.00593117 0.99997507 0.07077131] [ 0. 0. 0. 1. ]] SLAMing on 2.1925578440000004 meters 0.563558811258598 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.07 [[ 0.99997081 -0.00664093 0.00377778 -0.01705692] [ 0.00665848 0.99996702 -0.00465016 -0.03057876] [-0.00374677 0.00467518 0.99998205 0.07093875] [ 0. 0. 0. 1. ]] SLAMing on 2.2225578440000002 meters 0.5610609941937384 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.07 [[ 0.99997238 -0.00644844 0.00369461 -0.01680621] [ 0.00646384 0.99997041 -0.00417138 -0.0331548 ] [-0.0036676 0.00419515 0.99998447 0.07107351] [ 0. 0. 0. 1. ]] SLAMing on 2.252557844 meters 0.5697965415226083 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.07 [[ 0.99998811 -0.0041411 0.00257549 -0.01003729] [ 0.00414463 0.99999048 -0.00136527 -0.03922983] [-0.00256982 0.00137593 0.99999575 0.06601141] [ 0. 0. 0. 1. ]] SLAMing on 2.2825578440000003 meters 0.48201387826610353 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.07 [[ 0.99998871 -0.00400061 0.00256414 -0.01002259] [ 0.0040032 0.99999148 -0.00100735 -0.04112402] [-0.00256009 0.0010176 0.99999621 0.06613684] [ 0. 0. 0. 1. ]] SLAMing on 2.312557844 meters 0.6561614603600858 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99990234e-01 -3.64309176e-03 2.50179702e-03 -9.86739161e-03] [ 3.64353003e-03 9.99993348e-01 -1.70646207e-04 -4.55884941e-02] [-2.50115869e-03 1.79759913e-04 9.99996856e-01 6.65307632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3425578440000003 meters 0.26670060321445727 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.07 [[ 0.99997762 -0.00576782 0.0033893 -0.01642054] [ 0.00577612 0.99998033 -0.0024429 -0.04409172] [-0.00337514 0.00246243 0.99999127 0.07209715] [ 0. 0. 0. 1. ]] SLAMing on 2.372557844 meters 0.29311341521643425 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99991139e-01 -3.46877585e-03 2.38526758e-03 -9.84363751e-03] [ 3.46805577e-03 9.99993939e-01 3.05956668e-04 -4.92904532e-02] [-2.38631442e-03 -2.97681716e-04 9.99997108e-01 6.68285441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4025578440000004 meters 0.2620277485049941 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.07 [[ 0.99997885 -0.00561963 0.00327302 -0.01651868] [ 0.00562621 0.99998216 -0.00200399 -0.047255 ] [-0.0032617 0.00202236 0.99999264 0.07255292] [ 0. 0. 0. 1. ]] SLAMing on 2.432557844 meters 0.25998350904358497 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.07 [[ 0.99998 -0.00545448 0.0032004 -0.01635132] [ 0.00545952 0.99998387 -0.00156823 -0.04951504] [-0.00319179 0.00158567 0.99999365 0.07278549] [ 0. 0. 0. 1. ]] SLAMing on 2.4625578440000004 meters 0.2576606618082702 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.07 [[ 0.99998117 -0.00528546 0.00311775 -0.0161396 ] [ 0.00528898 0.99998538 -0.00112313 -0.05182693] [-0.00311177 0.0011396 0.99999451 0.07299388] [ 0. 0. 0. 1. ]] SLAMing on 2.4925578440000002 meters 0.2657000136979882 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.07 [[ 9.99983256e-01 -4.96474485e-03 2.97294094e-03 -1.58558466e-02] [ 4.96567807e-03 9.99987624e-01 -3.06605652e-04 -5.61101125e-02] [-2.97138193e-03 3.21363186e-04 9.99995534e-01 7.35451459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522557844 meters 0.2586026103974187 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.07 [[ 9.99983909e-01 -4.86199394e-03 2.92296952e-03 -1.57612908e-02] [ 4.86213817e-03 9.99988179e-01 -4.22415553e-05 -5.74707310e-02] [-2.92272959e-03 5.64527573e-05 9.99995727e-01 7.37521194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5525578440000003 meters 0.2283800199176727 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.08 [[ 9.99999357e-01 1.13202756e-03 6.92426406e-05 -3.80886288e-02] [-1.13177167e-03 9.99992915e-01 -3.59018153e-03 -5.87928973e-02] [-7.33063344e-05 3.59010085e-03 9.99993553e-01 7.75043987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582557844 meters 0.23306692988734834 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.07 [[ 9.99993993e-01 3.35758045e-03 -8.61073756e-04 -3.12310296e-02] [-3.35876203e-03 9.99993415e-01 -1.37446176e-03 -6.06911086e-02] [ 8.56453220e-04 1.37734565e-03 9.99998685e-01 7.19987387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6125578440000004 meters 0.22586566640134678 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.07 [[ 9.99994559e-01 3.19618148e-03 -8.16550805e-04 -3.13835319e-02] [-3.19766220e-03 9.99993234e-01 -1.81855808e-03 -5.84208379e-02] [ 8.10732839e-04 1.82115924e-03 9.99998013e-01 7.20054217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.642557844 meters 0.22586566640134678 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.07 [[ 9.99994559e-01 3.19618148e-03 -8.16550805e-04 -3.13835319e-02] [-3.19766220e-03 9.99993234e-01 -1.81855808e-03 -5.84208379e-02] [ 8.10732839e-04 1.82115924e-03 9.99998013e-01 7.20054217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6725578440000004 meters 0.23595261335402826 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.07 [[ 0.99999701 -0.00207009 0.00129827 -0.00834315] [ 0.00206709 0.99999522 0.00230092 -0.05590827] [-0.00130303 -0.00229823 0.99999651 0.06924056] [ 0. 0. 0. 1. ]] SLAMing on 2.702557844 meters 0.23068654021598367 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 0.99999659 -0.00227301 0.00128722 -0.00844632] [ 0.00227071 0.99999583 0.00178562 -0.05321444] [-0.00129127 -0.00178269 0.99999758 0.06953983] [ 0. 0. 0. 1. ]] SLAMing on 2.7325578440000005 meters 0.226943688302999 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 0.99999662 -0.00230175 0.00120698 -0.00827298] [ 0.00229968 0.9999959 0.00170754 -0.05281272] [-0.0012109 -0.00170476 0.99999781 0.06973014] [ 0. 0. 0. 1. ]] SLAMing on 2.7625578440000003 meters 0.22447044476990918 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 0.99999672 -0.00230414 0.00111796 -0.00812123] [ 0.00230224 0.9999959 0.00170133 -0.05276125] [-0.00112187 -0.00169875 0.99999793 0.07008539] [ 0. 0. 0. 1. ]] SLAMing on 2.792557844 meters 0.2228877697558904 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99996878e-01 -2.30520479e-03 9.63970927e-04 -7.82334108e-03] [ 2.30356249e-03 9.99995900e-01 1.70133835e-03 -5.27383487e-02] [-9.67888908e-04 -1.69911247e-03 9.99998088e-01 7.05813306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8225578440000003 meters 0.2254103686276559 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99997034e-01 -2.30654033e-03 7.82353929e-04 -7.46414614e-03] [ 2.30520501e-03 9.99995892e-01 1.70342561e-03 -5.27171829e-02] [-7.86279735e-04 -1.70161707e-03 9.99998243e-01 7.11526371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852557844 meters 0.2205271432935479 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.06 [[ 0.99999117 -0.00218119 0.00359182 -0.02361285] [ 0.00220365 0.99997796 -0.00626303 -0.04572492] [-0.00357808 0.00627089 0.99997394 0.06357149] [ 0. 0. 0. 1. ]] SLAMing on 2.8825578440000004 meters 0.21873813400583061 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 0.9999822 -0.00562987 -0.00197655 -0.00607821] [ 0.00562116 0.99997458 -0.00438608 -0.04817698] [ 0.0020012 0.00437489 0.99998843 0.0712355 ] [ 0. 0. 0. 1. ]] SLAMing on 2.912557844 meters 0.217622569580888 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99997817e-01 -1.87514975e-03 -9.21559830e-04 -9.33489361e-03] [ 1.87561947e-03 9.99998111e-01 5.09103755e-04 -5.31880905e-02] [ 9.20603444e-04 -5.10831140e-04 9.99999446e-01 7.35257225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9425578440000004 meters 0.2174683451023154 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.08 [[ 0.99998564 0.00357951 -0.00398723 -0.03223468] [-0.00359445 0.99998653 -0.00374501 -0.05257641] [ 0.00397377 0.00375929 0.99998504 0.07809926] [ 0. 0. 0. 1. ]] SLAMing on 2.9725578440000002 meters 0.2184652918168451 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99999014e-01 -1.25528078e-03 6.29981801e-04 -1.01609684e-02] [ 1.25470047e-03 9.99998789e-01 9.20713871e-04 -5.38511277e-02] [-6.31136792e-04 -9.19922525e-04 9.99999378e-01 7.26288544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0025578440000005 meters 0.21744703709000054 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998954e-01 -1.33611379e-03 5.53877376e-04 -9.97170635e-03] [ 1.33572457e-03 9.99998861e-01 7.02496638e-04 -5.27575133e-02] [-5.54815361e-04 -7.01756076e-04 9.99999600e-01 7.27281786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0325578440000003 meters 0.2175435213319153 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998908e-01 -1.38623883e-03 5.12014277e-04 -9.90241537e-03] [ 1.38594646e-03 9.99998877e-01 5.70926203e-04 -5.20885023e-02] [-5.12805142e-04 -5.70215955e-04 9.99999706e-01 7.28841849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062557844 meters 0.2174514076918913 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998720e-01 -1.53040298e-03 4.67752656e-04 -9.79407370e-03] [ 1.53030946e-03 9.99998809e-01 2.00227315e-04 -5.02207354e-02] [-4.68058528e-04 -1.99511252e-04 9.99999871e-01 7.29481705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0925578440000003 meters 0.21746152793078768 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998457e-01 -1.70678295e-03 4.14751154e-04 -9.73801218e-03] [ 1.70688806e-03 9.99998511e-01 -2.53202237e-04 -4.79274824e-02] [-4.14318375e-04 2.53909780e-04 9.99999882e-01 7.32136675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122557844 meters 0.21649198999899807 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998314e-01 -1.80095261e-03 3.59904564e-04 -9.70849200e-03] [ 1.80113454e-03 9.99998250e-01 -5.05814307e-04 -4.66487673e-02] [-3.58992987e-04 5.06461691e-04 9.99999807e-01 7.35840642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1525578440000004 meters 0.21595333763811228 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998288e-01 -1.83127029e-03 2.64000203e-04 -9.57506840e-03] [ 1.83142684e-03 9.99998147e-01 -5.93983028e-04 -4.62048512e-02] [-2.62911970e-04 5.94465508e-04 9.99999789e-01 7.40289418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182557844 meters 0.21573445731831536 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.07 [[ 9.99998192e-01 -1.88860920e-03 2.20431780e-04 -9.46630069e-03] [ 1.88877525e-03 9.99997931e-01 -7.55539743e-04 -4.54079116e-02] [-2.19004405e-04 7.55954723e-04 9.99999690e-01 7.40869924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2125578440000004 meters 0.2166251310744557 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.07 [[ 9.99997411e-01 -5.73604407e-04 2.20189107e-03 3.30606643e-02] [ 5.73221765e-04 9.99999820e-01 1.74405995e-04 -4.45325697e-02] [-2.20199071e-03 -1.73143371e-04 9.99997561e-01 7.34471908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2425578440000002 meters 0.21684216051633612 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.07 [[ 9.99997673e-01 -5.24468512e-04 2.09246104e-03 3.32348919e-02] [ 5.23778313e-04 9.99999808e-01 3.30384643e-04 -4.52690157e-02] [-2.09263391e-03 -3.29287889e-04 9.99997756e-01 7.39401486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2725578440000005 meters 0.21555054098175072 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.08 [[ 9.99998106e-01 -2.96843264e-04 1.92342810e-03 3.33080297e-02] [ 2.94340485e-04 9.99999110e-01 1.30135992e-03 -4.97326536e-02] [-1.92381269e-03 -1.30079131e-03 9.99997303e-01 7.54815960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3025578440000003 meters 0.21566607344879635 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.08 [[ 9.99998302e-01 -1.35302114e-04 1.83784842e-03 3.34218992e-02] [ 1.31907498e-04 9.99998285e-01 1.84705580e-03 -5.23538395e-02] [-1.83809518e-03 -1.84681024e-03 9.99996605e-01 7.59491280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332557844 meters 0.21536347662890903 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.08 [[ 9.99998435e-01 -1.36836123e-05 1.76918208e-03 3.35140725e-02] [ 9.73204224e-06 9.99997506e-01 2.23354692e-03 -5.42143087e-02] [-1.76920823e-03 -2.23352620e-03 9.99995941e-01 7.63122589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3625578440000004 meters 0.21524884360136062 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 9.99998603e-01 1.05034342e-04 1.66827119e-03 3.37443394e-02] [-1.09363349e-04 9.99996627e-01 2.59502630e-03 -5.59657241e-02] [-1.66799300e-03 -2.59520512e-03 9.99995241e-01 7.65522077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.392557844 meters 0.21561815716332547 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 9.99998649e-01 2.26157022e-04 1.62804438e-03 3.38601240e-02] [-2.30949223e-04 9.99995640e-01 2.94394638e-03 -5.76731953e-02] [-1.62737149e-03 -2.94431840e-03 9.99994341e-01 7.65962180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4225578440000004 meters 0.2161265990924761 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 9.99998747e-01 3.23968123e-04 1.54953887e-03 3.39605376e-02] [-3.28931506e-04 9.99994813e-01 3.20395412e-03 -5.89608615e-02] [-1.54849285e-03 -3.20445980e-03 9.99993667e-01 7.69822354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.452557844 meters 0.21677536250182305 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 9.99998839e-01 3.01708033e-04 1.49359474e-03 3.39589476e-02] [-3.06406906e-04 9.99995002e-01 3.14678772e-03 -5.86524381e-02] [-1.49263787e-03 -3.14724171e-03 9.99993933e-01 7.74436235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4825578440000005 meters 0.21750374296121955 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 9.99998879e-01 3.42513783e-04 1.45737498e-03 3.38723309e-02] [-3.47259825e-04 9.99994634e-01 3.25756315e-03 -5.91854230e-02] [-1.45625140e-03 -3.25806558e-03 9.99993632e-01 7.79777260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5125578440000003 meters 0.2181220281193706 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 0.99999621 -0.00161361 0.00223003 0.02797438] [ 0.00161119 0.99999811 0.00108692 -0.05596829] [-0.00223178 -0.00108333 0.99999692 0.08356585] [ 0. 0. 0. 1. ]] SLAMing on 3.5425578440000005 meters 0.218771696514579 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 0.99999648 -0.00150773 0.00218143 0.02798542] [ 0.00150472 0.99999792 0.00138013 -0.05740281] [-0.00218351 -0.00137684 0.99999667 0.08395854] [ 0. 0. 0. 1. ]] SLAMing on 3.5725578440000003 meters 0.21897883028243645 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 0.99999666 -0.00145417 0.00213576 0.0279959 ] [ 0.00145091 0.99999778 0.00152666 -0.0581205 ] [-0.00213797 -0.00152356 0.99999655 0.08431805] [ 0. 0. 0. 1. ]] SLAMing on 3.602557844 meters 0.21945694763462387 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.08 [[ 0.99999684 -0.00140403 0.0020867 0.02800473] [ 0.00140056 0.99999763 0.00166411 -0.05878585] [-0.00208903 -0.00166118 0.99999644 0.08470841] [ 0. 0. 0. 1. ]] SLAMing on 3.6325578440000004 meters 0.2200834961354486 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 0.99999721 -0.00128835 0.00197936 0.02799462] [ 0.00128434 0.99999712 0.00202601 -0.06048431] [-0.00198197 -0.00202346 0.99999599 0.08573913] [ 0. 0. 0. 1. ]] SLAMing on 3.662557844 meters 0.22006523933822913 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 0.99999742 -0.00121039 0.00192465 0.02798262] [ 0.00120603 0.99999672 0.00226149 -0.06160897] [-0.00192738 -0.00225916 0.99999559 0.08626596] [ 0. 0. 0. 1. ]] SLAMing on 3.6925578440000004 meters 0.22038818222567233 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 0.99999766 -0.00110516 0.00185846 0.02804386] [ 0.00110036 0.99999606 0.00258417 -0.06315083] [-0.00186131 -0.00258212 0.99999493 0.08669523] [ 0. 0. 0. 1. ]] SLAMing on 3.7225578440000002 meters 0.22049393053393376 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 9.99997830e-01 -9.95965288e-04 1.82985510e-03 2.79973819e-02] [ 9.90610626e-04 9.99995232e-01 2.92485624e-03 -6.47704147e-02] [-1.83275943e-03 -2.92303722e-03 9.99994048e-01 8.71092251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7525578440000005 meters 0.22105299662162872 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.09 [[ 9.99998129e-01 -8.32846272e-04 1.74567045e-03 2.80060838e-02] [ 8.26788656e-04 9.99993645e-01 3.46793405e-03 -6.73233451e-02] [-1.74854762e-03 -3.46648427e-03 9.99992463e-01 8.78631930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7825578440000003 meters 0.22129988329904923 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.09 [[ 9.99998210e-01 -8.74076400e-04 1.67825979e-03 2.81114955e-02] [ 8.68439085e-04 9.99993989e-01 3.35681995e-03 -6.67707271e-02] [-1.68118382e-03 -3.35535648e-03 9.99992958e-01 8.81412263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8125578440000005 meters 0.22199017203926577 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.09 [[ 9.99998167e-01 -9.91666403e-04 1.63806097e-03 2.81236961e-02] [ 9.86670395e-04 9.99994868e-01 3.04794965e-03 -6.52296441e-02] [-1.64107511e-03 -3.04632784e-03 9.99994013e-01 8.84466090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8425578440000003 meters 0.2224488828604003 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 0.99999809 -0.00115082 0.00157769 0.02811492] [ 0.00114669 0.99999591 0.00261917 -0.06309786] [-0.0015807 -0.00261736 0.99999533 0.08896908] [ 0. 0. 0. 1. ]] SLAMing on 3.872557844 meters 0.22304535253939534 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:0.09 [[ 0.99999796 -0.00130546 0.001539 0.0280749 ] [ 0.00130208 0.99999675 0.0021938 -0.06100251] [-0.00154186 -0.00219179 0.99999641 0.08940508] [ 0. 0. 0. 1. ]] SLAMing on 3.9025578440000004 meters 0.2232112441259659 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.09 [[ 9.99998799e-01 -1.22008437e-03 -9.55885591e-04 -1.54485225e-02] [ 1.22254353e-03 9.99995934e-01 2.57630571e-03 -5.92127666e-02] [ 9.52738394e-04 -2.57747123e-03 9.99996224e-01 9.22195631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.932557844 meters 0.2243422654261647 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.09 [[ 9.99999206e-01 -8.16291709e-05 1.25724940e-03 2.55408341e-02] [ 7.89086041e-05 9.99997656e-01 2.16380150e-03 -5.29366483e-02] [-1.25742308e-03 -2.16370057e-03 9.99996869e-01 9.30441566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9625578440000004 meters 0.22494262877888685 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.09 [[ 9.99999164e-01 -3.21664296e-04 1.25221669e-03 2.54774176e-02] [ 3.19781851e-04 9.99998819e-01 1.50320044e-03 -4.97174633e-02] [-1.25269874e-03 -1.50279875e-03 9.99998086e-01 9.32628625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9925578440000002 meters 0.22530289390816619 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.09 [[ 9.99999055e-01 -5.77465080e-04 1.24792719e-03 2.53988687e-02] [ 5.76425944e-04 9.99999487e-01 8.32888509e-04 -4.64199130e-02] [-1.24840751e-03 -8.32168384e-04 9.99998874e-01 9.35262676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0225578440000005 meters 0.22548008639662848 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.09 [[ 9.99998931e-01 -8.05357121e-04 1.22053126e-03 2.53313715e-02] [ 8.05059264e-04 9.99999646e-01 2.44511009e-04 -4.35235760e-02] [-1.22072774e-03 -2.43528148e-04 9.99999225e-01 9.39200476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052557844000001 meters 0.22482144133694235 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.10 [[ 9.99997961e-01 -1.55749922e-03 -1.28531686e-03 -1.82314000e-02] [ 1.55727449e-03 9.99998772e-01 -1.75820785e-04 -4.11898014e-02] [ 1.28558912e-03 1.73818835e-04 9.99999159e-01 9.69077903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082557844 meters 0.2262079084905556 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:0.10 [[ 9.99997226e-01 -2.14618496e-03 9.70973890e-04 2.28656877e-02] [ 2.14755206e-03 9.99996701e-01 -1.40912196e-03 -3.72626873e-02] [-9.67946451e-04 1.41120326e-03 9.99998536e-01 9.73643046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112557844 meters 0.22595778005845785 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:0.10 [[ 9.99997016e-01 -2.27191987e-03 8.98073782e-04 2.29763555e-02] [ 2.27347744e-03 9.99995907e-01 -1.73714653e-03 -3.56565007e-02] [-8.94123449e-04 1.73918310e-03 9.99998088e-01 9.76925652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142557844000001 meters 0.22648645154176456 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.10 [[ 9.99996644e-01 -2.45080041e-03 8.40072178e-04 2.30298290e-02] [ 2.45263307e-03 9.99994600e-01 -2.18750593e-03 -3.34365357e-02] [-8.34706501e-04 2.18955897e-03 9.99997255e-01 9.80401762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172557844 meters 0.22616057254398583 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:0.10 [[ 9.99998519e-01 -7.81222714e-04 1.53376639e-03 1.74088704e-02] [ 7.81846200e-04 9.99999612e-01 -4.05949456e-04 -3.54859337e-02] [-1.53344866e-03 4.07148024e-04 9.99998741e-01 1.03429751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202557844 meters 0.22696058818168185 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.10 [[ 9.99998539e-01 -8.67524401e-04 1.47266443e-03 1.74070771e-02] [ 8.68466060e-04 9.99999419e-01 -6.38906746e-04 -3.43536275e-02] [-1.47210931e-03 6.40184772e-04 9.99998712e-01 1.03927840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2325578440000005 meters 0.22734604204357095 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.10 [[ 9.99998556e-01 -9.17986429e-04 1.43020260e-03 1.73875523e-02] [ 9.19095473e-04 9.99999277e-01 -7.74981333e-04 -3.36859074e-02] [-1.42949014e-03 7.76294706e-04 9.99998677e-01 1.04319208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262557844000001 meters 0.22876068201237426 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.11 [[ 0.99999846 -0.00109756 0.00137287 0.01728645] [ 0.00109932 0.99999858 -0.00128114 -0.03123433] [-0.00137146 0.00128265 0.99999824 0.10503842] [ 0. 0. 0. 1. ]] SLAMing on 4.292557844 meters 0.22871724815307917 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:0.11 [[ 0.99999836 -0.00123525 0.00132719 0.01733335] [ 0.00123747 0.99999784 -0.00166743 -0.02936806] [-0.00132512 0.00166907 0.99999773 0.10529945] [ 0. 0. 0. 1. ]] SLAMing on 4.322557844 meters 0.22764553467847487 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.11 [[ 9.99999206e-01 -4.03201201e-04 -1.19361780e-03 -2.77610760e-02] [ 4.02467118e-04 9.99999730e-01 -6.15182730e-04 -2.83458946e-02] [ 1.19386552e-03 6.14701850e-04 9.99999098e-01 1.10016155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352557844000001 meters 0.2291889040695867 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.11 [[ 9.99998968e-01 7.11561660e-04 1.24766986e-03 1.24174823e-02] [-7.11322119e-04 9.99999728e-01 -1.92424179e-04 -2.66682589e-02] [-1.24780644e-03 1.91536485e-04 9.99999203e-01 1.11157970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382557844000001 meters 0.2297693539723563 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.11 [[ 9.99999110e-01 5.67851698e-04 1.20738208e-03 1.22316255e-02] [-5.67132587e-04 9.99999662e-01 -5.95854004e-04 -2.47070195e-02] [-1.20772003e-03 5.95168728e-04 9.99999094e-01 1.11958494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412557844 meters 0.23027096173346506 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.12 [[ 9.99994485e-01 2.71349480e-03 1.91489395e-03 5.73297244e-03] [-2.71537789e-03 9.99995832e-01 9.81476562e-04 -2.02111418e-02] [-1.91222274e-03 -9.86670810e-04 9.99997685e-01 1.18926224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442557844 meters 0.2319203261158695 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:0.11 [[ 0.99998051 -0.00277595 0.0055931 0.02905675] [ 0.00275021 0.99998562 0.00460463 -0.01677056] [-0.0056058 -0.00458916 0.99997376 0.11428784] [ 0. 0. 0. 1. ]] SLAMing on 4.472557844000001 meters 0.23140542174023543 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.12 [[ 9.99997680e-01 2.12097913e-03 3.75268791e-04 4.28166615e-03] [-2.12083217e-03 9.99997674e-01 -3.91591220e-04 -9.07097975e-03] [-3.76098475e-04 3.90794430e-04 9.99999853e-01 1.23886432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502557844 meters 0.2314967183269857 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.12 [[ 9.99998095e-01 1.91839601e-03 3.60471749e-04 4.26353881e-03] [-1.91803237e-03 9.99997654e-01 -1.00644646e-03 -6.17089907e-03] [-3.62401666e-04 1.00575314e-03 9.99999429e-01 1.24081093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532557844 meters 0.2336714371175822 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:0.12 [[ 0.99999602 0.00239785 0.00148991 0.04956582] [-0.00239575 0.99999614 -0.00140695 -0.00242096] [-0.00149328 0.00140338 0.9999979 0.12160424] [ 0. 0. 0. 1. ]] SLAMing on 4.5625578440000005 meters 0.23366217180433163 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:0.13 [[ 9.99987655e-01 4.36781809e-03 2.36892385e-03 4.28818897e-02] [-4.36797787e-03 9.99990458e-01 6.22784595e-05 1.71854280e-03] [-2.36862922e-03 -7.26250976e-05 9.99997192e-01 1.27671259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592557844000001 meters 0.23366217180433163 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:0.13 [[ 9.99987655e-01 4.36781809e-03 2.36892385e-03 4.28818897e-02] [-4.36797787e-03 9.99990458e-01 6.22784595e-05 1.71854280e-03] [-2.36862922e-03 -7.26250976e-05 9.99997192e-01 1.27671259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622557844 meters 0.23374484839039894 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.13 [[ 0.99998915 0.00399951 0.00238922 0.04252266] [-0.00399699 0.99999145 -0.00105641 0.00705088] [-0.00239343 0.00104685 0.99999659 0.12848597] [ 0. 0. 0. 1. ]] SLAMing on 4.652557844 meters 0.23421961041018988 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.13 [[ 0.99999035 0.00366798 0.00241784 0.04212338] [-0.00366282 0.99999102 -0.0021337 0.01214163] [-0.00242564 0.00212482 0.9999948 0.12935962] [ 0. 0. 0. 1. ]] SLAMing on 4.682557844000001 meters 0.23626533707795022 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.12 [[ 9.99977719e-01 8.30374132e-05 6.67488387e-03 6.74821693e-02] [-1.06079119e-04 9.99994037e-01 3.45172103e-03 1.27332515e-02] [-6.67455744e-03 -3.45235218e-03 9.99971765e-01 1.21199989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712557844 meters 0.23523287606440968 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:0.13 [[ 0.99998747 0.00468134 0.00177538 0.0414612 ] [-0.00467798 0.99998727 -0.00189052 0.02037655] [-0.0017842 0.00188219 0.99999664 0.13173807] [ 0. 0. 0. 1. ]] SLAMing on 4.742557844 meters 0.23841593007949266 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:0.13 [[ 9.99965805e-01 6.96431187e-03 4.45956640e-03 8.05080604e-02] [-6.96076689e-03 9.99975446e-01 -8.09943208e-04 2.83585480e-02] [-4.46509759e-03 7.78873510e-04 9.99989728e-01 1.33745956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7725578440000005 meters 0.23862479361169867 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:0.13 [[ 0.99996747 0.00671675 0.00446697 0.08026957] [-0.00670968 0.99997622 -0.00159439 0.03203266] [-0.00447757 0.00156436 0.99998875 0.13434012] [ 0. 0. 0. 1. ]] SLAMing on 4.802557844000001 meters 0.23738675753091557 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:0.15 [[ 9.99998217e-01 1.88229503e-03 1.54677866e-04 5.27418712e-02] [-1.88270234e-03 9.99994645e-01 2.67676438e-03 3.16318842e-02] [-1.49638578e-04 -2.67705082e-03 9.99996405e-01 1.45182928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832557844 meters 0.23902143413482194 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:0.15 [[ 9.99998666e-01 1.62876070e-03 1.23453939e-04 5.28300709e-02] [-1.62899572e-03 9.99996814e-01 1.92815126e-03 3.51514177e-02] [-1.20313049e-04 -1.92834979e-03 9.99998133e-01 1.45192331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862557844 meters 0.24107561230844338 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:0.15 [[ 9.99999090e-01 1.34399830e-03 1.16922426e-04 5.27640938e-02] [-1.34412918e-03 9.99998462e-01 1.12653631e-03 3.89515256e-02] [-1.15408183e-04 -1.12669245e-03 9.99999359e-01 1.45415151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892557844000001 meters 0.23800279368519545 Centerline is valid? [False, False] Translation: X:0.00, Y:0.04, Z:0.15 [[ 9.99999564e-01 7.49825197e-04 5.56517483e-04 1.64323098e-03] [-7.49803482e-04 9.99999718e-01 -3.92266364e-05 4.16882447e-02] [-5.56546739e-04 3.88093405e-05 9.99999844e-01 1.52779954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922557844000001 meters 0.23949028594771865 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.15 [[ 9.99999850e-01 4.66609650e-04 2.85227839e-04 1.68418378e-03] [-4.66401682e-04 9.99999626e-01 -7.28763643e-04 4.52989774e-02] [-2.85567781e-04 7.28630503e-04 9.99999694e-01 1.54577776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952557844 meters 0.2388677968856572 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.16 [[ 9.99999893e-01 3.96449103e-04 2.39799544e-04 1.48294900e-03] [-3.96229490e-04 9.99999503e-01 -9.15173005e-04 4.62143593e-02] [-2.40162244e-04 9.15077891e-04 9.99999552e-01 1.55420922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9825578440000005 meters 0.24037316280767052 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.16 [[ 9.99999931e-01 3.14789167e-04 1.98861116e-04 1.44203843e-03] [-3.14563279e-04 9.99999307e-01 -1.13492186e-03 4.72660728e-02] [-1.99218239e-04 1.13485922e-03 9.99999336e-01 1.55821441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012557844000001 meters 0.24285693327654775 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:0.16 [[ 9.99999978e-01 8.15628907e-05 1.92227710e-04 1.03139425e-03] [-8.11984335e-05 9.99998201e-01 -1.89521180e-03 5.07890419e-02] [-1.92381943e-04 1.89519615e-03 9.99998186e-01 1.56914637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042557844 meters 0.24177026374558747 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.16 [[ 9.99997378e-01 2.03043429e-03 1.05860404e-03 -5.54147152e-03] [-2.03049693e-03 9.99997937e-01 5.81075094e-05 4.91018481e-02] [-1.05848387e-03 -6.02568494e-05 9.99999438e-01 1.62700452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072557844 meters 0.2415766067138974 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.16 [[ 9.99997665e-01 1.85939843e-03 1.10114894e-03 -5.99121018e-03] [-1.85886274e-03 9.99998154e-01 -4.87306019e-04 5.16498539e-02] [-1.10205300e-03 4.85257996e-04 9.99999275e-01 1.63573636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102557844000001 meters 0.24381080632128363 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.16 [[ 0.99999793 0.0016866 0.00114186 -0.0064296 ] [-0.00168546 0.99999808 -0.0010022 0.05409178] [-0.00114354 0.00100027 0.99999885 0.16438526] [ 0. 0. 0. 1. ]] SLAMing on 5.132557844000001 meters 0.2464072846219551 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:0.16 [[ 0.99998503 -0.00188348 0.00513765 0.01885204] [ 0.00185825 0.99998622 0.0049104 0.05312511] [-0.00514683 -0.00490078 0.99997475 0.15680472] [ 0. 0. 0. 1. ]] SLAMing on 5.162557844 meters 0.2449188538583209 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:0.17 [[ 9.99998639e-01 1.47304604e-03 7.43232585e-04 -1.16387093e-02] [-1.47208068e-03 9.99998074e-01 -1.29774641e-03 5.98320132e-02] [-7.45142794e-04 1.29665054e-03 9.99998882e-01 1.71003798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192557844 meters 0.2448666375725469 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:0.17 [[ 9.99998763e-01 1.43530493e-03 6.43955242e-04 -1.18992970e-02] [-1.43440584e-03 9.99997999e-01 -1.39449873e-03 6.03836943e-02] [-6.45955484e-04 1.39357331e-03 9.99998820e-01 1.72423828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222557844000001 meters 0.24678721419616587 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.17 [[ 9.99996440e-01 7.06151747e-04 2.57303406e-03 3.35072798e-02] [-7.01155561e-04 9.99997868e-01 -1.94213378e-03 6.10488856e-02] [-2.57440002e-03 1.94032277e-03 9.99994804e-01 1.69083263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252557844 meters 0.2457683831556358 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.18 [[ 0.99998776 -0.00439152 -0.00227756 0.00590256] [ 0.00439715 0.99998727 0.00247636 0.05382303] [ 0.00226666 -0.00248635 0.99999434 0.18078369] [ 0. 0. 0. 1. ]] SLAMing on 5.282557844 meters 0.2477754226639974 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.17 [[ 9.99996452e-01 2.34738757e-04 2.65338918e-03 3.05178699e-02] [-2.28568747e-04 9.99997270e-01 -2.32539557e-03 5.87355631e-02] [-2.65392780e-03 2.32478083e-03 9.99993776e-01 1.73155820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3125578440000005 meters 0.2474430595877398 Centerline is valid? [False, False] Translation: X:0.00, Y:0.06, Z:0.18 [[ 0.99999067 -0.00400502 -0.00161634 0.00272429] [ 0.00400945 0.99998818 0.00274896 0.05508738] [ 0.00160531 -0.00275542 0.99999492 0.18393168] [ 0. 0. 0. 1. ]] SLAMing on 5.342557844000001 meters 0.2503006959047705 Centerline is valid? [False, False] Translation: X:0.00, Y:0.06, Z:0.18 [[ 0.99998996 -0.00417499 -0.00162819 0.00259826] [ 0.00417865 0.99998874 0.00225077 0.05742857] [ 0.00161877 -0.00225755 0.99999614 0.18431946] [ 0. 0. 0. 1. ]] SLAMing on 5.372557844 meters 0.24941079829506585 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:0.19 [[ 9.99997185e-01 -2.22500384e-03 -8.24277033e-04 -3.99494081e-03] [ 2.22855943e-03 9.99988107e-01 4.33808090e-03 5.54701161e-02] [ 8.14614983e-04 -4.33990563e-03 9.99990251e-01 1.90753214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402557844 meters 0.2501152710334538 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:0.19 [[ 9.99997129e-01 -2.23105565e-03 -8.74739784e-04 -4.17853722e-03] [ 2.23481702e-03 9.99988159e-01 4.32284343e-03 5.55466888e-02] [ 8.65084922e-04 -4.32478590e-03 9.99990274e-01 1.91599135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432557844000001 meters 0.24853945961503807 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.20 [[ 9.99989369e-01 2.10407714e-03 -4.10309054e-03 -3.18500115e-02] [-2.10751203e-03 9.99997432e-01 -8.33004133e-04 5.73747227e-02] [ 4.10132730e-03 8.41642589e-04 9.99991235e-01 2.01163568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462557844000001 meters 0.2507389574974727 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.20 [[ 9.99989110e-01 2.11788618e-03 -4.15872403e-03 -3.19523853e-02] [-2.12120869e-03 9.99997434e-01 -7.94677128e-04 5.72139678e-02] [ 4.15703033e-03 8.03489995e-04 9.99991037e-01 2.01851837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492557844 meters 0.2515053974753401 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.19 [[ 9.99993070e-01 -3.72302536e-03 -4.78134340e-06 -5.71844675e-03] [ 3.72301914e-03 9.99986882e-01 3.51777104e-03 5.06658980e-02] [-8.31547009e-06 -3.51776446e-03 9.99993813e-01 1.93887257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5225578440000005 meters 0.25077995210685833 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.19 [[ 9.99993940e-01 -3.48008824e-03 -9.89213132e-05 -5.68674915e-03] [ 3.48048503e-03 9.99984513e-01 4.34275729e-03 4.68966464e-02] [ 8.38066027e-05 -4.34307526e-03 9.99990565e-01 1.94693453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552557844000001 meters 0.25069241473439324 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.20 [[ 9.99984262e-01 -5.56751224e-03 6.91965218e-04 -1.22793819e-02] [ 5.56570963e-03 9.99981182e-01 2.58023662e-03 4.53040263e-02] [-7.06317696e-04 -2.57634473e-03 9.99996432e-01 2.00769876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582557844 meters 0.24994319313325059 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.20 [[ 9.99985721e-01 -5.31179521e-03 5.85288147e-04 -1.22695431e-02] [ 5.30982121e-03 9.99980378e-01 3.32415460e-03 4.17775370e-02] [-6.02933891e-04 -3.32099936e-03 9.99994304e-01 2.01627723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612557844 meters 0.25018135584392315 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.20 [[ 9.99986721e-01 -5.13090810e-03 4.82117893e-04 -1.22004406e-02] [ 5.12903711e-03 9.99979607e-01 3.80502750e-03 3.94953692e-02] [-5.01631307e-04 -3.80250418e-03 9.99992645e-01 2.02287817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642557844000001 meters 0.2509664312184473 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.20 [[ 9.99987551e-01 -4.97412236e-03 3.94908743e-04 -1.21535073e-02] [ 4.97241512e-03 9.99978765e-01 4.21241193e-03 3.75673816e-02] [-4.15853409e-04 -4.21039584e-03 9.99991050e-01 2.02884663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672557844000001 meters 0.2526316557785413 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.20 [[ 9.99989688e-01 -4.54116407e-03 4.52571920e-05 -1.18000581e-02] [ 4.54086989e-03 9.99976362e-01 5.16297180e-03 3.28165461e-02] [-6.87020242e-05 -5.16271305e-03 9.99986671e-01 2.04668659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702557844 meters 0.25177109512974327 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.03, Z:0.21 [[ 9.99996724e-01 1.88961683e-04 -2.55258475e-03 -4.09091247e-02] [-1.87473619e-04 9.99999812e-01 5.83190477e-04 3.13746759e-02] [ 2.55269447e-03 -5.82710025e-04 9.99996572e-01 2.14454066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7325578440000005 meters 0.25638022778897684 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.21 [[ 9.99999364e-01 7.03456216e-04 -8.81445105e-04 1.55291759e-03] [-7.02532294e-04 9.99999204e-01 1.04806223e-03 3.06589269e-02] [ 8.82181670e-04 -1.04744232e-03 9.99999062e-01 2.14168701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762557844000001 meters 0.25477288705103 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.22 [[ 9.99999188e-01 8.56753570e-04 -9.43053209e-04 1.38977730e-03] [-8.55388080e-04 9.99998587e-01 1.44739866e-03 2.87634682e-02] [ 9.44291940e-04 -1.44659081e-03 9.99998508e-01 2.15084624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792557844 meters 0.2562698177371955 Centerline is valid? [False, False] Translation: X:0.00, Y:0.03, Z:0.22 [[ 0.99999897 0.00102738 -0.0010055 0.00130542] [-0.00102548 0.9999977 0.00188538 0.02667352] [ 0.00100744 -0.00188435 0.99999772 0.21579569] [ 0. 0. 0. 1. ]] SLAMing on 5.822557844 meters 0.25732279864458873 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.22 [[ 0.99999858 0.00127747 -0.00109646 0.00126973] [-0.00127469 0.99999599 0.00252695 0.02361082] [ 0.00109968 -0.00252555 0.99999621 0.21663247] [ 0. 0. 0. 1. ]] SLAMing on 5.852557844000001 meters 0.25733890700995904 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.22 [[ 9.99999482e-01 -9.44932627e-04 -3.78364323e-04 -4.76096363e-03] [ 9.45391350e-04 9.99998816e-01 1.21404809e-03 1.68913757e-02] [ 3.77216681e-04 -1.21440516e-03 9.99999191e-01 2.22833723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882557844000001 meters 0.25634003208267725 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.23 [[ 0.99998956 0.00315641 -0.00330346 -0.03346044] [-0.00316779 0.99998905 -0.00344579 0.01462574] [ 0.00329255 0.00345622 0.99998861 0.23278289] [ 0. 0. 0. 1. ]] SLAMing on 5.912557844 meters 0.2567857993241763 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.23 [[ 0.99999764 -0.00180268 0.00121487 -0.01018982] [ 0.00180105 0.99999748 0.0013426 0.00948479] [-0.00121729 -0.00134041 0.99999836 0.2263647 ] [ 0. 0. 0. 1. ]] SLAMing on 5.942557844 meters 0.25729847163149355 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.23 [[ 0.99999859 -0.00132887 0.00102791 -0.01014614] [ 0.00132593 0.99999505 0.00285362 0.00254064] [-0.0010317 -0.00285225 0.9999954 0.22789698] [ 0. 0. 0. 1. ]] SLAMing on 5.972557844000001 meters 0.2577713071965758 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.22 [[ 0.99998065 0.00224397 0.00580182 0.01325488] [-0.0022261 0.99999276 -0.00308564 0.00541592] [-0.00580871 0.00307267 0.99997841 0.22156899] [ 0. 0. 0. 1. ]] SLAMing on 6.002557844000001 meters 0.2588936607941355 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.23 [[ 9.99995488e-01 -2.92483241e-03 6.84469463e-04 -1.23760923e-02] [ 2.92375583e-03 9.99994496e-01 1.56861060e-03 -2.59993529e-03] [-6.89053618e-04 -1.56660230e-03 9.99998535e-01 2.32018037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032557844 meters 0.25828245924512455 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.23 [[ 9.99996020e-01 -2.75998807e-03 5.84432983e-04 -1.22920606e-02] [ 2.75880640e-03 9.99994168e-01 2.01314520e-03 -4.67853641e-03] [-5.89985831e-04 -2.01152485e-03 9.99997803e-01 2.32600018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0625578440000005 meters 0.2584668694126506 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.24 [[ 0.99999506 0.00139502 -0.00281513 -0.04042728] [-0.00140281 0.99999518 -0.00277 -0.0045791 ] [ 0.00281125 0.00277394 0.9999922 0.24279086] [ 0. 0. 0. 1. ]] SLAMing on 6.092557844000001 meters 0.257509770622392 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.24 [[ 0.99999454 0.00153607 -0.00292733 -0.04034054] [-0.00154307 0.99999595 -0.0023902 -0.00635869] [ 0.00292365 0.0023947 0.99999286 0.24342728] [ 0. 0. 0. 1. ]] SLAMing on 6.122557844 meters 0.2573824107623396 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:0.25 [[ 9.99960903e-01 -6.42191137e-03 -6.07872011e-03 -6.52787115e-02] [ 6.42192187e-03 9.99979379e-01 -1.77924615e-05 -9.97328094e-03] [ 6.07870903e-03 -2.12452997e-05 9.99981524e-01 2.51193631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152557844 meters 0.25945523819578087 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.25 [[ 0.99999647 0.00165066 -0.00208339 -0.04490489] [-0.00165377 0.99999752 -0.0014926 -0.01250951] [ 0.00208092 0.00149604 0.99999672 0.24875907] [ 0. 0. 0. 1. ]] SLAMing on 6.182557844000001 meters 0.26011334854092255 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.25 [[ 0.99999611 0.00175562 -0.00216542 -0.04483763] [-0.00175825 0.99999772 -0.0012136 -0.01381146] [ 0.00216329 0.00121741 0.99999692 0.24921618] [ 0. 0. 0. 1. ]] SLAMing on 6.212557844000001 meters 0.2608959953425815 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.24 [[ 0.99999513 -0.00223463 0.00217832 -0.01951469] [ 0.00222575 0.99998924 0.00406995 -0.01753475] [-0.00218739 -0.00406508 0.99998935 0.24155875] [ 0. 0. 0. 1. ]] SLAMing on 6.242557844 meters 0.26038161738783133 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.24 [[ 0.99999535 -0.0022155 0.00209693 -0.01952222] [ 0.00220684 0.99998907 0.00412285 -0.01775841] [-0.00210604 -0.0041182 0.9999893 0.24217267] [ 0. 0. 0. 1. ]] SLAMing on 6.2725578440000005 meters 0.2593248582837824 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.24 [[ 0.99999553 -0.00221647 0.00200711 -0.0196263 ] [ 0.00220818 0.99998906 0.00412444 -0.01771071] [-0.00201623 -0.00411999 0.99998948 0.24308475] [ 0. 0. 0. 1. ]] SLAMing on 6.302557844000001 meters 0.25646627217767276 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.24 [[ 9.99968916e-01 2.16955546e-03 7.58019550e-03 3.97270347e-04] [-2.16224900e-03 9.99997190e-01 -9.71949612e-04 -1.42540485e-02] [-7.58228290e-03 9.55529130e-04 9.99970798e-01 2.39599579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332557844 meters 0.26245407910426144 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.24 [[ 9.99969218e-01 2.37120601e-03 7.47939339e-03 3.61162105e-04] [-2.36815785e-03 9.99997109e-01 -4.16371088e-04 -1.68569671e-02] [-7.48035907e-03 3.98645887e-04 9.99971942e-01 2.40488705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362557844 meters 0.25720383571983385 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.24 [[ 9.99969477e-01 2.61476789e-03 7.36263773e-03 3.57152937e-04] [-2.61681196e-03 9.99996540e-01 2.68007793e-04 -2.00567398e-02] [-7.36191148e-03 -2.87266251e-04 9.99972860e-01 2.41446821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392557844000001 meters 0.2580926615327339 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.24 [[ 9.99969535e-01 2.84254679e-03 7.26971002e-03 3.35155048e-04] [-2.84923340e-03 9.99995527e-01 9.09599902e-04 -2.30488625e-02] [-7.26709192e-03 -9.30285292e-04 9.99973162e-01 2.42244305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422557844000001 meters 0.25757947787762553 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.24 [[ 9.99969960e-01 3.00961690e-03 7.14291913e-03 4.17774214e-04] [-3.01945880e-03 9.99994506e-01 1.36746991e-03 -2.51823248e-02] [-7.13876433e-03 -1.38899658e-03 9.99973554e-01 2.43011026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452557844 meters 0.25804426482686743 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.25 [[ 9.99968438e-01 1.13135441e-03 7.86403047e-03 -5.39069580e-03] [-1.12541179e-03 9.99999078e-01 -7.60055203e-04 -2.21882546e-02] [-7.86488311e-03 7.51180942e-04 9.99968789e-01 2.48690671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4825578440000005 meters 0.25804426482686743 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.25 [[ 9.99968438e-01 1.13135441e-03 7.86403047e-03 -5.39069580e-03] [-1.12541179e-03 9.99999078e-01 -7.60055203e-04 -2.21882546e-02] [-7.86488311e-03 7.51180942e-04 9.99968789e-01 2.48690671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512557844000001 meters 0.2579506454486823 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.25 [[ 9.99970185e-01 1.40107816e-03 7.59379466e-03 -5.30325565e-03] [-1.40064276e-03 9.99999017e-01 -6.26530035e-05 -2.55258134e-02] [-7.59387498e-03 5.20149419e-05 9.99971165e-01 2.50474810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542557844000001 meters 0.2608339904664859 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.25 [[ 9.99970782e-01 1.64787480e-03 7.46453947e-03 -5.22744091e-03] [-1.65216654e-03 9.99998473e-01 5.68821361e-04 -2.85096654e-02] [-7.46359072e-03 -5.81137404e-04 9.99971978e-01 2.51288920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572557844 meters 0.2611864317644034 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.25 [[ 0.99997111 0.00192368 0.00735401 -0.00516781] [-0.00193294 0.99999735 0.00125174 -0.0317416 ] [-0.00735158 -0.00126592 0.99997218 0.25200323] [ 0. 0. 0. 1. ]] SLAMing on 6.602557844000001 meters 0.26126768055640437 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:0.25 [[ 0.99997187 0.00249847 0.00707187 -0.00477114] [-0.00251626 0.99999369 0.002507 -0.03787122] [-0.00706556 -0.00252473 0.99997185 0.25329929] [ 0. 0. 0. 1. ]] SLAMing on 6.632557844000001 meters 0.2620756169431758 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:0.25 [[ 0.99997212 0.00271601 0.00695517 -0.00461014] [-0.0027374 0.99999155 0.00306737 -0.0404875 ] [-0.00694678 -0.00308632 0.99997111 0.25382335] [ 0. 0. 0. 1. ]] SLAMing on 6.662557844 meters 0.2625820533796766 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:0.25 [[ 0.99997262 0.00289987 0.00680871 -0.00445633] [-0.002924 0.99998947 0.00353686 -0.04267302] [-0.00679838 -0.00355667 0.99997057 0.25455754] [ 0. 0. 0. 1. ]] SLAMing on 6.692557844 meters 0.2605612935098802 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.27 [[ 0.99999258 0.00160316 0.00350226 -0.05896024] [-0.00161534 0.99999264 0.00347967 -0.04812828] [-0.00349665 -0.0034853 0.99998781 0.26933258] [ 0. 0. 0. 1. ]] SLAMing on 6.722557844000001 meters 0.26115198342836315 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.27 [[ 0.99999282 0.00176657 0.00335231 -0.05894266] [-0.00177967 0.99999077 0.00390998 -0.05013439] [-0.00334537 -0.00391592 0.99998674 0.27044404] [ 0. 0. 0. 1. ]] SLAMing on 6.752557844000001 meters 0.26093944492179727 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.28 [[ 9.99991361e-01 -4.51027732e-04 4.13223273e-03 -6.53940092e-02] [ 4.42936497e-04 9.99997983e-01 1.95878417e-03 -5.19388074e-02] [-4.13310787e-03 -1.95693693e-03 9.99989544e-01 2.77632270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782557844 meters 0.2632809110374146 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.28 [[ 9.99991767e-01 -3.52293260e-04 4.04247473e-03 -6.53779880e-02] [ 3.43306778e-04 9.99997469e-01 2.22349367e-03 -5.31552832e-02] [-4.04324782e-03 -2.22208756e-03 9.99989357e-01 2.78269473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8125578440000005 meters 0.26470835408317184 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.28 [[ 9.99992143e-01 -2.28316823e-04 3.95747337e-03 -6.52348788e-02] [ 2.18249982e-04 9.99996740e-01 2.54399992e-03 -5.46390808e-02] [-3.95804131e-03 -2.54311621e-03 9.99988933e-01 2.78580761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842557844000001 meters 0.2655171102490327 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.06, Z:0.28 [[ 9.99992587e-01 -4.15620331e-05 3.85019860e-03 -6.50207656e-02] [ 2.99222423e-05 9.99995430e-01 3.02317463e-03 -5.68662478e-02] [-3.85030665e-03 -3.02303701e-03 9.99988018e-01 2.78918225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872557844 meters 0.2656554063781911 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.28 [[ 9.99992907e-01 1.50434524e-04 3.76329617e-03 -6.49458380e-02] [-1.63679814e-04 9.99993793e-01 3.51953770e-03 -5.91661961e-02] [-3.76274335e-03 -3.52012871e-03 9.99986725e-01 2.79418578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902557844 meters 0.262789366047089 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.29 [[ 0.99999478 -0.00195858 0.00257096 -0.11580844] [ 0.00195114 0.99999392 0.00289173 -0.06343095] [-0.00257661 -0.0028867 0.99999251 0.28873531] [ 0. 0. 0. 1. ]] SLAMing on 6.932557844000001 meters 0.26482136256801403 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.29 [[ 0.99999602 -0.0016067 0.00231955 -0.11586312] [ 0.00159765 0.99999113 0.00389679 -0.06803929] [-0.00232579 -0.00389307 0.99998972 0.29077643] [ 0. 0. 0. 1. ]] SLAMing on 6.962557844000001 meters 0.2643106969494461 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.29 [[ 0.99999666 -0.0014002 0.00217354 -0.11571827] [ 0.00139041 0.99998892 0.00449799 -0.0707627 ] [-0.00217981 -0.00449495 0.99998752 0.29158508] [ 0. 0. 0. 1. ]] SLAMing on 6.992557844 meters 0.26470696609640787 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.07, Z:0.29 [[ 0.99999723 -0.00118335 0.00203696 -0.11555884] [ 0.00117292 0.99998623 0.00511499 -0.07356716] [-0.00204299 -0.00511259 0.99998484 0.29227202] [ 0. 0. 0. 1. ]] SLAMing on 7.0225578440000005 meters 0.2657374726243152 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.29 [[ 0.99996883 0.00480053 0.0062686 -0.0948777 ] [-0.00480889 0.99998757 0.00131884 -0.0737606 ] [-0.00626219 -0.00134894 0.99997948 0.28925028] [ 0. 0. 0. 1. ]] SLAMing on 7.052557844000001 meters 0.2658081118375626 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.29 [[ 9.99970961e-01 2.95537890e-03 7.02443992e-03 -1.00657319e-01] [-2.95064106e-03 9.99995412e-01 -6.84746597e-04 -7.14929985e-02] [-7.02643138e-03 6.64000112e-04 9.99975094e-01 2.94779882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082557844000001 meters 0.2668927827091725 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.30 [[ 9.99972639e-01 3.05668840e-03 6.73629953e-03 -1.00667763e-01] [-3.05386215e-03 9.99995245e-01 -4.29800263e-04 -7.24602644e-02] [-6.73758126e-03 4.09216773e-04 9.99977219e-01 2.96712806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112557844 meters 0.26792247748686476 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.30 [[ 9.99973409e-01 3.11986670e-03 6.59154493e-03 -1.00589622e-01] [-3.11826934e-03 9.99995106e-01 -2.52598121e-04 -7.32362530e-02] [-6.59230075e-03 2.32037192e-04 9.99978244e-01 2.97570586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142557844000001 meters 0.26783583692652524 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:0.30 [[ 9.99973777e-01 3.21384536e-03 6.48964846e-03 -1.00572776e-01] [-3.21391410e-03 9.99994835e-01 1.63634615e-07 -7.43818295e-02] [-6.48961442e-03 -2.10208030e-05 9.99978942e-01 2.98277614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172557844000001 meters 0.2708660815102584 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.30 [[ 9.99974181e-01 3.32471481e-03 6.37059540e-03 -1.00549480e-01] [-3.32669661e-03 9.99994421e-01 3.00513880e-04 -7.57536998e-02] [-6.36956074e-03 -3.21699159e-04 9.99979662e-01 2.99099336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202557844 meters 0.2676481582788082 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.31 [[ 0.99999218 -0.00315304 0.00238699 -0.12935573] [ 0.00314395 0.99998783 0.00380191 -0.08214024] [-0.00239895 -0.00379438 0.99998992 0.31198149] [ 0. 0. 0. 1. ]] SLAMing on 7.2325578440000005 meters 0.26951317890453036 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.31 [[ 9.99973768e-01 3.65916047e-03 6.25086339e-03 -1.08908283e-01] [-3.66312051e-03 9.99993097e-01 6.22186394e-04 -8.23070957e-02] [-6.24854357e-03 -6.45067739e-04 9.99980270e-01 3.09415995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262557844000001 meters 0.2703398290759543 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.31 [[ 9.99974097e-01 3.75529710e-03 6.14025808e-03 -1.08788759e-01] [-3.76078000e-03 9.99992540e-01 8.81642016e-04 -8.34865651e-02] [-6.13690145e-03 -9.04711339e-04 9.99980760e-01 3.09934389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292557844000001 meters 0.27103671840343707 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.31 [[ 0.99997448 0.00386738 0.00600665 -0.10856768] [-0.00387454 0.9999918 0.00118126 -0.08485295] [-0.00600203 -0.0012045 0.99998126 0.31038154] [ 0. 0. 0. 1. ]] SLAMing on 7.322557844 meters 0.2703898005884226 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.33 [[ 0.99998873 0.00462369 -0.00107955 -0.12317937] [-0.00462213 0.99998827 0.00144965 -0.08978751] [ 0.00108624 -0.00144464 0.99999837 0.32981928] [ 0. 0. 0. 1. ]] SLAMing on 7.352557844000001 meters 0.27358394700361177 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.33 [[ 9.99985331e-01 5.41503201e-03 1.27223047e-04 -8.18596328e-02] [-5.41515756e-03 9.99984830e-01 1.00813474e-03 -8.75671174e-02] [-1.21762035e-04 -1.00880888e-03 9.99999484e-01 3.30456372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382557844000001 meters 0.2721685642852722 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.34 [[ 9.99993764e-01 3.42334620e-03 8.67758285e-04 -8.77696445e-02] [-3.42229784e-03 9.99993416e-01 -1.20674072e-03 -8.47616777e-02] [-8.71883662e-04 1.20376347e-03 9.99998895e-01 3.36154943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412557844 meters 0.2737446199349891 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.34 [[ 9.99993531e-01 3.52135549e-03 7.33429385e-04 -8.78117052e-02] [-3.52066324e-03 9.99993358e-01 -9.43005190e-04 -8.59301143e-02] [-7.36745170e-04 9.40416932e-04 9.99999286e-01 3.37213260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442557844 meters 0.2725003993531595 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.34 [[ 0.99999747 0.00166966 0.00150678 -0.09360713] [-0.00166523 0.99999431 -0.00293336 -0.08366072] [-0.00151167 0.00293085 0.99999456 0.34255866] [ 0. 0. 0. 1. ]] SLAMing on 7.472557844000001 meters 0.27104076752551587 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.35 [[ 9.99997217e-01 -4.22322006e-04 2.32093109e-03 -9.98057186e-02] [ 4.34060424e-04 9.99987107e-01 -5.05945877e-03 -8.30704253e-02] [-2.31876445e-03 5.06045211e-03 9.99984507e-01 3.48119038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502557844000001 meters 0.2714560009765644 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.35 [[ 9.99997888e-01 -6.13036516e-05 2.05421820e-03 -9.96649075e-02] [ 6.98514174e-05 9.99991339e-01 -4.16126638e-03 -8.73052906e-02] [-2.05394531e-03 4.16140109e-03 9.99989232e-01 3.49686920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532557844 meters 0.2756058058482275 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.35 [[ 0.99999589 0.00184183 0.00219828 -0.05657107] [-0.00183453 0.99999281 -0.00331744 -0.08771702] [-0.00220437 0.00331339 0.99999208 0.34961905] [ 0. 0. 0. 1. ]] SLAMing on 7.5625578440000005 meters 0.27295293065973 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.36 [[ 0.99997957 -0.00616593 -0.00168804 -0.07940446] [ 0.00616411 0.99998042 -0.0010783 -0.09022637] [ 0.00169465 0.00106787 0.99999799 0.35621088] [ 0. 0. 0. 1. ]] SLAMing on 7.592557844000001 meters 0.2734867914032702 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.36 [[ 9.99980733e-01 -5.93332651e-03 -1.82484175e-03 -7.93463411e-02] [ 5.93248931e-03 9.99982295e-01 -4.63847436e-04 -9.30425875e-02] [ 1.82756160e-03 4.53012645e-04 9.99998227e-01 3.57106219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622557844000001 meters 0.2748770779262122 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.10, Z:0.36 [[ 9.99981822e-01 -5.69760815e-03 -1.97321276e-03 -7.93242758e-02] [ 5.69794944e-03 9.99983753e-01 1.67380385e-04 -9.59368913e-02] [ 1.97222703e-03 -1.78620609e-04 9.99998039e-01 3.58162906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652557844 meters 0.27574727919476955 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.10, Z:0.36 [[ 9.99994158e-01 3.41732270e-03 7.08725975e-05 -6.07496463e-02] [-3.41726839e-03 9.99993878e-01 -7.52873317e-04 -1.01553697e-01] [-7.34449747e-05 7.52626728e-04 9.99999714e-01 3.59491297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682557844000001 meters 0.2751564505805922 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.11, Z:0.37 [[ 9.99999106e-01 1.07872578e-03 7.89942886e-04 -6.69760643e-02] [-1.07676949e-03 9.99996363e-01 -2.47274933e-03 -1.05465557e-01] [-7.92607431e-04 2.47189653e-03 9.99996631e-01 3.65981748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712557844000001 meters 0.2741041643427133 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.11, Z:0.37 [[ 0.99999789 -0.00127225 0.00161124 -0.07315819] [ 0.00127933 0.9999895 -0.00439968 -0.10852797] [-0.00160562 0.00440173 0.99998902 0.37169386] [ 0. 0. 0. 1. ]] SLAMing on 7.742557844 meters 0.2753562821431038 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.11, Z:0.37 [[ 9.99998535e-01 -8.91495689e-04 1.46131217e-03 -7.32614130e-02] [ 8.96405456e-04 9.99993945e-01 -3.36263006e-03 -1.13288557e-01] [-1.45830555e-03 3.36393507e-03 9.99993279e-01 3.73052388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7725578440000005 meters 0.27701680629661746 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.38 [[ 9.99999548e-01 -3.04865201e-04 9.00317143e-04 -7.30656342e-02] [ 3.06666189e-04 9.99997951e-01 -2.00093270e-03 -1.20119070e-01] [-8.99705284e-04 2.00120789e-03 9.99997593e-01 3.75920685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802557844000001 meters 0.27726331945478033 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.38 [[ 9.99999657e-01 -1.90555036e-04 8.06601553e-04 -7.32019025e-02] [ 1.91920736e-04 9.99998548e-01 -1.69341461e-03 -1.21464322e-01] [-8.06277693e-04 1.69356883e-03 9.99998241e-01 3.76939977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832557844000001 meters 0.2793398189954036 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.38 [[ 9.99999781e-01 -1.36454812e-04 6.46887271e-04 -7.30828245e-02] [ 1.37450968e-04 9.99998805e-01 -1.54012683e-03 -1.22126268e-01] [-6.46676339e-04 1.54021541e-03 9.99998605e-01 3.77783998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862557844 meters 0.2756412330914312 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.38 [[ 9.99999521e-01 -5.22437330e-04 8.28216609e-04 -1.18816159e-01] [ 5.22491169e-04 9.99999861e-01 -6.47911850e-05 -1.27139972e-01] [-8.28182644e-04 6.52238898e-05 9.99999655e-01 3.82217269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892557844000001 meters 0.2790057676024627 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.38 [[ 9.99998708e-01 1.49438005e-03 5.91822011e-04 -7.59840576e-02] [-1.49431714e-03 9.99998878e-01 -1.06714946e-04 -1.23648367e-01] [-5.91980820e-04 1.05830439e-04 9.99999819e-01 3.82192219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922557844000001 meters 0.27979637424631215 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.38 [[ 9.99998907e-01 1.38759617e-03 5.10083459e-04 -7.59966188e-02] [-1.38738574e-03 9.99998952e-01 -4.12668236e-04 -1.22222481e-01] [-5.10655542e-04 4.11960103e-04 9.99999785e-01 3.82790368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952557844000001 meters 0.2823971640137629 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.39 [[ 0.99999387 0.00330265 0.00116245 -0.08217146] [-0.00330469 0.999993 0.00175592 -0.12411847] [-0.00115664 -0.00175976 0.99999778 0.3896332 ] [ 0. 0. 0. 1. ]] SLAMing on 7.9825578440000005 meters 0.282185624074016 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.39 [[ 9.99996794e-01 1.68231465e-03 1.89257631e-03 -8.71291305e-02] [-1.68225540e-03 9.99998584e-01 -3.29025621e-05 -1.21486647e-01] [-1.89262898e-03 2.97186599e-05 9.99998209e-01 3.94426064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012557844 meters 0.28070705253863476 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.40 [[ 9.99996026e-01 -5.39539413e-04 2.76725869e-03 -9.35295163e-02] [ 5.45576199e-04 9.99997472e-01 -2.18121323e-03 -1.21686834e-01] [-2.76607484e-03 2.18271431e-03 9.99993792e-01 4.00179881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042557844000001 meters 0.2803429686907362 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.40 [[ 9.99996473e-01 -3.63692171e-04 2.63095505e-03 -9.35793026e-02] [ 3.68161744e-04 9.99998490e-01 -1.69855585e-03 -1.23829996e-01] [-2.63033333e-03 1.69951848e-03 9.99995096e-01 4.01300288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072557844 meters 0.28267106990661206 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.40 [[ 0.99999343 0.00128099 0.00339243 -0.05496667] [-0.00127725 0.99999857 -0.00110452 -0.12367551] [-0.00339384 0.00110018 0.99999364 0.40480498] [ 0. 0. 0. 1. ]] SLAMing on 8.102557844000001 meters 0.2852925024261386 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.41 [[ 9.99993838e-01 1.39967595e-03 3.21948896e-03 -5.49792171e-02] [-1.39717940e-03 9.99998722e-01 -7.77568588e-04 -1.25097072e-01] [-3.22057319e-03 7.73065593e-04 9.99994515e-01 4.06054685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132557844 meters 0.2839298089395185 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.41 [[ 9.99994160e-01 1.55609020e-03 3.04269120e-03 -5.50469456e-02] [-1.55500258e-03 9.99998726e-01 -3.59785625e-04 -1.26969689e-01] [-3.04324718e-03 3.55052132e-04 9.99995306e-01 4.07459573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162557844 meters 0.2835751935809731 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.42 [[ 0.99998861 -0.00449725 -0.00159918 -0.08085456] [ 0.00450291 0.99998354 0.00355443 -0.13251791] [ 0.00158317 -0.00356159 0.9999924 0.41795485] [ 0. 0. 0. 1. ]] SLAMing on 8.192557844000001 meters 0.2847905231662533 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.42 [[ 9.99995466e-01 2.69357924e-03 -1.34652085e-03 -6.60485665e-02] [-2.69334506e-03 9.99996358e-01 1.75697506e-04 -1.33321984e-01] [ 1.34698921e-03 -1.72070064e-04 9.99999078e-01 4.23751752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222557844 meters 0.2844422227193274 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.42 [[ 9.99995317e-01 2.67538067e-03 -1.48629186e-03 -6.58409499e-02] [-2.67517340e-03 9.99996412e-01 1.41426181e-04 -1.33122495e-01] [ 1.48666490e-03 -1.37449430e-04 9.99998885e-01 4.24198088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252557844 meters 0.28558655936917626 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.43 [[ 9.99994718e-01 2.71956809e-03 -1.77973145e-03 -6.54547862e-02] [-2.71907481e-03 9.99996264e-01 2.79526382e-04 -1.33673121e-01] [ 1.78048500e-03 -2.74685683e-04 9.99998377e-01 4.25245526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282557844000001 meters 0.285604126710816 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.43 [[ 9.99999399e-01 6.71056577e-04 -8.66711267e-04 -7.12603756e-02] [-6.72851421e-04 9.99997627e-01 -2.07223786e-03 -1.29567009e-01] [ 8.65318622e-04 2.07281978e-03 9.99997477e-01 4.30303409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312557844 meters 0.28604554856885395 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.43 [[ 9.99999295e-01 6.31784878e-04 -1.00540021e-03 -7.13426183e-02] [-6.33960441e-04 9.99997455e-01 -2.16503190e-03 -1.29020103e-01] [ 1.00402982e-03 2.16566775e-03 9.99997151e-01 4.31422355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342557844 meters 0.2849932662314937 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.43 [[ 9.99999161e-01 5.99678195e-04 -1.14806103e-03 -7.14886037e-02] [-6.02248177e-04 9.99997311e-01 -2.23950523e-03 -1.28530331e-01] [ 1.14671496e-03 2.24019477e-03 9.99996833e-01 4.32732566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372557844000001 meters 0.2869812114287747 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.43 [[ 0.99998529 -0.00473221 0.00265234 -0.05074398] [ 0.00472841 0.99998779 0.00143442 -0.13063096] [-0.00265909 -0.00142186 0.99999545 0.43185069] [ 0. 0. 0. 1. ]] SLAMing on 8.402557844 meters 0.2869812114287747 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.43 [[ 0.99998529 -0.00473221 0.00265234 -0.05074398] [ 0.00472841 0.99998779 0.00143442 -0.13063096] [-0.00265909 -0.00142186 0.99999545 0.43185069] [ 0. 0. 0. 1. ]] SLAMing on 8.432557844000002 meters 0.28727708954667325 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.43 [[ 0.99998613 -0.00463725 0.00249739 -0.05072499] [ 0.00463295 0.99998778 0.00172643 -0.13184763] [-0.00250537 -0.00171484 0.99999539 0.43293807] [ 0. 0. 0. 1. ]] SLAMing on 8.462557844 meters 0.2853266095532344 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.44 [[ 9.99992955e-01 3.61975100e-03 9.93760222e-04 -7.03343259e-02] [-3.62115277e-03 9.99992446e-01 1.41241705e-03 -1.39353533e-01] [-9.88640118e-04 -1.41600566e-03 9.99998509e-01 4.35142427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492557844 meters 0.28777206172791514 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.43 [[ 0.99998914 -0.00243385 0.0039739 -0.04773558] [ 0.00241704 0.99998813 0.00423014 -0.13917164] [-0.00398415 -0.00422048 0.99998316 0.4322806 ] [ 0. 0. 0. 1. ]] SLAMing on 8.522557844000001 meters 0.284851197032388 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.44 [[ 9.99999613e-01 7.75593888e-04 4.14962456e-04 -7.53179446e-02] [-7.75379243e-04 9.99999566e-01 -5.17172884e-04 -1.38932722e-01] [-4.15363392e-04 5.16850931e-04 9.99999780e-01 4.42416997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552557844 meters 0.285929197202203 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.45 [[ 0.99999822 -0.0015865 0.00101702 -0.08115026] [ 0.00158856 0.99999668 -0.002027 -0.14356869] [-0.0010138 0.00202861 0.99999743 0.44995235] [ 0. 0. 0. 1. ]] SLAMing on 8.582557844 meters 0.28889346313584696 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.45 [[ 0.99996423 -0.00689774 0.00489549 -0.05914407] [ 0.00688972 0.9999749 0.0016532 -0.14768147] [-0.00490677 -0.00161941 0.99998665 0.44700829] [ 0. 0. 0. 1. ]] SLAMing on 8.612557844000001 meters 0.2896342110284125 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.45 [[ 0.99996637 -0.00668653 0.00474822 -0.05914708] [ 0.00667581 0.99997514 0.00227151 -0.15033479] [-0.00476329 -0.00223974 0.99998615 0.44807574] [ 0. 0. 0. 1. ]] SLAMing on 8.642557844 meters 0.2891174646689398 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:0.45 [[ 0.99999167 0.00113443 0.00392136 -0.07801296] [-0.001141 0.99999795 0.00167372 -0.15806399] [-0.00391945 -0.00167818 0.99999091 0.44851747] [ 0. 0. 0. 1. ]] SLAMing on 8.672557844 meters 0.28855865720452756 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:0.45 [[ 9.99988673e-01 -1.43418528e-03 4.53842260e-03 -8.31850794e-02] [ 1.43397569e-03 9.99998971e-01 4.94337692e-05 -1.64130670e-01] [-4.53848882e-03 -4.29252216e-05 9.99989700e-01 4.54526204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702557844000001 meters 0.28931770871105755 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.17, Z:0.46 [[ 9.99989892e-01 -1.19912443e-03 4.33345295e-03 -8.30444999e-02] [ 1.19621924e-03 9.99999058e-01 6.72940305e-04 -1.66907526e-01] [-4.33425581e-03 -6.67749743e-04 9.99990384e-01 4.55612383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732557844 meters 0.28804629140210913 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.46 [[ 9.99982501e-01 -2.71375883e-03 5.25672110e-03 -8.79096840e-02] [ 2.71854375e-03 9.99995897e-01 -9.03316749e-04 -1.64920368e-01] [-5.25424815e-03 9.17591568e-04 9.99985775e-01 4.59680766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762557844000002 meters 0.29054682009909166 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.46 [[ 9.99984758e-01 -2.41667798e-03 4.96413077e-03 -8.79103710e-02] [ 2.41747295e-03 9.99997066e-01 -1.54147646e-04 -1.68199290e-01] [-4.96374368e-03 1.66145948e-04 9.99987667e-01 4.61565710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792557844000001 meters 0.289446560824312 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.46 [[ 9.99985952e-01 -2.21533275e-03 4.81531582e-03 -8.78809728e-02] [ 2.21354301e-03 9.99997479e-01 3.76975167e-04 -1.70543376e-01] [-4.81613880e-03 -3.66310962e-04 9.99988335e-01 4.62511369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822557844 meters 0.2909499894428558 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.46 [[ 9.99987278e-01 -1.97255076e-03 4.64248834e-03 -8.78395039e-02] [ 1.96798279e-03 9.99997575e-01 9.88311911e-04 -1.73286501e-01] [-4.64442658e-03 -9.79163000e-04 9.99988735e-01 4.63574409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852557844000001 meters 0.2901938738694746 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.46 [[ 0.99998841 -0.00176352 0.00448008 -0.08792964] [ 0.00175667 0.99999728 0.00153218 -0.17568699] [-0.00448277 -0.00152429 0.99998879 0.46488743] [ 0. 0. 0. 1. ]] SLAMing on 8.882557844 meters 0.28986779295358295 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.47 [[ 0.99998924 -0.00161115 0.00435005 -0.08807636] [ 0.00160269 0.99999682 0.00194633 -0.17744468] [-0.00435317 -0.00193933 0.99998864 0.46613439] [ 0. 0. 0. 1. ]] SLAMing on 8.912557844 meters 0.2936332228846097 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.18, Z:0.47 [[ 9.99992848e-01 -2.92358045e-04 3.77084088e-03 -4.45443145e-02] [ 2.86659860e-04 9.99998816e-01 1.51156982e-03 -1.76922231e-01] [-3.77127834e-03 -1.51047806e-03 9.99991748e-01 4.65407178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942557844000001 meters 0.28964976496614103 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.48 [[ 0.99999653 -0.00234246 0.00120768 -0.09916364] [ 0.0023393 0.99999386 0.0026101 -0.18533473] [-0.00121379 -0.00260727 0.99999586 0.48093043] [ 0. 0. 0. 1. ]] SLAMing on 8.972557844 meters 0.2923761277846511 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.48 [[ 9.99999031e-01 -1.32141056e-03 4.38277663e-04 -5.63897430e-02] [ 1.32058904e-03 9.99997381e-01 1.86945704e-03 -1.85130226e-01] [-4.40746836e-04 -1.86887645e-03 9.99998157e-01 4.80997312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002557844 meters 0.29286708306856046 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.48 [[ 9.99999280e-01 -1.15953876e-03 3.08932135e-04 -5.65233088e-02] [ 1.15881887e-03 9.99996637e-01 2.32034310e-03 -1.87033972e-01] [-3.11621624e-04 -2.31998343e-03 9.99997260e-01 4.82203490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032557844000001 meters 0.2922687598643169 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.49 [[ 9.99993407e-01 -3.41732861e-03 1.22798697e-03 -6.28763447e-02] [ 3.41717967e-03 9.99994154e-01 1.23363357e-04 -1.86750599e-01] [-1.22840137e-03 -1.19166291e-04 9.99999238e-01 4.87788714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062557844 meters 0.2934240107225043 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.49 [[ 9.99994258e-01 -3.21163678e-03 1.08179797e-03 -6.29757724e-02] [ 3.21087551e-03 9.99994597e-01 7.04712101e-04 -1.89263416e-01] [-1.08405540e-03 -7.01234536e-04 9.99999167e-01 4.89047629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092557844 meters 0.29252564084060173 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.50 [[ 0.99998206 -0.00572042 0.00177614 -0.06872894] [ 0.00572251 0.99998294 -0.00117185 -0.19267099] [-0.0017694 0.001182 0.99999774 0.49550267] [ 0. 0. 0. 1. ]] SLAMing on 9.122557844000001 meters 0.29377331710148674 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.50 [[ 9.99983090e-01 -5.58219627e-03 1.63074882e-03 -6.88287851e-02] [ 5.58348713e-03 9.99984102e-01 -7.88096511e-04 -1.94276863e-01] [-1.62632359e-03 7.97188450e-04 9.99998360e-01 4.96716249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152557844 meters 0.29464775446847535 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.50 [[ 9.99983960e-01 -5.45260153e-03 1.53252786e-03 -6.90389177e-02] [ 5.45326182e-03 9.99985040e-01 -4.27005221e-04 -1.95758686e-01] [-1.53017664e-03 4.35355648e-04 9.99998735e-01 4.97884376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182557844000002 meters 0.2962807711869166 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.50 [[ 9.99983403e-01 4.07543573e-03 4.07248336e-03 -5.01013762e-02] [-4.07194003e-03 9.99991334e-01 -8.66293485e-04 -2.01448368e-01] [-4.07597859e-03 8.49696199e-04 9.99991332e-01 4.97710763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212557844 meters 0.29050824310555606 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.50 [[ 0.99998698 0.00164574 0.00483109 -0.05632688] [-0.00163102 0.99999402 -0.00304964 -0.20225047] [-0.00483608 0.00304172 0.99998368 0.50414684] [ 0. 0. 0. 1. ]] SLAMing on 9.242557844 meters 0.29623124891871183 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.51 [[ 9.99975579e-01 -6.56241936e-03 2.40349217e-03 -8.00256217e-02] [ 6.56450383e-03 9.99978083e-01 -8.60408639e-04 -2.02624717e-01] [-2.39779313e-03 8.76165360e-04 9.99996741e-01 5.10180960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272557844000001 meters 0.2904335740687129 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.51 [[ 9.99976557e-01 -6.45907037e-03 2.27296727e-03 -8.01937323e-02] [ 6.46038088e-03 9.99978969e-01 -5.69693595e-04 -2.03824550e-01] [-2.26923978e-03 5.84364474e-04 9.99997255e-01 5.11472803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302557844 meters 0.2986119857408065 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.51 [[ 0.9999875 0.00310517 0.003918 -0.06119075] [-0.00310009 0.99999435 -0.00130044 -0.20894588] [-0.00392201 0.00128828 0.99999148 0.51180933] [ 0. 0. 0. 1. ]] SLAMing on 9.332557844 meters 0.29145487704825573 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.51 [[ 0.99998784 0.0031373 0.00380547 -0.0612527 ] [-0.00313273 0.99999437 -0.00120532 -0.20926261] [-0.00380923 0.00119338 0.99999203 0.51268902] [ 0. 0. 0. 1. ]] SLAMing on 9.362557844000001 meters 0.29772308959686233 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.52 [[ 0.99998748 0.00119879 0.00485738 -0.06684242] [-0.00118229 0.99999353 -0.0033975 -0.20541446] [-0.00486142 0.00339171 0.99998243 0.51713818] [ 0. 0. 0. 1. ]] SLAMing on 9.392557844 meters 0.29953487675086293 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.52 [[ 0.99998832 0.00153726 0.00458286 -0.0677695 ] [-0.00152482 0.99999515 -0.00271533 -0.2078765 ] [-0.00458701 0.00270831 0.99998581 0.52046912] [ 0. 0. 0. 1. ]] SLAMing on 9.422557844 meters 0.29186308980751086 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.53 [[ 9.99984841e-01 -7.17396878e-04 5.45918570e-03 -7.36732042e-02] [ 7.46221484e-04 9.99985783e-01 -5.27981558e-03 -2.04417798e-01] [-5.45532036e-03 5.28380930e-03 9.99971160e-01 5.25917646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452557844000001 meters 0.2913537244120527 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.53 [[ 9.99985395e-01 -7.02841189e-04 5.35871229e-03 -7.38762387e-02] [ 7.30892204e-04 9.99986033e-01 -5.23449586e-03 -2.04516189e-01] [-5.35495842e-03 5.23833605e-03 9.99971942e-01 5.27076815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482557844 meters 0.30017578030205677 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.52 [[ 9.99951397e-01 -3.35564806e-03 9.27058990e-03 -5.00611449e-02] [ 3.35211623e-03 9.99994303e-01 3.96483384e-04 -2.09048228e-01] [-9.27186755e-03 -3.65388019e-04 9.99956949e-01 5.22470699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512557844000002 meters 0.30059302204852006 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.52 [[ 9.99953125e-01 -3.31995393e-03 9.09535499e-03 -5.04126866e-02] [ 3.31564038e-03 9.99994384e-01 4.89296715e-04 -2.09172162e-01] [-9.09692835e-03 -4.59116853e-04 9.99958517e-01 5.24376045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542557844000001 meters 0.2936949142194315 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99954215e-01 -3.27324640e-03 8.99184827e-03 -5.05186945e-02] [ 3.26776531e-03 9.99994466e-01 6.24186834e-04 -2.09679785e-01] [-8.99384163e-03 -5.94775005e-04 9.99959378e-01 5.25328000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572557844 meters 0.29390333775722627 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99955061e-01 -3.21975116e-03 8.91675840e-03 -5.07041248e-02] [ 3.21298503e-03 9.99994540e-01 7.73031999e-04 -2.10255472e-01] [-8.91919868e-03 -7.44347848e-04 9.99959946e-01 5.26275728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844000001 meters 0.29435469928022273 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99956642e-01 -3.27144953e-03 8.71850070e-03 -5.08583179e-02] [ 3.26589090e-03 9.99994455e-01 6.51728140e-04 -2.09534329e-01] [-8.72058445e-03 -6.23226210e-04 9.99961781e-01 5.27860185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632557844 meters 0.29464338718393773 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99957179e-01 -3.35935702e-03 8.62289633e-03 -5.08264354e-02] [ 3.35586911e-03 9.99994281e-01 4.18931181e-04 -2.08464444e-01] [-8.62425436e-03 -3.89975931e-04 9.99962734e-01 5.28402892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662557844 meters 0.295284947255593 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99957843e-01 -3.44483502e-03 8.51149587e-03 -5.07726741e-02] [ 3.44328442e-03 9.99994053e-01 1.96824977e-04 -2.07432898e-01] [-8.51212328e-03 -1.67509178e-04 9.99963757e-01 5.29001695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692557844000001 meters 0.29631065843072446 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99958356e-01 -3.54740995e-03 8.40845930e-03 -5.07661839e-02] [ 3.54812955e-03 9.99993703e-01 -7.06648445e-05 -2.06184991e-01] [-8.40815568e-03 1.00496205e-04 9.99964646e-01 5.29654123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722557844 meters 0.29586000907007093 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99958864e-01 -3.63249098e-03 8.31112382e-03 -5.08116940e-02] [ 3.63505247e-03 9.99993350e-01 -2.93114093e-04 -2.05131095e-01] [-8.31000382e-03 3.23313407e-04 9.99965419e-01 5.30384852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752557844 meters 0.3062112078643923 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.53 [[ 9.99959184e-01 -3.70804886e-03 8.23896211e-03 -5.09073975e-02] [ 3.71222770e-03 9.99992989e-01 -4.91969380e-04 -2.04196707e-01] [-8.23708010e-03 5.22534203e-04 9.99965938e-01 5.31081303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782557844000001 meters 0.2974392457286542 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.53 [[ 9.99959429e-01 -3.89704740e-03 8.12118306e-03 -5.11669099e-02] [ 3.90505445e-03 9.99991904e-01 -9.70322641e-04 -2.01874367e-01] [-8.11733592e-03 1.00199694e-03 9.99966552e-01 5.32427392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812557844 meters 0.29764653268117897 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.53 [[ 0.99995904 -0.00401109 0.00811411 -0.051462 ] [ 0.00402158 0.9999911 -0.00127764 -0.20043402] [-0.00810892 0.00131022 0.99996626 0.53319695] [ 0. 0. 0. 1. ]] SLAMing on 9.842557844000002 meters 0.2974850132334908 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.53 [[ 0.99995882 -0.00413542 0.00807849 -0.05171224] [ 0.00414862 0.99999009 -0.00161816 -0.19885772] [-0.00807171 0.00165161 0.99996606 0.53407592] [ 0. 0. 0. 1. ]] SLAMing on 9.872557844000001 meters 0.2979701967035121 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.53 [[ 0.99995864 -0.00431214 0.00800761 -0.05181999] [ 0.00432913 0.99998841 -0.00210588 -0.1966226 ] [-0.00799844 0.00214046 0.99996572 0.53483224] [ 0. 0. 0. 1. ]] SLAMing on 9.902557844 meters 0.29784294500951475 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.54 [[ 0.99995579 -0.00255702 0.00904915 -0.05811773] [ 0.00256721 0.99999608 -0.00111531 -0.19014849] [-0.00904626 0.00113849 0.99995843 0.54035758] [ 0. 0. 0. 1. ]] SLAMing on 9.932557844000002 meters 0.2999179069778631 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.54 [[ 0.99995495 -0.00280772 0.00906669 -0.05835866] [ 0.00282427 0.99999437 -0.00181264 -0.18703366] [-0.00906155 0.00183816 0.99995725 0.54086103] [ 0. 0. 0. 1. ]] SLAMing on 9.962557844 meters 0.29901694542749163 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.54 [[ 0.9999542 -0.00301332 0.0090843 -0.05867005] [ 0.00303514 0.99999254 -0.00238986 -0.18442022] [-0.00907703 0.00241732 0.99995588 0.54153234] [ 0. 0. 0. 1. ]] SLAMing on 9.992557844 meters 0.3006289591050109 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.55 [[ 9.99948057e-01 -1.23429939e-03 1.01172959e-02 -6.51749471e-02] [ 1.24338968e-03 9.99998829e-01 -8.92249598e-04 -1.81672924e-01] [-1.01161827e-02 9.04782993e-04 9.99948421e-01 5.47639723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022557844000001 meters 0.29897512548278055 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.55 [[ 0.99994761 -0.0013409 0.01014788 -0.06551599] [ 0.00135307 0.99999837 -0.00119284 -0.18029796] [-0.01014627 0.00120651 0.9999478 0.54832197] [ 0. 0. 0. 1. ]] SLAMing on 10.052557844 meters 0.2998968463186941 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.55 [[ 0.99994761 -0.00145978 0.01013141 -0.06575924] [ 0.00147522 0.99999776 -0.00151728 -0.17881532] [-0.01012917 0.00153215 0.99994752 0.54904785] [ 0. 0. 0. 1. ]] SLAMing on 10.082557844 meters 0.30120998484471234 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.55 [[ 0.99994727 -0.00160831 0.01014224 -0.06594713] [ 0.00162786 0.99999683 -0.00191976 -0.17703164] [-0.01013912 0.00193617 0.99994672 0.54945433] [ 0. 0. 0. 1. ]] SLAMing on 10.112557844000001 meters 0.3011767193407044 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.55 [[ 0.99994687 -0.00176057 0.010157 -0.06615452] [ 0.00178446 0.99999566 -0.0023443 -0.17515548] [-0.01015282 0.0023623 0.99994567 0.54989105] [ 0. 0. 0. 1. ]] SLAMing on 10.142557844 meters 0.3011709682391303 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.55 [[ 0.99994637 -0.00192826 0.01017549 -0.06637752] [ 0.00195705 0.99999411 -0.00282019 -0.1730517 ] [-0.01017 0.00283995 0.99994425 0.55035425] [ 0. 0. 0. 1. ]] SLAMing on 10.172557844 meters 0.3000321515039408 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.56 [[ 9.99935044e-01 -9.09884893e-05 1.13973496e-02 -7.26458230e-02] [ 1.11214740e-04 9.99998420e-01 -1.77402392e-03 -1.66181966e-01] [-1.13971702e-02 1.77517624e-03 9.99933474e-01 5.55041422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202557844000001 meters 0.30164703092680495 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99990531 -0.00480385 0.01289523 -0.04828846] [ 0.0047837 0.99998729 0.00159306 -0.16299381] [-0.01290272 -0.00153122 0.99991558 0.55288736] [ 0. 0. 0. 1. ]] SLAMing on 10.232557844 meters 0.30104419653849507 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 9.99902797e-01 -5.00212150e-03 1.30144573e-02 -4.87925012e-02] [ 4.98985581e-03 9.99987075e-01 9.74767666e-04 -1.60279190e-01] [-1.30191650e-02 -9.09732650e-04 9.99914833e-01 5.53457813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262557844000002 meters 0.30141761991021826 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.55 [[ 9.99897879e-01 -5.41888414e-03 1.32237720e-02 -4.95523272e-02] [ 5.42246108e-03 9.99985271e-01 -2.34654157e-04 -1.54618991e-01] [-1.32223057e-02 3.06335583e-04 9.99912535e-01 5.54037885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292557844000001 meters 0.30141761991021826 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.55 [[ 9.99897879e-01 -5.41888414e-03 1.32237720e-02 -4.95523272e-02] [ 5.42246108e-03 9.99985271e-01 -2.34654157e-04 -1.54618991e-01] [-1.32223057e-02 3.06335583e-04 9.99912535e-01 5.54037885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322557844 meters 0.3024994687828107 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.55 [[ 9.99895881e-01 -5.58496579e-03 1.33054272e-02 -4.97981233e-02] [ 5.59472224e-03 9.99984107e-01 -6.96159068e-04 -1.52618491e-01] [-1.33013277e-02 7.70526754e-04 9.99911237e-01 5.54128475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352557844000001 meters 0.30299035963176546 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.55 [[ 0.99989408 -0.00572005 0.01338282 -0.04998527] [ 0.00573491 0.99998298 -0.00107253 -0.15100614] [-0.01337646 0.00114916 0.99990987 0.55410493] [ 0. 0. 0. 1. ]] SLAMing on 10.382557844 meters 0.3007256860487345 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.56 [[ 9.99931236e-01 4.57794893e-06 1.17270463e-02 -7.60691916e-02] [ 4.31303843e-05 9.99991725e-01 -4.06797487e-03 -1.47162088e-01] [-1.17269678e-02 4.06820094e-03 9.99922961e-01 5.58270738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412557844 meters 0.3028495810749261 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.56 [[ 0.99987853 -0.00576495 0.01448064 -0.05443134] [ 0.00578153 0.99998268 -0.00110377 -0.14658301] [-0.01447402 0.00118735 0.99989454 0.55659262] [ 0. 0. 0. 1. ]] SLAMing on 10.442557844000001 meters 0.302329552625102 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.56 [[ 0.99987803 -0.00583613 0.0144864 -0.05464996] [ 0.00585579 0.99998199 -0.00131495 -0.14563884] [-0.01447847 0.00139962 0.9998942 0.55715541] [ 0. 0. 0. 1. ]] SLAMing on 10.472557844 meters 0.3023084318313412 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.56 [[ 9.99870594e-01 -4.53523765e-03 1.54345800e-02 -5.96697700e-02] [ 4.53759601e-03 9.99989698e-01 -1.17780172e-04 -1.45143807e-01] [-1.54338868e-02 1.87800819e-04 9.99880873e-01 5.61666833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502557844 meters 0.3022350564585845 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 9.99868605e-01 -4.59400656e-03 1.55456625e-02 -6.00432128e-02] [ 4.59913810e-03 9.99989381e-01 -2.94360059e-04 -1.44376580e-01] [-1.55441451e-02 3.65818030e-04 9.99879116e-01 5.61943474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532557844000001 meters 0.3018252542066844 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 9.99866639e-01 -4.62572750e-03 1.56622652e-02 -6.02825976e-02] [ 4.63241893e-03 9.99989194e-01 -3.90979870e-04 -1.43970990e-01] [-1.56602874e-02 4.63481902e-04 9.99877263e-01 5.61804323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562557844 meters 0.3038953406219486 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 9.99865738e-01 -4.63976670e-03 1.57155718e-02 -6.03643580e-02] [ 4.64715999e-03 9.99989108e-01 -4.33957892e-04 -1.43792570e-01] [-1.57133871e-02 5.06932404e-04 9.99876409e-01 5.61666316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592557844000002 meters 0.30343388226829554 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 9.99863675e-01 -4.74692782e-03 1.58145066e-02 -6.07542523e-02] [ 4.75945378e-03 9.99988389e-01 -7.54512602e-04 -1.42342621e-01] [-1.58107414e-02 8.29678157e-04 9.99874658e-01 5.62080773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622557844000001 meters 0.3032969621893757 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 0.99986239 -0.00483591 0.0158689 -0.06106716] [ 0.00485268 0.99998771 -0.00101862 -0.14115163] [-0.01586378 0.00109549 0.99987356 0.56257621] [ 0. 0. 0. 1. ]] SLAMing on 10.652557844 meters 0.3027991647325379 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 0.9998614 -0.00492762 0.01590304 -0.06132158] [ 0.0049489 0.99998691 -0.00129886 -0.13990057] [-0.01589643 0.00137739 0.9998727 0.56305929] [ 0. 0. 0. 1. ]] SLAMing on 10.682557844000002 meters 0.30233626861544965 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 0.99986056 -0.00500013 0.01593303 -0.06149316] [ 0.00502506 0.99998621 -0.00152468 -0.1389256 ] [-0.01592518 0.00160453 0.9998719 0.56335499] [ 0. 0. 0. 1. ]] SLAMing on 10.712557844 meters 0.30144592027480493 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 0.99985928 -0.00507281 0.01599028 -0.06170214] [ 0.00510152 0.99998545 -0.00175574 -0.13794405] [-0.01598114 0.00183707 0.99987061 0.56357021] [ 0. 0. 0. 1. ]] SLAMing on 10.742557844 meters 0.30293128457374496 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.56 [[ 0.99985804 -0.00515379 0.01604155 -0.06189901] [ 0.00518665 0.99998453 -0.00200801 -0.1368721 ] [-0.01603096 0.00209092 0.99986931 0.56379067] [ 0. 0. 0. 1. ]] SLAMing on 10.772557844000001 meters 0.30176867850148936 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.56 [[ 0.99983606 0.00377845 0.01770782 -0.08696689] [-0.00373596 0.99999006 -0.00243176 -0.13571754] [-0.01771684 0.00236521 0.99984025 0.56477596] [ 0. 0. 0. 1. ]] SLAMing on 10.802557844 meters 0.30146178941486723 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.57 [[ 0.99983494 0.00371838 0.01778377 -0.08722662] [-0.00367242 0.99998983 -0.00261625 -0.1349172 ] [-0.01779332 0.00255051 0.99983843 0.56500905] [ 0. 0. 0. 1. ]] SLAMing on 10.832557844 meters 0.3033606298509815 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.57 [[ 0.99978907 -0.00408727 0.02012717 -0.06787356] [ 0.00412182 0.9999901 -0.00167543 -0.13194846] [-0.02012012 0.00175804 0.99979602 0.56564204] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844000001 meters 0.30331146205087506 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.57 [[ 0.99978861 -0.00417278 0.02013278 -0.06798366] [ 0.00421246 0.99998927 -0.00192899 -0.13085948] [-0.02012452 0.00201339 0.99979545 0.56591194] [ 0. 0. 0. 1. ]] SLAMing on 10.892557844 meters 0.30083915259386296 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.57 [[ 0.99978403 0.00437708 0.02031601 -0.09097473] [-0.00431709 0.9999862 -0.00299535 -0.12853748] [-0.02032885 0.00290699 0.99978912 0.56650532] [ 0. 0. 0. 1. ]] SLAMing on 10.922557844000002 meters 0.30152820389073237 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.57 [[ 0.99978263 0.00423131 0.02041527 -0.0912061 ] [-0.00416168 0.99998538 -0.00345202 -0.12660846] [-0.02042958 0.00336631 0.99978563 0.56649787] [ 0. 0. 0. 1. ]] SLAMing on 10.952557844000001 meters 0.29927226351281033 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.57 [[ 9.99756789e-01 -1.73813713e-03 2.19850467e-02 -1.15631878e-01] [ 1.74241647e-03 9.99998467e-01 -1.75493540e-04 -1.20263408e-01] [-2.19847080e-02 2.13757965e-04 9.99758284e-01 5.67898177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982557844 meters 0.30049104671350163 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.57 [[ 9.99816257e-01 -6.53077211e-04 1.91579165e-02 -7.36923615e-02] [ 6.63941211e-04 9.99999622e-01 -5.60721278e-04 -1.18598215e-01] [-1.91575431e-02 5.73337980e-04 9.99816313e-01 5.69585139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012557844000002 meters 0.29959589784974355 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.57 [[ 0.99979898 0.0072893 0.01867813 -0.09418373] [-0.00724966 0.99997132 -0.00218914 -0.11826607] [-0.01869356 0.00205329 0.99982315 0.56871434] [ 0. 0. 0. 1. ]] SLAMing on 11.042557844000001 meters 0.3008136633875782 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.57 [[ 0.99979841 0.00707337 0.01879137 -0.09446332] [-0.0070207 0.99997124 -0.00286742 -0.11541788] [-0.01881111 0.00273491 0.99981931 0.56875853] [ 0. 0. 0. 1. ]] SLAMing on 11.072557844 meters 0.3008910941738679 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.11, Z:0.57 [[ 0.99979739 0.00680669 0.01894321 -0.09483487] [-0.00673767 0.99997044 -0.00370485 -0.11188086] [-0.01896787 0.00357647 0.9998137 0.5687612 ] [ 0. 0. 0. 1. ]] SLAMing on 11.102557844000001 meters 0.3008066769524193 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.11, Z:0.57 [[ 9.99760190e-01 1.06100605e-02 1.91569855e-02 -9.51511157e-02] [-1.05987388e-02 9.99943592e-01 -6.92431020e-04 -1.06264207e-01] [-1.91632516e-02 4.89225083e-04 9.99816248e-01 5.68722419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132557844 meters 0.2995851872931907 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.57 [[ 9.99826170e-01 2.11128415e-03 1.85249177e-02 -1.13868024e-01] [-2.11063091e-03 9.99997771e-01 -5.48140244e-05 -9.77307846e-02] [-1.85249921e-02 1.57052321e-05 9.99828397e-01 5.67172780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162557844 meters 0.2992374128631494 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.57 [[ 9.99827369e-01 1.87545074e-03 1.84855304e-02 -1.13651041e-01] [-1.86226400e-03 9.99997999e-01 -7.30542857e-04 -9.49158864e-02] [-1.84868635e-02 6.95991804e-04 9.99828861e-01 5.66925594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192557844000001 meters 0.3120970244298968 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.57 [[ 0.99982816 0.0016756 0.0184621 -0.11356736] [-0.00165236 0.99999782 -0.00127393 -0.09263132] [-0.0184642 0.0012432 0.99982875 0.56689108] [ 0. 0. 0. 1. ]] SLAMing on 11.222557844 meters 0.2991183824593533 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.57 [[ 9.99812828e-01 -6.64337607e-03 1.81706869e-02 -1.33460869e-01] [ 6.65048435e-03 9.99977831e-01 -3.30794918e-04 -8.52982225e-02] [-1.81680865e-02 4.51576871e-04 9.99834845e-01 5.66043541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252557844 meters 0.29951239066333885 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.57 [[ 9.99810806e-01 -6.75452235e-03 1.82408537e-02 -1.33667534e-01] [ 6.76757497e-03 9.99976886e-01 -6.53936088e-04 -8.39480799e-02] [-1.82360151e-02 7.77258712e-04 9.99833408e-01 5.66143131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282557844000001 meters 0.29881720550811214 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.57 [[ 9.99835954e-01 8.16795928e-04 1.80941329e-02 -1.54324711e-01] [-7.55766461e-04 9.99994004e-01 -3.37946839e-03 -8.26063027e-02] [-1.80967847e-02 3.36523906e-03 9.99830576e-01 5.65569308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312557844 meters 0.3007023364158934 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.57 [[ 9.99835875e-01 7.17135204e-04 1.81027454e-02 -1.54338068e-01] [-6.50762593e-04 9.99993046e-01 -3.67206350e-03 -8.13909301e-02] [-1.81052529e-02 3.65968023e-03 9.99829389e-01 5.65593130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342557844000002 meters 0.3058255203264301 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.57 [[ 9.99841528e-01 -5.42044259e-03 1.69569479e-02 -1.76700064e-01] [ 5.42804243e-03 9.99985187e-01 -4.02191470e-04 -7.85248855e-02] [-1.69545167e-02 4.94170767e-04 9.99856140e-01 5.67108110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372557844000001 meters 0.3009839997157777 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:0.57 [[ 0.99982052 0.00356914 0.01860629 -0.1560085 ] [-0.003549 0.99999308 -0.00111531 -0.08072412] [-0.01861014 0.00104907 0.99982627 0.56628607] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters 0.29992885733300595 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.57 [[ 9.99831386e-01 -5.02107166e-03 1.76632161e-02 -1.75629344e-01] [ 5.02674323e-03 9.99987328e-01 -2.76712041e-04 -7.58484320e-02] [-1.76616028e-02 3.65453835e-04 9.99843955e-01 5.65860395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432557844000002 meters 0.3014474043776773 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.57 [[ 9.99830885e-01 -5.07298043e-03 1.76767008e-02 -1.75634425e-01] [ 5.08136399e-03 9.99986998e-01 -4.29389204e-04 -7.52101226e-02] [-1.76742927e-02 5.19138339e-04 9.99843663e-01 5.65795470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462557844 meters 0.3067653822965254 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 9.99858000e-01 4.10857022e-03 1.63431535e-02 -1.97582832e-01] [-4.09388255e-03 9.99991186e-01 -9.32059026e-04 -7.24228804e-02] [-1.63468388e-02 8.65019724e-04 9.99866007e-01 5.66231912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492557844 meters 0.3052394762161249 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99985809 0.00402086 0.01635957 -0.19767672] [-0.00400152 0.99999126 -0.00121448 -0.0712571 ] [-0.01636431 0.00114884 0.99986544 0.56642598] [ 0. 0. 0. 1. ]] SLAMing on 11.522557844000001 meters 0.30507882737553305 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99985876 0.00393961 0.01633853 -0.19770941] [-0.00391594 0.99999124 -0.0014803 -0.07016037] [-0.01634422 0.00141611 0.99986542 0.56670658] [ 0. 0. 0. 1. ]] SLAMing on 11.552557844 meters 0.302838242398066 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.57 [[ 9.99874821e-01 -4.63835192e-03 1.51270477e-02 -2.16745489e-01] [ 4.64829083e-03 9.99989003e-01 -6.21935384e-04 -6.42650017e-02] [-1.51239966e-02 6.92172448e-04 9.99885386e-01 5.66460293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582557844 meters 0.30349718577531665 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.57 [[ 9.99873817e-01 -4.71777176e-03 1.51688090e-02 -2.16815410e-01] [ 4.73156541e-03 9.99988425e-01 -8.73583444e-04 -6.32304426e-02] [-1.51645120e-02 9.45245424e-04 9.99884565e-01 5.66385882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612557844000001 meters 0.3031607601361373 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.57 [[ 0.99987282 -0.00477075 0.01521768 -0.2168524 ] [ 0.0047871 0.999988 -0.0010386 -0.06255157] [-0.01521255 0.00111132 0.99988366 0.56615825] [ 0. 0. 0. 1. ]] SLAMing on 11.642557844 meters 0.30011461860461874 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.57 [[ 0.99990269 0.00309891 0.01360156 -0.23614076] [-0.00306272 0.99999172 -0.00268025 -0.06400967] [-0.01360976 0.00263833 0.9999039 0.56501842] [ 0. 0. 0. 1. ]] SLAMing on 11.672557844000002 meters 0.30440435069817673 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99993121 0.00299432 0.01134048 -0.19591348] [-0.00296142 0.99999136 -0.00291636 -0.0653689 ] [-0.01134912 0.00288258 0.99993144 0.56810536] [ 0. 0. 0. 1. ]] SLAMing on 11.702557844000001 meters 0.30584288985632296 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99993076 0.00301319 0.01137501 -0.19602697] [-0.00298082 0.99999146 -0.00286213 -0.0655925 ] [-0.01138354 0.00282802 0.99993121 0.56817163] [ 0. 0. 0. 1. ]] SLAMing on 11.732557844 meters 0.3025442597244978 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.57 [[ 9.99952121e-01 -3.22710841e-03 9.23800677e-03 -2.18001415e-01] [ 3.22424430e-03 9.99994749e-01 3.24912254e-04 -6.57251767e-02] [-9.23900679e-03 -2.95111107e-04 9.99957276e-01 5.69719320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762557844000002 meters 0.3022780561693006 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.57 [[ 9.99952267e-01 -3.16683288e-03 9.24312477e-03 -2.17897457e-01] [ 3.16219525e-03 9.99994867e-01 5.16309834e-04 -6.65142289e-02] [-9.24471239e-03 -4.87056624e-04 9.99957148e-01 5.69370515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792557844000001 meters 0.30322048683284647 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.57 [[ 9.99952306e-01 -3.11122021e-03 9.25779777e-03 -2.17958239e-01] [ 3.10508607e-03 9.99994950e-01 6.76891672e-04 -6.71764255e-02] [-9.25985697e-03 -6.48113129e-04 9.99956917e-01 5.69423160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822557844 meters 0.30082559812650245 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.57 [[ 9.99952591e-01 -3.05440950e-03 9.24582818e-03 -2.18009080e-01] [ 3.04677199e-03 9.99995006e-01 8.40022755e-04 -6.78536248e-02] [-9.24834778e-03 -8.11813001e-04 9.99956904e-01 5.69625545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852557844000001 meters 0.3001973522849666 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.57 [[ 9.99952612e-01 -2.99891978e-03 9.26172468e-03 -2.18146489e-01] [ 2.98967943e-03 9.99995019e-01 1.01137523e-03 -6.85593374e-02] [-9.26471158e-03 -9.83637715e-04 9.99956598e-01 5.69909683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882557844 meters 0.3019582029810104 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.57 [[ 0.99997046 -0.00213205 0.00738482 -0.17763884] [ 0.0021204 0.9999965 0.0015842 -0.07015988] [-0.00738817 -0.0015685 0.99997148 0.57266124] [ 0. 0. 0. 1. ]] SLAMing on 11.912557844 meters 0.29930188306197286 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99998608 0.00345138 0.00399133 -0.19945425] [-0.00344403 0.99999236 -0.0018465 -0.06647978] [-0.00399767 0.00183273 0.99999033 0.57480802] [ 0. 0. 0. 1. ]] SLAMing on 11.942557844000001 meters 0.3004147357984214 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99998648 0.00340789 0.00392841 -0.19932987] [-0.00340015 0.99999227 -0.00197589 -0.06594608] [-0.00393512 0.00196251 0.99999033 0.5749015 ] [ 0. 0. 0. 1. ]] SLAMing on 11.972557844 meters 0.2997612667925404 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 0.99998687 0.00335949 0.00386899 -0.19917938] [-0.00335131 0.99999214 -0.00211953 -0.0653523 ] [-0.00387608 0.00210654 0.99999027 0.57490881] [ 0. 0. 0. 1. ]] SLAMing on 12.002557844000002 meters 0.30024905573972216 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998743 0.0032761 0.00379461 -0.19899194] [-0.00326715 0.99999187 -0.00236389 -0.06434889] [-0.00380232 0.00235147 0.99999001 0.57491357] [ 0. 0. 0. 1. ]] SLAMing on 12.032557844000001 meters 0.29788489853129635 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998783 0.00311784 0.00382227 -0.19902312] [-0.00310683 0.99999101 -0.00288512 -0.06224158] [-0.00383124 0.00287321 0.99998853 0.57485411] [ 0. 0. 0. 1. ]] SLAMing on 12.062557844 meters 0.2996096918910994 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998809 0.00302558 0.00383076 -0.19896621] [-0.00301349 0.99999048 -0.00315621 -0.06113161] [-0.00384027 0.00314463 0.99998768 0.5746687 ] [ 0. 0. 0. 1. ]] SLAMing on 12.092557844000002 meters 0.29975970083150777 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998847 0.00292985 0.00380384 -0.19883928] [-0.00291678 0.99998984 -0.00343725 -0.05997951] [-0.00381387 0.00342612 0.99998686 0.5745294 ] [ 0. 0. 0. 1. ]] SLAMing on 12.122557844000001 meters 0.29940369174688536 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998913 0.00274189 0.00377153 -0.19886758] [-0.00272691 0.99998839 -0.00397202 -0.05777736] [-0.00378238 0.00396169 0.999985 0.57486245] [ 0. 0. 0. 1. ]] SLAMing on 12.152557844 meters 0.29920814985950106 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998958 0.00266164 0.00370823 -0.19873003] [-0.00264609 0.99998771 -0.00419276 -0.05686464] [-0.00371934 0.00418291 0.99998433 0.57493375] [ 0. 0. 0. 1. ]] SLAMing on 12.182557844000002 meters 0.2970563353270278 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998982 0.00259089 0.00369534 -0.19858614] [-0.00257465 0.99998703 -0.00439368 -0.05603931] [-0.00370667 0.00438412 0.99998352 0.57466448] [ 0. 0. 0. 1. ]] SLAMing on 12.212557844 meters 0.2970563353270278 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99998982 0.00259089 0.00369534 -0.19858614] [-0.00257465 0.99998703 -0.00439368 -0.05603931] [-0.00370667 0.00438412 0.99998352 0.57466448] [ 0. 0. 0. 1. ]] SLAMing on 12.242557844 meters 0.29873554688923093 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 0.99999019 0.0025295 0.00363625 -0.19834455] [-0.00251288 0.9999864 -0.00456989 -0.0553156 ] [-0.00364776 0.00456071 0.99998295 0.57443824] [ 0. 0. 0. 1. ]] SLAMing on 12.272557844000001 meters 0.2999401829792597 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.57 [[ 0.99999031 0.00245915 0.00365012 -0.19829001] [-0.00244176 0.99998568 -0.00476221 -0.05451829] [-0.00366178 0.00475325 0.999982 0.57423936] [ 0. 0. 0. 1. ]] SLAMing on 12.302557844 meters 0.29657150309696606 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.58 [[ 0.99999114 -0.0033938 0.0024921 -0.22099545] [ 0.00339767 0.99999302 -0.00155111 -0.05012794] [-0.00248682 0.00155956 0.99999569 0.57547315] [ 0. 0. 0. 1. ]] SLAMing on 12.332557844000002 meters 0.2975099960078878 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.58 [[ 0.99999089 -0.00347506 0.00247765 -0.22102176] [ 0.00347947 0.99999237 -0.00177633 -0.04920067] [-0.00247146 0.00178494 0.99999535 0.57563932] [ 0. 0. 0. 1. ]] SLAMing on 12.362557844000001 meters 0.2964655019786876 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.58 [[ 0.99999082 -0.00352293 0.00243998 -0.22092699] [ 0.00352759 0.99999195 -0.00191053 -0.04865085] [-0.00243323 0.00191912 0.9999952 0.5756443 ] [ 0. 0. 0. 1. ]] SLAMing on 12.392557844 meters 0.2953792857190157 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.58 [[ 0.99999083 -0.00356423 0.00237205 -0.22068656] [ 0.00356905 0.99999157 -0.00202998 -0.04816198] [-0.00236479 0.00203843 0.99999513 0.57546366] [ 0. 0. 0. 1. ]] SLAMing on 12.422557844000002 meters 0.29932454425602567 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99996779e-01 -2.39454562e-03 8.40983674e-04 -1.79369892e-01] [ 2.39530946e-03 9.99996719e-01 -9.08438704e-04 -4.97077483e-02] [-8.38805617e-04 9.10450195e-04 9.99999234e-01 5.77351720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452557844000001 meters 0.2964865941551717 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99996567e-01 -2.46408896e-03 8.91239539e-04 -1.79337922e-01] [ 2.46506262e-03 9.99996364e-01 -1.09302836e-03 -4.89431032e-02] [-8.88542979e-04 1.09522157e-03 9.99999005e-01 5.76976639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482557844 meters 0.2965748174905526 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99996456e-01 -2.50095016e-03 9.12288852e-04 -1.79376586e-01] [ 2.50204055e-03 9.99996155e-01 -1.19604885e-03 -4.85209565e-02] [-9.09294085e-04 1.19832720e-03 9.99998869e-01 5.76948703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512557844000002 meters 0.2980034386615589 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99996312e-01 -2.54481454e-03 9.48953869e-04 -1.79420318e-01] [ 2.54606275e-03 9.99995892e-01 -1.31647397e-03 -4.80236657e-02] [-9.45599789e-04 1.31888521e-03 9.99998683e-01 5.76839091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542557844000001 meters 0.2987513174112863 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99996069e-01 -2.64102585e-03 9.41611900e-04 -1.79337131e-01] [ 2.64251183e-03 9.99995260e-01 -1.58038070e-03 -4.69357446e-02] [-9.37433610e-04 1.58286271e-03 9.99998308e-01 5.76701363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572557844 meters 0.296777197891202 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99995722e-01 -2.75946919e-03 9.69969758e-04 -1.79295313e-01] [ 2.76131807e-03 9.99994364e-01 -1.90998667e-03 -4.55841895e-02] [-9.64693742e-04 1.91265690e-03 9.99997706e-01 5.76436899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602557844000001 meters 0.2988454374608093 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.58 [[ 0.99997902 0.00598413 0.00247953 -0.15908908] [-0.00597765 0.99997872 -0.00261409 -0.05019326] [-0.00249512 0.00259922 0.99999351 0.57612258] [ 0. 0. 0. 1. ]] SLAMing on 12.632557844 meters 0.29562567013062624 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 9.99999730e-01 -7.28181178e-04 9.52337347e-05 -1.81197434e-01] [ 7.28172229e-04 9.99999730e-01 9.39662433e-05 -5.02791868e-02] [-9.53021335e-05 -9.38968714e-05 9.99999991e-01 5.77637486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662557844 meters 0.29981739803556473 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99999065e-01 -1.00852207e-03 -9.23451744e-04 -1.40326729e-01] [ 1.00869832e-03 9.99999473e-01 1.90414050e-04 -5.42546982e-02] [ 9.23259221e-04 -1.91345356e-04 9.99999555e-01 5.79576026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692557844000001 meters 0.29834202297237133 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99999092e-01 -9.85389621e-04 -9.19214237e-04 -1.40293861e-01] [ 9.85622590e-04 9.99999482e-01 2.53026076e-04 -5.45083655e-02] [ 9.18964431e-04 -2.53931845e-04 9.99999546e-01 5.79463426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722557844 meters 0.2972371530170546 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99999093e-01 -9.61338980e-04 -9.43594538e-04 -1.40157595e-01] [ 9.61637155e-04 9.99999488e-01 3.15596512e-04 -5.47625915e-02] [ 9.43290659e-04 -3.16503621e-04 9.99999505e-01 5.79280648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752557844000002 meters 0.29772503707486225 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998976e-01 -9.80969960e-04 -1.04178933e-03 -1.39933365e-01] [ 9.81240118e-04 9.99999485e-01 2.58842361e-04 -5.45291517e-02] [ 1.04153488e-03 -2.59864342e-04 9.99999424e-01 5.79346004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782557844000001 meters 0.29649297931107405 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998908e-01 -1.03360321e-03 -1.05649726e-03 -1.39984641e-01] [ 1.03372645e-03 9.99999459e-01 1.16112833e-04 -5.39434115e-02] [ 1.05637668e-03 -1.17204835e-04 9.99999435e-01 5.79570527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812557844 meters 0.2983745042325351 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998780e-01 -1.12130571e-03 -1.08712063e-03 -1.40223745e-01] [ 1.12117329e-03 9.99999364e-01 -1.22404697e-04 -5.29395980e-02] [ 1.08725719e-03 1.21185697e-04 9.99999402e-01 5.80351693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842557844000002 meters 0.29829045559138506 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998804e-01 -1.13478761e-03 -1.05129135e-03 -1.40400989e-01] [ 1.13462267e-03 9.99999344e-01 -1.57470322e-04 -5.28005446e-02] [ 1.05146936e-03 1.56277315e-04 9.99999435e-01 5.80561156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872557844000001 meters 0.2966133769574611 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998935e-01 -1.12931659e-03 -9.23969583e-04 -1.40834884e-01] [ 1.12918836e-03 9.99999353e-01 -1.39289328e-04 -5.28861417e-02] [ 9.24126287e-04 1.38245844e-04 9.99999563e-01 5.80821823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902557844 meters 0.29466242301237267 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99999052e-01 -1.10920512e-03 -8.16231138e-04 -1.41135848e-01] [ 1.10913861e-03 9.99999382e-01 -8.19389667e-05 -5.31280780e-02] [ 8.16321520e-04 8.10335755e-05 9.99999664e-01 5.80880348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932557844000002 meters 0.2940370548178461 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99999116e-01 -1.04006605e-03 -8.27954362e-04 -1.41054531e-01] [ 1.04016336e-03 9.99999452e-01 1.17109513e-04 -5.39306944e-02] [ 8.27832107e-04 -1.17970617e-04 9.99999650e-01 5.80736226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962557844 meters 0.2971580290248715 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 9.99987705e-01 4.90459258e-03 7.31363956e-04 -1.17200632e-01] [-4.90245174e-03 9.99983776e-01 -2.90080050e-03 -5.57951709e-02] [-7.45579335e-04 2.89717936e-03 9.99995525e-01 5.78415635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992557844 meters 0.2968243401668587 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 9.99987356e-01 4.99406197e-03 5.89747784e-04 -1.16750243e-01] [-4.99248031e-03 9.99984017e-01 -2.65360838e-03 -5.67954533e-02] [-6.02990642e-04 2.65063052e-03 9.99996305e-01 5.78166400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022557844000001 meters 0.29672810140734496 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 9.99986942e-01 5.09218833e-03 4.30529523e-04 -1.16302641e-01] [-5.09114654e-03 9.99984191e-01 -2.38719858e-03 -5.78721332e-02] [-4.42678781e-04 2.38497552e-03 9.99997058e-01 5.78027133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052557844 meters 0.2968333106458829 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 9.99986225e-01 5.23248470e-03 4.13903496e-04 -1.16314545e-01] [-5.23164911e-03 9.99984325e-01 -1.99475947e-03 -5.94741067e-02] [-4.24334557e-04 1.99256659e-03 9.99997925e-01 5.78112286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082557844000002 meters 0.297552728894801 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 9.99985971e-01 5.27513952e-03 4.80319024e-04 -1.16584903e-01] [-5.27422745e-03 9.99984323e-01 -1.88075101e-03 -5.99617047e-02] [-4.90232718e-04 1.87819132e-03 9.99998116e-01 5.78314501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112557844000001 meters 0.2941496763617966 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.58 [[ 9.99991916e-01 -4.01473103e-03 -2.25344621e-04 -1.38085546e-01] [ 4.01432844e-03 9.99990395e-01 -1.75944576e-03 -5.52062520e-02] [ 2.32406158e-04 1.75852693e-03 9.99998427e-01 5.79054562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142557844 meters 0.29502856475437306 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.58 [[ 0.99999029 0.00428882 0.00101496 -0.11841806] [-0.00428589 0.99998669 -0.00287126 -0.05939279] [-0.00102726 0.00286689 0.99999536 0.58008867] [ 0. 0. 0. 1. ]] SLAMing on 13.172557844000002 meters 0.2963119375417064 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99993767e-01 -3.45479829e-03 -7.27572608e-04 -9.72913117e-02] [ 3.45401486e-03 9.99993457e-01 -1.07529735e-03 -5.44224657e-02] [ 7.31282783e-04 1.07277760e-03 9.99999157e-01 5.81872855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202557844000001 meters 0.29465077254568145 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 0.99999336 -0.00350185 -0.0010063 -0.09650708] [ 0.0035006 0.9999931 -0.00124453 -0.05373315] [ 0.00101065 0.001241 0.99999872 0.58165238] [ 0. 0. 0. 1. ]] SLAMing on 13.232557844 meters 0.29443918806438474 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 0.99999309 -0.00354222 -0.00112824 -0.09619332] [ 0.00354068 0.99999279 -0.00137177 -0.05322526] [ 0.00113309 0.00136777 0.99999842 0.58163892] [ 0. 0. 0. 1. ]] SLAMing on 13.262557844000002 meters 0.294910420212072 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 0.99999288 -0.00359273 -0.00115369 -0.09622052] [ 0.00359098 0.99999241 -0.00151362 -0.05266472] [ 0.00115912 0.00150947 0.99999819 0.58186587] [ 0. 0. 0. 1. ]] SLAMing on 13.292557844000001 meters 0.2945484521830377 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99993054e-01 -3.63485703e-03 -8.25012914e-04 -9.74064909e-02] [ 3.63349121e-03 9.99992036e-01 -1.65101234e-03 -5.20938668e-02] [ 8.31007537e-04 1.64800319e-03 9.99998297e-01 5.83059094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322557844 meters 0.2927083386978409 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.58 [[ 0.99998413 0.00549493 -0.00124385 -0.11971513] [-0.00549745 0.99998282 -0.00203236 -0.05444134] [ 0.00123266 0.00203917 0.99999716 0.58328337] [ 0. 0. 0. 1. ]] SLAMing on 13.352557844000001 meters 0.2946692684242439 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998383e-01 -4.38912662e-04 1.74418909e-03 -9.57592479e-02] [ 4.37598575e-04 9.99999620e-01 7.53718631e-04 -5.70183908e-02] [-1.74451924e-03 -7.52954157e-04 9.99998195e-01 5.80457724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382557844 meters 0.2933375594388126 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998467e-01 -4.25658839e-04 1.69845573e-03 -9.56699350e-02] [ 4.24322409e-04 9.99999600e-01 7.87133027e-04 -5.71563824e-02] [-1.69879010e-03 -7.86411128e-04 9.99998248e-01 5.80524751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412557844000002 meters 0.2932446403306683 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998453e-01 -4.27670674e-04 1.70596241e-03 -9.57602356e-02] [ 4.26335974e-04 9.99999603e-01 7.82660559e-04 -5.71424469e-02] [-1.70629645e-03 -7.81932035e-04 9.99998239e-01 5.80692255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442557844000001 meters 0.29407572077896393 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998168e-01 -4.33807577e-04 1.86452381e-03 -9.64199507e-02] [ 4.32378270e-04 9.99999612e-01 7.66914834e-04 -5.70564183e-02] [-1.86485578e-03 -7.66107249e-04 9.99997968e-01 5.81412868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472557844 meters 0.29424791430928393 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998038e-01 -4.52388498e-04 1.92870125e-03 -9.68212586e-02] [ 4.51004444e-04 9.99999641e-01 7.17983509e-04 -5.68570556e-02] [-1.92902536e-03 -7.17112248e-04 9.99997882e-01 5.82002004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502557844000002 meters 0.2932043009593055 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99997844e-01 -4.46289021e-04 2.02802686e-03 -9.72560546e-02] [ 4.44795631e-04 9.99999630e-01 7.36767486e-04 -5.69401364e-02] [-2.02835492e-03 -7.35863840e-04 9.99997672e-01 5.82439230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532557844000001 meters 0.2940308048517217 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99997905e-01 -4.67250831e-04 1.99283977e-03 -9.71637472e-02] [ 4.65897776e-04 9.99999661e-01 6.79368078e-04 -5.67050907e-02] [-1.99315653e-03 -6.78438195e-04 9.99997784e-01 5.82439512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562557844 meters 0.29450173611945407 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.58 [[ 9.99962372e-01 8.15725999e-03 2.95190723e-03 -7.70141179e-02] [-8.15660340e-03 9.99966707e-01 -2.34399571e-04 -6.10016138e-02] [-2.95372101e-03 2.10313215e-04 9.99995616e-01 5.82781642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592557844000002 meters 0.29245864166466556 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998785e-01 1.47325740e-03 5.09771603e-04 -9.95172770e-02] [-1.47436083e-03 9.99996557e-01 2.17099363e-03 -5.98462364e-02] [-5.06571415e-04 -2.17174258e-03 9.99997513e-01 5.84872554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622557844000001 meters 0.2931156001900742 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99998905e-01 1.39970491e-03 4.81472179e-04 -9.94242940e-02] [-1.40065112e-03 9.99997078e-01 1.97055898e-03 -5.90268482e-02] [-4.78712571e-04 -1.97123120e-03 9.99997943e-01 5.84837054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652557844 meters 0.2930647715929625 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99999104e-01 1.28314625e-03 3.80266791e-04 -9.91878711e-02] [-1.28376675e-03 9.99997838e-01 1.63603000e-03 -5.76819263e-02] [-3.78166703e-04 -1.63651671e-03 9.99998589e-01 5.84906230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844000002 meters 0.2938469636765901 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.58 [[ 9.99999208e-01 1.22215164e-03 3.01058982e-04 -9.89630651e-02] [-1.22259303e-03 9.99998172e-01 1.47033523e-03 -5.70017596e-02] [-2.99261459e-04 -1.47070214e-03 9.99998874e-01 5.84869512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712557844 meters 0.2932534746393724 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998501e-01 6.96000125e-04 1.58545093e-03 -1.38891517e-01] [-6.97164737e-04 9.99999488e-01 7.34127628e-04 -5.45946282e-02] [-1.58493917e-03 -7.35231848e-04 9.99998474e-01 5.82205045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742557844 meters 0.2939441795228672 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999513e-01 8.42914039e-04 5.14186614e-04 -9.92507207e-02] [-8.43358197e-04 9.99999271e-01 8.64202774e-04 -5.49018840e-02] [-5.13457790e-04 -8.64635996e-04 9.99999494e-01 5.85281064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772557844000001 meters 0.2936216368421031 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999499e-01 7.91205990e-04 6.13037154e-04 -9.96130645e-02] [-7.91652462e-04 9.99999421e-01 7.28395361e-04 -5.43477007e-02] [-6.12460488e-04 -7.28880309e-04 9.99999547e-01 5.85527354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802557844 meters 0.2933784623735503 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999455e-01 7.17870922e-04 7.58602982e-04 -1.00131676e-01] [-7.18269138e-04 9.99999604e-01 5.24791005e-04 -5.35206037e-02] [-7.58225949e-04 -5.25335600e-04 9.99999575e-01 5.85908346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832557844000002 meters 0.29200875365468143 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.58 [[ 9.99998117e-01 3.72885205e-04 1.90442591e-03 -1.39376058e-01] [-3.72601151e-04 9.99999919e-01 -1.49507229e-04 -5.12773394e-02] [-1.90448150e-03 1.48797356e-04 9.99998175e-01 5.82667455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862557844000001 meters 0.29469652385248446 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99999641e-01 8.30479738e-04 1.67457039e-04 -9.77250528e-02] [-8.30476980e-04 9.99999655e-01 -1.65401984e-05 -5.12483727e-02] [-1.67470718e-04 1.64011233e-05 9.99999986e-01 5.84687139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892557844 meters 0.2936528347523517 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99999709e-01 7.63073276e-04 -2.51766219e-06 -9.71625820e-02] [-7.63073811e-04 9.99999685e-01 -2.19735396e-04 -5.04179861e-02] [ 2.34998719e-06 2.19737253e-04 9.99999976e-01 5.84364600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922557844000002 meters 0.29339382850094686 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99999753e-01 6.71985296e-04 -2.08035506e-04 -9.67049668e-02] [-6.72101592e-04 9.99999618e-01 -5.59455219e-04 -4.91192758e-02] [ 2.07659481e-04 5.59594901e-04 9.99999822e-01 5.84506018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952557844000001 meters 0.2923430245657486 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.58 [[ 9.99999828e-01 5.71640117e-04 -1.29844353e-04 -9.70390499e-02] [-5.71753213e-04 9.99999456e-01 -8.72656210e-04 -4.78879086e-02] [ 1.29345437e-04 8.72730299e-04 9.99999611e-01 5.84883378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982557844 meters 0.293960302137526 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.59 [[ 9.99999509e-01 8.36910627e-04 -5.31395476e-04 -5.92845473e-02] [-8.37520058e-04 9.99998991e-01 -1.14766481e-03 -4.57265378e-02] [ 5.30434447e-04 1.14810930e-03 9.99999200e-01 5.88817764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012557844000002 meters 0.2923677729303591 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 9.99964764e-01 -8.36733789e-03 -6.76372467e-04 -7.99797088e-02] [ 8.36665671e-03 9.99964495e-01 -1.00373160e-03 -3.89708784e-02] [ 6.84747014e-04 9.98037257e-04 9.99999268e-01 5.88775994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042557844000001 meters 0.2917196496546522 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 9.99991690e-01 -4.01243143e-03 -7.21583319e-04 -8.00527443e-02] [ 4.01483394e-03 9.99986298e-01 3.35945235e-03 -3.90921687e-02] [ 7.08093860e-04 -3.36232147e-03 9.99994097e-01 5.89037856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072557844 meters 0.2917196496546522 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 9.99991690e-01 -4.01243143e-03 -7.21583319e-04 -8.00527443e-02] [ 4.01483394e-03 9.99986298e-01 3.35945235e-03 -3.90921687e-02] [ 7.08093860e-04 -3.36232147e-03 9.99994097e-01 5.89037856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102557844000001 meters 0.2930249438705219 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 0.99999096 -0.00412448 -0.00103706 -0.07915818] [ 0.00412752 0.99998714 0.00294586 -0.0374915 ] [ 0.00102489 -0.00295011 0.99999512 0.58866127] [ 0. 0. 0. 1. ]] SLAMing on 14.132557844 meters 0.2932091577938454 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 0.99999056 -0.00418399 -0.00117311 -0.07872806] [ 0.00418723 0.99998737 0.0027794 -0.03682122] [ 0.00116147 -0.00278429 0.99999545 0.58843592] [ 0. 0. 0. 1. ]] SLAMing on 14.162557844000002 meters 0.29384149625891676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99990963e-01 4.23052213e-03 -4.19945477e-04 -5.87789602e-02] [-4.22988993e-03 9.99989936e-01 1.49506300e-03 -3.92908531e-02] [ 4.26266148e-04 -1.49327317e-03 9.99998794e-01 5.89810539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192557844000001 meters 0.294040715493424 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99991105e-01 4.20945799e-03 -2.65556817e-04 -5.92708955e-02] [-4.20907232e-03 9.99990110e-01 1.43652142e-03 -3.90427998e-02] [ 2.71601167e-04 -1.43539090e-03 9.99998933e-01 5.90040301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222557844 meters 0.2931070482121322 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99991051e-01 4.22831836e-03 -1.41604395e-04 -5.96948926e-02] [-4.22810322e-03 9.99989957e-01 1.48656342e-03 -3.92441445e-02] [ 1.47888636e-04 -1.48595139e-03 9.99998885e-01 5.90297232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252557844000002 meters 0.29331143526909426 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99990925e-01 4.25525856e-03 -2.07372499e-04 -5.95592175e-02] [-4.25493012e-03 9.99989732e-01 1.55931076e-03 -3.95413054e-02] [ 2.14005640e-04 -1.55841426e-03 9.99998763e-01 5.90381133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282557844000001 meters 0.29530646658325127 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:0.59 [[ 0.99998917 -0.00441532 -0.0014709 -0.03782325] [ 0.00441893 0.99998723 0.00245416 -0.0360916 ] [ 0.00146005 -0.00246064 0.99999591 0.59114821] [ 0. 0. 0. 1. ]] SLAMing on 14.312557844 meters 0.2928399368090774 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 0.99999209 -0.0038228 -0.00109708 -0.07774877] [ 0.00382621 0.99998782 0.00311867 -0.03686194] [ 0.00108514 -0.00312284 0.99999454 0.58880321] [ 0. 0. 0. 1. ]] SLAMing on 14.342557844000002 meters 0.2919052954257422 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.59 [[ 0.99999221 -0.00381314 -0.00101598 -0.07801226] [ 0.00381632 0.99998777 0.0031471 -0.03697242] [ 0.00100397 -0.00315095 0.99999453 0.58894667] [ 0. 0. 0. 1. ]] SLAMing on 14.372557844000001 meters 0.29261050872929567 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99989516e-01 4.47415838e-03 9.74362228e-04 -5.86729152e-02] [-4.47620282e-03 9.99987764e-01 2.10625724e-03 -3.99227166e-02] [-9.64926577e-04 -2.11059661e-03 9.99997307e-01 5.90142482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402557844 meters 0.2919921291245728 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 0.99998921 0.00451327 0.00109892 -0.0593353 ] [-0.00451569 0.99998736 0.0022127 -0.0403649 ] [-0.00108892 -0.00221764 0.99999695 0.5910151 ] [ 0. 0. 0. 1. ]] SLAMing on 14.432557844000002 meters 0.2924977951314832 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 0.99998905 0.00454127 0.00113167 -0.05947563] [-0.00454385 0.99998706 0.0022882 -0.04067034] [-0.00112127 -0.00229332 0.99999674 0.59114889] [ 0. 0. 0. 1. ]] SLAMing on 14.462557844 meters 0.29226431656067375 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 0.99998879 0.00458469 0.00118021 -0.05958235] [-0.00458751 0.99998658 0.00240587 -0.04114578] [-0.00116917 -0.00241125 0.99999641 0.59110949] [ 0. 0. 0. 1. ]] SLAMing on 14.492557844000002 meters 0.29357667331228804 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:0.59 [[ 0.99998939 -0.00413152 0.00203751 -0.03866514] [ 0.00412484 0.99998614 0.00327269 -0.0381672 ] [-0.002051 -0.00326425 0.99999257 0.59147383] [ 0. 0. 0. 1. ]] SLAMing on 14.522557844000001 meters 0.2914301476053383 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99999032e-01 1.38531769e-03 -1.33153510e-04 -6.25439405e-02] [-1.38530117e-03 9.99999033e-01 1.24113527e-04 -3.94512807e-02] [ 1.33325317e-04 -1.23928949e-04 9.99999983e-01 5.93867322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552557844 meters 0.2918169613830913 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99998958e-01 1.43972076e-03 -1.06822985e-04 -6.26543351e-02] [-1.43969190e-03 9.99998927e-01 2.69789835e-04 -4.00408641e-02] [ 1.07211292e-04 -2.69635761e-04 9.99999958e-01 5.93968945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582557844000002 meters 0.2933410038409474 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.60 [[ 9.99998368e-01 1.10037918e-03 -1.43283764e-03 -2.15509116e-02] [-1.10050003e-03 9.99999391e-01 -8.35568226e-05 -4.00167865e-02] [ 1.43274482e-03 8.51335241e-05 9.99998970e-01 5.96253328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612557844000001 meters 0.29216369481957694 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99999323e-01 7.51126285e-04 -8.88906122e-04 -5.93768306e-02] [-7.51290336e-04 9.99999701e-01 -1.84235137e-04 -4.21362784e-02] [ 8.88767472e-04 1.84902839e-04 9.99999588e-01 5.92310700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642557844 meters 0.2922365401243234 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99999117e-01 8.30568120e-04 -1.03692287e-03 -5.88047071e-02] [-8.30529388e-04 9.99999654e-01 3.77832450e-05 -4.30451243e-02] [ 1.03695389e-03 -3.69220167e-05 9.99999462e-01 5.91811134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672557844000002 meters 0.29325027293169953 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.59 [[ 9.99998842e-01 1.00601698e-03 -1.14229327e-03 -5.83803321e-02] [-1.00546204e-03 9.99999376e-01 4.86278518e-04 -4.48775848e-02] [ 1.14278176e-03 -4.85129422e-04 9.99999229e-01 5.91482250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702557844000001 meters 0.29230902190511227 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.59 [[ 9.99998815e-01 1.08449794e-03 -1.09239334e-03 -5.86373633e-02] [-1.08373799e-03 9.99999171e-01 6.96019954e-04 -4.57325831e-02] [ 1.09314727e-03 -6.94835261e-04 9.99999161e-01 5.91784479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732557844 meters 0.2933100155358547 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.59 [[ 9.99998841e-01 1.14959594e-03 -9.98289064e-04 -5.90120268e-02] [-1.14872556e-03 9.99998960e-01 8.72007668e-04 -4.64493166e-02] [ 9.99290482e-04 -8.70859897e-04 9.99999122e-01 5.92099506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762557844000002 meters 0.29331331036835095 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.59 [[ 9.99998844e-01 1.22550418e-03 -8.99785200e-04 -5.94213702e-02] [-1.22453533e-03 9.99998671e-01 1.07651341e-03 -4.72699806e-02] [ 9.01103276e-04 -1.07541035e-03 9.99999016e-01 5.92480484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792557844000001 meters 0.29314252761000426 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.59 [[ 9.99998826e-01 1.25358858e-03 -8.80973324e-04 -5.94691299e-02] [-1.25257468e-03 9.99998554e-01 1.15049907e-03 -4.75708339e-02] [ 8.82414303e-04 -1.14939423e-03 9.99998950e-01 5.92478894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822557844 meters 0.29190493471673096 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999905e-01 2.43087774e-04 -3.62363065e-04 -9.79303391e-02] [-2.42964827e-04 9.99999913e-01 3.39297679e-04 -4.88073521e-02] [ 3.62445513e-04 -3.39209605e-04 9.99999877e-01 5.88901666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852557844000001 meters 0.2924599059661432 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999861e-01 2.85545178e-04 -4.43667965e-04 -9.75056858e-02] [-2.85345278e-04 9.99999858e-01 4.50559455e-04 -4.92819972e-02] [ 4.43796557e-04 -4.50432794e-04 9.99999800e-01 5.88409590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882557844 meters 0.29394581216601934 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999809e-01 3.79002705e-04 -4.88863962e-04 -9.73220104e-02] [-3.78660711e-04 9.99999684e-01 6.99472867e-04 -5.02966572e-02] [ 4.89128909e-04 -6.99287620e-04 9.99999636e-01 5.88268931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912557844000002 meters 0.2945486138509526 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999829e-01 4.07638749e-04 -4.19955822e-04 -9.75974392e-02] [-4.07313200e-04 9.99999617e-01 7.74994287e-04 -5.05971368e-02] [ 4.20271579e-04 -7.74823101e-04 9.99999612e-01 5.88488431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942557844000001 meters 0.2946701760521586 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999821e-01 4.55849741e-04 -3.88699624e-04 -9.78231488e-02] [-4.55498856e-04 9.99999489e-01 9.02327632e-04 -5.11110492e-02] [ 3.89110752e-04 -9.02150417e-04 9.99999517e-01 5.88821182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972557844 meters 0.29447673670979013 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999761e-01 5.50048174e-04 -4.18564903e-04 -9.79358442e-02] [-5.49564990e-04 9.99999184e-01 1.15362325e-03 -5.21243103e-02] [ 4.19199110e-04 -1.15339294e-03 9.99999247e-01 5.89263265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002557844000002 meters 0.29466420383406816 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:0.59 [[ 9.99999591e-01 7.56841765e-04 -4.94204483e-04 -9.79079472e-02] [-7.55947460e-04 9.99998081e-01 1.80727105e-03 -5.47013550e-02] [ 4.95571353e-04 -1.80689672e-03 9.99998245e-01 5.89709770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032557844000001 meters 0.2937090499148068 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.59 [[ 9.99999513e-01 8.73394484e-04 -4.58603599e-04 -9.80523491e-02] [-8.72411830e-04 9.99997333e-01 2.13855472e-03 -5.60322079e-02] [ 4.60470178e-04 -2.13815359e-03 9.99997608e-01 5.89851242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557844 meters 0.29362797655144324 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.59 [[ 9.99999459e-01 9.81969237e-04 -3.41980390e-04 -9.84452175e-02] [-9.81131811e-04 9.99996541e-01 2.44037193e-03 -5.72478503e-02] [ 3.44375577e-04 -2.44003508e-03 9.99996964e-01 5.90099041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092557844000002 meters 0.2954933617939219 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.59 [[ 9.99999691e-01 1.93438882e-04 -7.62405476e-04 -6.05862589e-02] [-1.92235379e-04 9.99998736e-01 1.57831751e-03 -5.80892359e-02] [ 7.62709820e-04 -1.57817046e-03 9.99998464e-01 5.94103100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122557844000001 meters 0.2948357853331581 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.59 [[ 9.99999691e-01 2.66649984e-04 -7.39088037e-04 -6.07726034e-02] [-2.65341261e-04 9.99998398e-01 1.77025973e-03 -5.88711212e-02] [ 7.39558893e-04 -1.77006307e-03 9.99998160e-01 5.94390732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152557844 meters 0.2929171284588331 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.59 [[ 9.99999818e-01 -5.71033423e-04 1.95570005e-04 -1.00209928e-01] [ 5.70725801e-04 9.99998606e-01 1.56941175e-03 -6.11245913e-02] [-1.96465919e-04 -1.56929984e-03 9.99998749e-01 5.91277463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182557844000002 meters 0.29510303553949596 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.59 [[ 9.99998624e-01 5.49080601e-04 -1.56572281e-03 -5.80446398e-02] [-5.43865222e-04 9.99994309e-01 3.32945508e-03 -6.47385717e-02] [ 1.56754204e-03 -3.32859896e-03 9.99993232e-01 5.92735747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212557844 meters 0.29424867888710027 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.59 [[ 9.99998469e-01 7.20817348e-04 -1.59465565e-03 -5.79331141e-02] [-7.14732405e-04 9.99992475e-01 3.81311988e-03 -6.66981577e-02] [ 1.59739222e-03 -3.81197429e-03 9.99991459e-01 5.92684249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242557844000002 meters 0.29469401078240154 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.59 [[ 9.99998777e-01 9.97889129e-04 -1.20450899e-03 -5.92924456e-02] [-9.91904116e-04 9.99987211e-01 4.95925284e-03 -7.12753488e-02] [ 1.20944237e-03 -4.95805201e-03 9.99986977e-01 5.93673688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272557844000001 meters 0.29399449510205333 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.59 [[ 0.99999862 0.0012036 -0.00114457 -0.05954061] [-0.00119712 0.99998335 0.00564506 -0.0739542 ] [ 0.00115135 -0.00564368 0.99998341 0.59393093] [ 0. 0. 0. 1. ]] SLAMing on 15.302557844 meters 0.29438679510304794 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.59 [[ 0.99999833 0.00140375 -0.00116608 -0.05956063] [-0.00139643 0.99997942 0.0062613 -0.0763942 ] [ 0.00117484 -0.00625966 0.99997972 0.5941206 ] [ 0. 0. 0. 1. ]] SLAMing on 15.332557844000002 meters 0.2936805460049139 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.59 [[ 0.99999811 0.00158794 -0.00112164 -0.05975605] [-0.00158027 0.9999756 0.00680526 -0.07857118] [ 0.00113242 -0.00680348 0.99997621 0.59435089] [ 0. 0. 0. 1. ]] SLAMing on 15.362557844000001 meters 0.29294224668240665 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.59 [[ 9.99997883e-01 1.83049715e-03 -9.40288745e-04 -6.04186962e-02] [-1.82336608e-03 9.99969990e-01 7.52960198e-03 -8.14868714e-02] [ 9.54043441e-04 -7.52787155e-03 9.99971210e-01 5.94787251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392557844 meters 0.29400278624997184 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.59 [[ 0.99996373 0.00840325 0.00138785 -0.03888492] [-0.00840962 0.99995382 0.00465207 -0.08251309] [-0.00134869 -0.00466358 0.99998822 0.59355742] [ 0. 0. 0. 1. ]] SLAMing on 15.422557844000002 meters 0.29489285337389964 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.59 [[ 9.99998631e-01 -6.68182138e-04 1.51398649e-03 -1.78875265e-02] [ 6.60451142e-04 9.99986771e-01 5.10114274e-03 -7.95725789e-02] [-1.51737495e-03 -5.10013584e-03 9.99985843e-01 5.93740676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452557844000001 meters 0.29321826591318584 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.60 [[ 0.99998471 0.00518019 -0.0019373 -0.04010478] [-0.00517597 0.99998423 0.00217724 -0.0763165 ] [ 0.00194855 -0.00216718 0.99999575 0.59607243] [ 0. 0. 0. 1. ]] SLAMing on 15.482557844 meters 0.29468316535248934 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.60 [[ 9.99992894e-01 -3.67746506e-03 -8.29126461e-04 -1.92667615e-02] [ 3.67950318e-03 9.99990180e-01 2.47018575e-03 -7.15485131e-02] [ 8.20034297e-04 -2.47321897e-03 9.99996605e-01 5.95893607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512557844000002 meters 0.29436657643765407 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.59 [[ 9.99991111e-01 3.70668714e-03 -2.00951031e-03 -3.79611064e-02] [-3.70595664e-03 9.99993066e-01 3.67122997e-04 -7.39145862e-02] [ 2.01085718e-03 -3.59672576e-04 9.99997914e-01 5.93645649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542557844000001 meters 0.29424834019651236 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.59 [[ 9.99991096e-01 3.68137075e-03 -2.06276428e-03 -3.77543097e-02] [-3.68075905e-03 9.99993181e-01 3.00262772e-04 -7.36427840e-02] [ 2.06385559e-03 -2.92667560e-04 9.99997827e-01 5.93486988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572557844000002 meters 0.29285320874715876 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.59 [[ 0.99998002 -0.00515022 -0.00366509 -0.0578734 ] [ 0.00515426 0.99998612 0.00109508 -0.07101521] [ 0.0036594 -0.00111395 0.99999268 0.59280673] [ 0. 0. 0. 1. ]] SLAMing on 15.602557844000001 meters 0.29351887318853115 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.59 [[ 9.99990096e-01 3.82197655e-03 -2.28039313e-03 -3.82636387e-02] [-3.82148641e-03 9.99992674e-01 2.19252410e-04 -7.40036324e-02] [ 2.28121440e-03 -2.10535747e-04 9.99997376e-01 5.93196101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632557844 meters 0.29469399313851624 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 9.99996711e-01 -2.45321478e-03 7.47786674e-04 -1.81660619e-02] [ 2.45091972e-03 9.99992331e-01 3.05475791e-03 -7.30541260e-02] [-7.55274916e-04 -3.05291509e-03 9.99995055e-01 5.92678263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662557844000002 meters 0.29457079996392094 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 9.99996664e-01 -2.45455880e-03 8.05057942e-04 -1.83646723e-02] [ 2.45209225e-03 9.99992340e-01 3.05062063e-03 -7.30335304e-02] [-8.12539704e-04 -3.04863638e-03 9.99995023e-01 5.92790443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692557844000001 meters 0.2939368647324112 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.59 [[ 9.99994568e-01 2.96076104e-03 -1.44815221e-03 -4.02372273e-02] [-2.96167588e-03 9.99995416e-01 -6.29991230e-04 -7.25826334e-02] [ 1.44628031e-03 6.34276765e-04 9.99998753e-01 5.93896420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722557844 meters 0.293002378201804 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.59 [[ 9.99994543e-01 2.91940805e-03 -1.54606624e-03 -3.99034931e-02] [-2.92055340e-03 9.99995462e-01 -7.39080294e-04 -7.21389096e-02] [ 1.54390155e-03 7.43591630e-04 9.99998532e-01 5.93699072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752557844000002 meters 0.2945380588026335 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 9.99996466e-01 -2.48871230e-03 9.35456393e-04 -1.65311553e-02] [ 2.48641024e-03 9.99993898e-01 2.45406320e-03 -7.29523162e-02] [-9.41558142e-04 -2.45172860e-03 9.99996551e-01 5.91632362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782557844000001 meters 0.2944198784836717 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 0.99999618 -0.00256766 0.00102617 -0.01678313] [ 0.00256536 0.99999421 0.00223576 -0.07205755] [-0.00103191 -0.00223312 0.99999697 0.59166451] [ 0. 0. 0. 1. ]] SLAMing on 15.812557844 meters 0.2945054479441668 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 0.99999562 -0.00276167 0.00106467 -0.01672508] [ 0.00275987 0.99999476 0.00168937 -0.06985028] [-0.00106933 -0.00168643 0.99999801 0.59129631] [ 0. 0. 0. 1. ]] SLAMing on 15.842557844000002 meters 0.294472631133276 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.59 [[ 9.99995468e-01 -2.84086895e-03 9.96803314e-04 -1.64881050e-02] [ 2.83939409e-03 9.99994877e-01 1.47790512e-03 -6.89813249e-02] [-1.00099674e-03 -1.47506810e-03 9.99998411e-01 5.91147716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872557844000001 meters 0.2955120739652229 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.59 [[ 0.99998794 0.00385126 0.00304689 0.00554679] [-0.00384672 0.99999148 -0.00149516 -0.06841983] [-0.00305262 0.00148342 0.99999424 0.58964077] [ 0. 0. 0. 1. ]] SLAMing on 15.902557844000002 meters 0.294426274107621 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99986524e-01 -4.80866073e-03 1.95648786e-03 -1.44434283e-02] [ 4.80970800e-03 9.99988292e-01 -5.30926260e-04 -6.42646020e-02] [-1.95391191e-03 5.40329241e-04 9.99997945e-01 5.88950027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932557844000002 meters 0.2954671842662717 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99986495e-01 -4.84180449e-03 1.88873084e-03 -1.41602372e-02] [ 4.84297903e-03 9.99988082e-01 -6.17792650e-04 -6.39082805e-02] [-1.88571710e-03 6.26931391e-04 9.99998026e-01 5.88712512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962557844 meters 0.29457677885317524 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.59 [[ 9.99995191e-01 3.03134242e-03 6.55427378e-04 -3.30452224e-02] [-3.02988034e-03 9.99992945e-01 -2.22032426e-03 -6.65063112e-02] [-6.62153317e-04 2.21832772e-03 9.99997320e-01 5.86704083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992557844000002 meters 0.29410197081669254 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.59 [[ 9.99984142e-01 -5.59821594e-03 -6.13344472e-04 -5.18026547e-02] [ 5.59746358e-03 9.99983588e-01 -1.22157523e-03 -6.17615782e-02] [ 6.20173047e-04 1.21812269e-03 9.99999066e-01 5.85202767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022557843999998 meters 0.29410197081669254 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.59 [[ 9.99984142e-01 -5.59821594e-03 -6.13344472e-04 -5.18026547e-02] [ 5.59746358e-03 9.99983588e-01 -1.22157523e-03 -6.17615782e-02] [ 6.20173047e-04 1.21812269e-03 9.99999066e-01 5.85202767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052557844 meters 0.2950584870491511 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.58 [[ 0.99998938 0.00433054 0.0015781 -0.03109658] [-0.00432865 0.99998991 -0.00120247 -0.06023168] [-0.00158329 0.00119563 0.99999803 0.5849877 ] [ 0. 0. 0. 1. ]] SLAMing on 16.082557844 meters 0.2947668529862558 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998975 0.00424718 0.00156652 -0.03119933] [-0.00424494 0.99998996 -0.00143597 -0.05926826] [-0.0015726 0.00142931 0.99999774 0.58530955] [ 0. 0. 0. 1. ]] SLAMing on 16.112557844 meters 0.2946620154168419 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998997 0.00418905 0.00158659 -0.0313353 ] [-0.00418651 0.99998996 -0.00159906 -0.05860181] [-0.00159327 0.0015924 0.99999746 0.58551456] [ 0. 0. 0. 1. ]] SLAMing on 16.142557844 meters 0.29388654791507546 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99999007 0.00413199 0.00166895 -0.03157456] [-0.00412904 0.99998992 -0.00176286 -0.05793507] [-0.00167622 0.00175595 0.99999705 0.58558993] [ 0. 0. 0. 1. ]] SLAMing on 16.172557844 meters 0.2947637332847046 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998909 0.00409486 0.00224649 -0.03305089] [-0.00409055 0.99998979 -0.00191834 -0.05722272] [-0.00225432 0.00190913 0.99999564 0.58596127] [ 0. 0. 0. 1. ]] SLAMing on 16.202557844 meters 0.29447906535026697 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998891 0.00407239 0.0023664 -0.03344952] [-0.00406771 0.99998976 -0.00198162 -0.05695341] [-0.00237445 0.00197197 0.99999524 0.58618261] [ 0. 0. 0. 1. ]] SLAMing on 16.232557844 meters 0.294738148619489 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998929 0.00402909 0.00227682 -0.03320332] [-0.00402432 0.9999897 -0.00209637 -0.0564804 ] [-0.00228524 0.00208719 0.99999521 0.5861474 ] [ 0. 0. 0. 1. ]] SLAMing on 16.262557844 meters 0.2935665299989068 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.9999897 0.00398654 0.00216944 -0.03285241] [-0.00398174 0.99998962 -0.00221365 -0.05600166] [-0.00217824 0.00220498 0.9999952 0.58595591] [ 0. 0. 0. 1. ]] SLAMing on 16.292557844 meters 0.2939971575752306 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99998996 0.00394628 0.00212212 -0.03273069] [-0.00394135 0.99998954 -0.00232278 -0.0555523 ] [-0.00213126 0.00231439 0.99999505 0.58595376] [ 0. 0. 0. 1. ]] SLAMing on 16.322557844 meters 0.29420913861310855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.59 [[ 9.99981074e-01 -4.13902994e-03 4.55198147e-03 -1.48556941e-02] [ 4.14348382e-03 9.99990946e-01 -9.69454106e-04 -5.20016881e-02] [-4.54792765e-03 9.88296819e-04 9.99989170e-01 5.86780185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352557844 meters 0.2941783786417735 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.59 [[ 9.99980823e-01 -4.03602921e-03 4.69718791e-03 -1.53325507e-02] [ 4.03933743e-03 9.99991600e-01 -6.95023827e-04 -5.31303631e-02] [-4.69434332e-03 7.13984026e-04 9.99988727e-01 5.87050570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382557844 meters 0.295267579580592 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.59 [[ 0.9999733 0.00450477 0.00575299 0.00419891] [-0.00449462 0.99998832 -0.00177518 -0.05774266] [-0.00576091 0.00174928 0.99998188 0.5884919 ] [ 0. 0. 0. 1. ]] SLAMing on 16.412557844 meters 0.29566048790944577 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.59 [[ 0.99997412 0.00467446 0.00546811 0.00511786] [-0.00466718 0.99998821 -0.00134407 -0.05956519] [-0.00547433 0.00131852 0.99998415 0.58807821] [ 0. 0. 0. 1. ]] SLAMing on 16.442557844 meters 0.2940391673849732 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99984642e-01 -4.15520110e-03 3.66730928e-03 -1.47364028e-02] [ 4.15622703e-03 9.99991326e-01 -2.72173930e-04 -5.82047390e-02] [-3.66614653e-03 2.87411920e-04 9.99993238e-01 5.87774934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472557844 meters 0.29453984576220504 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.59 [[ 9.99984512e-01 -4.08131099e-03 3.78386967e-03 -1.51289084e-02] [ 4.08162132e-03 9.99991667e-01 -7.42946529e-05 -5.90200389e-02] [-3.78353492e-03 8.97378253e-05 9.99992838e-01 5.88025449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502557844 meters 0.2953923872200927 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.59 [[ 0.99997355 0.0042694 0.00588781 0.00366452] [-0.00426177 0.99999006 -0.0013084 -0.06241614] [-0.00589333 0.00128328 0.99998181 0.58941756] [ 0. 0. 0. 1. ]] SLAMing on 16.532557844 meters 0.29503870104587165 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.59 [[ 9.99980743e-01 -4.76826113e-03 3.97215900e-03 -1.55810679e-02] [ 4.76968651e-03 9.99988564e-01 -3.49446870e-04 -6.12045087e-02] [-3.97044732e-03 3.68386094e-04 9.99992050e-01 5.88636101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562557844 meters 0.29611997598547474 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99981565e-01 -4.75777108e-03 3.77269775e-03 -1.47174298e-02] [ 4.75900131e-03 9.99988626e-01 -3.17177176e-04 -6.13664857e-02] [-3.77114578e-03 3.35125602e-04 9.99992833e-01 5.87651108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592557843999998 meters 0.2953853720440424 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99982264e-01 -4.77784500e-03 3.55591412e-03 -1.38871600e-02] [ 4.77919930e-03 9.99988510e-01 -3.72460342e-04 -6.11633453e-02] [-3.55409371e-03 3.89448158e-04 9.99993608e-01 5.86883899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622557844 meters 0.2944152219913184 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.9999944 0.00294084 0.00159917 -0.03287244] [-0.00293809 0.99999421 -0.00171664 -0.06482552] [-0.00160421 0.00171193 0.99999725 0.58541099] [ 0. 0. 0. 1. ]] SLAMing on 16.652557844 meters 0.2958844835654023 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.59 [[ 0.99999456 0.00293927 0.00149402 -0.03265836] [-0.0029367 0.99999421 -0.00171799 -0.06481966] [-0.00149906 0.0017136 0.99999741 0.58554268] [ 0. 0. 0. 1. ]] SLAMing on 16.682557843999998 meters 0.2968536013604265 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99982947e-01 -4.75312920e-03 3.39314285e-03 -1.45400852e-02] [ 4.75369122e-03 9.99988689e-01 -1.57587497e-04 -6.12959599e-02] [-3.39235543e-03 1.73714763e-04 9.99994231e-01 5.87545177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712557844 meters 0.2962567916614228 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99982881e-01 -4.70384319e-03 3.48023723e-03 -1.48200180e-02] [ 4.70397111e-03 9.99988936e-01 -2.85716764e-05 -6.18200421e-02] [-3.48006433e-03 4.49421227e-05 9.99993944e-01 5.87681953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742557844 meters 0.2953021935136416 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99982914e-01 -4.65275281e-03 3.53900579e-03 -1.49481539e-02] [ 4.65241456e-03 9.99989172e-01 1.03804674e-04 -6.23700634e-02] [-3.53945045e-03 -8.73379783e-05 9.99993732e-01 5.87635945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772557843999998 meters 0.29612954041292705 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99983257e-01 -4.59255969e-03 3.52052343e-03 -1.47630134e-02] [ 4.59165488e-03 9.99989423e-01 2.65047899e-04 -6.30486860e-02] [-3.52170344e-03 -2.48878433e-04 9.99993768e-01 5.87329852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802557844 meters 0.29615374526086274 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.59 [[ 9.99984248e-01 -4.53381242e-03 3.30868555e-03 -1.40921090e-02] [ 4.53237289e-03 9.99989631e-01 4.42444542e-04 -6.38120740e-02] [-3.31065721e-03 -4.27441376e-04 9.99994428e-01 5.87032648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832557844 meters 0.29518962629361944 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.59 [[ 9.99993445e-01 3.52806185e-03 8.14663034e-04 -3.17027840e-02] [-3.52774887e-03 9.99993703e-01 -3.85300959e-04 -6.95393920e-02] [-8.16017270e-04 3.82424507e-04 9.99999594e-01 5.85786392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862557844 meters 0.2944277942800976 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.59 [[ 9.99993299e-01 3.58595141e-03 7.37309499e-04 -3.15094839e-02] [-3.58578694e-03 9.99993546e-01 -2.24260977e-04 -7.02091405e-02] [-7.38108929e-04 2.21615639e-04 9.99999703e-01 5.85798954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892557844 meters 0.29449495171886075 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.59 [[ 9.99992574e-01 3.77973532e-03 7.52261504e-04 -3.16654648e-02] [-3.78000814e-03 9.99992790e-01 3.61575513e-04 -7.25440574e-02] [-7.50889421e-04 -3.64416383e-04 9.99999652e-01 5.86116344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922557844 meters 0.29662047793631774 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.59 [[ 9.99995155e-01 3.07552127e-03 -4.80312131e-04 8.52098768e-03] [-3.07590197e-03 9.99994954e-01 -7.93888961e-04 -7.19155320e-02] [ 4.77868085e-04 7.95362508e-04 9.99999570e-01 5.88829276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952557844 meters 0.29620456931943573 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.59 [[ 9.99994729e-01 3.22035083e-03 -4.15006952e-04 8.36345947e-03] [-3.22051520e-03 9.99994736e-01 -3.96023680e-04 -7.35466116e-02] [ 4.13729432e-04 3.97358128e-04 9.99999835e-01 5.88805128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982557844 meters 0.2962125598055554 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:0.59 [[ 9.99994332e-01 3.35225657e-03 -3.13569649e-04 8.10133700e-03] [-3.35226864e-03 9.99994380e-01 -3.79746507e-05 -7.50170446e-02] [ 3.13440586e-04 3.90256052e-05 9.99999950e-01 5.88812545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012557844 meters 0.29492047836661006 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.08, Z:0.59 [[ 0.99998208 -0.00585101 -0.00126519 -0.01268641] [ 0.00585235 0.99998231 0.00106195 -0.07523672] [ 0.00125895 -0.00106934 0.99999864 0.58850344] [ 0. 0. 0. 1. ]] SLAMing on 17.042557844 meters 0.2954428316886708 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:0.59 [[ 9.99996907e-01 2.40306430e-03 -6.40882179e-04 6.28513440e-03] [-2.40313364e-03 9.99997107e-01 -1.07449321e-04 -8.29090050e-02] [ 6.40622117e-04 1.08989114e-04 9.99999789e-01 5.90751328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072557844 meters 0.2941017064157916 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.59 [[ 0.99998614 -0.00396059 -0.00347029 -0.01617703] [ 0.00397143 0.99998724 0.00312117 -0.08642521] [ 0.00345788 -0.0031349 0.99998911 0.59283816] [ 0. 0. 0. 1. ]] SLAMing on 17.102557844 meters 0.2963848492825985 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.59 [[ 0.99999532 -0.00240639 -0.00189186 0.02525671] [ 0.00241377 0.99998946 0.0039045 -0.0853532 ] [ 0.00188245 -0.00390904 0.99999059 0.59327669] [ 0. 0. 0. 1. ]] SLAMing on 17.132557844 meters 0.2957531072853081 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.59 [[ 9.99985791e-01 3.42633256e-03 -4.08385978e-03 3.11967424e-03] [-3.42270790e-03 9.99993743e-01 8.94215826e-04 -8.67195055e-02] [ 4.08689811e-03 -8.80225261e-04 9.99991261e-01 5.94160871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162557844 meters 0.2942365315369843 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.59 [[ 9.99985396e-01 3.44064082e-03 -4.16760436e-03 3.26148666e-03] [-3.43678834e-03 9.99993661e-01 9.31197576e-04 -8.68684929e-02] [ 4.17078186e-03 -9.16860803e-04 9.99990882e-01 5.94325319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192557844 meters 0.29750202759875705 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.59 [[ 9.99990893e-01 3.95589156e-03 -1.60171671e-03 4.65108957e-02] [-3.95498705e-03 9.99992018e-01 5.67485263e-04 -8.46036685e-02] [ 1.60394883e-03 -5.61145326e-04 9.99998556e-01 5.93627423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222557844 meters 0.2973581145225385 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.59 [[ 9.99990533e-01 4.02373476e-03 -1.65608866e-03 4.68333211e-02] [-4.02245407e-03 9.99991609e-01 7.75927596e-04 -8.54535675e-02] [ 1.65919689e-03 -7.69258710e-04 9.99998328e-01 5.93153296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252557844 meters 0.2965577331955708 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.59 [[ 9.99990369e-01 4.04478686e-03 -1.70370127e-03 4.72074141e-02] [-4.04336657e-03 9.99991476e-01 8.36268323e-04 -8.57305774e-02] [ 1.70706927e-03 -8.29371580e-04 9.99998199e-01 5.92542563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282557844 meters 0.2972917223108091 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.59 [[ 9.99989982e-01 4.08404774e-03 -1.83192039e-03 4.77713922e-02] [-4.08231003e-03 9.99991215e-01 9.51308861e-04 -8.62712042e-02] [ 1.83578948e-03 -9.43820864e-04 9.99997870e-01 5.92011799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312557844 meters 0.2964711692747809 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.59 [[ 0.99997779 -0.00525343 -0.00410096 0.02698368] [ 0.00525936 0.99998514 0.0014363 -0.08657019] [ 0.00409335 -0.00145784 0.99999056 0.59202894] [ 0. 0. 0. 1. ]] SLAMing on 17.342557843999998 meters 0.29820918087899967 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.59 [[ 0.99999641 0.00152158 -0.00220571 0.05059034] [-0.00152464 0.99999788 -0.00138572 -0.08591537] [ 0.0022036 0.00138908 0.99999661 0.58975244] [ 0. 0. 0. 1. ]] SLAMing on 17.372557844 meters 0.29683159858234265 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.59 [[ 9.99966388e-01 -6.58633509e-03 -4.88297489e-03 3.09120925e-02] [ 6.59075419e-03 9.99977885e-01 8.89463225e-04 -8.95082764e-02] [ 4.87700860e-03 -9.21615816e-04 9.99987683e-01 5.89923302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402557844 meters 0.29693981259139623 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.59 [[ 0.99996698 -0.00645557 -0.00493661 0.03104109] [ 0.00646195 0.99997831 0.00127773 -0.09106237] [ 0.00492825 -0.00130959 0.999987 0.58997163] [ 0. 0. 0. 1. ]] SLAMing on 17.432557843999998 meters 0.29641041957898956 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.59 [[ 9.99984061e-01 1.35324054e-03 -5.48151313e-03 1.28265006e-02] [-1.35261820e-03 9.99999078e-01 1.17240256e-04 -9.78269589e-02] [ 5.48166673e-03 -1.09823993e-04 9.99984970e-01 5.88390658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462557844 meters 0.2940793729398438 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:0.59 [[ 9.99990472e-01 -5.86875079e-04 -4.32560415e-03 -2.77414631e-02] [ 5.85353768e-04 9.99999766e-01 -3.52956749e-04 -1.01888580e-01] [ 4.32581028e-03 3.50421377e-04 9.99990582e-01 5.86283652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492557844 meters 0.2964860233617222 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.10, Z:0.58 [[ 9.99984359e-01 -5.56971284e-03 -5.10439701e-04 -6.76354697e-03] [ 5.57133161e-03 9.99979274e-01 3.22675199e-03 -1.04739810e-01] [ 4.92457040e-04 -3.22954534e-03 9.99994664e-01 5.84812920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522557844 meters 0.29828935130410483 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.58 [[ 9.99994261e-01 1.45762696e-03 3.05827980e-03 1.40028056e-02] [-1.46033821e-03 9.99998543e-01 8.84480306e-04 -1.03488877e-01] [-3.05698610e-03 -8.88941353e-04 9.99994932e-01 5.83377518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552557844 meters 0.29702745597921265 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:0.59 [[ 9.99987968e-01 -4.90311071e-03 -1.54912308e-04 -7.96565681e-03] [ 4.90369138e-03 9.99979971e-01 4.00139819e-03 -1.06149617e-01] [ 1.35289907e-04 -4.00210968e-03 9.99991982e-01 5.85582990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582557844 meters 0.29795739685724776 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.59 [[ 9.99990861e-01 4.24751309e-03 4.87141581e-04 1.29231173e-02] [-4.24897097e-03 9.99986377e-01 3.03179864e-03 -1.08593797e-01] [-4.74257340e-04 -3.03384078e-03 9.99995285e-01 5.85868243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612557844 meters 0.2979026593580194 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.59 [[ 9.99990943e-01 4.23617492e-03 4.10012836e-04 1.33810444e-02] [-4.23738823e-03 9.99986507e-01 3.00498907e-03 -1.08503054e-01] [-3.97277645e-04 -3.00669924e-03 9.99995401e-01 5.85212910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642557844 meters 0.29790385448415657 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.59 [[ 9.99990912e-01 4.24777724e-03 3.65050581e-04 1.35141526e-02] [-4.24886736e-03 9.99986355e-01 3.03921260e-03 -1.08647547e-01] [-3.52135702e-04 -3.04073603e-03 9.99995315e-01 5.85176676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672557844 meters 0.2967441834594239 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.59 [[ 9.99990807e-01 4.28251850e-03 2.16429296e-04 1.38025866e-02] [-4.28317712e-03 9.99985896e-01 3.14026801e-03 -1.09055654e-01] [-2.02977987e-04 -3.14116615e-03 9.99995046e-01 5.85407604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702557844 meters 0.29651786975287836 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.59 [[ 9.99990524e-01 4.35118757e-03 1.34721119e-04 1.38575405e-02] [-4.35161230e-03 9.99984982e-01 3.33164958e-03 -1.09819408e-01] [-1.20222464e-04 -3.33220427e-03 9.99994441e-01 5.85775998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732557844 meters 0.2982631477180864 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:0.59 [[ 9.99987954e-01 4.90498554e-03 -1.78825680e-04 5.14140826e-02] [-4.90431480e-03 9.99981580e-01 3.57590358e-03 -1.11908999e-01] [ 1.96362141e-04 -3.57498349e-03 9.99993590e-01 5.90343990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762557844 meters 0.2978894387961185 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:0.59 [[ 9.99999830e-01 5.80696901e-04 5.63345153e-05 5.06542201e-02] [-5.80655580e-04 9.99999564e-01 -7.30741434e-04 -1.11745315e-01] [-5.67588300e-05 7.30708598e-04 9.99999731e-01 5.90573640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792557844 meters 0.2969498137709834 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.11, Z:0.59 [[ 9.99999728e-01 7.22628714e-04 1.50951577e-04 5.01936996e-02] [-7.22576180e-04 9.99999678e-01 -3.47782475e-04 -1.13307262e-01] [-1.51202846e-04 3.47673306e-04 9.99999928e-01 5.91084844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822557844 meters 0.2961407353325808 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.59 [[ 9.99997720e-01 -1.11850063e-03 1.81893699e-03 8.73835382e-03] [ 1.11943232e-03 9.99999243e-01 -5.11278750e-04 -1.18397431e-01] [-1.81836375e-03 5.13313761e-04 9.99998215e-01 5.89346177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852557844 meters 0.2965604911084034 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.59 [[ 9.99997844e-01 -9.36858199e-04 1.85324829e-03 8.55089060e-03] [ 9.36900908e-04 9.99999561e-01 -2.21776311e-05 -1.20385220e-01] [-1.85322670e-03 2.39138933e-05 9.99998282e-01 5.89634621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882557844 meters 0.2965604911084034 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.59 [[ 9.99997844e-01 -9.36858199e-04 1.85324829e-03 8.55089060e-03] [ 9.36900908e-04 9.99999561e-01 -2.21776311e-05 -1.20385220e-01] [-1.85322670e-03 2.39138933e-05 9.99998282e-01 5.89634621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912557844 meters 0.2971256451345712 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.59 [[ 9.99997900e-01 -8.80421568e-04 1.85074155e-03 8.65909358e-03] [ 8.80164209e-04 9.99999603e-01 1.39867518e-04 -1.21056678e-01] [-1.85086396e-03 -1.38238267e-04 9.99998278e-01 5.89397621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942557844 meters 0.2974442430251145 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.59 [[ 9.99998057e-01 -8.51810282e-04 1.77762605e-03 8.93058074e-03] [ 8.51406405e-04 9.99999612e-01 2.27944507e-04 -1.21420332e-01] [-1.77781953e-03 -2.26430582e-04 9.99998394e-01 5.89180515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972557844 meters 0.2963887150532093 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 9.99996517e-01 -1.50284276e-03 2.16951373e-03 -2.91289926e-02] [ 1.50112253e-03 9.99998558e-01 7.94318441e-04 -1.25491556e-01] [-2.17070434e-03 -7.91058969e-04 9.99997331e-01 5.86283168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002557844 meters 0.29601853962894986 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 9.99996963e-01 -1.53278229e-03 1.93003792e-03 -2.85417805e-02] [ 1.53142769e-03 9.99998580e-01 7.03132205e-04 -1.25164413e-01] [-1.93111293e-03 -7.00174356e-04 9.99997890e-01 5.86301201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032557844 meters 0.296488211163905 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 9.99997010e-01 -1.52066672e-03 1.91523973e-03 -2.85113534e-02] [ 1.51925630e-03 9.99998574e-01 7.37659854e-04 -1.25303680e-01] [-1.91635874e-03 -7.34747908e-04 9.99997894e-01 5.86321883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062557844 meters 0.297858905781398 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:0.59 [[ 9.99963085e-01 7.66251236e-03 3.88770171e-03 -8.99407206e-03] [-7.66235037e-03 9.99970642e-01 -5.65599658e-05 -1.27646098e-01] [-3.88802096e-03 2.67689452e-05 9.99992441e-01 5.86948792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092557843999998 meters 0.29679459371895295 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 0.99999298 -0.00146232 0.00344876 -0.02947181] [ 0.00145772 0.99999804 0.00133679 -0.12686337] [-0.0034507 -0.00133175 0.99999316 0.58627591] [ 0. 0. 0. 1. ]] SLAMing on 18.122557844 meters 0.2960487895368263 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 0.9999932 -0.00121816 0.00348188 -0.02977068] [ 0.00121102 0.99999716 0.00205182 -0.12967729] [-0.00348437 -0.00204759 0.99999183 0.58677146] [ 0. 0. 0. 1. ]] SLAMing on 18.152557844 meters 0.29699619233934704 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 0.99999361 -0.00114404 0.00338691 -0.02939851] [ 0.00113637 0.99999679 0.00226501 -0.1305717 ] [-0.00338949 -0.00226114 0.9999917 0.5864697 ] [ 0. 0. 0. 1. ]] SLAMing on 18.182557843999998 meters 0.29837617505981456 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.59 [[ 0.99999402 -0.00107939 0.00328487 -0.02898079] [ 0.00107135 0.99999643 0.00244914 -0.13136724] [-0.00328751 -0.00244561 0.99999161 0.58611014] [ 0. 0. 0. 1. ]] SLAMing on 18.212557844 meters 0.29555627593172845 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.58 [[ 0.99999279 -0.00190663 0.0032847 -0.06735055] [ 0.00189543 0.99999239 0.00340935 -0.13590064] [-0.00329118 -0.0034031 0.99998879 0.58329399] [ 0. 0. 0. 1. ]] SLAMing on 18.242557844 meters 0.29583714032239844 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.58 [[ 0.99996493 0.00762652 0.00345949 -0.04658824] [-0.00763713 0.99996614 0.00306516 -0.14173357] [-0.003436 -0.00309148 0.99998932 0.58429145] [ 0. 0. 0. 1. ]] SLAMing on 18.272557844 meters 0.2979116199171399 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.58 [[ 0.99998917 -0.00124792 0.00448463 -0.02440613] [ 0.00123437 0.99999467 0.00302343 -0.13887191] [-0.00448838 -0.00301786 0.99998537 0.58365782] [ 0. 0. 0. 1. ]] SLAMing on 18.302557844 meters 0.29679244387730985 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.58 [[ 9.99988647e-01 3.97432128e-03 2.62887896e-03 -4.62755923e-02] [-3.97333348e-03 9.99992034e-01 -3.80864952e-04 -1.41128192e-01] [-2.63037170e-03 3.70415215e-04 9.99996472e-01 5.84603320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332557844 meters 0.29600888650083673 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.58 [[ 9.99986405e-01 -5.17274868e-03 6.57551067e-04 -6.53196396e-02] [ 5.17226874e-03 9.99986358e-01 7.29517655e-04 -1.39464835e-01] [-6.61315708e-04 -7.26106707e-04 9.99999518e-01 5.83891862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362557844 meters 0.2972992848932583 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.58 [[ 9.99986553e-01 -5.15054470e-03 6.04189145e-04 -6.47692434e-02] [ 5.15005903e-03 9.99986416e-01 8.02651850e-04 -1.39809230e-01] [-6.08315033e-04 -7.99529448e-04 9.99999495e-01 5.82781169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392557844 meters 0.2978715702398247 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.58 [[ 9.99986521e-01 -5.16187158e-03 5.60000017e-04 -6.44295441e-02] [ 5.16143707e-03 9.99986380e-01 7.74604477e-04 -1.39733846e-01] [-5.63990798e-04 -7.71703631e-04 9.99999543e-01 5.82215285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422557844 meters 0.29719057975962543 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.58 [[ 9.99997155e-01 2.30790915e-03 -6.02863608e-04 -8.32807010e-02] [-2.30827238e-03 9.99997154e-01 -6.02513577e-04 -1.43644145e-01] [ 6.01471346e-04 6.03903437e-04 9.99999637e-01 5.80239336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452557844 meters 0.29825266480518997 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.58 [[ 9.99985755e-01 -5.31646138e-03 -4.75213358e-04 -6.42235240e-02] [ 5.31677059e-03 9.99985653e-01 6.51811840e-04 -1.38999945e-01] [ 4.71741208e-04 -6.54329155e-04 9.99999675e-01 5.81964591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482557844 meters 0.29952844732852735 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.58 [[ 9.99993559e-01 3.55502962e-03 4.93755730e-04 -4.49188612e-02] [-3.55461766e-03 9.99993336e-01 -8.32720434e-04 -1.41609409e-01] [-4.96712785e-04 8.30959958e-04 9.99999531e-01 5.83569849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512557844 meters 0.2983700890646575 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.58 [[ 9.99993535e-01 3.56232665e-03 4.90217577e-04 -4.50323996e-02] [-3.56192686e-03 9.99993325e-01 -8.14004918e-04 -1.41661352e-01] [-4.93114056e-04 8.12253536e-04 9.99999549e-01 5.83855685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542557844 meters 0.29809005360215507 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.58 [[ 9.99993415e-01 3.60417430e-03 4.24208027e-04 -4.48914214e-02] [-3.60388003e-03 9.99993266e-01 -6.92416287e-04 -1.42154810e-01] [-4.26700760e-04 6.90882933e-04 9.99999670e-01 5.83933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572557844 meters 0.2975482940667003 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.58 [[ 9.99993037e-01 3.72390146e-03 2.43667514e-04 -4.44270892e-02] [-3.72382680e-03 9.99993020e-01 -3.06130583e-04 -1.43686170e-01] [-2.44805813e-04 3.05221076e-04 9.99999923e-01 5.83903495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602557844 meters 0.2977117271736268 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.58 [[ 9.99992747e-01 3.79979012e-03 2.58541382e-04 -4.45481788e-02] [-3.79976547e-03 9.99992776e-01 -9.57699411e-05 -1.44521762e-01] [-2.58903420e-04 9.47868499e-05 9.99999962e-01 5.84114986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632557844 meters 0.2964386109047226 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.58 [[ 9.99992465e-01 3.87154717e-03 2.84629828e-04 -4.47877260e-02] [-3.87157761e-03 9.99992500e-01 1.06450380e-04 -1.45301127e-01] [-2.84215565e-04 -1.07551544e-04 9.99999954e-01 5.84552094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662557844 meters 0.29714814040085563 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.59 [[ 0.99999141 -0.00381422 0.00162336 -0.02484151] [ 0.00381214 0.99999191 0.00128385 -0.14284224] [-0.00162825 -0.00127766 0.99999786 0.58586292] [ 0. 0. 0. 1. ]] SLAMing on 18.692557844 meters 0.2975473946478003 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.59 [[ 0.99999214 -0.0036939 0.00144324 -0.0243967 ] [ 0.00369155 0.99999187 0.00162174 -0.14422446] [-0.00144922 -0.0016164 0.99999764 0.58592769] [ 0. 0. 0. 1. ]] SLAMing on 18.722557844 meters 0.29693678737201534 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.59 [[ 0.99999216 -0.00370112 0.00140896 -0.0242683 ] [ 0.00369885 0.99999187 0.00160637 -0.14417107] [-0.0014149 -0.00160115 0.99999772 0.58583874] [ 0. 0. 0. 1. ]] SLAMing on 18.752557844 meters 0.29560329087507653 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.59 [[ 0.99998875 0.00451706 0.00144608 -0.04607679] [-0.00451865 0.99998919 0.00109729 -0.14809756] [-0.00144111 -0.00110381 0.99999835 0.5856366 ] [ 0. 0. 0. 1. ]] SLAMing on 18.782557844 meters 0.29711008493412755 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.59 [[ 0.99998599 -0.00341887 0.00404165 -0.02738407] [ 0.00341188 0.99999267 0.00173679 -0.14380115] [-0.00404755 -0.00172298 0.99999032 0.58612999] [ 0. 0. 0. 1. ]] SLAMing on 18.812557844 meters 0.29666983234364663 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.59 [[ 0.99998456 -0.00344628 0.00435841 -0.02833768] [ 0.00343917 0.99999275 0.00163629 -0.14334512] [-0.00436402 -0.00162128 0.99998916 0.58659103] [ 0. 0. 0. 1. ]] SLAMing on 18.842557843999998 meters 0.29593776153069135 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.59 [[ 9.99987001e-01 4.06479339e-03 3.07825285e-03 -4.77743687e-02] [-4.06605457e-03 9.99991652e-01 4.03559750e-04 -1.47443877e-01] [-3.07658676e-03 -4.16070848e-04 9.99995181e-01 5.85184223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872557844 meters 0.2967873117713407 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.59 [[ 0.99998397 -0.00376759 0.00422686 -0.02801193] [ 0.0037619 0.99999201 0.00135393 -0.14227412] [-0.00423193 -0.00133801 0.99999015 0.58542356] [ 0. 0. 0. 1. ]] SLAMing on 18.902557844 meters 0.2963442220543023 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.58 [[ 9.99990399e-01 3.71829037e-03 2.31873591e-03 -4.58039764e-02] [-3.71878023e-03 9.99993064e-01 2.06986881e-04 -1.48668235e-01] [-2.31795019e-03 -2.15607763e-04 9.99997290e-01 5.84139340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932557843999998 meters 0.29655248168676585 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.58 [[ 9.99990302e-01 3.78870509e-03 2.24543538e-03 -4.57000129e-02] [-3.78962159e-03 9.99992738e-01 4.04045624e-04 -1.49459478e-01] [-2.24388827e-03 -4.12551056e-04 9.99997397e-01 5.84351221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962557844 meters 0.29589655150693595 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.58 [[ 9.99990072e-01 3.86490775e-03 2.21754842e-03 -4.57284534e-02] [-3.86627979e-03 9.99992337e-01 6.14767399e-04 -1.50298227e-01] [-2.21515541e-03 -6.23334959e-04 9.99997352e-01 5.84596185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992557844 meters 0.29478426580337114 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.59 [[ 9.99992752e-01 -3.70322238e-03 -8.84234080e-04 -6.65134147e-02] [ 3.70591797e-03 9.99988431e-01 3.06657809e-03 -1.52791175e-01] [ 8.72867630e-04 -3.06983276e-03 9.99994907e-01 5.86253654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022557844 meters 0.29705557789897635 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.59 [[ 0.99999465 -0.00251111 -0.00209464 -0.02552197] [ 0.00251658 0.99999341 0.00261712 -0.15097876] [ 0.00208805 -0.00262237 0.99999438 0.58819293] [ 0. 0. 0. 1. ]] SLAMing on 19.052557844 meters 0.296651682689455 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.59 [[ 0.99999429 -0.00240959 -0.00236998 -0.02442997] [ 0.00241655 0.99999276 0.00294066 -0.15246696] [ 0.00236287 -0.00294637 0.99999287 0.587204 ] [ 0. 0. 0. 1. ]] SLAMing on 19.082557844 meters 0.297828857084472 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.59 [[ 0.99999429 -0.00236522 -0.00241244 -0.02422971] [ 0.0023726 0.99999251 0.00305903 -0.1529795 ] [ 0.00240519 -0.00306474 0.99999241 0.58701856] [ 0. 0. 0. 1. ]] SLAMing on 19.112557844 meters 0.2966383947056627 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.59 [[ 9.99988685e-01 2.65063767e-03 -3.95025510e-03 -4.78724878e-02] [-2.65207024e-03 9.99996419e-01 -3.57458807e-04 -1.54205133e-01] [ 3.94929346e-03 3.67931116e-04 9.99992134e-01 5.88613712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters 0.2971555082028417 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.59 [[ 9.99988782e-01 2.68178176e-03 -3.90444203e-03 -4.81586590e-02] [-2.68289138e-03 9.99996362e-01 -2.78984724e-04 -1.54492728e-01] [ 3.90367965e-03 2.89456788e-04 9.99992339e-01 5.88991646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172557844 meters 0.2968481828892772 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99988404e-01 2.73625083e-03 -3.96305388e-03 -4.79459610e-02] [-2.73679394e-03 9.99996246e-01 -1.31625519e-04 -1.55109744e-01] [ 3.96267884e-03 1.42470055e-04 9.99992138e-01 5.88864667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557844 meters 0.29694556745364337 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99987886e-01 2.73937022e-03 -4.08938018e-03 -4.74269903e-02] [-2.73986521e-03 9.99996240e-01 -1.15446049e-04 -1.55234785e-01] [ 4.08904855e-03 1.26649001e-04 9.99991632e-01 5.88439456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232557844 meters 0.29531458901417135 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.58 [[ 9.99993333e-01 1.17975511e-03 -3.45570097e-03 -8.51256629e-02] [-1.17930005e-03 9.99999296e-01 1.33718377e-04 -1.57914531e-01] [ 3.45585629e-03 -1.29642177e-04 9.99994020e-01 5.84337722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262557844 meters 0.29615524563828627 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.58 [[ 0.999977 -0.00646033 -0.00206325 -0.06558253] [ 0.00646271 0.99997845 0.00115114 -0.15266446] [ 0.00205577 -0.00116445 0.99999721 0.58498607] [ 0. 0. 0. 1. ]] SLAMing on 19.292557844 meters 0.2951570353858217 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.59 [[ 0.99997729 -0.00647767 -0.00185969 -0.0662508 ] [ 0.00647972 0.99997841 0.00109641 -0.15238573] [ 0.00185254 -0.00110843 0.99999767 0.585339 ] [ 0. 0. 0. 1. ]] SLAMing on 19.322557844 meters 0.2955150399225074 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.59 [[ 0.99997754 -0.00646256 -0.00177472 -0.06654582] [ 0.00646457 0.99997846 0.00113105 -0.15251303] [ 0.00176737 -0.00114249 0.99999779 0.58551147] [ 0. 0. 0. 1. ]] SLAMing on 19.352557844 meters 0.2960570778450757 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99995039e-01 3.11922623e-03 -4.39548408e-04 -4.63303889e-02] [-3.11903055e-03 9.99995037e-01 4.45173431e-04 -1.55029160e-01] [ 4.40934823e-04 -4.43800257e-04 9.99999804e-01 5.85819048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382557844 meters 0.2970152582881598 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99994934e-01 3.14576451e-03 -4.85593746e-04 -4.61152450e-02] [-3.14551367e-03 9.99994919e-01 5.16467981e-04 -1.55345655e-01] [ 4.87215965e-04 -5.14937923e-04 9.99999749e-01 5.85615500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412557844 meters 0.29697118108582765 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99994721e-01 3.19710312e-03 -5.79987559e-04 -4.58490283e-02] [-3.19672199e-03 9.99994675e-01 6.56865908e-04 -1.55935951e-01] [ 5.82084538e-04 -6.55008381e-04 9.99999616e-01 5.85584296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442557844 meters 0.2947483324046636 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.58 [[ 9.99998209e-01 1.91196840e-04 1.88288033e-03 -8.80986300e-02] [-1.91831051e-04 9.99999925e-01 3.36655300e-04 -1.62082326e-01] [-1.88281582e-03 -3.37015892e-04 9.99998171e-01 5.84358909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472557844 meters 0.2959652453714048 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99998306e-01 8.63961023e-04 1.62524496e-03 -5.13555536e-02] [-8.63505660e-04 9.99999588e-01 -2.80861892e-04 -1.61769742e-01] [-1.62548694e-03 2.79458008e-04 9.99998640e-01 5.88786373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502557844 meters 0.29445277849782114 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99998070e-01 9.58803248e-04 1.71480002e-03 -5.17135878e-02] [-9.58754596e-04 9.99999540e-01 -2.91939040e-05 -1.62776334e-01] [-1.71482723e-03 2.75497753e-05 9.99998529e-01 5.89092110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532557844 meters 0.2951929315388606 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99998032e-01 1.02685083e-03 1.69776348e-03 -5.16124997e-02] [-1.02711065e-03 9.99999461e-01 1.52173169e-04 -1.63541114e-01] [-1.69760631e-03 -1.53916661e-04 9.99998547e-01 5.88971428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562557844 meters 0.2948707524075503 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99998070e-01 1.06738316e-03 1.64969675e-03 -5.13217753e-02] [-1.06781743e-03 9.99999395e-01 2.62384602e-04 -1.64040161e-01] [-1.64941569e-03 -2.64145670e-04 9.99998605e-01 5.88595576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592557843999998 meters 0.2943948020449904 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.59 [[ 9.99998052e-01 1.14705107e-03 1.60605207e-03 -5.11483016e-02] [-1.14781366e-03 9.99999229e-01 4.73982847e-04 -1.64918451e-01] [-1.60550715e-03 -4.75825373e-04 9.99998598e-01 5.88467749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622557844 meters 0.29662389099891767 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.59 [[ 9.99997230e-01 2.19874385e-03 8.39660973e-04 -1.29230856e-02] [-2.19845787e-03 9.99997525e-01 -3.41363890e-04 -1.61971240e-01] [-8.40409467e-04 3.39516986e-04 9.99999589e-01 5.91959548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652557844 meters 0.29438507664028685 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 9.99997831e-01 8.98861604e-04 1.87879202e-03 -5.19875877e-02] [-8.99405443e-04 9.99999554e-01 2.88637340e-04 -1.65817080e-01] [-1.87853174e-03 -2.90326510e-04 9.99998193e-01 5.89022337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682557844 meters 0.29510070753774476 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 9.99997936e-01 9.07554148e-04 1.81796273e-03 -5.17850059e-02] [-9.08126263e-04 9.99999538e-01 3.13899958e-04 -1.65930956e-01] [-1.81767701e-03 -3.15550249e-04 9.99998298e-01 5.88924807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712557844 meters 0.2952180272805793 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 9.99998097e-01 9.38438416e-04 1.71042581e-03 -5.13114855e-02] [-9.39117314e-04 9.99999481e-01 3.96157735e-04 -1.66314555e-01] [-1.71005315e-03 -3.97763271e-04 9.99998459e-01 5.88489647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742557844 meters 0.2954647739811433 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 9.99998230e-01 1.06212421e-03 1.55287557e-03 -5.05428159e-02] [-1.06331595e-03 9.99999141e-01 7.66814565e-04 -1.68043032e-01] [-1.55205979e-03 -7.68464405e-04 9.99998500e-01 5.87452778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772557844 meters 0.29615810309656065 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 0.99999843 0.00115218 0.0013492 -0.04987739] [-0.00115357 0.9999988 0.00103609 -0.16920724] [-0.00134801 -0.00103764 0.99999855 0.58711667] [ 0. 0. 0. 1. ]] SLAMing on 19.802557844 meters 0.29615810309656065 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 0.99999843 0.00115218 0.0013492 -0.04987739] [-0.00115357 0.9999988 0.00103609 -0.16920724] [-0.00134801 -0.00103764 0.99999855 0.58711667] [ 0. 0. 0. 1. ]] SLAMing on 19.832557844 meters 0.29664519883009244 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 0.9999984 0.00127908 0.00124919 -0.04959137] [-0.00128082 0.99999821 0.00139249 -0.17068081] [-0.00124741 -0.00139409 0.99999825 0.58707731] [ 0. 0. 0. 1. ]] SLAMing on 19.862557844 meters 0.2969393483809652 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.59 [[ 0.99999778 0.00152866 0.00144838 -0.05047967] [-0.00153184 0.99999641 0.00219994 -0.17378959] [-0.00144502 -0.00220215 0.99999653 0.58807691] [ 0. 0. 0. 1. ]] SLAMing on 19.892557844 meters 0.29589245893217925 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.59 [[ 9.99981609e-01 6.06434480e-03 7.97472089e-05 -7.43834724e-02] [-6.06423572e-03 9.99980763e-01 -1.30355429e-03 -1.77005415e-01] [-8.76508775e-05 1.30304671e-03 9.99999147e-01 5.89865128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922557844 meters 0.2947421344307243 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.59 [[ 9.99981072e-01 6.15261274e-03 1.00804338e-05 -7.42571363e-02] [-6.15259873e-03 9.99980519e-01 -1.05230934e-03 -1.78021704e-01] [-1.65546892e-05 1.05222740e-03 9.99999446e-01 5.89989249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952557844 meters 0.2959846901174932 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.59 [[ 9.99998649e-01 -1.53434827e-03 5.89595511e-04 -5.40040860e-02] [ 1.53426651e-03 9.99998813e-01 1.39098642e-04 -1.75570517e-01] [-5.89808237e-04 -1.38193858e-04 9.99999817e-01 5.91211290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters 0.29477514342230593 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.59 [[ 9.99998825e-01 -1.43275374e-03 5.45956684e-04 -5.40225918e-02] [ 1.43253013e-03 9.99998890e-01 4.09743123e-04 -1.76664891e-01] [-5.46543139e-04 -4.08960541e-04 9.99999767e-01 5.91516703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012557844 meters 0.2951832457514608 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.59 [[ 9.99998889e-01 -1.36796254e-03 5.92893504e-04 -5.42842069e-02] [ 1.36761885e-03 9.99998897e-01 5.79690271e-04 -1.77339243e-01] [-5.93685844e-04 -5.78878775e-04 9.99999656e-01 5.91842838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042557844 meters 0.29610978360003243 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.59 [[ 9.99998874e-01 -1.31531981e-03 7.22207841e-04 -5.47068536e-02] [ 1.31480529e-03 9.99998882e-01 7.12434453e-04 -1.77862529e-01] [-7.23144113e-04 -7.11484088e-04 9.99999485e-01 5.92050531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072557844 meters 0.29283168782109165 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999487 -0.00271003 0.0017096 -0.09626544] [ 0.00270739 0.99999514 0.00154398 -0.18246814] [-0.00171378 -0.00153935 0.99999735 0.59078189] [ 0. 0. 0. 1. ]] SLAMing on 20.102557844 meters 0.2948926339567844 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999492 -0.00268278 0.00171942 -0.09635047] [ 0.00268 0.9999951 0.00161687 -0.18275661] [-0.00172375 -0.00161225 0.99999721 0.59092659] [ 0. 0. 0. 1. ]] SLAMing on 20.132557844 meters 0.2944920011847205 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999489 -0.0026922 0.00172191 -0.09647088] [ 0.00268947 0.99999512 0.00159086 -0.1826229 ] [-0.00172619 -0.00158622 0.99999725 0.59119331] [ 0. 0. 0. 1. ]] SLAMing on 20.162557844 meters 0.295182013703717 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999486 -0.00268426 0.00175226 -0.09663963] [ 0.00268144 0.99999511 0.00160932 -0.18267561] [-0.00175657 -0.00160461 0.99999717 0.59140047] [ 0. 0. 0. 1. ]] SLAMing on 20.192557844 meters 0.29637447566654496 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.59 [[ 0.99999845 -0.00129587 0.00119499 -0.05828427] [ 0.00129444 0.99999844 0.00119887 -0.1799549 ] [-0.00119655 -0.00119732 0.99999857 0.59449093] [ 0. 0. 0. 1. ]] SLAMing on 20.222557844 meters 0.29408417733676 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999356 -0.00304262 0.00190524 -0.09782725] [ 0.00303934 0.9999939 0.00172153 -0.18380572] [-0.00191047 -0.00171573 0.9999967 0.59204565] [ 0. 0. 0. 1. ]] SLAMing on 20.252557844 meters 0.2955463627631416 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.59 [[ 0.99999777 -0.00174163 0.00119544 -0.05756825] [ 0.00174016 0.99999773 0.00123258 -0.18233354] [-0.00119758 -0.00123049 0.99999853 0.59411621] [ 0. 0. 0. 1. ]] SLAMing on 20.282557844 meters 0.2939224571012301 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.59 [[ 0.99999448 -0.00293538 0.00155495 -0.09602601] [ 0.00293217 0.99999357 0.00206303 -0.18503697] [-0.001561 -0.00205846 0.99999666 0.59131172] [ 0. 0. 0. 1. ]] SLAMing on 20.312557844 meters 0.29389813548410215 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.59 [[ 0.99999465 -0.00293373 0.00144566 -0.09568453] [ 0.00293073 0.99999356 0.0020721 -0.18508977] [-0.00145173 -0.00206785 0.99999681 0.5911631 ] [ 0. 0. 0. 1. ]] SLAMing on 20.342557843999998 meters 0.29547728339628 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:0.59 [[ 0.99996791 0.00751723 0.00276864 -0.07549796] [-0.00752267 0.99996978 0.00196239 -0.18738865] [-0.0027538 -0.00198316 0.99999424 0.59087314] [ 0. 0. 0. 1. ]] SLAMing on 20.372557844 meters 0.2939720180585291 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.59 [[ 0.99999445 -0.00252855 0.00216836 -0.09711732] [ 0.00252363 0.99999425 0.00226658 -0.18505633] [-0.00217408 -0.00226109 0.99999508 0.59098304] [ 0. 0. 0. 1. ]] SLAMing on 20.402557844 meters 0.29371594370440307 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999435 -0.00257322 0.00216429 -0.09714713] [ 0.0025686 0.99999443 0.00213043 -0.18450828] [-0.00216976 -0.00212485 0.99999539 0.59109097] [ 0. 0. 0. 1. ]] SLAMing on 20.432557844 meters 0.2933475426934561 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99999452 -0.00259636 0.00205246 -0.09681255] [ 0.00259212 0.99999451 0.00206659 -0.18427388] [-0.00205782 -0.00206126 0.99999576 0.59094251] [ 0. 0. 0. 1. ]] SLAMing on 20.462557844 meters 0.2946279319300985 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:0.59 [[ 0.99997009 0.0072774 0.00261761 -0.07635234] [-0.00728116 0.99997247 0.00142877 -0.18815976] [-0.00260714 -0.00144779 0.99999555 0.59060078] [ 0. 0. 0. 1. ]] SLAMing on 20.492557844 meters 0.2943533635306163 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.59 [[ 9.99997877e-01 -1.90441137e-03 7.87363965e-04 -9.50655055e-02] [ 1.90240196e-03 9.99994952e-01 2.54498917e-03 -1.85942701e-01] [-7.92206697e-04 -2.54348588e-03 9.99996452e-01 5.89252672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557844 meters 0.2954478361635287 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.59 [[ 9.99984384e-01 5.12505934e-03 2.22832557e-03 -7.27666218e-02] [-5.12349174e-03 9.99986624e-01 -7.08629633e-04 -1.85674627e-01] [-2.23192753e-03 6.97201759e-04 9.99997266e-01 5.87583760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552557844 meters 0.2940907129319883 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 9.99997585e-01 -2.18903582e-03 -1.93923611e-04 -9.40254768e-02] [ 2.18940226e-03 9.99995779e-01 1.91000715e-03 -1.84367717e-01] [ 1.89741718e-04 -1.91042712e-03 9.99998157e-01 5.89209149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557844 meters 0.2952994476430708 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.59 [[ 0.99997044 0.00761282 0.00107548 -0.07373602] [-0.00761422 0.99997016 0.00130401 -0.18683498] [-0.00106552 -0.00131216 0.99999857 0.58897315] [ 0. 0. 0. 1. ]] SLAMing on 20.612557844 meters 0.29580677110469145 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.59 [[ 0.99997076 0.00757789 0.00102963 -0.07361745] [-0.00757914 0.99997055 0.00120774 -0.1864426 ] [-0.00102045 -0.00121551 0.99999874 0.5889768 ] [ 0. 0. 0. 1. ]] SLAMing on 20.642557844 meters 0.29641153242803553 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.59 [[ 0.99999455 0.00311596 0.00108974 -0.07388176] [-0.00311215 0.99998909 -0.00348312 -0.18497872] [-0.00110058 0.00347971 0.99999334 0.58908061] [ 0. 0. 0. 1. ]] SLAMing on 20.672557844 meters 0.2939702089749954 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 0.99998921 -0.00440431 -0.00147722 -0.09499058] [ 0.00440276 0.99998976 -0.00104799 -0.18462651] [ 0.00148182 0.00104148 0.99999836 0.5907784 ] [ 0. 0. 0. 1. ]] SLAMing on 20.702557844 meters 0.295047277135831 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.59 [[ 0.99998904 -0.00446636 -0.00140434 -0.0950868 ] [ 0.00446467 0.99998931 -0.00120387 -0.18399804] [ 0.00140971 0.00119758 0.99999829 0.59057762] [ 0. 0. 0. 1. ]] SLAMing on 20.732557844 meters 0.2948606239574998 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 0.99998863 -0.00454173 -0.00145353 -0.09488305] [ 0.00453969 0.99998871 -0.00140528 -0.18317767] [ 0.00145989 0.00139867 0.99999796 0.59040807] [ 0. 0. 0. 1. ]] SLAMing on 20.762557844 meters 0.29540193868179754 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 0.9999881 -0.00463259 -0.00152886 -0.09461291] [ 0.00463008 0.99998793 -0.00164641 -0.18220185] [ 0.00153647 0.00163931 0.99999748 0.59023712] [ 0. 0. 0. 1. ]] SLAMing on 20.792557844 meters 0.29471467055965556 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:0.59 [[ 0.99998834 0.00364309 -0.00316953 -0.11597486] [-0.00365095 0.99999026 -0.0024788 -0.18117786] [ 0.00316047 0.00249034 0.9999919 0.59035838] [ 0. 0. 0. 1. ]] SLAMing on 20.822557844 meters 0.2937215120937016 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:0.59 [[ 0.99998873 0.00354186 -0.00316158 -0.11591483] [-0.00355055 0.99998992 -0.00274915 -0.18008776] [ 0.00315181 0.00276034 0.99999122 0.59019357] [ 0. 0. 0. 1. ]] SLAMing on 20.852557844 meters 0.2962274864212522 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 9.99998398e-01 -1.58741098e-03 -8.27718453e-04 -9.24491073e-02] [ 1.58770198e-03 9.99998678e-01 3.51035258e-04 -1.79518505e-01] [ 8.27160121e-04 -3.52348866e-04 9.99999596e-01 5.88261007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882557844 meters 0.29452022314392484 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.59 [[ 0.99998693 0.00393798 -0.00326136 -0.11458892] [-0.00394747 0.99998798 -0.00290867 -0.17772341] [ 0.00324987 0.00292151 0.99999045 0.58967364] [ 0. 0. 0. 1. ]] SLAMing on 20.912557844 meters 0.29514212528246286 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.59 [[ 0.99999042 -0.00377025 -0.0022248 -0.09484419] [ 0.0037659 0.999991 -0.00195498 -0.173384 ] [ 0.00223215 0.00194659 0.99999561 0.59111727] [ 0. 0. 0. 1. ]] SLAMing on 20.942557844 meters 0.29583989001797223 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.59 [[ 0.99999047 -0.00382638 -0.00210149 -0.09527626] [ 0.00382196 0.99999048 -0.00210522 -0.17274926] [ 0.00210952 0.00209717 0.99999558 0.59138851] [ 0. 0. 0. 1. ]] SLAMing on 20.972557844 meters 0.29553092750258253 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.59 [[ 0.99999094 -0.00385591 -0.0018008 -0.0964193 ] [ 0.00385197 0.99999018 -0.0021903 -0.17226827] [ 0.00180923 0.00218335 0.99999598 0.59226296] [ 0. 0. 0. 1. ]] SLAMing on 21.002557844 meters 0.29477264437432604 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.59 [[ 0.9999911 -0.00385061 -0.00172431 -0.09663371] [ 0.00384685 0.99999023 -0.00217893 -0.17231372] [ 0.00173268 0.00217227 0.99999614 0.59230332] [ 0. 0. 0. 1. ]] SLAMing on 21.032557844 meters 0.2942710112558118 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.59 [[ 0.99998785 0.00378985 -0.00315267 -0.11491521] [-0.00380113 0.99998636 -0.00358098 -0.17606102] [ 0.00313906 0.00359292 0.99998862 0.59038169] [ 0. 0. 0. 1. ]] SLAMing on 21.062557844 meters 0.2960008217134583 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.59 [[ 9.99997456e-01 -2.23198049e-03 -3.24871313e-04 -9.22097903e-02] [ 2.23165810e-03 9.99997020e-01 -9.89364368e-04 -1.77563881e-01] [ 3.27078587e-04 9.88636850e-04 9.99999458e-01 5.87689797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092557844 meters 0.29412995541489473 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:0.58 [[ 9.99995578e-01 -2.97283245e-03 -8.45009227e-05 -1.29019463e-01] [ 2.97279228e-03 9.99995470e-01 -4.71543717e-04 -1.77568498e-01] [ 8.59023604e-05 4.71290428e-04 9.99999885e-01 5.83434407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122557844 meters 0.2953687950564344 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:0.58 [[ 9.99995563e-01 -2.97447947e-03 -1.60527232e-04 -1.28703657e-01] [ 2.97440292e-03 9.99995464e-01 -4.75059275e-04 -1.77566934e-01] [ 1.61939558e-04 4.74579694e-04 9.99999874e-01 5.83149660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152557844 meters 0.29655739561519967 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:0.58 [[ 9.99995426e-01 -3.01390982e-03 -2.54192312e-04 -1.28616508e-01] [ 3.01376196e-03 9.99995290e-01 -5.80066920e-04 -1.77123486e-01] [ 2.55939384e-04 5.79298192e-04 9.99999799e-01 5.83519850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182557844 meters 0.2935971160572469 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.18, Z:0.58 [[ 0.99998571 0.00515067 -0.00143165 -0.14990205] [-0.00515254 0.99998588 -0.00130138 -0.17915956] [ 0.00142492 0.00130874 0.99999813 0.58348324] [ 0. 0. 0. 1. ]] SLAMing on 21.212557844 meters 0.2951798198470051 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99995590e-01 -2.95484426e-03 2.97728852e-04 -1.29923372e-01] [ 2.95506557e-03 9.99995356e-01 -7.45674742e-04 -1.74769424e-01] [-2.95524116e-04 7.46551262e-04 9.99999678e-01 5.83941492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242557844 meters 0.2946126224904569 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99995339e-01 -3.03599992e-03 3.24475750e-04 -1.29904263e-01] [ 3.03631401e-03 9.99994918e-01 -9.71909681e-04 -1.73860134e-01] [-3.21523384e-04 9.72890361e-04 9.99999475e-01 5.83744618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272557844 meters 0.29433336257057735 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99995031e-01 -3.12629943e-03 4.04059012e-04 -1.29999714e-01] [ 3.12679096e-03 9.99994365e-01 -1.22160770e-03 -1.72853553e-01] [-4.00237623e-04 1.22286504e-03 9.99999172e-01 5.83496490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters 0.29530097303924974 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99994796e-01 -3.18765697e-03 4.96360315e-04 -1.30199659e-01] [ 3.18834444e-03 9.99993951e-01 -1.39045192e-03 -1.72167867e-01] [-4.91925029e-04 1.39202726e-03 9.99998910e-01 5.83415250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332557844 meters 0.29657849190449986 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:0.58 [[ 0.99998075 0.00591156 0.00188507 -0.11120688] [-0.0059062 0.99997853 -0.00283892 -0.17387306] [-0.00190181 0.00282773 0.99999419 0.58398212] [ 0. 0. 0. 1. ]] SLAMing on 21.362557844 meters 0.2962198136020081 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:0.58 [[ 0.99998107 0.00588042 0.00181189 -0.11107081] [-0.00587511 0.99997847 -0.00292205 -0.17352985] [-0.00182903 0.00291135 0.99999409 0.58411509] [ 0. 0. 0. 1. ]] SLAMing on 21.392557844 meters 0.29572601766466705 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:0.58 [[ 0.99998133 0.00584628 0.00177749 -0.11098265] [-0.00584089 0.99997838 -0.0030215 -0.1731354 ] [-0.00179512 0.00301106 0.99999386 0.58412217] [ 0. 0. 0. 1. ]] SLAMing on 21.422557844 meters 0.29525748764247023 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99992768e-01 -3.80314917e-03 -1.87888211e-05 -1.30590332e-01] [ 3.80308669e-03 9.99989318e-01 -2.62683682e-03 -1.70245034e-01] [ 2.87788726e-05 2.62674637e-03 9.99996550e-01 5.83513869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452557844 meters 0.2954073742147298 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99992741e-01 -3.81006734e-03 -1.99137844e-05 -1.30490681e-01] [ 3.81000127e-03 9.99989238e-01 -2.64740621e-03 -1.70176064e-01] [ 3.00003660e-05 2.64731112e-03 9.99996495e-01 5.83287357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482557844 meters 0.2952262304583648 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99999873e-01 5.00036607e-04 6.62638061e-05 -1.30790456e-01] [-5.00141341e-04 9.99998611e-01 1.59008658e-03 -1.69965164e-01] [-6.54686126e-05 -1.59011952e-03 9.99998734e-01 5.83446380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512557844 meters 0.2953427477938639 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99999916e-01 4.05626153e-04 5.26939303e-05 -1.30760201e-01] [-4.05696417e-04 9.99999019e-01 1.34033331e-03 -1.68946860e-01] [-5.21502044e-05 -1.34035457e-03 9.99999100e-01 5.83470701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542557844 meters 0.29616828188606575 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.58 [[ 9.99999953e-01 3.07525202e-04 -1.88304211e-05 -1.30534334e-01] [-3.07504739e-04 9.99999373e-01 1.07722695e-03 -1.67880671e-01] [ 1.91616837e-05 -1.07722110e-03 9.99999420e-01 5.83392486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572557844 meters 0.293700192186747 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:0.58 [[ 9.99999248e-01 -4.87386192e-04 1.12502061e-03 -1.69709770e-01] [ 4.86513401e-04 9.99999581e-01 7.75943394e-04 -1.63387049e-01] [-1.12539832e-03 -7.75395473e-04 9.99999066e-01 5.80322622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557844 meters 0.2957050110781811 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.58 [[ 9.99999722e-01 4.08926070e-04 6.23684761e-04 -1.31512452e-01] [-4.09149661e-04 9.99999852e-01 3.58414537e-04 -1.61968194e-01] [-6.23538104e-04 -3.58669618e-04 9.99999741e-01 5.83722295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632557844 meters 0.29511661241696785 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.58 [[ 9.99999675e-01 3.02206216e-04 7.47558868e-04 -1.31942332e-01] [-3.02260727e-04 9.99999952e-01 7.28066617e-05 -1.60790769e-01] [-7.47536829e-04 -7.30325958e-05 9.99999718e-01 5.83984339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662557844 meters 0.29412247202123043 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.58 [[ 9.99999648e-01 1.82263887e-04 8.19226126e-04 -1.32116000e-01] [-1.82059234e-04 9.99999952e-01 -2.49880801e-04 -1.59478933e-01] [-8.19271631e-04 2.49731566e-04 9.99999633e-01 5.83971724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692557844 meters 0.29412247202123043 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.58 [[ 9.99999648e-01 1.82263887e-04 8.19226126e-04 -1.32116000e-01] [-1.82059234e-04 9.99999952e-01 -2.49880801e-04 -1.59478933e-01] [-8.19271631e-04 2.49731566e-04 9.99999633e-01 5.83971724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722557844 meters 0.2941276747890671 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.58 [[ 9.99999735e-01 8.92151384e-05 7.22790874e-04 -1.31743657e-01] [-8.88522506e-05 9.99999870e-01 -5.02081294e-04 -1.58463919e-01] [-7.22835573e-04 5.02016939e-04 9.99999613e-01 5.83692509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752557844 meters 0.296122775378395 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.58 [[ 9.99985069e-01 -5.42094001e-03 -6.88959942e-04 -1.06291024e-01] [ 5.42267874e-03 9.99982052e-01 2.54740134e-03 -1.54174981e-01] [ 6.75138267e-04 -2.55109931e-03 9.99996518e-01 5.82300537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782557844 meters 0.29499053060260405 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.58 [[ 0.99999312 0.00309158 -0.0020487 -0.12766624] [-0.00308801 0.99999371 0.00174368 -0.15328731] [ 0.00205408 -0.00173735 0.99999638 0.58190484] [ 0. 0. 0. 1. ]] SLAMing on 21.812557844 meters 0.29638108164951227 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.58 [[ 9.99997569e-01 -2.20284656e-03 -1.00839131e-04 -1.04089460e-01] [ 2.20330193e-03 9.99986227e-01 4.76348693e-03 -1.51249595e-01] [ 9.03445116e-05 -4.76369753e-03 9.99988649e-01 5.80311308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842557844 meters 0.2950864539532509 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.58 [[ 0.99998622 0.0038304 -0.00358858 -0.1261458 ] [-0.00382342 0.99999079 0.00194833 -0.14608294] [ 0.00359601 -0.00193458 0.99999166 0.58261389] [ 0. 0. 0. 1. ]] SLAMing on 21.872557844 meters 0.29485303629537013 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.58 [[ 0.99998716 0.00363339 -0.00353318 -0.12625277] [-0.0036285 0.99999245 0.00138959 -0.14384658] [ 0.00353821 -0.00137675 0.99999279 0.5825663 ] [ 0. 0. 0. 1. ]] SLAMing on 21.902557844 meters 0.2964726596747529 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.58 [[ 0.99999736 -0.00165561 -0.00159181 -0.1024114 ] [ 0.00166266 0.99998877 0.00443864 -0.14234737] [ 0.00158445 -0.00444128 0.99998888 0.58085117] [ 0. 0. 0. 1. ]] SLAMing on 21.932557844 meters 0.2955965709943985 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.58 [[ 0.99997183 0.00615092 -0.0043016 -0.12205025] [-0.00613791 0.99997657 0.00303229 -0.14045174] [ 0.00432015 -0.0030058 0.99998615 0.58017515] [ 0. 0. 0. 1. ]] SLAMing on 21.962557844 meters 0.2954901790740288 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.58 [[ 0.99998935 0.00155778 -0.00434459 -0.12185687] [-0.00156602 0.99999698 -0.00189208 -0.13795967] [ 0.00434163 0.00189886 0.99998877 0.58000597] [ 0. 0. 0. 1. ]] SLAMing on 21.992557844 meters 0.29538752862932854 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.58 [[ 0.99999066 0.00145332 -0.00406968 -0.1226882 ] [-0.00146238 0.99999646 -0.00222286 -0.13669554] [ 0.00406644 0.00222879 0.99998925 0.58048247] [ 0. 0. 0. 1. ]] SLAMing on 22.022557844 meters 0.29387536889203525 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.58 [[ 9.99966162e-01 -5.36162862e-03 -6.23914612e-03 -1.44666182e-01] [ 5.36515015e-03 9.99985457e-01 5.47824273e-04 -1.35966532e-01] [ 6.23611815e-03 -5.81279691e-04 9.99980386e-01 5.81833132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052557844 meters 0.29474031036507214 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.58 [[ 9.99966467e-01 -5.41315249e-03 -6.14507409e-03 -1.44774969e-01] [ 5.41580439e-03 9.99985248e-01 4.14990770e-04 -1.35431276e-01] [ 6.14273703e-03 -4.48257373e-04 9.99981033e-01 5.81532853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082557844 meters 0.2953324833875292 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.58 [[ 9.99965837e-01 -5.51520371e-03 -6.15682945e-03 -1.44595993e-01] [ 5.51625414e-03 9.99984774e-01 1.53643632e-04 -1.34377515e-01] [ 6.15588833e-03 -1.87601020e-04 9.99981035e-01 5.81210554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112557844 meters 0.29542271088155597 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.58 [[ 9.99964833e-01 -5.60963285e-03 -6.23408468e-03 -1.44250038e-01] [ 5.60914552e-03 9.99984264e-01 -9.56532913e-05 -1.33370778e-01] [ 6.23452316e-03 6.06820394e-05 9.99980563e-01 5.80901660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142557844 meters 0.29658055068219136 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.58 [[ 9.99963803e-01 -5.69218963e-03 -6.32395693e-03 -1.43910902e-01] [ 5.69035370e-03 9.99983762e-01 -3.08268541e-04 -1.32509676e-01] [ 6.32560896e-03 2.72271831e-04 9.99979956e-01 5.80682370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172557844 meters 0.2947917702531337 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 0.99997618 0.0030667 -0.00618363 -0.16658445] [-0.00307398 0.99999459 -0.00116852 -0.13275459] [ 0.00618002 0.0011875 0.9999802 0.58101939] [ 0. 0. 0. 1. ]] SLAMing on 22.202557844 meters 0.2943631510596344 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 0.99997756 0.00299728 -0.00599212 -0.16729318] [-0.00300548 0.99999456 -0.00136028 -0.13197232] [ 0.00598801 0.00137826 0.99998112 0.58160185] [ 0. 0. 0. 1. ]] SLAMing on 22.232557844 meters 0.29463436318449665 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 0.99997839 0.00295872 -0.00587006 -0.16783263] [-0.00296738 0.99999452 -0.0014666 -0.13152064] [ 0.00586568 0.00148399 0.9999817 0.58217624] [ 0. 0. 0. 1. ]] SLAMing on 22.262557844 meters 0.29317490205980135 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.58 [[ 9.99964195e-01 -4.47293338e-03 -7.18337199e-03 -1.89522238e-01] [ 4.47874564e-03 9.99989656e-01 7.93243688e-04 -1.29049020e-01] [ 7.17974955e-03 -8.25387783e-04 9.99973885e-01 5.83066594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292557844 meters 0.2945309283708043 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 9.99968903e-01 4.60863682e-03 -6.39944035e-03 -1.69367461e-01] [-4.61060092e-03 9.99989328e-01 -2.92199404e-04 -1.32059198e-01] [ 6.39802541e-03 3.21695584e-04 9.99979481e-01 5.83035597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322557844 meters 0.29442815334506905 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 9.99968694e-01 4.51270067e-03 -6.49974134e-03 -1.68851360e-01] [-4.51631563e-03 9.99989655e-01 -5.41598733e-04 -1.31056572e-01] [ 6.49723002e-03 5.70936661e-04 9.99978730e-01 5.82466287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352557844 meters 0.29569758277521097 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:0.58 [[ 0.99999059 -0.00201591 -0.00384109 -0.14725687] [ 0.00202294 0.99999628 0.00182734 -0.13051855] [ 0.00383739 -0.00183509 0.99999095 0.58098508] [ 0. 0. 0. 1. ]] SLAMing on 22.382557844 meters 0.2942900312705228 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.58 [[ 0.99999493 -0.0022134 -0.00228724 -0.18781503] [ 0.00221796 0.99999556 0.00199032 -0.1268619 ] [ 0.00228282 -0.00199538 0.9999954 0.57839083] [ 0. 0. 0. 1. ]] SLAMing on 22.412557844 meters 0.29535062572488224 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.58 [[ 9.99978650e-01 6.53428397e-03 -5.82410156e-05 -1.68152993e-01] [-6.53422453e-03 9.99978183e-01 9.68202243e-04 -1.28855363e-01] [ 6.45662534e-05 -9.67801011e-04 9.99999530e-01 5.78664448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442557844 meters 0.2943084034928704 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.58 [[ 9.99996486e-01 -2.51562867e-03 -8.36412299e-04 -1.88980124e-01] [ 2.51684572e-03 9.99995771e-01 1.45722396e-03 -1.22776388e-01] [ 8.32742928e-04 -1.45932396e-03 9.99998588e-01 5.78620856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472557844 meters 0.2936970934861995 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.58 [[ 9.99996301e-01 -2.57780639e-03 -8.67948357e-04 -1.88808649e-01] [ 2.57891161e-03 9.99995862e-01 1.27466355e-03 -1.22057989e-01] [ 8.64658930e-04 -1.27689720e-03 9.99998811e-01 5.78407799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502557844 meters 0.29343221002920966 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.58 [[ 9.99981042e-01 5.31341919e-03 -3.11168185e-03 -2.07255330e-01] [-5.31353997e-03 9.99985883e-01 -3.05472978e-05 -1.24669100e-01] [ 3.11147561e-03 4.70807646e-05 9.99995158e-01 5.76760981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532557844 meters 0.2946641482579967 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.58 [[ 9.99989556e-01 -3.46871156e-03 -2.97600365e-03 -1.84895481e-01] [ 3.46996991e-03 9.99993892e-01 4.17774473e-04 -1.21894462e-01] [ 2.97453633e-03 -4.28096752e-04 9.99995484e-01 5.76661285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562557844 meters 0.2955996903913313 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.58 [[ 9.99989206e-01 -3.50032014e-03 -3.05556649e-03 -1.84565046e-01] [ 3.50135269e-03 9.99993815e-01 3.32640403e-04 -1.21548582e-01] [ 3.05438324e-03 -3.43335428e-04 9.99995276e-01 5.76377015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592557844 meters 0.29635168020833125 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.58 [[ 9.99988705e-01 -3.56447939e-03 -3.14383497e-03 -1.84399770e-01] [ 3.56499616e-03 9.99993633e-01 1.58788135e-04 -1.20841211e-01] [ 3.14324896e-03 -1.69994101e-04 9.99995046e-01 5.76547125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622557844 meters 0.2945549436504923 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.57 [[ 0.99999319 -0.00203385 -0.00307995 -0.22411776] [ 0.00203829 0.99999689 0.00144003 -0.11602725] [ 0.00307702 -0.0014463 0.99999422 0.57455985] [ 0. 0. 0. 1. ]] SLAMing on 22.652557844 meters 0.29474441611531643 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.57 [[ 0.99999233 -0.00211059 -0.00329859 -0.22336976] [ 0.00211458 0.99999704 0.00120385 -0.1150727 ] [ 0.00329604 -0.00121081 0.99999384 0.57407737] [ 0. 0. 0. 1. ]] SLAMing on 22.682557844 meters 0.2950116606039497 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.57 [[ 9.99991878e-01 -2.19132954e-03 -3.38254946e-03 -2.23007978e-01] [ 2.19460059e-03 9.99997128e-01 9.63629815e-04 -1.14118093e-01] [ 3.38042812e-03 -9.71045334e-04 9.99993815e-01 5.73709857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712557844 meters 0.2955339877154246 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.57 [[ 9.99991835e-01 -2.29032990e-03 -3.32921955e-03 -2.23111416e-01] [ 2.29262876e-03 9.99997136e-01 6.86860075e-04 -1.13009463e-01] [ 3.32763688e-03 -6.94487131e-04 9.99994222e-01 5.73649611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742557844 meters 0.2935206273054103 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.11, Z:0.58 [[ 0.99997431 0.00380429 -0.00607431 -0.24683291] [-0.00381743 0.9999904 -0.00215269 -0.10875646] [ 0.00606606 0.00217582 0.99997923 0.57642651] [ 0. 0. 0. 1. ]] SLAMing on 22.772557844 meters 0.29532031842846806 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.58 [[ 9.99997074e-01 -1.66107676e-03 -1.75863719e-03 -2.26922939e-01] [ 1.66211241e-03 9.99998446e-01 5.87599566e-04 -1.08885402e-01] [ 1.75765841e-03 -5.90520899e-04 9.99998281e-01 5.76161108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802557844 meters 0.29491015998732856 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.58 [[ 9.99996902e-01 -1.76088049e-03 -1.75955175e-03 -2.26960060e-01] [ 1.76145934e-03 9.99998395e-01 3.27476266e-04 -1.07823170e-01] [ 1.75897228e-03 -3.30574630e-04 9.99998398e-01 5.76276403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832557844 meters 0.294857132656847 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.58 [[ 9.99996752e-01 -1.84370357e-03 -1.75987486e-03 -2.26907339e-01] [ 1.84390812e-03 9.99998293e-01 1.14611069e-04 -1.06962680e-01] [ 1.75966054e-03 -1.17855745e-04 9.99998445e-01 5.76181312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862557844 meters 0.29573367242085546 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.11, Z:0.58 [[ 9.99973372e-01 7.29717918e-03 8.27884303e-05 -2.06188616e-01] [-7.29714403e-03 9.99973288e-01 -4.17212944e-04 -1.09580726e-01] [-8.58306965e-05 4.16597716e-04 9.99999910e-01 5.75565740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892557844 meters 0.2938588429234123 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:0.58 [[ 9.99998315e-01 2.06183706e-04 -1.82402549e-03 -2.28870497e-01] [-2.02977445e-04 9.99998434e-01 1.75780413e-03 -1.07237815e-01] [ 1.82438506e-03 -1.75743094e-03 9.99996792e-01 5.77468360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922557844 meters 0.29629249208636743 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:0.58 [[ 9.99999406e-01 -7.51930942e-04 7.89054573e-04 -1.84411264e-01] [ 7.51695879e-04 9.99999673e-01 2.98159249e-04 -1.07208517e-01] [-7.89278510e-04 -2.97565943e-04 9.99999644e-01 5.75915618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952557844 meters 0.29458697100739917 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.57 [[ 9.99998764e-01 -1.01433587e-03 1.20098364e-03 -2.22416356e-01] [ 1.01427632e-03 9.99999484e-01 5.01959669e-05 -1.03280379e-01] [-1.20103393e-03 -4.89777757e-05 9.99999278e-01 5.72405932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982557844 meters 0.29640177178315186 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.57 [[ 9.99998841e-01 -1.09292587e-03 1.05982938e-03 -2.21893964e-01] [ 1.09309579e-03 9.99999390e-01 -1.59761628e-04 -1.02425451e-01] [-1.05965413e-03 1.60919938e-04 9.99999426e-01 5.72056440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012557844 meters 0.29472665190460073 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.57 [[ 0.99998715 0.00422836 -0.00279798 -0.24417669] [-0.00423837 0.99998461 -0.00358131 -0.09664507] [ 0.0027828 0.00359312 0.99998967 0.57454831] [ 0. 0. 0. 1. ]] SLAMing on 23.042557844 meters 0.29648186639082486 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.57 [[ 9.99999034e-01 -1.28335405e-03 5.33952308e-04 -2.21700411e-01] [ 1.28368524e-03 9.99998984e-01 -6.20389046e-04 -9.76866768e-02] [-5.33155586e-04 6.21073874e-04 9.99999665e-01 5.72694990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072557844 meters 0.29500308000680825 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.57 [[ 9.99998818e-01 -1.41832033e-03 5.93151707e-04 -2.21929752e-01] [ 1.41890295e-03 9.99998510e-01 -9.82985817e-04 -9.62204564e-02] [-5.91756634e-04 9.83826280e-04 9.99999341e-01 5.72904809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102557844 meters 0.2957025734088575 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99998211e-01 -1.77854468e-03 6.43725764e-04 -2.22123611e-01] [ 1.77977432e-03 9.99996583e-01 -1.91468635e-03 -9.25334608e-02] [-6.40318209e-04 1.91582861e-03 9.99997960e-01 5.73070338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132557844 meters 0.29458591538576234 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99997900e-01 -1.96880179e-03 5.68505699e-04 -2.21755612e-01] [ 1.97018711e-03 9.99995066e-01 -2.44657506e-03 -9.04167601e-02] [-5.63686073e-04 2.44768998e-03 9.99996846e-01 5.72712397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters 0.2960993724562715 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.58 [[ 9.99999336e-01 -5.92142917e-04 -9.88459802e-04 -1.80929572e-01] [ 5.90330709e-04 9.99998146e-01 -1.83265124e-03 -8.95148346e-02] [ 9.89543161e-04 1.83206651e-03 9.99997832e-01 5.75436376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192557844 meters 0.2944086471624047 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.58 [[ 0.99997501 -0.00629197 -0.00322426 -0.20454681] [ 0.00629564 0.99997955 0.00112773 -0.08681074] [ 0.0032171 -0.001148 0.99999417 0.57789445] [ 0. 0. 0. 1. ]] SLAMing on 23.222557844 meters 0.2961755324226918 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.58 [[ 9.99997377e-01 1.96453940e-03 -1.17762156e-03 -1.84049994e-01] [-1.96531581e-03 9.99997852e-01 -6.58508624e-04 -8.44839770e-02] [ 1.17632536e-03 6.60821295e-04 9.99999090e-01 5.78051947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252557844000002 meters 0.2963709626965756 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.58 [[ 0.99999763 0.00181494 -0.00120018 -0.18400999] [-0.00181618 0.99999781 -0.00103832 -0.08295185] [ 0.0011983 0.00104049 0.99999874 0.57812147] [ 0. 0. 0. 1. ]] SLAMing on 23.282557844 meters 0.29516000568299855 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 0.99998442 -0.00456088 -0.00321723 -0.20465113] [ 0.00456657 0.99998802 0.00176262 -0.07867737] [ 0.00320915 -0.00177728 0.99999327 0.57870728] [ 0. 0. 0. 1. ]] SLAMing on 23.312557844 meters 0.2954416383982933 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 0.99998287 -0.00477329 -0.00338785 -0.20381328] [ 0.00477728 0.99998791 0.00116871 -0.07631125] [ 0.00338223 -0.00118487 0.99999358 0.57763367] [ 0. 0. 0. 1. ]] SLAMing on 23.342557844 meters 0.2956791904244756 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 9.99982171e-01 -4.87786723e-03 -3.44434563e-03 -2.03673078e-01] [ 4.88096526e-03 9.99987691e-01 8.91624087e-04 -7.51840662e-02] [ 3.43995401e-03 -9.08419921e-04 9.99993671e-01 5.77671958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372557844 meters 0.29521026730712624 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99981685e-01 -5.01639391e-03 -3.38594131e-03 -2.03943604e-01] [ 5.01821606e-03 9.99987268e-01 5.29870971e-04 -7.37130250e-02] [ 3.38324016e-03 -5.46852651e-04 9.99994127e-01 5.77957470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402557844 meters 0.29473988519906874 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99980993e-01 -5.18434165e-03 -3.33705088e-03 -2.04214676e-01] [ 5.18468285e-03 9.99986555e-01 9.36029183e-05 -7.19477244e-02] [ 3.33652075e-03 -1.10902690e-04 9.99994428e-01 5.78275588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432557844 meters 0.29508109088401246 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99980133e-01 -5.34087906e-03 -3.34781766e-03 -2.04226251e-01] [ 5.33985598e-03 9.99985693e-01 -3.14460769e-04 -7.03162585e-02] [ 3.34944926e-03 2.96577657e-04 9.99994347e-01 5.78377820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462557844 meters 0.29530881560949135 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99978628e-01 -5.53425695e-03 -3.48070778e-03 -2.03691866e-01] [ 5.53137032e-03 9.99984350e-01 -8.38403391e-04 -6.81789163e-02] [ 3.48529325e-03 8.19132389e-04 9.99993591e-01 5.77932647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492557844 meters 0.29440573646175544 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99978267e-01 -5.59472915e-03 -3.48786904e-03 -2.03649717e-01] [ 5.59127683e-03 9.99983870e-01 -9.98774836e-04 -6.75314177e-02] [ 3.49340065e-03 9.79251488e-04 9.99993419e-01 5.77890913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522557844 meters 0.29663484880988883 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.58 [[ 0.99999334 0.00309868 -0.00193059 -0.18296109] [-0.0031021 0.99999363 -0.00176695 -0.07037155] [ 0.0019251 0.00177293 0.99999658 0.57786231] [ 0. 0. 0. 1. ]] SLAMing on 23.552557844 meters 0.295408608560127 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.58 [[ 0.99999362 0.00300467 -0.00193269 -0.18296107] [-0.00300856 0.99999345 -0.00201154 -0.06938616] [ 0.00192664 0.00201734 0.99999611 0.57789348] [ 0. 0. 0. 1. ]] SLAMing on 23.582557844 meters 0.296544169261329 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.58 [[ 0.9999938 0.00288429 -0.00202049 -0.18264417] [-0.00288901 0.99999309 -0.00233863 -0.06805979] [ 0.00201373 0.00234445 0.99999522 0.57772493] [ 0. 0. 0. 1. ]] SLAMing on 23.612557844 meters 0.296544169261329 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.58 [[ 0.9999938 0.00288429 -0.00202049 -0.18264417] [-0.00288901 0.99999309 -0.00233863 -0.06805979] [ 0.00201373 0.00234445 0.99999522 0.57772493] [ 0. 0. 0. 1. ]] SLAMing on 23.642557844 meters 0.2948417775033766 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99989078e-01 -2.27427612e-03 -4.08297317e-03 -2.05095208e-01] [ 2.27802420e-03 9.99996988e-01 9.13561150e-04 -6.32934086e-02] [ 4.08088318e-03 -9.22852285e-04 9.99991247e-01 5.78686571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672557844 meters 0.29583841460254195 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99988648e-01 -2.38615883e-03 -4.12431956e-03 -2.05053408e-01] [ 2.38862664e-03 9.99996971e-01 5.93533640e-04 -6.20203477e-02] [ 4.12289081e-03 -6.03378362e-04 9.99991319e-01 5.78859498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702557844 meters 0.29461714428076236 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99988708e-01 -2.50627379e-03 -4.03753151e-03 -2.05454226e-01] [ 2.50732019e-03 9.99996824e-01 2.54126865e-04 -6.06687510e-02] [ 4.03688178e-03 -2.64247380e-04 9.99991817e-01 5.79302209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732557844 meters 0.2935926400712607 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99988670e-01 -2.64506534e-03 -3.95773899e-03 -2.05886728e-01] [ 2.64454379e-03 9.99996494e-01 -1.37008082e-04 -5.91155898e-02] [ 3.95808750e-03 1.26540116e-04 9.99992159e-01 5.79858590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762557844 meters 0.2948350542428757 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99988491e-01 -2.76104060e-03 -3.92363516e-03 -2.06091262e-01] [ 2.75929903e-03 9.99996092e-01 -4.49210661e-04 -5.78615094e-02] [ 3.92486011e-03 4.38379008e-04 9.99992202e-01 5.80153371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792557844 meters 0.2946586919481935 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.58 [[ 9.99988492e-01 -2.86185874e-03 -3.85029536e-03 -2.06281668e-01] [ 2.85910902e-03 9.99995654e-01 -7.19471516e-04 -5.67687760e-02] [ 3.85233765e-03 7.08454823e-04 9.99992329e-01 5.80170587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822557844 meters 0.29626581616628755 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.58 [[ 0.99999159 0.00338925 -0.00231027 -0.18199088] [-0.00339746 0.99998789 -0.0035609 -0.05714724] [ 0.00229817 0.00356872 0.99999099 0.57767061] [ 0. 0. 0. 1. ]] SLAMing on 23.852557844 meters 0.2954388111984081 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99997264e-01 -2.30560134e-03 -3.95808511e-04 -1.97112081e-01] [ 2.30543175e-03 9.99997251e-01 -4.28384346e-04 -5.55701666e-02] [ 3.96795106e-04 4.27470665e-04 9.99999830e-01 5.71349504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882557844 meters 0.2961285117105341 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99997357e-01 -2.26893371e-03 -3.70899164e-04 -1.97021767e-01] [ 2.26881592e-03 9.99997376e-01 -3.17692855e-04 -5.59943784e-02] [ 3.71619014e-04 3.16850513e-04 9.99999881e-01 5.70949000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912557844 meters 0.29581186188354386 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99997490e-01 -2.21589651e-03 -3.30503656e-04 -1.97103561e-01] [ 2.21584054e-03 9.99997531e-01 -1.69607557e-04 -5.65913248e-02] [ 3.30878672e-04 1.68874788e-04 9.99999931e-01 5.70884337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942557844 meters 0.29392821075710523 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.57 [[ 0.99999045 0.00348143 -0.00264368 -0.2212386 ] [-0.00349069 0.99998776 -0.0035056 -0.05461516] [ 0.00263144 0.00351479 0.99999036 0.5731861 ] [ 0. 0. 0. 1. ]] SLAMing on 23.972557844 meters 0.29398544578536373 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.57 [[ 0.99999051 0.00353344 -0.00255029 -0.22148574] [-0.003542 0.99998808 -0.00335977 -0.05520839] [ 0.00253839 0.00336878 0.9999911 0.57318631] [ 0. 0. 0. 1. ]] SLAMing on 24.002557844000002 meters 0.2929945277787365 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.57 [[ 0.9999904 0.00359623 -0.00250471 -0.22161212] [-0.0036042 0.99998843 -0.00318702 -0.05590949] [ 0.00249322 0.00319601 0.99999178 0.57318877] [ 0. 0. 0. 1. ]] SLAMing on 24.032557844 meters 0.2963967636828897 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.57 [[ 9.99995997e-01 2.82666853e-03 1.27186845e-04 -1.76453037e-01] [-2.82620852e-03 9.99989943e-01 -3.48220510e-03 -5.98916707e-02] [-1.37028606e-04 3.48183171e-03 9.99993929e-01 5.71137090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062557844 meters 0.2944195473432098 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99994463e-01 -2.40579293e-03 -2.29910766e-03 -2.00131258e-01] [ 2.40569379e-03 9.99997105e-01 -4.58850098e-05 -5.97186649e-02] [ 2.29921139e-03 4.03538067e-05 9.99997356e-01 5.73446214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092557844 meters 0.29471425240237353 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99994292e-01 -2.43228740e-03 -2.34499668e-03 -1.99941380e-01] [ 2.43201113e-03 9.99997035e-01 -1.20658772e-04 -5.94069071e-02] [ 2.34528320e-03 1.14955025e-04 9.99997243e-01 5.73278566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122557844 meters 0.2948059178450488 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99993995e-01 -2.45127729e-03 -2.44974578e-03 -1.99610205e-01] [ 2.45084806e-03 9.99996981e-01 -1.78201978e-04 -5.91667712e-02] [ 2.45017520e-03 1.72196953e-04 9.99996983e-01 5.73130440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152557844 meters 0.29521024949860225 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99993815e-01 -2.49130493e-03 -2.48273318e-03 -1.99475052e-01] [ 2.49058477e-03 9.99996856e-01 -2.93118855e-04 -5.86985601e-02] [ 2.48345562e-03 2.86933585e-04 9.99996875e-01 5.73012379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182557844 meters 0.29508488695681906 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99993695e-01 -2.54767507e-03 -2.47388278e-03 -1.99491811e-01] [ 2.54658948e-03 9.99996660e-01 -4.41869891e-04 -5.80979049e-02] [ 2.47500026e-03 4.35567141e-04 9.99996842e-01 5.73013358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212557844 meters 0.2932789556770949 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99993866e-01 -2.52957147e-03 -2.42259396e-03 -1.99662260e-01] [ 2.52862810e-03 9.99996726e-01 -3.92386560e-04 -5.83019171e-02] [ 2.42357859e-03 3.86258314e-04 9.99996989e-01 5.73098259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242557844 meters 0.29564617999553744 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99991841e-01 -2.24620476e-03 -3.35746998e-03 -1.60234848e-01] [ 2.24785915e-03 9.99997354e-01 4.89053988e-04 -6.21252016e-02] [ 3.35636258e-03 -4.96597117e-04 9.99994244e-01 5.76454335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272557844 meters 0.2947940812442784 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99992396e-01 -2.20841303e-03 -3.21426950e-03 -1.60655382e-01] [ 2.21033892e-03 9.99997380e-01 5.95741007e-04 -6.25648931e-02] [ 3.21294543e-03 -6.02841102e-04 9.99994657e-01 5.76563494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302557844 meters 0.29415044420326397 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99993084e-01 -2.16713841e-03 -3.02236577e-03 -1.61210726e-01] [ 2.16932418e-03 9.99997388e-01 7.20106720e-04 -6.30770525e-02] [ 3.02079731e-03 -7.26658231e-04 9.99995173e-01 5.76712488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332557844 meters 0.29321148121987334 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99993712e-01 -2.13029738e-03 -2.83520360e-03 -1.61778195e-01] [ 2.13268532e-03 9.99997373e-01 8.39488819e-04 -6.35698056e-02] [ 2.83340779e-03 -8.45530137e-04 9.99995628e-01 5.76950651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362557844 meters 0.2947288297957729 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.57 [[ 9.99995690e-01 2.93609134e-03 1.28367839e-06 -1.38082599e-01] [-2.93608225e-03 9.99993508e-01 -2.08881721e-03 -6.64328463e-02] [-7.41662819e-06 2.08880444e-03 9.99997818e-01 5.74525019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392557844 meters 0.2929818612699824 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.58 [[ 0.99999271 -0.00295849 -0.00241557 -0.1601473 ] [ 0.00296147 0.99999486 0.00123061 -0.06707042] [ 0.00241192 -0.00123776 0.99999633 0.57587282] [ 0. 0. 0. 1. ]] SLAMing on 24.422557844 meters 0.2947254560586331 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.58 [[ 9.99982476e-01 5.60693097e-03 -1.90014563e-03 -1.40441116e-01] [-5.60576790e-03 9.99984097e-01 6.16869191e-04 -7.37610881e-02] [ 1.90357415e-03 -6.06206606e-04 9.99998004e-01 5.76319082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452557844 meters 0.2948608322064477 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.58 [[ 9.99982026e-01 5.67221874e-03 -1.94247570e-03 -1.40204502e-01] [-5.67069674e-03 9.99983611e-01 7.88150371e-04 -7.44507155e-02] [ 1.94691442e-03 -7.77121014e-04 9.99997803e-01 5.76019521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482557844 meters 0.2933317348454993 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.58 [[ 0.99999073 -0.00302993 -0.00305888 -0.1604754 ] [ 0.00303441 0.99999433 0.00146268 -0.06967824] [ 0.00305443 -0.00147195 0.99999425 0.57560535] [ 0. 0. 0. 1. ]] SLAMing on 24.512557844 meters 0.29464251589452795 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.58 [[ 9.99983497e-01 5.45710147e-03 -1.79596479e-03 -1.39916613e-01] [-5.45589643e-03 9.99984889e-01 6.75184592e-04 -7.29226293e-02] [ 1.79962220e-03 -6.65374851e-04 9.99998159e-01 5.76689526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542557844 meters 0.2948240377093937 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.58 [[ 9.99983565e-01 5.39740176e-03 -1.93332819e-03 -1.39540090e-01] [-5.39643932e-03 9.99985313e-01 5.02688973e-04 -7.22235674e-02] [ 1.93601301e-03 -4.92247624e-04 9.99998005e-01 5.76648196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572557844 meters 0.2954560187198253 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.58 [[ 9.99983558e-01 5.31385820e-03 -2.15556848e-03 -1.38883260e-01] [-5.31330505e-03 9.99985850e-01 2.62260426e-04 -7.12338832e-02] [ 2.15693159e-03 -2.50802921e-04 9.99997642e-01 5.76476321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602557844 meters 0.2937640063782753 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99986501e-01 -3.35554321e-03 -3.96712870e-03 -1.57580646e-01] [ 3.35857142e-03 9.99994074e-01 7.56909482e-04 -6.45581715e-02] [ 3.96456534e-03 -7.70223149e-04 9.99991844e-01 5.75820593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632557844 meters 0.2941224777608204 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99985155e-01 -3.54901855e-03 -4.13459668e-03 -1.56972262e-01] [ 3.54921814e-03 9.99993701e-01 4.09355898e-05 -6.18396938e-02] [ 4.13442535e-03 -5.56095676e-05 9.99991452e-01 5.75283978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662557844000002 meters 0.29389529401379744 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99984549e-01 -3.67631328e-03 -4.16977300e-03 -1.56889711e-01] [ 3.67467523e-03 9.99993168e-01 -4.00431215e-04 -6.01518651e-02] [ 4.17121663e-03 3.85102467e-04 9.99991226e-01 5.75307100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692557844 meters 0.29481333864302817 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99983063e-01 -3.81500908e-03 -4.39541630e-03 -1.56264929e-01] [ 3.81113252e-03 9.99992342e-01 -8.89994058e-04 -5.82616142e-02] [ 4.39877797e-03 8.73227470e-04 9.99989944e-01 5.75151709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722557844 meters 0.2951145547759841 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 0.99998147 -0.0039573 -0.00462595 -0.15573752] [ 0.00395088 0.99999122 -0.00139619 -0.05633458] [ 0.00463144 0.00137789 0.99998833 0.57529117] [ 0. 0. 0. 1. ]] SLAMing on 24.752557844000002 meters 0.29473157450819065 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.58 [[ 0.99998136 -0.00423219 -0.00440149 -0.15664747] [ 0.00422106 0.99998788 -0.00253465 -0.05217724] [ 0.00441216 0.00251602 0.9999871 0.57627142] [ 0. 0. 0. 1. ]] SLAMing on 24.782557844 meters 0.2935237293530102 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.58 [[ 0.99998187 -0.00444036 -0.00406698 -0.15765057] [ 0.00442704 0.99998482 -0.00327978 -0.04931875] [ 0.00408148 0.00326172 0.99998635 0.57679298] [ 0. 0. 0. 1. ]] SLAMing on 24.812557844 meters 0.29377799772047924 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.58 [[ 9.99991994e-01 -2.35433913e-04 -3.99466118e-03 -1.58063561e-01] [ 2.38194150e-04 9.99999733e-01 6.90519772e-04 -4.78219120e-02] [ 3.99449754e-03 -6.91465749e-04 9.99991783e-01 5.77284421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842557844 meters 0.293756810075084 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.58 [[ 9.99993238e-01 -4.54763242e-04 -3.64939275e-03 -1.59077226e-01] [ 4.54675533e-04 9.99999896e-01 -2.48634360e-05 -4.50110054e-02] [ 3.64940368e-03 2.32039783e-05 9.99993341e-01 5.77764110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872557844 meters 0.29288155898020796 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99993878e-01 -6.53929343e-04 -3.43759744e-03 -1.59733664e-01] [ 6.51792176e-04 9.99999594e-01 -6.22787203e-04 -4.26445240e-02] [ 3.43800330e-03 6.20542791e-04 9.99993898e-01 5.78067320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902557844 meters 0.2927699535412835 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99993972e-01 -8.34938401e-04 -3.37015462e-03 -1.59919090e-01] [ 8.31145884e-04 9.99999020e-01 -1.12656793e-03 -4.06428333e-02] [ 3.37109193e-03 1.12376005e-03 9.99993686e-01 5.78089383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932557844 meters 0.2929983172124993 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 0.99999398 -0.00114366 -0.00327707 -0.16021517] [ 0.00113747 0.99999757 -0.00188809 -0.03761124] [ 0.00327922 0.00188435 0.99999285 0.57819945] [ 0. 0. 0. 1. ]] SLAMing on 24.962557844 meters 0.29265206120869025 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 0.99999384 -0.00125969 -0.00327752 -0.16017979] [ 0.00125252 0.99999682 -0.00218881 -0.03638777] [ 0.00328027 0.00218469 0.99999223 0.57812144] [ 0. 0. 0. 1. ]] SLAMing on 24.992557844 meters 0.29323292203190043 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999288 -0.00147234 -0.00347365 -0.15943395] [ 0.0014627 0.99999508 -0.00277444 -0.03399433] [ 0.00347772 0.00276934 0.99999012 0.57746786] [ 0. 0. 0. 1. ]] SLAMing on 25.022557844 meters 0.29256838517045103 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999247 -0.001558 -0.0035556 -0.1591232 ] [ 0.00154732 0.99999429 -0.00300523 -0.03304715] [ 0.00356026 0.0029997 0.99998916 0.5772475 ] [ 0. 0. 0. 1. ]] SLAMing on 25.052557844 meters 0.29317271766943964 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999212 -0.00163845 -0.0036172 -0.15896971] [ 0.00162681 0.99999349 -0.00321966 -0.03217835] [ 0.00362245 0.00321375 0.99998827 0.57726812] [ 0. 0. 0. 1. ]] SLAMing on 25.082557844 meters 0.293161822063763 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999191 -0.00171263 -0.00363932 -0.1589889 ] [ 0.0017002 0.99999271 -0.00341815 -0.03138333] [ 0.00364515 0.00341194 0.99998754 0.57744061] [ 0. 0. 0. 1. ]] SLAMing on 25.112557844 meters 0.2940285905672684 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999162 -0.00179829 -0.00367764 -0.15903021] [ 0.00178486 0.99999174 -0.00365177 -0.03044887] [ 0.00368418 0.00364518 0.99998657 0.57776587] [ 0. 0. 0. 1. ]] SLAMing on 25.142557844 meters 0.29322470205203993 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999137 -0.00186823 -0.00371064 -0.15899371] [ 0.00185397 0.9999909 -0.00384288 -0.02968281] [ 0.00371779 0.00383596 0.99998573 0.57787895] [ 0. 0. 0. 1. ]] SLAMing on 25.172557844 meters 0.29352849025174926 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999025 -0.00200946 -0.00393329 -0.15822955] [ 0.00199248 0.9999887 -0.00431677 -0.02783035] [ 0.00394192 0.00430889 0.99998295 0.57729181] [ 0. 0. 0. 1. ]] SLAMing on 25.202557844 meters 0.29331098494460467 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99999008 -0.00209617 -0.00393091 -0.15813236] [ 0.00207814 0.99998733 -0.00458527 -0.02677382] [ 0.00394047 0.00457706 0.99998176 0.57702203] [ 0. 0. 0. 1. ]] SLAMing on 25.232557844 meters 0.2929353744110337 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 0.99998986 -0.00219261 -0.00393329 -0.15814687] [ 0.00217338 0.9999857 -0.00488578 -0.02560261] [ 0.00394395 0.00487718 0.99998033 0.57707689] [ 0. 0. 0. 1. ]] SLAMing on 25.262557844 meters 0.29407235907299123 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.58 [[ 0.99998929 -0.0022887 -0.00402242 -0.15792952] [ 0.00226785 0.99998401 -0.0051806 -0.0244462 ] [ 0.00403422 0.00517142 0.99997849 0.57709701] [ 0. 0. 0. 1. ]] SLAMing on 25.292557844 meters 0.2924977252213192 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.02, Z:0.57 [[ 9.99994880e-01 4.11000740e-04 -3.17355977e-03 -1.97421375e-01] [-4.22551234e-04 9.99993287e-01 -3.63978935e-03 -2.36673293e-02] [ 3.17204251e-03 3.64111170e-03 9.99988340e-01 5.74165943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322557844 meters 0.2918497685750046 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.02, Z:0.57 [[ 9.99993996e-01 3.62014471e-04 -3.44636802e-03 -1.96736032e-01] [-3.75186076e-04 9.99992626e-01 -3.82200098e-03 -2.29766867e-02] [ 3.44495898e-03 3.82327106e-03 9.99986757e-01 5.74094965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352557844 meters 0.29097980589826306 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.02, Z:0.57 [[ 9.99993830e-01 2.95526493e-04 -3.50051580e-03 -1.96582593e-01] [-3.09607701e-04 9.99991861e-01 -4.02275085e-03 -2.21791672e-02] [ 3.49929848e-03 4.02380982e-03 9.99985782e-01 5.74046261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382557844 meters 0.29386312211137217 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.57 [[ 9.99998773e-01 1.24222519e-03 -9.54477234e-04 -1.52378099e-01] [-1.24488379e-03 9.99995333e-01 -2.78987345e-03 -2.14995367e-02] [ 9.51007129e-04 2.79105824e-03 9.99995653e-01 5.72458388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412557844000002 meters 0.29380854756234254 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.57 [[ 9.99998910e-01 1.17473265e-03 -8.94941758e-04 -1.52450609e-01] [-1.17738483e-03 9.99994900e-01 -2.96878153e-03 -2.07658020e-02] [ 8.91449669e-04 2.96983198e-03 9.99995193e-01 5.72263230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442557844 meters 0.2936191853876094 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.57 [[ 9.99999061e-01 1.15086709e-03 -7.44330889e-04 -1.52926239e-01] [-1.15311863e-03 9.99994740e-01 -3.03159215e-03 -2.05122149e-02] [ 7.40838014e-04 3.03244761e-03 9.99995128e-01 5.72460989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472557844 meters 0.29219619924070706 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.02, Z:0.57 [[ 9.99989841e-01 -4.45640568e-03 -6.76680435e-04 -1.76844238e-01] [ 4.45685520e-03 9.99989848e-01 6.64258372e-04 -1.96068841e-02] [ 6.73713360e-04 -6.67267491e-04 9.99999550e-01 5.73464334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502557844000002 meters 0.2922407224367426 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.02, Z:0.57 [[ 9.99989904e-01 -4.43168187e-03 -7.43683104e-04 -1.76660664e-01] [ 4.43222455e-03 9.99989911e-01 7.29657827e-04 -1.98721586e-02] [ 7.40441990e-04 -7.32946631e-04 9.99999457e-01 5.73441033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532557844 meters 0.2922407224367426 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.02, Z:0.57 [[ 9.99989904e-01 -4.43168187e-03 -7.43683104e-04 -1.76660664e-01] [ 4.43222455e-03 9.99989911e-01 7.29657827e-04 -1.98721586e-02] [ 7.40441990e-04 -7.32946631e-04 9.99999457e-01 5.73441033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562557844 meters 0.2929748464428813 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.57 [[ 9.99993430e-01 3.62338889e-03 1.06873677e-04 -1.57169246e-01] [-3.62333133e-03 9.99993293e-01 -5.33944130e-04 -2.40855753e-02] [-1.08807647e-04 5.33553383e-04 9.99999852e-01 5.74841707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592557844 meters 0.29158175393229846 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.58 [[ 0.99998936 -0.00273555 -0.00371323 -0.17984353] [ 0.00274177 0.99999485 0.00167102 -0.02771757] [ 0.00370864 -0.00168118 0.99999171 0.5779751 ] [ 0. 0. 0. 1. ]] SLAMing on 25.622557844 meters 0.29336069132110815 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 9.99997610e-01 2.09407974e-03 -6.27883791e-04 -1.57588884e-01] [-2.09519330e-03 9.99996224e-01 -1.77814105e-03 -2.84762435e-02] [ 6.24157851e-04 1.77945234e-03 9.99998222e-01 5.76766378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652557844 meters 0.29207470676190106 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.58 [[ 9.99997554e-01 2.16120642e-03 -4.70885131e-04 -1.58121689e-01] [-2.16195193e-03 9.99996401e-01 -1.58849284e-03 -2.92484877e-02] [ 4.67450375e-04 1.58950698e-03 9.99998627e-01 5.77105323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682557844 meters 0.2926787571691323 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.58 [[ 9.99979789e-01 -6.23920801e-03 1.22221004e-03 -1.38850255e-01] [ 6.23939281e-03 9.99980524e-01 -1.47444384e-04 -2.69394747e-02] [-1.22126630e-03 1.55067252e-04 9.99999242e-01 5.78266789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712557844 meters 0.29171530196924694 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.58 [[ 9.99980314e-01 -6.14288018e-03 1.27893400e-03 -1.38981691e-01] [ 6.14275275e-03 9.99981128e-01 1.03546588e-04 -2.79631700e-02] [-1.27954594e-03 -9.56883740e-05 9.99999177e-01 5.78238501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742557844 meters 0.29068605773241246 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 0.9999972 0.00212049 0.00104803 -0.15808168] [-0.0021194 0.99999722 -0.00103612 -0.03508628] [-0.00105022 0.00103389 0.99999891 0.57640289] [ 0. 0. 0. 1. ]] SLAMing on 25.772557844 meters 0.29043012903228127 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99997004e-01 2.21609647e-03 1.03926561e-03 -1.58020796e-01] [-2.21528545e-03 9.99997241e-01 -7.80876685e-04 -3.61236819e-02] [-1.04099324e-03 7.78572075e-04 9.99999155e-01 5.76323402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802557844 meters 0.2919886953199914 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99996973e-01 2.28063922e-03 9.23587039e-04 -1.57554313e-01] [-2.28007809e-03 9.99997216e-01 -6.08150543e-04 -3.68238370e-02] [-9.24971439e-04 6.06042852e-04 9.99999389e-01 5.75941103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832557844 meters 0.29189859859458916 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99996866e-01 2.36182983e-03 8.30776280e-04 -1.57063547e-01] [-2.36150650e-03 9.99997136e-01 -3.89954468e-04 -3.77051789e-02] [-8.31694906e-04 3.87991362e-04 9.99999579e-01 5.75348213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862557844 meters 0.2924389557477008 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.57 [[ 9.99996858e-01 2.40522585e-03 7.06840490e-04 -1.56522819e-01] [-2.40503242e-03 9.99997070e-01 -2.74373083e-04 -3.81731591e-02] [-7.07498348e-04 2.72672247e-04 9.99999713e-01 5.74841803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892557844 meters 0.29323473131747896 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.57 [[ 9.99996750e-01 2.50384071e-03 4.81035942e-04 -1.55631829e-01] [-2.50384189e-03 9.99996865e-01 1.85699436e-06 -3.92588181e-02] [-4.81029785e-04 -3.06142627e-06 9.99999884e-01 5.74020061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922557844 meters 0.2905209200747098 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.04, Z:0.57 [[ 9.99994426e-01 2.57353749e-03 -2.12724383e-03 -1.98922093e-01] [-2.57420803e-03 9.99996638e-01 -3.12537557e-04 -4.08461097e-02] [ 2.12643235e-03 3.18011783e-04 9.99997689e-01 5.74946727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952557844 meters 0.29117216450889477 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.04, Z:0.58 [[ 9.99981695e-01 -6.02124463e-03 -5.95349168e-04 -1.80055811e-01] [ 6.02179980e-03 9.99981432e-01 9.35149222e-04 -3.72984344e-02] [ 5.89707351e-04 -9.38717177e-04 9.99999386e-01 5.75932790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982557844 meters 0.29153189494261766 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.58 [[ 9.99997723e-01 1.99132330e-03 7.66696855e-04 -1.60452614e-01] [-1.99119355e-03 9.99998003e-01 -1.69955775e-04 -4.25401618e-02] [-7.67033761e-04 1.68428746e-04 9.99999692e-01 5.77373364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012557844 meters 0.29338546588938536 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.04, Z:0.58 [[ 0.99998745 -0.00394731 0.00308578 -0.13733274] [ 0.0039374 0.9999871 0.00320987 -0.04332154] [-0.00309842 -0.00319768 0.99999009 0.57504311] [ 0. 0. 0. 1. ]] SLAMing on 26.042557844 meters 0.29300460455801597 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.04, Z:0.57 [[ 0.99998729 -0.00390402 0.00318956 -0.13740158] [ 0.00389342 0.99998689 0.00332463 -0.04378365] [-0.00320249 -0.00331217 0.99998939 0.57459249] [ 0. 0. 0. 1. ]] SLAMing on 26.072557844 meters 0.2911473862661044 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.57 [[ 9.99996981e-01 2.40565049e-03 5.00494309e-04 -1.57553800e-01] [-2.40575457e-03 9.99997085e-01 2.07459772e-04 -4.50106468e-02] [-4.99993774e-04 -2.08663212e-04 9.99999853e-01 5.74969661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102557844 meters 0.2932085831219877 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.57 [[ 9.99996876e-01 2.46837599e-03 3.94248225e-04 -1.57148167e-01] [-2.46852139e-03 9.99996885e-01 3.68748285e-04 -4.56698280e-02] [-3.93336788e-04 -3.69720343e-04 9.99999854e-01 5.74686291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132557844 meters 0.29310459987872045 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.57 [[ 9.99996786e-01 2.51197579e-03 3.42032035e-04 -1.57033157e-01] [-2.51214068e-03 9.99996728e-01 4.82516648e-04 -4.61342056e-02] [-3.40818846e-04 -4.83374330e-04 9.99999825e-01 5.74738145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162557844000002 meters 0.29087935244619134 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 0.99999016 -0.00383052 -0.00223948 -0.18039241] [ 0.00383779 0.99998735 0.00325103 -0.04892361] [ 0.002227 -0.0032596 0.99999221 0.57720331] [ 0. 0. 0. 1. ]] SLAMing on 26.192557844 meters 0.2908077037863708 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.58 [[ 0.9999907 -0.00373468 -0.00215784 -0.18073346] [ 0.00374224 0.99998684 0.00350926 -0.04997243] [ 0.0021447 -0.00351731 0.99999151 0.57753224] [ 0. 0. 0. 1. ]] SLAMing on 26.222557844 meters 0.2909800368700339 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99989981e-01 4.47525864e-03 -1.04281225e-04 -1.61864094e-01] [-4.47497082e-03 9.99986571e-01 2.61373468e-03 -5.50394284e-02] [ 1.15976963e-04 -2.61324184e-03 9.99996579e-01 5.78636307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252557844000002 meters 0.2905081826258137 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99989599e-01 4.56095748e-03 1.29067306e-05 -1.62219407e-01] [-4.56097574e-03 9.99985536e-01 2.85058875e-03 -5.59922484e-02] [ 9.48701405e-08 -2.85061797e-03 9.99995937e-01 5.78772298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282557844 meters 0.29111370125351743 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99988701e-01 4.75355399e-03 3.98411183e-05 -1.62232605e-01] [-4.75366301e-03 9.99982772e-01 3.44363582e-03 -5.83334481e-02] [-2.34709231e-05 -3.44378630e-03 9.99994070e-01 5.78645399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312557844 meters 0.29149240860408876 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.58 [[ 9.99999914e-01 4.13315265e-04 3.20935453e-05 -1.62122929e-01] [-4.13286846e-04 9.99999527e-01 -8.80515363e-04 -5.83206428e-02] [-3.24574605e-05 8.80502024e-04 9.99999612e-01 5.78394468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342557844 meters 0.28998579793418 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.57 [[ 9.99999944e-01 -6.93182045e-05 3.27445007e-04 -2.00011025e-01] [ 6.96587850e-05 9.99999457e-01 -1.04021810e-03 -6.30323022e-02] [-3.27372723e-04 1.04024085e-03 9.99999405e-01 5.74711009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372557844 meters 0.2903749893358292 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 9.99999958e-01 2.80418568e-04 -7.24668397e-05 -1.98908490e-01] [-2.80407075e-04 9.99999948e-01 1.58563231e-04 -6.76879655e-02] [ 7.25113001e-05 -1.58542904e-04 9.99999985e-01 5.74450898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557844 meters 0.2904056147721282 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.57 [[ 9.99999886e-01 4.77445142e-04 -2.09245516e-05 -1.99156780e-01] [-4.77429985e-04 9.99999628e-01 7.18493746e-04 -6.99508659e-02] [ 2.12675851e-05 -7.18483674e-04 9.99999742e-01 5.74729999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432557844 meters 0.2909636794085449 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99999763e-01 6.85634687e-04 6.05580147e-05 -1.99524904e-01] [-6.85712698e-04 9.99998923e-01 1.29770793e-03 -7.23032482e-02] [-5.96681959e-05 -1.29774915e-03 9.99999156e-01 5.75093832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462557844 meters 0.2906823953657284 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.58 [[ 9.99999606e-01 8.73139134e-04 1.59383773e-04 -1.99905456e-01] [-8.73423891e-04 9.99998007e-01 1.79537118e-03 -7.43216221e-02] [-1.57815847e-04 -1.79550968e-03 9.99998376e-01 5.75358503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492557844 meters 0.2904474781322715 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 9.99999228e-01 1.20910206e-03 2.86005571e-04 -2.00401739e-01] [-1.20984631e-03 9.99995845e-01 2.61652811e-03 -7.76871462e-02] [-2.82840733e-04 -2.61687211e-03 9.99996536e-01 5.75670571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522557844 meters 0.2890311961651455 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 9.99999054e-01 1.31707196e-03 3.97185977e-04 -2.00743879e-01] [-1.31821733e-03 9.99994934e-01 2.89738450e-03 -7.88256759e-02] [-3.93367901e-04 -2.89790533e-03 9.99995724e-01 5.75801090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552557844 meters 0.2890051304391608 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 9.99998955e-01 1.37972232e-03 4.31680619e-04 -2.00765298e-01] [-1.38103674e-03 9.99994366e-01 3.05957589e-03 -7.94901530e-02] [-4.27456822e-04 -3.06016886e-03 9.99995226e-01 5.75646322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582557844 meters 0.2897799415840507 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.58 [[ 9.99998929e-01 1.43135387e-03 3.05766383e-04 -2.00242276e-01] [-1.43232431e-03 9.99993862e-01 3.19750859e-03 -8.00647126e-02] [-3.01187740e-04 -3.19794313e-03 9.99994841e-01 5.75196025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612557844 meters 0.2914489543551424 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.57 [[ 9.99998904e-01 1.47621358e-03 1.15588453e-04 -1.99462649e-01] [-1.47658867e-03 9.99993415e-01 3.31507871e-03 -8.05621821e-02] [-1.10693928e-04 -3.31524575e-03 9.99994498e-01 5.74495706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642557844 meters 0.290257547530543 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.08, Z:0.58 [[ 9.99969310e-01 7.21278448e-03 -3.05857699e-03 -2.20379236e-01] [-7.21249200e-03 9.99973984e-01 1.06644555e-04 -8.11172435e-02] [ 3.05926663e-03 -8.45813200e-05 9.99995317e-01 5.75416770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672557844 meters 0.2904291857370942 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.08, Z:0.58 [[ 9.99968344e-01 7.36523449e-03 -3.01062590e-03 -2.20616251e-01] [-7.36374155e-03 9.99972759e-01 5.06673882e-04 -8.27506854e-02] [ 3.01427566e-03 -4.84488372e-04 9.99995340e-01 5.75687600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702557844 meters 0.2892617777408871 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.58 [[ 0.9999932 -0.00153429 -0.00335205 -0.24185446] [ 0.00153932 0.99999769 0.00149752 -0.08118394] [ 0.00334974 -0.00150267 0.99999326 0.5750768 ] [ 0. 0. 0. 1. ]] SLAMing on 26.732557844 meters 0.28863656778449664 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.58 [[ 0.99999367 -0.00143732 -0.00325445 -0.2421204 ] [ 0.00144309 0.99999739 0.00177031 -0.08228015] [ 0.0032519 -0.00177499 0.99999314 0.57511818] [ 0. 0. 0. 1. ]] SLAMing on 26.762557844 meters 0.2902084059595952 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:0.58 [[ 0.9999938 -0.0013373 -0.00325664 -0.24208374] [ 0.00134404 0.99999696 0.0020671 -0.0834654 ] [ 0.00325387 -0.00207146 0.99999256 0.5750472 ] [ 0. 0. 0. 1. ]] SLAMing on 26.792557844 meters 0.2895519956182591 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99983237e-01 5.41369482e-03 -2.05353477e-03 -2.18076868e-01] [-5.41379056e-03 9.99985344e-01 -4.10649270e-05 -8.79008375e-02] [ 2.05328236e-03 5.21816458e-05 9.99997891e-01 5.72661695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822557844000002 meters 0.2898235283808477 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99982691e-01 5.52244319e-03 -2.02970550e-03 -2.18073810e-01] [-5.52189003e-03 9.99984716e-01 2.78031999e-04 -8.91763574e-02] [ 2.03120989e-03 -2.66819376e-04 9.99997901e-01 5.72508270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852557844 meters 0.29091927988356814 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99982135e-01 5.61654810e-03 -2.04538618e-03 -2.18065804e-01] [-5.61541519e-03 9.99984077e-01 5.59207140e-04 -9.02859388e-02] [ 2.04849442e-03 -5.47711457e-04 9.99997752e-01 5.72585265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882557844 meters 0.2912349441131194 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 9.99981328e-01 5.72606776e-03 -2.13438419e-03 -2.17864771e-01] [-5.72416138e-03 9.99983213e-01 8.98216348e-04 -9.16268613e-02] [ 2.13949161e-03 -8.85982017e-04 9.99997319e-01 5.72647315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912557844000002 meters 0.2914321457613229 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.57 [[ 0.99997878 0.00589392 -0.0027737 -0.2161904 ] [-0.00588958 0.99998143 0.00156772 -0.09421965] [ 0.00278288 -0.00155135 0.99999492 0.57231795] [ 0. 0. 0. 1. ]] SLAMing on 26.942557844 meters 0.290399594426806 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.57 [[ 0.99998406 -0.00305865 -0.00474683 -0.23708598] [ 0.00306924 0.99999281 0.00222621 -0.09352722] [ 0.00473999 -0.00224075 0.99998626 0.57209061] [ 0. 0. 0. 1. ]] SLAMing on 26.972557844 meters 0.29083041001048354 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99990317e-01 2.99856445e-03 -3.22080266e-03 -2.13771891e-01] [-3.00144724e-03 9.99995099e-01 -8.90595769e-04 -9.49865070e-02] [ 3.21811637e-03 9.00254215e-04 9.99994417e-01 5.70287771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002557844000002 meters 0.29181115550201037 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99990115e-01 3.07337515e-03 -3.21312899e-03 -2.13736586e-01] [-3.07559253e-03 9.99995035e-01 -6.85385558e-04 -9.58150114e-02] [ 3.21100659e-03 6.95261059e-04 9.99994603e-01 5.70148853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032557844 meters 0.2916331695588603 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99990213e-01 3.14779149e-03 -3.10899301e-03 -2.14022543e-01] [-3.14932669e-03 9.99994921e-01 -4.89020487e-04 -9.66232404e-02] [ 3.10743789e-03 4.98806935e-04 9.99995047e-01 5.70166934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062557844 meters 0.2900579762883533 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.10, Z:0.57 [[ 9.99996051e-01 2.73599680e-03 -6.42636660e-04 -2.56895542e-01] [-2.73637723e-03 9.99996081e-01 -5.91850549e-04 -9.64414382e-02] [ 6.41014841e-04 5.93606708e-04 9.99999618e-01 5.68612092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092557844 meters 0.29055956857104964 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.57 [[ 0.99999155 -0.00368893 0.0018163 -0.23621945] [ 0.00368497 0.99999083 0.00218174 -0.09554529] [-0.00182433 -0.00217503 0.99999597 0.56835434] [ 0. 0. 0. 1. ]] SLAMing on 27.122557844 meters 0.29016027631278674 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.10, Z:0.57 [[ 0.99999147 -0.00370768 0.00182251 -0.23629723] [ 0.00370379 0.99999087 0.0021321 -0.09534126] [-0.0018304 -0.00212533 0.99999607 0.56849658] [ 0. 0. 0. 1. ]] SLAMing on 27.152557844 meters 0.2908288264474919 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.57 [[ 0.99999162 -0.00376153 0.00161712 -0.23566255] [ 0.00375832 0.99999098 0.00198108 -0.09473606] [-0.00162456 -0.00197498 0.99999673 0.56822371] [ 0. 0. 0. 1. ]] SLAMing on 27.182557844 meters 0.29109684048520496 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.09, Z:0.57 [[ 0.99999171 -0.00379958 0.00146691 -0.23508944] [ 0.00379683 0.99999104 0.00187452 -0.09429872] [-0.00147402 -0.00186893 0.99999717 0.5677801 ] [ 0. 0. 0. 1. ]] SLAMing on 27.212557844 meters 0.29079808428929177 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.57 [[ 0.99999156 -0.00384865 0.00143738 -0.23480733] [ 0.00384614 0.99999109 0.00174116 -0.09375077] [-0.00144407 -0.00173561 0.99999745 0.5673014 ] [ 0. 0. 0. 1. ]] SLAMing on 27.242557844 meters 0.29245838317774103 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99986896e-01 3.02487650e-03 4.13020414e-03 -2.13136068e-01] [-3.02178693e-03 9.99995150e-01 -7.54078370e-04 -9.34070235e-02] [-4.13246510e-03 7.41587891e-04 9.99991186e-01 5.65513062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272557844 meters 0.29064580717286576 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.57 [[ 9.99980386e-01 -5.70717700e-03 2.57989708e-03 -2.33314991e-01] [ 5.70707068e-03 9.99983713e-01 4.85724511e-05 -9.01815030e-02] [-2.58013227e-03 -3.38478435e-05 9.99996671e-01 5.65231758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302557844 meters 0.29098628422384254 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.57 [[ 9.99980903e-01 -5.65760129e-03 2.48685038e-03 -2.33134132e-01] [ 5.65716272e-03 9.99983981e-01 1.83353974e-04 -9.07313317e-02] [-2.48784789e-03 -1.69281955e-04 9.99996891e-01 5.65379828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332557844 meters 0.2916082721669439 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99995272e-01 2.99094637e-03 7.14049985e-04 -2.11580636e-01] [-2.99039816e-03 9.99995234e-01 -7.67588030e-04 -9.58287747e-02] [-7.16342397e-04 7.65449108e-04 9.99999450e-01 5.66746615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362557844 meters 0.29158571489739543 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99995126e-01 3.06180690e-03 6.11352869e-04 -2.11218928e-01] [-3.06145496e-03 9.99995148e-01 -5.75775782e-04 -9.66187093e-02] [-6.13112817e-04 5.73901346e-04 9.99999647e-01 5.66523664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392557844 meters 0.2918649911236796 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99994852e-01 3.14999990e-03 6.10525130e-04 -2.11272000e-01] [-3.14979297e-03 9.99994982e-01 -3.39599788e-04 -9.75832576e-02] [-6.11591806e-04 3.37675012e-04 9.99999756e-01 5.66647295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422557844 meters 0.2918649911236796 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99994852e-01 3.14999990e-03 6.10525130e-04 -2.11272000e-01] [-3.14979297e-03 9.99994982e-01 -3.39599788e-04 -9.75832576e-02] [-6.11591806e-04 3.37675012e-04 9.99999756e-01 5.66647295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452557844 meters 0.29090248714222305 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99994657e-01 3.19267945e-03 7.02135686e-04 -2.11678309e-01] [-3.19252329e-03 9.99994879e-01 -2.23416840e-04 -9.80581855e-02] [-7.02845389e-04 2.21174061e-04 9.99999729e-01 5.67040044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482557844 meters 0.2901664882693371 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.57 [[ 0.99999789 0.001354 0.00154529 -0.21702191] [-0.00135072 0.99999684 -0.00212175 -0.09797796] [-0.00154816 0.00211966 0.99999656 0.571118 ] [ 0. 0. 0. 1. ]] SLAMing on 27.512557844 meters 0.288957484229816 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.10, Z:0.57 [[ 0.99999632 0.00124852 0.00240719 -0.2556938 ] [-0.0012441 0.99999754 -0.0018346 -0.09991174] [-0.00240948 0.0018316 0.99999542 0.56785705] [ 0. 0. 0. 1. ]] SLAMing on 27.542557844 meters 0.2917601659306707 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 0.99998718 0.00187696 0.00470261 -0.21099399] [-0.00187011 0.99999718 -0.00146085 -0.09999479] [-0.00470534 0.00145203 0.99998788 0.56571411] [ 0. 0. 0. 1. ]] SLAMing on 27.572557844000002 meters 0.2916871043260735 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 0.99998758 0.00190811 0.00460319 -0.21063715] [-0.00190182 0.99999725 -0.00136899 -0.10036454] [-0.00460579 0.00136022 0.99998847 0.56546642] [ 0. 0. 0. 1. ]] SLAMing on 27.602557844 meters 0.291779930004332 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 0.99998769 0.00189705 0.00458576 -0.21067939] [-0.00189066 0.99999724 -0.00139769 -0.10024522] [-0.0045884 0.00138901 0.99998851 0.56567422] [ 0. 0. 0. 1. ]] SLAMing on 27.632557844 meters 0.29027728361653926 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.57 [[ 0.99995853 -0.00807014 0.00422032 -0.23221204] [ 0.00807775 0.99996577 -0.00179117 -0.09415613] [-0.00420572 0.00182519 0.99998949 0.56678627] [ 0. 0. 0. 1. ]] SLAMing on 27.662557844000002 meters 0.29160403798875745 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 9.99983839e-01 9.96211175e-04 5.59719917e-03 -2.10931950e-01] [-9.82406147e-04 9.99996470e-01 -2.46862548e-03 -9.52397915e-02] [-5.59963868e-03 2.46308687e-03 9.99981288e-01 5.66970011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692557844 meters 0.29102726554426367 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99983314e-01 9.47561133e-04 5.69855327e-03 -2.11174318e-01] [-9.32637231e-04 9.99996130e-01 -2.62098049e-03 -9.46336399e-02] [-5.70101476e-03 2.61562207e-03 9.99980328e-01 5.66925930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722557844 meters 0.29134133181628763 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99983295e-01 8.83343368e-04 5.71229747e-03 -2.11075976e-01] [-8.67251814e-04 9.99995651e-01 -2.81886583e-03 -9.38509624e-02] [-5.71476266e-03 2.81386474e-03 9.99979712e-01 5.66580693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752557844000002 meters 0.2915088671999169 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99981572e-01 7.06542923e-04 6.02963596e-03 -2.11784234e-01] [-6.85942695e-04 9.99993924e-01 -3.41788056e-03 -9.15105554e-02] [-6.03201420e-03 3.41368159e-03 9.99975981e-01 5.66402803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782557844 meters 0.2902225646496188 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99980331e-01 6.11600090e-04 6.24209753e-03 -2.12498128e-01] [-5.88466375e-04 9.99992955e-01 -3.70724433e-03 -9.03196002e-02] [-6.24432090e-03 3.70349815e-03 9.99973646e-01 5.66856728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812557844 meters 0.29111634219694427 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99979367e-01 5.27726926e-04 6.40215862e-03 -2.13103443e-01] [-5.02412413e-04 9.99992053e-01 -3.95502316e-03 -8.92745200e-02] [-6.40419492e-03 3.95172503e-03 9.99971685e-01 5.67327281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842557844 meters 0.2913195826309294 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99980322e-01 3.54630969e-04 6.26332719e-03 -2.12547639e-01] [-3.26788546e-04 9.99990064e-01 -4.44577281e-03 -8.72778519e-02] [-6.26484156e-03 4.44363854e-03 9.99970502e-01 5.66886482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872557844 meters 0.2916704923237047 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99981055e-01 2.94131033e-04 6.14837340e-03 -2.12024146e-01] [-2.65762215e-04 9.99989319e-01 -4.61434429e-03 -8.66060613e-02] [-6.14966495e-03 4.61262287e-03 9.99970452e-01 5.66296157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902557844 meters 0.2907086672471169 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.09, Z:0.57 [[ 0.99998171 -0.00565439 0.00214762 -0.23286544] [ 0.00565807 0.99998253 -0.00171254 -0.08828473] [-0.0021379 0.00172466 0.99999623 0.56800921] [ 0. 0. 0. 1. ]] SLAMing on 27.932557844 meters 0.293032304487573 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.57 [[ 9.99990701e-01 -4.19733146e-03 9.90055790e-04 -1.92196071e-01] [ 4.19812599e-03 9.99990866e-01 -8.01805867e-04 -8.64740350e-02] [-9.86681302e-04 8.05954790e-04 9.99999188e-01 5.70325158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962557844 meters 0.291761799323323 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.57 [[ 9.99990610e-01 -4.20553808e-03 1.04575253e-03 -1.92434358e-01] [ 4.20639969e-03 9.99990814e-01 -8.23090480e-04 -8.63815034e-02] [-1.04228139e-03 8.27481605e-04 9.99999114e-01 5.70524594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992557844 meters 0.2912617067494042 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.57 [[ 9.99990913e-01 -4.12006633e-03 1.09453612e-03 -1.92804676e-01] [ 4.12072224e-03 9.99991331e-01 -5.97678792e-04 -8.72895236e-02] [-1.09206416e-03 6.02183640e-04 9.99999222e-01 5.71109605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022557844 meters 0.2914186087218117 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99992676e-01 3.81296265e-03 3.29697856e-04 -2.11112386e-01] [-3.81230991e-03 9.99990816e-01 -1.95825873e-03 -9.34572365e-02] [-3.37161595e-04 1.95698747e-03 9.99998028e-01 5.69266282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052557844 meters 0.29058680756354655 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.57 [[ 9.99992312e-01 3.90911097e-03 3.08402148e-04 -2.10958395e-01] [-3.90858028e-03 9.99990911e-01 -1.70302735e-03 -9.45039970e-02] [-3.15056668e-04 1.70180884e-03 9.99998502e-01 5.69044261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082557844 meters 0.29246776989483453 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.57 [[ 9.99995059e-01 3.08361106e-03 6.11094850e-04 -1.68031714e-01] [-3.08196588e-03 9.99991673e-01 -2.67507926e-03 -9.37381471e-02] [-6.19338666e-04 2.67318267e-03 9.99996235e-01 5.69126790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112557844 meters 0.29224592178057274 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.57 [[ 9.99994893e-01 3.13866498e-03 6.01493582e-04 -1.67955112e-01] [-3.13713204e-03 9.99991872e-01 -2.53276875e-03 -9.43223278e-02] [-6.09438206e-04 2.53086885e-03 9.99996612e-01 5.69018662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142557844 meters 0.2921792422256487 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.57 [[ 9.99994672e-01 3.21480623e-03 5.66475304e-04 -1.67812404e-01] [-3.21347962e-03 9.99992128e-01 -2.32742223e-03 -9.51621804e-02] [-5.73953056e-04 2.32558947e-03 9.99997131e-01 5.68905578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172557844 meters 0.2914891283516589 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.57 [[ 0.99998446 -0.00523967 -0.0019054 -0.18635284] [ 0.00523775 0.99998577 -0.00101549 -0.09359522] [ 0.0019107 0.00100549 0.99999767 0.56787989] [ 0. 0. 0. 1. ]] SLAMing on 28.202557844 meters 0.2918062478797936 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.57 [[ 9.99984667e-01 -5.17139322e-03 -1.98048710e-03 -1.85996604e-01] [ 5.16975025e-03 9.99986289e-01 -8.33801673e-04 -9.43491387e-02] [ 1.98477186e-03 8.23550265e-04 9.99997691e-01 5.67520086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232557844000002 meters 0.2914586308828936 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.57 [[ 9.99985506e-01 -5.02619510e-03 -1.92991783e-03 -1.86248993e-01] [ 5.02532639e-03 9.99987270e-01 -4.54714283e-04 -9.58889994e-02] [ 1.93217875e-03 4.45009226e-04 9.99998034e-01 5.67826919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262557844 meters 0.2911219277149481 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.57 [[ 0.99999182 0.00327102 -0.00237849 -0.20610731] [-0.00327401 0.99999385 -0.001256 -0.10267208] [ 0.00237436 0.00126378 0.99999638 0.56707194] [ 0. 0. 0. 1. ]] SLAMing on 28.292557844 meters 0.29228161902791616 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.57 [[ 0.99998949 0.00302295 -0.00344616 -0.16681884] [-0.00302843 0.99999416 -0.00158526 -0.10288267] [ 0.00344135 0.00159568 0.99999281 0.57055355] [ 0. 0. 0. 1. ]] SLAMing on 28.322557844000002 meters 0.29283323159463337 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.57 [[ 0.99998871 0.00312516 -0.00357872 -0.16636659] [-0.00312983 0.99999426 -0.00130046 -0.10405891] [ 0.00357464 0.00131164 0.99999275 0.57032023] [ 0. 0. 0. 1. ]] SLAMing on 28.352557844 meters 0.29322804892498594 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.57 [[ 0.99998805 0.00322753 -0.00367239 -0.16594879] [-0.00323131 0.99999425 -0.00102611 -0.105199 ] [ 0.00366905 0.00103797 0.99999273 0.56994394] [ 0. 0. 0. 1. ]] SLAMing on 28.382557844 meters 0.29147524112705836 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.57 [[ 0.99996888 -0.00351126 -0.00706482 -0.18734631] [ 0.0035228 0.99999248 0.00162173 -0.10827145] [ 0.00705907 -0.00164656 0.99997373 0.5718014 ] [ 0. 0. 0. 1. ]] SLAMing on 28.412557844000002 meters 0.291277966440902 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.57 [[ 0.99997094 -0.00331711 -0.00686468 -0.18810703] [ 0.00333214 0.99999208 0.00217807 -0.11053497] [ 0.0068574 -0.00220088 0.99997407 0.57249382] [ 0. 0. 0. 1. ]] SLAMing on 28.442557844 meters 0.29004804678266294 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.57 [[ 0.99997205 -0.00319831 -0.006758 -0.18853755] [ 0.00321526 0.99999171 0.00249932 -0.11182783] [ 0.00674995 -0.00252098 0.99997404 0.57288302] [ 0. 0. 0. 1. ]] SLAMing on 28.472557844 meters 0.2914981970917731 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.57 [[ 0.99997227 -0.00306429 -0.00678681 -0.18840935] [ 0.00308382 0.99999113 0.00286879 -0.11333287] [ 0.00677796 -0.00288964 0.99997285 0.57278323] [ 0. 0. 0. 1. ]] SLAMing on 28.502557844000002 meters 0.2914837157120679 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:0.57 [[ 0.9999713 -0.00289226 -0.00700201 -0.18776943] [ 0.00291587 0.99999009 0.00336431 -0.115357 ] [ 0.00699221 -0.00338463 0.99996983 0.57262249] [ 0. 0. 0. 1. ]] SLAMing on 28.532557844 meters 0.29080883946596336 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.57 [[ 9.99964938e-01 2.06625456e-03 -8.11495484e-03 -2.10064856e-01] [-2.06435876e-03 9.99997840e-01 2.41987339e-04 -1.24045982e-01] [ 8.11543732e-03 -2.25226677e-04 9.99967044e-01 5.73155487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562557844 meters 0.29238430355544176 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.13, Z:0.57 [[ 0.99998224 -0.00388813 -0.00451583 -0.18896619] [ 0.00390314 0.99998687 0.00331908 -0.12812899] [ 0.00450287 -0.00333665 0.9999843 0.57160409] [ 0. 0. 0. 1. ]] SLAMing on 28.592557844 meters 0.2937000388217041 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.57 [[ 0.99998284 0.00493507 -0.00315813 -0.16921385] [-0.00492626 0.99998396 0.00279349 -0.13448391] [ 0.00317186 -0.00277788 0.99999111 0.57237563] [ 0. 0. 0. 1. ]] SLAMing on 28.622557844 meters 0.2932806053963345 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.57 [[ 0.99998216 0.00506707 -0.0031645 -0.16910945] [-0.00505716 0.99998231 0.00313005 -0.13586213] [ 0.00318031 -0.00311399 0.99999009 0.57219644] [ 0. 0. 0. 1. ]] SLAMing on 28.652557844 meters 0.29390639398285984 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.57 [[ 0.9999816 0.00517739 -0.00316199 -0.16910246] [-0.00516659 0.99998083 0.00341388 -0.13701832] [ 0.0031796 -0.00339748 0.99998917 0.57217903] [ 0. 0. 0. 1. ]] SLAMing on 28.682557844 meters 0.29122539660361046 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.57 [[ 0.99997218 0.00429696 -0.00609757 -0.21423872] [-0.00427665 0.99998527 0.00334085 -0.14145294] [ 0.00611184 -0.00331468 0.99997583 0.57475108] [ 0. 0. 0. 1. ]] SLAMing on 28.712557844 meters 0.2935523492858596 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.57 [[ 0.99999045 0.00352282 -0.00258758 -0.17050267] [-0.00351727 0.99999151 0.0021466 -0.14416163] [ 0.00259512 -0.00213748 0.99999435 0.57297862] [ 0. 0. 0. 1. ]] SLAMing on 28.742557844 meters 0.2927084832098081 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.57 [[ 0.99999608 0.00181663 -0.00213293 -0.20909693] [-0.00181325 0.99999709 0.00158833 -0.14804637] [ 0.00213581 -0.00158445 0.99999646 0.56971537] [ 0. 0. 0. 1. ]] SLAMing on 28.772557844 meters 0.29332281733661936 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.57 [[ 0.99999567 0.00195876 -0.00219773 -0.20871276] [-0.00195445 0.99999617 0.00196089 -0.14959941] [ 0.00220156 -0.00195659 0.99999566 0.56924543] [ 0. 0. 0. 1. ]] SLAMing on 28.802557844 meters 0.29385843865290945 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.57 [[ 0.99999522 0.00209842 -0.00227048 -0.20838582] [-0.00209316 0.99999513 0.00231534 -0.15107052] [ 0.00227533 -0.00231058 0.99999474 0.56898569] [ 0. 0. 0. 1. ]] SLAMing on 28.832557844 meters 0.293438489161113 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.57 [[ 0.99999414 0.00241967 -0.00242216 -0.20802833] [-0.00241214 0.99999226 0.00310677 -0.15426488] [ 0.00242966 -0.00310091 0.99999224 0.56917101] [ 0. 0. 0. 1. ]] SLAMing on 28.862557844 meters 0.2944628082874553 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.57 [[ 0.9999937 0.00258114 -0.00243856 -0.20807402] [-0.00257252 0.99999045 0.00353327 -0.15599794] [ 0.00244765 -0.00352697 0.99999078 0.56939538] [ 0. 0. 0. 1. ]] SLAMing on 28.892557844 meters 0.2946654965666233 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.57 [[ 0.99999328 0.00276312 -0.00241138 -0.20822169] [-0.00275344 0.99998817 0.00400903 -0.15793463] [ 0.00242243 -0.00400236 0.99998906 0.56959038] [ 0. 0. 0. 1. ]] SLAMing on 28.922557844 meters 0.29329218999983453 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.57 [[ 0.99999287 0.00295285 -0.00235531 -0.2084073 ] [-0.00294219 0.99998547 0.00451796 -0.15997633] [ 0.00236862 -0.004511 0.99998702 0.56969277] [ 0. 0. 0. 1. ]] SLAMing on 28.952557844 meters 0.2931758155416317 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.57 [[ 0.99999218 0.00314648 -0.00239673 -0.20835051] [-0.00313434 0.99998232 0.00505322 -0.16209563] [ 0.00241259 -0.00504566 0.99998436 0.56982905] [ 0. 0. 0. 1. ]] SLAMing on 28.982557844000002 meters 0.2933314932237425 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 0.99999046 0.003497 -0.00261693 -0.20782693] [-0.00348077 0.99997484 0.00618089 -0.16643347] [ 0.00263848 -0.00617172 0.99997747 0.56997492] [ 0. 0. 0. 1. ]] SLAMing on 29.012557844 meters 0.2946466848406363 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 0.9999897 0.00364683 -0.00270119 -0.20753294] [-0.00362897 0.99997172 0.0065869 -0.1681107 ] [ 0.00272513 -0.00657703 0.99997466 0.56982215] [ 0. 0. 0. 1. ]] SLAMing on 29.042557844 meters 0.29487115232580535 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995966e-01 -7.20197342e-04 -2.74745705e-03 -2.07277974e-01] [ 7.26339865e-04 9.99997238e-01 2.23536988e-03 -1.67837744e-01] [ 2.74583956e-03 -2.23735646e-03 9.99993727e-01 5.69536062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072557844000002 meters 0.2947576362240444 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995811e-01 -5.80346608e-04 -2.83581006e-03 -2.07006336e-01] [ 5.87726482e-04 9.99996441e-01 2.60224671e-03 -1.69338772e-01] [ 2.83428976e-03 -2.60390248e-03 9.99992593e-01 5.69480198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102557844 meters 0.29502921095999834 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995659e-01 -4.62874791e-04 -2.90993219e-03 -2.06796715e-01] [ 4.71313926e-04 9.99995684e-01 2.90009755e-03 -1.70547044e-01] [ 2.90857725e-03 -2.90145645e-03 9.99991561e-01 5.69478190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132557844 meters 0.2948630727455184 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995563e-01 -3.54474720e-04 -2.95761699e-03 -2.06702884e-01] [ 3.63883401e-04 9.99994874e-01 3.18123821e-03 -1.71688532e-01] [ 2.95647416e-03 -3.18230032e-03 9.99990566e-01 5.69567116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162557844000002 meters 0.294952041257937 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995711e-01 -1.71851161e-04 -2.92389758e-03 -2.06828148e-01] [ 1.82468134e-04 9.99993390e-01 3.63122374e-03 -1.73551062e-01] [ 2.92325422e-03 -3.63174168e-03 9.99989132e-01 5.69676699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192557844 meters 0.2934836695849465 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99995693e-01 -7.48661762e-05 -2.93397031e-03 -2.06861851e-01] [ 8.62687280e-05 9.99992444e-01 3.88645582e-03 -1.74588722e-01] [ 2.93365717e-03 -3.88669219e-03 9.99988144e-01 5.69829229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222557844 meters 0.2948242491874313 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.57 [[ 9.99992679e-01 3.77384268e-03 6.33208111e-04 -1.83724055e-01] [-3.77294557e-03 9.99991885e-01 -1.41203869e-03 -1.72229930e-01] [-6.38531785e-04 1.40963929e-03 9.99998803e-01 5.66334880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252557844000002 meters 0.295563017885581 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.57 [[ 9.99992165e-01 3.92610169e-03 5.05990348e-04 -1.83474543e-01] [-3.92558892e-03 9.99991784e-01 -1.01043741e-03 -1.73844785e-01] [-5.09953271e-04 1.00844318e-03 9.99999361e-01 5.66552191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282557844 meters 0.2939099921336798 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99981500e-01 -6.07279749e-03 3.47754524e-04 -2.06072591e-01] [ 6.07292459e-03 9.99981493e-01 -3.65595379e-04 -1.73862351e-01] [-3.45527901e-04 3.67700503e-04 9.99999873e-01 5.67766298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312557844 meters 0.2939099921336798 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.57 [[ 9.99981500e-01 -6.07279749e-03 3.47754524e-04 -2.06072591e-01] [ 6.07292459e-03 9.99981493e-01 -3.65595379e-04 -1.73862351e-01] [-3.45527901e-04 3.67700503e-04 9.99999873e-01 5.67766298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342557844 meters 0.2941917435223876 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.17, Z:0.57 [[ 9.99989453e-01 3.71530006e-03 2.69997282e-03 -1.85465999e-01] [-3.71431818e-03 9.99993034e-01 -3.68583887e-04 -1.74911807e-01] [-2.70132341e-03 3.58551441e-04 9.99996287e-01 5.67540827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372557844 meters 0.29281638611097577 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.17, Z:0.57 [[ 9.99988895e-01 3.70880014e-03 2.90780610e-03 -1.86017428e-01] [-3.70767058e-03 9.99993049e-01 -3.93752000e-04 -1.74795599e-01] [-2.90924624e-03 3.82966440e-04 9.99995695e-01 5.67638961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402557844 meters 0.2952880330624451 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 0.99998787 -0.00171011 0.00461826 -0.16023759] [ 0.0016998 0.99999606 0.00223513 -0.17409385] [-0.00462206 -0.00222726 0.99998684 0.56436774] [ 0. 0. 0. 1. ]] SLAMing on 29.432557844 meters 0.2931636195223256 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.57 [[ 9.99991168e-01 3.82360998e-03 1.74450372e-03 -1.81986047e-01] [-3.82208245e-03 9.99992310e-01 -8.78118831e-04 -1.73892195e-01] [-1.74784789e-03 8.71443439e-04 9.99998093e-01 5.65709413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462557844 meters 0.2954647321460517 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 0.99999462 -0.00129924 0.00301308 -0.15792259] [ 0.00129181 0.99999612 0.00246722 -0.17188906] [-0.00301628 -0.00246331 0.99999242 0.56373184] [ 0. 0. 0. 1. ]] SLAMing on 29.492557844 meters 0.2949654565072078 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 0.99999431 -0.00135608 0.00308835 -0.1580965 ] [ 0.00134898 0.99999644 0.00230037 -0.17121692] [-0.00309146 -0.00229619 0.99999259 0.56366888] [ 0. 0. 0. 1. ]] SLAMing on 29.522557844 meters 0.2950275251114346 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 0.99999409 -0.00140399 0.00313848 -0.15825044] [ 0.0013972 0.99999668 0.0021667 -0.170665 ] [-0.00314151 -0.0021623 0.99999273 0.56371562] [ 0. 0. 0. 1. ]] SLAMing on 29.552557844 meters 0.29486801687280567 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.56 [[ 9.99991342e-01 4.08329286e-03 8.01102510e-04 -1.79749855e-01] [-4.08226872e-03 9.99990854e-01 -1.27590104e-03 -1.70792130e-01] [-8.06305060e-04 1.27261968e-03 9.99998865e-01 5.64995819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582557844 meters 0.29785786583760865 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:0.56 [[ 0.99998299 0.00431865 0.00392034 -0.13513033] [-0.00430943 0.99998794 -0.00235692 -0.16500486] [-0.00393047 0.00233998 0.99998954 0.56239954] [ 0. 0. 0. 1. ]] SLAMing on 29.612557844 meters 0.29629391604439526 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 9.99995141e-01 -2.93870266e-03 1.04042855e-03 -1.55629290e-01] [ 2.93845035e-03 9.99995653e-01 2.43943228e-04 -1.65430540e-01] [-1.04114091e-03 -2.40884795e-04 9.99999429e-01 5.63614553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642557844 meters 0.29601086490542744 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 9.99995229e-01 -2.92447507e-03 9.95134117e-04 -1.55400834e-01] [ 2.92419440e-03 9.99995684e-01 2.83379293e-04 -1.65615025e-01] [-9.95958558e-04 -2.80467976e-04 9.99999465e-01 5.63369949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672557844 meters 0.29497028481390847 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 9.99995376e-01 -2.87123187e-03 1.00244906e-03 -1.55404397e-01] [ 2.87080284e-03 9.99995787e-01 4.29161837e-04 -1.66202332e-01] [-1.00367706e-03 -4.26282019e-04 9.99999405e-01 5.63349665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702557844 meters 0.29507867356683454 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.56 [[ 9.99995303e-01 -2.74268156e-03 1.36805695e-03 -1.56610404e-01] [ 2.74149091e-03 9.99995862e-01 8.71442305e-04 -1.67796020e-01] [-1.37044138e-03 -8.67687696e-04 9.99998685e-01 5.64344371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732557844000002 meters 0.2954023106558765 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.57 [[ 0.99999539 -0.00264957 0.00148054 -0.1571498 ] [ 0.00264783 0.9999958 0.00117988 -0.16896252] [-0.00148366 -0.00117596 0.99999821 0.56508239] [ 0. 0. 0. 1. ]] SLAMing on 29.762557844 meters 0.295382639958021 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.57 [[ 0.99999564 -0.00253036 0.00152147 -0.15737675] [ 0.00252795 0.99999556 0.00158048 -0.17049783] [-0.00152546 -0.00157662 0.99999759 0.56543039] [ 0. 0. 0. 1. ]] SLAMing on 29.792557844 meters 0.29325738200142043 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.57 [[ 9.99997028e-01 2.39361811e-03 -4.63314097e-04 -1.80534724e-01] [-2.39431776e-03 9.99995985e-01 -1.51548265e-03 -1.74183662e-01] [ 4.59684750e-04 1.51658747e-03 9.99998744e-01 5.66924049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822557844000002 meters 0.2960255852183483 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.57 [[ 0.99999464 0.00249222 -0.00212397 -0.13846962] [-0.00249655 0.9999948 -0.00203983 -0.17537333] [ 0.00211888 0.00204512 0.99999566 0.56848886] [ 0. 0. 0. 1. ]] SLAMing on 29.852557844 meters 0.29503904237051276 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.57 [[ 0.99999389 0.00266276 -0.00226452 -0.13793581] [-0.00266627 0.99999525 -0.00154909 -0.17740053] [ 0.00226038 0.00155512 0.99999624 0.56807259] [ 0. 0. 0. 1. ]] SLAMing on 29.882557844 meters 0.2938101553960289 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.18, Z:0.57 [[ 9.99970376e-01 -6.27921845e-03 -4.45174978e-03 -1.57734620e-01] [ 6.28066455e-03 9.99980228e-01 3.10932833e-04 -1.81958696e-01] [ 4.44970934e-03 -3.38883569e-04 9.99990043e-01 5.68192348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912557844000002 meters 0.2953513763905634 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99991654e-01 2.63265213e-03 -3.12427017e-03 -1.38304481e-01] [-2.63429983e-03 9.99996393e-01 -5.23390495e-04 -1.87885036e-01] [ 3.12288099e-03 5.31616391e-04 9.99994982e-01 5.69520846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942557844 meters 0.2959160338968487 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99991108e-01 2.77666626e-03 -3.17390474e-03 -1.38329722e-01] [-2.77722745e-03 9.99996129e-01 -1.72420872e-04 -1.89301080e-01] [ 3.17341370e-03 1.81233995e-04 9.99994948e-01 5.69864555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972557844 meters 0.2955330292982351 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99990209e-01 2.98897588e-03 -3.26300137e-03 -1.38435981e-01] [-2.98796847e-03 9.99995487e-01 3.13568988e-04 -1.91250913e-01] [ 3.26392390e-03 -3.03816173e-04 9.99994627e-01 5.70599805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002557844000002 meters 0.2946397937679308 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99990052e-01 3.09064354e-03 -3.21630455e-03 -1.38653023e-01] [-3.08876860e-03 9.99995057e-01 5.87751502e-04 -1.92337083e-01] [ 3.21810519e-03 -5.77811235e-04 9.99994655e-01 5.70839826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032557844 meters 0.2932968820098043 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.19, Z:0.57 [[ 0.999971 -0.00624294 -0.00436079 -0.15804891] [ 0.00625113 0.99997871 0.00186907 -0.19052313] [ 0.00434903 -0.00189627 0.99998874 0.57023096] [ 0. 0. 0. 1. ]] SLAMing on 30.062557844 meters 0.2948931652829319 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99997878e-01 1.32824024e-03 -1.57457265e-03 -1.37162630e-01] [-1.32883800e-03 9.99999045e-01 -3.78647935e-04 -1.91188582e-01] [ 1.57406822e-03 3.80739484e-04 9.99998689e-01 5.68861996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092557844 meters 0.29519689643306274 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99997768e-01 1.40105604e-03 -1.58149893e-03 -1.37114747e-01] [-1.40134975e-03 9.99999001e-01 -1.84621362e-04 -1.91979902e-01] [ 1.58123868e-03 1.86837183e-04 9.99998732e-01 5.68800904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122557844 meters 0.29543196747174855 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99997215e-01 1.52467530e-03 -1.80174725e-03 -1.36481965e-01] [-1.52440351e-03 9.99998827e-01 1.52213124e-04 -1.93355044e-01] [ 1.80197722e-03 -1.49466110e-04 9.99998365e-01 5.68641475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152557844 meters 0.29438614873170044 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.57 [[ 9.99996934e-01 1.54127625e-03 -1.93825303e-03 -1.36033713e-01] [-1.54088466e-03 9.99998792e-01 2.03510360e-04 -1.93580770e-01] [ 1.93856435e-03 -2.00523112e-04 9.99998101e-01 5.68417664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182557844 meters 0.2965191711253837 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.19, Z:0.57 [[ 9.99994678e-01 -3.26019173e-03 -1.26168476e-04 -1.11613256e-01] [ 3.26063571e-03 9.99987857e-01 3.69521962e-03 -1.94006963e-01] [ 1.14119820e-04 -3.69561135e-03 9.99993165e-01 5.66117593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212557844 meters 0.29617466902339884 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.19, Z:0.57 [[ 9.99994830e-01 -3.21248716e-03 -1.43421642e-04 -1.11544566e-01] [ 3.21301176e-03 9.99987538e-01 3.82102905e-03 -1.94531029e-01] [ 1.31144848e-04 -3.82147011e-03 9.99992690e-01 5.66076487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242557844 meters 0.2954427493109201 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:0.57 [[ 9.99997153e-01 1.78683449e-03 -1.58157622e-03 -1.34128832e-01] [-1.78611162e-03 9.99998300e-01 4.58347876e-04 -1.98039237e-01] [ 1.58239252e-03 -4.55521699e-04 9.99998644e-01 5.66890436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272557844 meters 0.2952530854532149 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:0.57 [[ 9.99996987e-01 1.82632007e-03 -1.64011113e-03 -1.33880180e-01] [-1.82538828e-03 9.99998172e-01 5.69444956e-04 -1.98522511e-01] [ 1.64114812e-03 -5.66449401e-04 9.99998493e-01 5.66676494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302557844 meters 0.29486285552531427 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:0.57 [[ 9.99996918e-01 1.88103861e-03 -1.62044957e-03 -1.33929337e-01] [-1.87987403e-03 9.99997974e-01 7.19903899e-04 -1.99138627e-01] [ 1.62180045e-03 -7.16855439e-04 9.99998428e-01 5.66673667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332557844 meters 0.29551440211640856 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:0.57 [[ 9.99996925e-01 1.95199922e-03 -1.52974299e-03 -1.34223423e-01] [-1.95060985e-03 9.99997684e-01 9.09204227e-04 -1.99890885e-01] [ 1.53151421e-03 -9.06217500e-04 9.99998417e-01 5.66830767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362557844 meters 0.2964690630554186 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.20, Z:0.57 [[ 0.99999698 0.00204689 -0.00136114 -0.13482982] [-0.0020453 0.99999722 0.00117292 -0.20091678] [ 0.00136354 -0.00117013 0.99999839 0.56730769] [ 0. 0. 0. 1. ]] SLAMing on 30.392557844000002 meters 0.29522934992562877 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.20, Z:0.57 [[ 0.99999698 0.00214499 -0.00120185 -0.13544034] [-0.00214325 0.99999665 0.00145143 -0.20198806] [ 0.00120496 -0.00144885 0.99999822 0.56787118] [ 0. 0. 0. 1. ]] SLAMing on 30.422557844 meters 0.29528286771966356 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.20, Z:0.57 [[ 0.9999967 0.00230952 -0.00112942 -0.13588942] [-0.00230724 0.9999953 0.00201897 -0.20411769] [ 0.00113407 -0.00201635 0.99999732 0.56860329] [ 0. 0. 0. 1. ]] SLAMing on 30.452557844 meters 0.29604802978324685 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999619 0.00241176 -0.00134219 -0.13537613] [-0.00240861 0.99999434 0.00234785 -0.20542031] [ 0.00134785 -0.00234461 0.99999634 0.56869169] [ 0. 0. 0. 1. ]] SLAMing on 30.482557844000002 meters 0.2950447969864595 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999567 0.00252967 -0.00150596 -0.13505798] [-0.00252558 0.99999314 0.00270991 -0.20684022] [ 0.00151281 -0.00270609 0.99999519 0.56894818] [ 0. 0. 0. 1. ]] SLAMing on 30.512557844 meters 0.29518858371488915 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:0.57 [[ 0.99999525 0.00264132 -0.00158904 -0.13488016] [-0.00263648 0.99999191 0.0030377 -0.20815486] [ 0.00159705 -0.0030335 0.99999412 0.56904235] [ 0. 0. 0. 1. ]] SLAMing on 30.542557844 meters 0.29495900461948155 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999488 0.00288492 -0.0013873 -0.13545295] [-0.00287971 0.99998885 0.00374363 -0.21096572] [ 0.00139808 -0.00373961 0.99999203 0.56914295] [ 0. 0. 0. 1. ]] SLAMing on 30.572557844000002 meters 0.2938862530507638 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999469 0.00297869 -0.00132149 -0.13562532] [-0.00297339 0.99998761 0.00399301 -0.21198187] [ 0.00133337 -0.00398906 0.99999115 0.56915522] [ 0. 0. 0. 1. ]] SLAMing on 30.602557844 meters 0.29395253448945013 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999452 0.00301574 -0.00136544 -0.13541033] [-0.00301012 0.99998708 0.00409561 -0.21242575] [ 0.00137777 -0.00409147 0.99999068 0.56892194] [ 0. 0. 0. 1. ]] SLAMing on 30.632557844 meters 0.2949896584472451 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:0.57 [[ 0.99999434 0.00301051 -0.00150417 -0.13488015] [-0.00300433 0.99998712 0.00408997 -0.21243676] [ 0.00151646 -0.00408543 0.9999905 0.56847596] [ 0. 0. 0. 1. ]] SLAMing on 30.662557844000002 meters 0.295059503919202 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:0.57 [[ 0.99999411 0.00299032 -0.00168263 -0.13431385] [-0.00298349 0.99998737 0.00404534 -0.21228263] [ 0.00169471 -0.00404029 0.9999904 0.56819259] [ 0. 0. 0. 1. ]] SLAMing on 30.692557844 meters 0.29575317291824205 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:0.57 [[ 0.99999357 0.0029532 -0.00203371 -0.13358406] [-0.00294514 0.99998784 0.00395426 -0.21192334] [ 0.00204536 -0.00394824 0.99999011 0.5685462 ] [ 0. 0. 0. 1. ]] SLAMing on 30.722557844 meters 0.2966236778918039 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.21, Z:0.57 [[ 0.99999342 0.00294291 -0.00212069 -0.13342993] [-0.00293456 0.99998797 0.00392961 -0.2118208 ] [ 0.00213223 -0.00392337 0.99999003 0.56870518] [ 0. 0. 0. 1. ]] SLAMing on 30.752557844000002 meters 0.29426368562049526 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.21, Z:0.57 [[ 9.99999310e-01 4.83713687e-04 -1.07021410e-03 -1.73116304e-01] [-4.79841819e-04 9.99993350e-01 3.61514785e-03 -2.14025351e-01] [ 1.07195568e-03 -3.61463182e-03 9.99992893e-01 5.66147611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782557844 meters 0.2964187156121759 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999727 0.00189874 -0.00136291 -0.13545621] [-0.00189431 0.99999293 0.00324888 -0.21126275] [ 0.00136907 -0.00324629 0.99999379 0.56960517] [ 0. 0. 0. 1. ]] SLAMing on 30.812557844 meters 0.295840624785954 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999702 0.00205828 -0.00131345 -0.13564296] [-0.00205341 0.99999105 0.00369786 -0.2130521 ] [ 0.00132105 -0.00369515 0.9999923 0.56978945] [ 0. 0. 0. 1. ]] SLAMing on 30.842557844 meters 0.295709880028857 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.57 [[ 0.99999666 0.0021478 -0.00143834 -0.13540016] [-0.00214209 0.99998984 0.00396531 -0.21411103] [ 0.00144684 -0.00396221 0.9999911 0.5699975 ] [ 0. 0. 0. 1. ]] SLAMing on 30.872557844 meters 0.2953038554335026 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999631 0.00224176 -0.00153696 -0.13527794] [-0.00223523 0.99998851 0.00424083 -0.21519015] [ 0.00154645 -0.00423738 0.99998983 0.57032231] [ 0. 0. 0. 1. ]] SLAMing on 30.902557844 meters 0.29602594866150006 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999557 0.0024262 -0.00172556 -0.13482773] [-0.00241788 0.99998552 0.00480673 -0.21744999] [ 0.00173719 -0.00480253 0.99998696 0.57039016] [ 0. 0. 0. 1. ]] SLAMing on 30.932557844 meters 0.2959831850988953 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.9999954 0.00247048 -0.00175973 -0.13465759] [-0.00246178 0.99998484 0.00492599 -0.21796081] [ 0.00177188 -0.00492163 0.99998632 0.57021224] [ 0. 0. 0. 1. ]] SLAMing on 30.962557844 meters 0.29672875450500474 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999528 0.0024904 -0.00180028 -0.13440342] [-0.00248141 0.99998452 0.00498085 -0.21821824] [ 0.00181266 -0.00497636 0.99998597 0.56988212] [ 0. 0. 0. 1. ]] SLAMing on 30.992557844 meters 0.29618181224078244 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999522 0.002487 -0.0018372 -0.13419397] [-0.00247783 0.99998456 0.00497481 -0.21821379] [ 0.00184954 -0.00497023 0.99998594 0.56962283] [ 0. 0. 0. 1. ]] SLAMing on 31.022557844 meters 0.29552540272343913 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999523 0.00246589 -0.00186231 -0.13410042] [-0.0024567 0.99998487 0.0049213 -0.21799879] [ 0.00187442 -0.0049167 0.99998616 0.56955705] [ 0. 0. 0. 1. ]] SLAMing on 31.052557844 meters 0.2966376374098122 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999523 0.00245178 -0.00187975 -0.13406604] [-0.00244257 0.99998508 0.00488588 -0.21785034] [ 0.00189171 -0.00488126 0.9999863 0.56958177] [ 0. 0. 0. 1. ]] SLAMing on 31.082557844 meters 0.2966826574336953 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999522 0.00240596 -0.00194223 -0.13423182] [-0.00239667 0.99998574 0.00477277 -0.2173681 ] [ 0.00195369 -0.00476809 0.99998672 0.57027557] [ 0. 0. 0. 1. ]] SLAMing on 31.112557844 meters 0.29573160814352323 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999526 0.0023932 -0.00193721 -0.1342625 ] [-0.002384 0.99998593 0.00473901 -0.2172251 ] [ 0.00194852 -0.00473437 0.99998689 0.5703148 ] [ 0. 0. 0. 1. ]] SLAMing on 31.142557844000002 meters 0.2959870663934718 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999531 0.00237423 -0.00193392 -0.13414047] [-0.00236513 0.99998621 0.00468994 -0.21704498] [ 0.00194503 -0.00468535 0.99998713 0.57001469] [ 0. 0. 0. 1. ]] SLAMing on 31.172557844 meters 0.2965518532550846 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.9999955 0.00236675 -0.00184252 -0.13427716] [-0.00235813 0.99998633 0.00466691 -0.2169625 ] [ 0.00185354 -0.00466254 0.99998741 0.56978316] [ 0. 0. 0. 1. ]] SLAMing on 31.202557844 meters 0.2959854462094051 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999536 0.00256188 -0.00164904 -0.13511287] [-0.00255327 0.99998321 0.00520252 -0.21906847] [ 0.00166234 -0.00519828 0.99998511 0.57060338] [ 0. 0. 0. 1. ]] SLAMing on 31.232557844000002 meters 0.29765531273228957 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999523 0.00266393 -0.00156312 -0.1355694 ] [-0.00265533 0.99998146 0.00548048 -0.22015436] [ 0.00157769 -0.00547631 0.99998376 0.5711619 ] [ 0. 0. 0. 1. ]] SLAMing on 31.262557844 meters 0.29765531273228957 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999523 0.00266393 -0.00156312 -0.1355694 ] [-0.00265533 0.99998146 0.00548048 -0.22015436] [ 0.00157769 -0.00547631 0.99998376 0.5711619 ] [ 0. 0. 0. 1. ]] SLAMing on 31.292557844 meters 0.29527506133333054 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.9999951 0.00274235 -0.0015089 -0.13579894] [-0.00273373 0.99998009 0.00568791 -0.22098079] [ 0.00152447 -0.00568375 0.99998269 0.57137236] [ 0. 0. 0. 1. ]] SLAMing on 31.322557844000002 meters 0.29539849039667493 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.999995 0.00278847 -0.00149119 -0.13575154] [-0.00277976 0.99997926 0.00580932 -0.22150329] [ 0.00150735 -0.00580515 0.99998201 0.57116203] [ 0. 0. 0. 1. ]] SLAMing on 31.352557844 meters 0.2965997592485065 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999485 0.00281658 -0.00153988 -0.13545722] [-0.00280746 0.99997873 0.00588789 -0.22186346] [ 0.00155644 -0.00588354 0.99998148 0.57077674] [ 0. 0. 0. 1. ]] SLAMing on 31.382557844 meters 0.2960603296761044 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 0.99999471 0.00283243 -0.00160126 -0.13518604] [-0.00282288 0.99997841 0.00593369 -0.22207454] [ 0.00161803 -0.00592914 0.99998111 0.57052732] [ 0. 0. 0. 1. ]] SLAMing on 31.412557844000002 meters 0.2964676773070754 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999457 0.0027985 -0.00174139 -0.1348189 ] [-0.00278827 0.99997899 0.00585133 -0.22175327] [ 0.00175773 -0.00584645 0.99998136 0.57050579] [ 0. 0. 0. 1. ]] SLAMing on 31.442557844 meters 0.29611428628101344 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 0.99999743 -0.0016019 -0.00160526 -0.13490835] [ 0.00160403 0.99999783 0.00132699 -0.22087848] [ 0.00160313 -0.00132956 0.99999783 0.56992968] [ 0. 0. 0. 1. ]] SLAMing on 31.472557844 meters 0.297246937860254 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:0.57 [[ 0.99998044 0.00612513 0.00126722 -0.11418143] [-0.00612359 0.99998051 -0.00121806 -0.21934492] [-0.00127466 0.00121028 0.99999846 0.56819966] [ 0. 0. 0. 1. ]] SLAMing on 31.502557844000002 meters 0.2973713595370667 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:0.57 [[ 0.99998039 0.00612609 0.00129697 -0.11414599] [-0.00612451 0.9999805 -0.00121732 -0.21936883] [-0.0013044 0.00120935 0.99999842 0.56794604] [ 0. 0. 0. 1. ]] SLAMing on 31.532557844 meters 0.29553050422962773 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:0.57 [[ 0.99998016 0.00614296 0.00139156 -0.11450599] [-0.00614132 0.99998045 -0.00118052 -0.21949032] [-0.00139878 0.00117195 0.99999833 0.56820002] [ 0. 0. 0. 1. ]] SLAMing on 31.562557844 meters 0.29547717480895724 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.22, Z:0.57 [[ 9.99991221e-01 -4.11651052e-03 7.81909645e-04 -1.35747266e-01] [ 4.11709055e-03 9.99991250e-01 -7.41656858e-04 -2.18184111e-01] [-7.78849765e-04 7.44869541e-04 9.99999419e-01 5.68248176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592557844 meters 0.29630255404219025 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.22, Z:0.57 [[ 0.9999922 0.00350855 0.00181381 -0.11354257] [-0.00350213 0.99998764 -0.00352984 -0.21992047] [-0.00182617 0.00352346 0.99999213 0.56715527] [ 0. 0. 0. 1. ]] SLAMing on 31.622557844 meters 0.2950157485382792 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 9.99990754e-01 -4.19015218e-03 -9.66918003e-04 -1.33520343e-01] [ 4.18930539e-03 9.99990841e-01 -8.76130144e-04 -2.20842671e-01] [ 9.70580266e-04 8.72071328e-04 9.99999149e-01 5.68110967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652557844 meters 0.29575845320233807 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 9.99990960e-01 -4.13892535e-03 -9.74622536e-04 -1.33514958e-01] [ 4.13820568e-03 9.99991164e-01 -7.39271987e-04 -2.21402293e-01] [ 9.77673716e-04 7.35232115e-04 9.99999252e-01 5.68147445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682557844 meters 0.2955786683034925 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 9.99991235e-01 -4.02299136e-03 -1.15965757e-03 -1.33117238e-01] [ 4.02255683e-03 9.99991838e-01 -3.76794911e-04 -2.22841128e-01] [ 1.16116394e-03 3.72126820e-04 9.99999257e-01 5.68329993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712557844 meters 0.29602619504447547 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.22, Z:0.57 [[ 9.99991559e-01 -3.91533884e-03 -1.24557932e-03 -1.32847871e-01] [ 3.91523622e-03 9.99992332e-01 -8.48131024e-05 -2.24053800e-01] [ 1.24590184e-03 7.99356492e-05 9.99999221e-01 5.68239014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742557844 meters 0.29608179219790587 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.23, Z:0.57 [[ 9.99991947e-01 -3.80553520e-03 -1.27459840e-03 -1.32761969e-01] [ 3.80579059e-03 9.99992738e-01 1.98004889e-04 -2.25226273e-01] [ 1.27383563e-03 -2.02854149e-04 9.99999168e-01 5.68221583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772557844 meters 0.2963911072128835 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.23, Z:0.57 [[ 9.99992425e-01 -3.70112944e-03 -1.20519005e-03 -1.33003740e-01] [ 3.70169061e-03 9.99993041e-01 4.63728778e-04 -2.26309211e-01] [ 1.20346534e-03 -4.68186506e-04 9.99999166e-01 5.68362160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802557844000003 meters 0.2963716789769849 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.23, Z:0.57 [[ 9.99992903e-01 -3.60058570e-03 -1.10855022e-03 -1.33379571e-01] [ 3.60138602e-03 9.99993255e-01 7.20798883e-04 -2.27346023e-01] [ 1.10594745e-03 -7.24786085e-04 9.99999126e-01 5.68641452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832557844 meters 0.29422272605098587 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.57 [[ 0.99999579 0.001315 -0.00258699 -0.15744144] [-0.00132131 0.99999616 -0.00243797 -0.2292494 ] [ 0.00258377 0.00244138 0.99999368 0.57062907] [ 0. 0. 0. 1. ]] SLAMing on 31.862557844 meters 0.29603438851685276 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.23, Z:0.57 [[ 9.99994507e-01 -3.31333764e-03 8.98414466e-05 -1.32947536e-01] [ 3.31324411e-03 9.99993989e-01 1.02200300e-03 -2.33223732e-01] [-9.32271476e-05 -1.02169972e-03 9.99999474e-01 5.67262894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892557844000002 meters 0.29569782304592224 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.57 [[ 9.99991047e-01 3.86397188e-03 -1.72481683e-03 -1.51801804e-01] [-3.86432392e-03 9.99992513e-01 -2.00816597e-04 -2.37048136e-01] [ 1.72402796e-03 2.07480050e-04 9.99998492e-01 5.65209208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922557844 meters 0.2954140338637617 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.56 [[ 9.99991089e-01 3.85258762e-03 -1.72640334e-03 -1.51639859e-01] [-3.85298885e-03 9.99992551e-01 -2.29138393e-04 -2.36965685e-01] [ 1.72550771e-03 2.35788163e-04 9.99998484e-01 5.64845254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952557844 meters 0.29511736265931804 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.56 [[ 9.99991482e-01 3.81435819e-03 -1.57675552e-03 -1.52065368e-01] [-3.81490684e-03 9.99992664e-01 -3.45101555e-04 -2.36470711e-01] [ 1.57542761e-03 3.51113791e-04 9.99998697e-01 5.64939598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982557844000002 meters 0.2950196462353527 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.57 [[ 9.99991956e-01 3.79183403e-03 -1.30760585e-03 -1.52949318e-01] [-3.79239467e-03 9.99992718e-01 -4.26537817e-04 -2.36063604e-01] [ 1.30597897e-03 4.31493344e-04 9.99999054e-01 5.65513633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01255784400001 meters 0.2943984195763421 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.57 [[ 9.99992071e-01 3.77462729e-03 -1.26917300e-03 -1.53095975e-01] [-3.77523105e-03 9.99992762e-01 -4.73655297e-04 -2.35854583e-01] [ 1.26737594e-03 4.78442962e-04 9.99999082e-01 5.65620311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042557844 meters 0.29504198737967563 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.57 [[ 9.99991994e-01 3.81250118e-03 -1.21502022e-03 -1.53272678e-01] [-3.81296248e-03 9.99992659e-01 -3.77574541e-04 -2.36240422e-01] [ 1.21357180e-03 3.82204345e-04 9.99999191e-01 5.65701968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072557844 meters 0.2961575881823598 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.23, Z:0.57 [[ 9.99993570e-01 -3.58574183e-03 5.83221104e-05 -1.33963352e-01] [ 3.58568947e-03 9.99993189e-01 8.74395075e-04 -2.33057085e-01] [-6.14570681e-05 -8.74180327e-04 9.99999616e-01 5.66744916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102557844 meters 0.29460649661216176 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.24, Z:0.57 [[ 9.99992957e-01 3.69507844e-03 -6.57969274e-04 -1.52407745e-01] [-3.69524223e-03 9.99993142e-01 -2.47890843e-04 -2.39255706e-01] [ 6.57048786e-04 2.50320453e-04 9.99999753e-01 5.65022471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132557844000004 meters 0.29546459523488394 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.24, Z:0.56 [[ 0.99999386 -0.00217138 0.00274989 -0.12819914] [ 0.00216609 0.9999958 0.00192544 -0.2436318 ] [-0.00275406 -0.00191948 0.99999437 0.56100285] [ 0. 0. 0. 1. ]] SLAMing on 32.162557844000006 meters 0.2939564133010331 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99996970e-01 2.33616436e-03 7.76008502e-04 -1.51607589e-01] [-2.33500266e-03 9.99996157e-01 -1.49456517e-03 -2.45128532e-01] [-7.79497070e-04 1.49274866e-03 9.99998582e-01 5.62652209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19255784400001 meters 0.2943408115026381 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99996824e-01 2.40751815e-03 7.45181541e-04 -1.51668239e-01] [-2.40655301e-03 9.99996268e-01 -1.29337378e-03 -2.45912591e-01] [-7.48292581e-04 1.29157635e-03 9.99998886e-01 5.62983375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22255784400001 meters 0.2949102433158912 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99996593e-01 2.50308801e-03 7.40231094e-04 -1.51799995e-01] [-2.50232526e-03 9.99996339e-01 -1.02955284e-03 -2.46960381e-01] [-7.42805445e-04 1.02769704e-03 9.99999196e-01 5.63321087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252557844 meters 0.2945227157376573 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99996422e-01 2.59613370e-03 6.45602399e-04 -1.51502338e-01] [-2.59563102e-03 9.99996329e-01 -7.78244897e-04 -2.48013089e-01] [-6.47620456e-04 7.76566367e-04 9.99999489e-01 5.63209235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters 0.2963394965156955 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99996433e-01 2.60996500e-03 5.67762240e-04 -1.51092179e-01] [-2.60954727e-03 9.99996325e-01 -7.35244250e-04 -2.48247089e-01] [-5.69679115e-04 7.33760025e-04 9.99999569e-01 5.62722683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312557844000004 meters 0.29355498764416205 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.25, Z:0.56 [[ 9.99975772e-01 -6.70356142e-03 -1.87542816e-03 -1.69324913e-01] [ 6.70445923e-03 9.99977413e-01 4.72844615e-04 -2.47004393e-01] [ 1.87221605e-03 -4.85406891e-04 9.99998130e-01 5.61848761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844000005 meters 0.29450343057433853 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.25, Z:0.56 [[ 9.99975870e-01 -6.68803102e-03 -1.87860677e-03 -1.69233311e-01] [ 6.68900875e-03 9.99977496e-01 5.14653284e-04 -2.47199594e-01] [ 1.87512248e-03 -5.27206883e-04 9.99998103e-01 5.61658175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372557844000006 meters 0.2943805057782264 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.25, Z:0.56 [[ 9.99976138e-01 -6.65355388e-03 -1.85840679e-03 -1.69254726e-01] [ 6.65468741e-03 9.99977675e-01 6.04433720e-04 -2.47574532e-01] [ 1.85434367e-03 -6.16786413e-04 9.99998090e-01 5.61590751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40255784400001 meters 0.2952537741938957 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99999113e-01 1.29391136e-03 3.17296065e-04 -1.47949283e-01] [-1.29333579e-03 9.99997530e-01 -1.80751843e-03 -2.47820452e-01] [-3.19634050e-04 1.80710646e-03 9.99998316e-01 5.60120969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432557844 meters 0.2947160703504328 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99999041e-01 1.34801636e-03 3.19027464e-04 -1.48036571e-01] [-1.34748361e-03 9.99997707e-01 -1.66430118e-03 -2.48389598e-01] [-3.21270238e-04 1.66386969e-03 9.99998564e-01 5.60307445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462557844 meters 0.293131677162271 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99998793e-01 -3.11566707e-04 1.52237170e-03 -1.87135952e-01] [ 3.12356766e-04 9.99999817e-01 -5.18755159e-04 -2.53690198e-01] [-1.52220980e-03 5.19230055e-04 9.99998707e-01 5.57794730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492557844000004 meters 0.2939044967587656 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99998828e-01 -2.41742062e-04 1.51190659e-03 -1.87141103e-01] [ 2.42234509e-04 9.99999918e-01 -3.25538160e-04 -2.54476353e-01] [-1.51182777e-03 3.25904015e-04 9.99998804e-01 5.57865747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522557844000005 meters 0.29426253662534657 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99998887e-01 -1.94508738e-04 1.47911845e-03 -1.87093895e-01] [ 1.94802136e-04 9.99999961e-01 -1.98218275e-04 -2.54998988e-01] [-1.47907984e-03 1.98506190e-04 9.99998886e-01 5.57950801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552557844000006 meters 0.29480109232870116 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.26, Z:0.56 [[ 9.99998713e-01 -1.49007351e-04 1.59725172e-03 -1.87465494e-01] [ 1.49127144e-04 9.99999986e-01 -7.48810162e-05 -2.55472221e-01] [-1.59724054e-03 7.51191134e-05 9.99998722e-01 5.58124195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58255784400001 meters 0.2944155159601988 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.26, Z:0.56 [[ 9.99998847e-01 -1.30899386e-04 1.51322022e-03 -1.87264053e-01] [ 1.30930475e-04 9.99999991e-01 -2.04459344e-05 -2.55694061e-01] [-1.51321753e-03 2.06440374e-05 9.99998855e-01 5.58161591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612557844 meters 0.2952197085108652 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.26, Z:0.56 [[ 9.99998917e-01 -1.40318760e-04 1.46536498e-03 -1.87033184e-01] [ 1.40381265e-04 9.99999989e-01 -4.25521243e-05 -2.55625094e-01] [-1.46535899e-03 4.27577880e-05 9.99998925e-01 5.57916192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642557844 meters 0.29547646742701533 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.26, Z:0.56 [[ 9.99998755e-01 -1.21916150e-04 1.57343604e-03 -1.87278088e-01] [ 1.21911666e-04 9.99999993e-01 2.94617192e-06 -2.55808765e-01] [-1.57343639e-03 -2.75434804e-06 9.99998762e-01 5.57836624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672557844 meters 0.2948542820704767 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.26, Z:0.56 [[ 9.99998532e-01 -1.49439605e-04 1.70689862e-03 -1.87641528e-01] [ 1.49578645e-04 9.99999986e-01 -8.13303315e-05 -2.55454625e-01] [-1.70688644e-03 8.15855277e-05 9.99998540e-01 5.57888842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702557844000005 meters 0.2937168640072604 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.25, Z:0.56 [[ 0.99998797 0.00478273 -0.00108743 -0.21036885] [-0.00478626 0.99998322 -0.00326268 -0.25458704] [ 0.00107181 0.00326785 0.99999409 0.56017364] [ 0. 0. 0. 1. ]] SLAMing on 32.732557844000006 meters 0.2941574561859984 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:0.56 [[ 9.99987891e-01 4.82994061e-03 -9.42787161e-04 -2.10927126e-01] [-4.83288223e-03 9.99983382e-01 -3.14320053e-03 -2.55027250e-01] [ 9.27590022e-04 3.14771885e-03 9.99994616e-01 5.60640225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76255784400001 meters 0.2952647352118503 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99996627e-01 -2.59721908e-03 2.87393988e-05 -1.91492555e-01] [ 2.59727296e-03 9.99994489e-01 -2.06802790e-03 -2.51108491e-01] [-2.33681189e-05 2.06809556e-03 9.99997861e-01 5.61759793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792557844 meters 0.2967878693804209 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99996735e-01 -2.55526597e-03 -1.19395609e-05 -1.91286148e-01] [ 2.55523782e-03 9.99994834e-01 -1.95026743e-03 -2.51625274e-01] [ 1.69229512e-05 1.95023056e-03 9.99998098e-01 5.61522428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822557844 meters 0.2953663707463541 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99996960e-01 -2.46518680e-03 5.23495426e-05 -1.91449349e-01] [ 2.46527269e-03 9.99995500e-01 -1.70949050e-03 -2.52606939e-01] [-4.81350937e-05 1.70961436e-03 9.99998537e-01 5.61525385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852557844 meters 0.2955834388973182 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99997150e-01 -2.38096898e-03 1.76546303e-04 -1.91879586e-01] [ 2.38122857e-03 9.99996062e-01 -1.48504902e-03 -2.53492252e-01] [-1.73009752e-04 1.48546519e-03 9.99998882e-01 5.61799258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882557844000004 meters 0.2950924178422247 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.25, Z:0.56 [[ 9.99997398e-01 -2.26424502e-03 2.77889460e-04 -1.92423882e-01] [ 2.26456242e-03 9.99996778e-01 -1.14724322e-03 -2.54775947e-01] [-2.75290924e-04 1.14786953e-03 9.99999303e-01 5.62539535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912557844000006 meters 0.29524622921340865 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.57 [[ 9.99999641e-01 -2.12811988e-04 -8.20478394e-04 -1.53324081e-01] [ 2.11575205e-04 9.99998842e-01 -1.50718433e-03 -2.53622821e-01] [ 8.20798191e-04 1.50701020e-03 9.99998528e-01 5.65435366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94255784400001 meters 0.2958944185316261 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.57 [[ 9.99999552e-01 -1.62018504e-04 -9.33087394e-04 -1.53012821e-01] [ 1.60742995e-04 9.99999053e-01 -1.36689011e-03 -2.54215048e-01] [ 9.33307972e-04 1.36673951e-03 9.99998630e-01 5.65409193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97255784400001 meters 0.2951561247576223 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.57 [[ 9.99999510e-01 -1.18681923e-04 -9.82726626e-04 -1.52858243e-01] [ 1.17453604e-04 9.99999212e-01 -1.24987216e-03 -2.54710281e-01] [ 9.82874189e-04 1.24975612e-03 9.99998736e-01 5.65355161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002557844 meters 0.2964974722196354 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.26, Z:0.56 [[ 0.99998695 -0.00466412 0.00208317 -0.13046285] [ 0.00465941 0.99998659 0.00225843 -0.25624597] [-0.00209368 -0.0022487 0.99999528 0.5634577 ] [ 0. 0. 0. 1. ]] SLAMing on 33.032557844 meters 0.2937822024454175 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.57 [[ 9.99999907e-01 4.29650751e-04 -4.22475116e-05 -1.53389150e-01] [-4.29684799e-04 9.99999580e-01 -8.09254729e-04 -2.56847135e-01] [ 4.18997970e-05 8.09272807e-04 9.99999672e-01 5.65388871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062557844000004 meters 0.29538485096923245 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.57 [[ 9.99999894e-01 4.57766713e-04 -4.84749446e-05 -1.53435402e-01] [-4.57802168e-04 9.99999626e-01 -7.33927332e-04 -2.57142076e-01] [ 4.81389590e-05 7.33949446e-04 9.99999730e-01 5.65532066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092557844000005 meters 0.29372644659724595 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.57 [[ 9.99999895e-01 4.44840851e-04 -1.13188130e-04 -1.53130670e-01] [-4.44927317e-04 9.99999608e-01 -7.65035282e-04 -2.57049376e-01] [ 1.12847767e-04 7.65085562e-04 9.99999701e-01 5.65211915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122557844000006 meters 0.29422970521826686 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99999882e-01 4.35484550e-04 -2.13881481e-04 -1.52754191e-01] [-4.35651865e-04 9.99999599e-01 -7.82859680e-04 -2.57008394e-01] [ 2.13540472e-04 7.82952766e-04 9.99999671e-01 5.64958344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15255784400001 meters 0.29422970521826686 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99999882e-01 4.35484550e-04 -2.13881481e-04 -1.52754191e-01] [-4.35651865e-04 9.99999599e-01 -7.82859680e-04 -2.57008394e-01] [ 2.13540472e-04 7.82952766e-04 9.99999671e-01 5.64958344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182557844 meters 0.29474825507425767 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99999881e-01 3.51559107e-04 -3.39471050e-04 -1.52364098e-01] [-3.51897556e-04 9.99999441e-01 -9.97443901e-04 -2.56147446e-01] [ 3.39120200e-04 9.97563241e-04 9.99999445e-01 5.64816716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212557844 meters 0.2941647082023628 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99999884e-01 2.82142373e-04 -3.89439612e-04 -1.52223217e-01] [-2.82600972e-04 9.99999266e-01 -1.17803678e-03 -2.55405475e-01] [ 3.89106952e-04 1.17814670e-03 9.99999230e-01 5.64793253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242557844000004 meters 0.2941410416553834 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.56 [[ 9.99999898e-01 2.19971347e-04 -3.93704718e-04 -1.52223862e-01] [-2.20500099e-04 9.99999073e-01 -1.34347720e-03 -2.54718792e-01] [ 3.93408827e-04 1.34356387e-03 9.99999020e-01 5.64816245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272557844000005 meters 0.2926665436620294 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.25, Z:0.57 [[ 9.99999952e-01 9.56081036e-05 -2.93951263e-04 -1.52652495e-01] [-9.61024484e-05 9.99998581e-01 -1.68216959e-03 -2.53245486e-01] [ 2.93790017e-04 1.68219776e-03 9.99998542e-01 5.65209366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302557844000006 meters 0.2942368560010019 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 0.99998774 -0.00441915 0.00223572 -0.12996793] [ 0.0044152 0.99998869 0.00176683 -0.25238059] [-0.0022435 -0.00175694 0.99999594 0.563813 ] [ 0. 0. 0. 1. ]] SLAMing on 33.33255784400001 meters 0.2928776691931657 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99995007e-01 3.09344623e-03 6.44683921e-04 -1.49417082e-01] [-3.09397846e-03 9.99994872e-01 8.26222197e-04 -2.56501399e-01] [-6.42124742e-04 -8.28212711e-04 9.99999451e-01 5.63225482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362557844 meters 0.29363989439361615 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99995016e-01 3.12411781e-03 4.56464855e-04 -1.49046628e-01] [-3.12454301e-03 9.99994683e-01 9.33782389e-04 -2.56908272e-01] [-4.53545182e-04 -9.35203979e-04 9.99999460e-01 5.63482508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392557844 meters 0.2948977008306166 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 0.9999877 -0.00471669 0.00153559 -0.12754317] [ 0.00471454 0.99998791 0.00139999 -0.25396196] [-0.00154218 -0.00139274 0.99999784 0.56354479] [ 0. 0. 0. 1. ]] SLAMing on 33.422557844 meters 0.2944231939778519 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99996219e-01 2.60176703e-03 -8.90173582e-04 -1.46211662e-01] [-2.60142074e-03 9.99996540e-01 3.89956742e-04 -2.57345970e-01] [ 8.91185078e-04 -3.87639552e-04 9.99999528e-01 5.62514739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452557844000005 meters 0.294310399272415 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99996258e-01 2.58400409e-03 -8.98249610e-04 -1.46034488e-01] [-2.58369555e-03 9.99996603e-01 3.44479170e-04 -2.57195892e-01] [ 8.99136694e-04 -3.42157077e-04 9.99999537e-01 5.62154624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482557844000006 meters 0.29444478583403133 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99996349e-01 2.56789555e-03 -8.41936551e-04 -1.46094253e-01] [-2.56764297e-03 9.99996658e-01 3.00939427e-04 -2.57031302e-01] [ 8.42706519e-04 -2.98776536e-04 9.99999600e-01 5.61956110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51255784400001 meters 0.29397576079986076 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99996487e-01 2.52618357e-03 -8.03051591e-04 -1.46089364e-01] [-2.52603314e-03 9.99996792e-01 1.88287160e-04 -2.56587634e-01] [ 8.03524662e-04 -1.86257963e-04 9.99999660e-01 5.61714318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542557844 meters 0.2946930575304974 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 9.99996508e-01 2.42910911e-03 -1.04040075e-03 -1.45316731e-01] [-2.42918271e-03 9.99997047e-01 -6.94839471e-05 -2.55581953e-01] [ 1.04022890e-03 7.20110280e-05 9.99999456e-01 5.61287419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572557844 meters 0.2927539116504376 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.56 [[ 9.99999512e-01 6.10473315e-04 -7.76192600e-04 -1.83182128e-01] [-6.10284670e-04 9.99999784e-01 2.43252978e-04 -2.56497282e-01] [ 7.76340932e-04 -2.42779161e-04 9.99999669e-01 5.58387278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602557844 meters 0.2944773500046683 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:0.56 [[ 9.99992346e-01 -3.86023735e-03 6.37994527e-04 -1.59114544e-01] [ 3.85785388e-03 9.99985729e-01 3.69581103e-03 -2.54760848e-01] [-6.52252130e-04 -3.69332146e-03 9.99992967e-01 5.56658238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632557844000004 meters 0.29462553795895996 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:0.56 [[ 9.99991926e-01 -3.94313015e-03 7.74940989e-04 -1.59463336e-01] [ 3.94043310e-03 9.99986280e-01 3.45157152e-03 -2.53755710e-01] [-7.88540352e-04 -3.44849005e-03 9.99993743e-01 5.56641252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662557844000006 meters 0.29432814390250117 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.56 [[ 9.99993228e-01 3.56139485e-03 9.27211905e-04 -1.80247525e-01] [-3.56358349e-03 9.99990843e-01 2.36959266e-03 -2.56546108e-01] [-9.18764360e-04 -2.37288081e-03 9.99996763e-01 5.55532506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69255784400001 meters 0.29404669076915274 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.99999341 0.00343621 0.00117566 -0.18091047] [-0.00343855 0.9999921 0.00199307 -0.25496053] [-0.0011688 -0.0019971 0.99999732 0.55562583] [ 0. 0. 0. 1. ]] SLAMing on 33.72255784400001 meters 0.29494368674499166 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.99999373 0.00332534 0.0012215 -0.18093185] [-0.0033274 0.99999303 0.00169344 -0.25375338] [-0.00121586 -0.0016975 0.99999782 0.55539936] [ 0. 0. 0. 1. ]] SLAMing on 33.752557844 meters 0.2949248265323856 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.99999411 0.00321853 0.00118855 -0.18075193] [-0.00322021 0.99999381 0.00141443 -0.25262576] [-0.00118399 -0.00141825 0.99999829 0.55519684] [ 0. 0. 0. 1. ]] SLAMing on 33.782557844 meters 0.2939361203363186 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.25, Z:0.55 [[ 9.99999110e-01 5.04681706e-04 1.23499595e-03 -2.18187605e-01] [-5.05556261e-04 9.99999622e-01 7.07934458e-04 -2.53144556e-01] [-1.23463820e-03 -7.08558188e-04 9.99998987e-01 5.52190615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812557844000004 meters 0.29366755469085526 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.25, Z:0.55 [[ 9.99999209e-01 4.88866686e-04 1.15875157e-03 -2.18052835e-01] [-4.89641369e-04 9.99999657e-01 6.68360306e-04 -2.52971069e-01] [-1.15842443e-03 -6.68927151e-04 9.99999105e-01 5.52336447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842557844000005 meters 0.295484983499032 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 9.99998296e-01 1.83464298e-03 2.05228397e-04 -1.79482240e-01] [-1.83458863e-03 9.99998282e-01 -2.64696500e-04 -2.50024355e-01] [-2.05713668e-04 2.64319539e-04 9.99999944e-01 5.55395911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872557844000006 meters 0.2917707749767518 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.25, Z:0.56 [[ 9.99994727e-01 4.21421868e-04 -3.22012102e-03 -2.24120977e-01] [-4.19355528e-04 9.99999706e-01 6.42344529e-04 -2.52650223e-01] [ 3.22039077e-03 -6.40990766e-04 9.99994609e-01 5.58350389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90255784400001 meters 0.29262944694791376 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.25, Z:0.56 [[ 9.99989730e-01 -4.53123471e-03 8.31767168e-05 -2.01917129e-01] [ 4.53089713e-03 9.99982934e-01 3.68824977e-03 -2.53288233e-01] [-9.98876227e-05 -3.68783503e-03 9.99993195e-01 5.56064246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932557844 meters 0.29434793172101575 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.99999091 0.00335937 0.00262504 -0.18212466] [-0.00336246 0.99999366 0.00117425 -0.25398377] [-0.00262108 -0.00118306 0.99999587 0.55508644] [ 0. 0. 0. 1. ]] SLAMing on 33.962557844 meters 0.29434591297330237 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.9999908 0.00333152 0.00270322 -0.1825012 ] [-0.00333448 0.99999384 0.00109164 -0.25360387] [-0.00269957 -0.00110064 0.99999575 0.55552623] [ 0. 0. 0. 1. ]] SLAMing on 33.992557844000004 meters 0.29418398469824036 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 0.99999072 0.00331426 0.00275267 -0.18276617] [-0.00331714 0.99999396 0.0010419 -0.25336173] [-0.0027492 -0.00105102 0.99999567 0.55583851] [ 0. 0. 0. 1. ]] SLAMing on 34.022557844000005 meters 0.29464070122804986 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 9.99990910e-01 3.28883556e-03 2.71360578e-03 -1.82699990e-01] [-3.29149961e-03 9.99994105e-01 9.77856462e-04 -2.53090473e-01] [-2.71037377e-03 -9.86779406e-04 9.99995840e-01 5.55922808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052557844000006 meters 0.29398400462781993 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.25, Z:0.56 [[ 9.99991228e-01 3.26786553e-03 2.61992142e-03 -1.82360600e-01] [-3.27030372e-03 9.99994223e-01 9.26893140e-04 -2.52906637e-01] [-2.61687732e-03 -9.35452949e-04 9.99996138e-01 5.55695780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08255784400001 meters 0.29543774149926005 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:0.56 [[ 0.99998627 -0.0046093 0.00249298 -0.16066386] [ 0.00460559 0.99998828 0.00149407 -0.24861978] [-0.00249984 -0.00148257 0.99999578 0.55554379] [ 0. 0. 0. 1. ]] SLAMing on 34.112557844 meters 0.29536212557012814 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:0.56 [[ 0.99998661 -0.00456482 0.00243725 -0.16032354] [ 0.0045609 0.9999883 0.00161199 -0.24914598] [-0.00244458 -0.00160085 0.99999573 0.5551185 ] [ 0. 0. 0. 1. ]] SLAMing on 34.142557844 meters 0.2941180163929113 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.55 [[ 0.9999915 0.00351318 0.00215945 -0.17985122] [-0.00351578 0.9999931 0.0012004 -0.25552603] [-0.00215522 -0.00120799 0.99999695 0.55455671] [ 0. 0. 0. 1. ]] SLAMing on 34.172557844 meters 0.294509826116185 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.56 [[ 0.99999136 0.00355148 0.00215877 -0.18006935] [-0.00355432 0.99999282 0.00131528 -0.25593309] [-0.00215408 -0.00132294 0.9999968 0.55511641] [ 0. 0. 0. 1. ]] SLAMing on 34.202557844000005 meters 0.2928371951056962 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.56 [[ 0.99999117 0.00359953 0.00216882 -0.18030703] [-0.00360271 0.99999244 0.00146515 -0.25647613] [-0.00216353 -0.00147295 0.99999657 0.55567932] [ 0. 0. 0. 1. ]] SLAMing on 34.232557844000006 meters 0.2925859753144874 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.26, Z:0.56 [[ 0.9999908 0.00369673 0.00217597 -0.18044641] [-0.00370057 0.9999916 0.00176203 -0.25762411] [-0.00216944 -0.00177006 0.99999608 0.55597383] [ 0. 0. 0. 1. ]] SLAMing on 34.26255784400001 meters 0.29483079635701304 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.99998734 0.00470097 0.00179739 -0.14184363] [-0.00470285 0.9999884 0.00104264 -0.25686809] [-0.00179247 -0.00105108 0.99999784 0.55837804] [ 0. 0. 0. 1. ]] SLAMing on 34.292557844 meters 0.29544707847914925 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.99998641 0.00486096 0.00188435 -0.14212515] [-0.00486388 0.99998697 0.00154871 -0.25882467] [-0.0018768 -0.00155785 0.99999703 0.55854335] [ 0. 0. 0. 1. ]] SLAMing on 34.322557844 meters 0.2952167813622579 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.99998612 0.00490291 0.00192977 -0.14234009] [-0.00490613 0.99998658 0.0016637 -0.25926956] [-0.00192159 -0.00167315 0.99999675 0.55876698] [ 0. 0. 0. 1. ]] SLAMing on 34.352557844 meters 0.2937098337759827 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:0.56 [[ 0.99998743 -0.00486956 0.00119284 -0.16244558] [ 0.0048664 0.99998469 0.00263463 -0.25699972] [-0.00120565 -0.00262879 0.99999582 0.55849027] [ 0. 0. 0. 1. ]] SLAMing on 34.382557844000004 meters 0.29488350454393264 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.99998515 0.00461654 0.00289548 -0.14367068] [-0.00462102 0.99998814 0.00154075 -0.25980516] [-0.00288834 -0.00155411 0.99999462 0.55906276] [ 0. 0. 0. 1. ]] SLAMing on 34.412557844000006 meters 0.29344768298243007 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.99998537 0.00460994 0.00282892 -0.14349843] [-0.00461427 0.99998819 0.00152831 -0.25975415] [-0.00282185 -0.00154134 0.99999483 0.5590698 ] [ 0. 0. 0. 1. ]] SLAMing on 34.44255784400001 meters 0.29249654464373054 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:0.56 [[ 9.99995989e-01 -2.76868150e-03 -5.96453075e-04 -1.64205776e-01] [ 2.77111491e-03 9.99987680e-01 4.11834787e-03 -2.60563932e-01] [ 5.85043333e-04 -4.11998420e-03 9.99991342e-01 5.61147197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47255784400001 meters 0.29372095591961195 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.26, Z:0.56 [[ 0.9999866 0.00504795 0.00115092 -0.14216268] [-0.00504934 0.99998652 0.00120689 -0.25826396] [-0.00114481 -0.00121269 0.99999861 0.55888834] [ 0. 0. 0. 1. ]] SLAMing on 34.502557844 meters 0.2922080298978085 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:0.56 [[ 9.99996837e-01 -2.46420345e-03 -5.03369640e-04 -1.64480119e-01] [ 2.46616645e-03 9.99989209e-01 3.93703684e-03 -2.56888808e-01] [ 4.93662548e-04 -3.93826578e-03 9.99992123e-01 5.60824645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532557844 meters 0.2926203719840057 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.26, Z:0.56 [[ 0.99997366 0.00690598 0.00223404 -0.14621176] [-0.0069124 0.99997197 0.00287804 -0.25848883] [-0.0022141 -0.00289341 0.99999336 0.56091181] [ 0. 0. 0. 1. ]] SLAMing on 34.562557844000004 meters 0.2942167858336254 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 9.99990708e-01 -8.13809707e-04 4.23348913e-03 -1.25739562e-01] [ 7.99641060e-04 9.99994078e-01 3.34741784e-03 -2.54523186e-01] [-4.23618822e-03 -3.34400146e-03 9.99985436e-01 5.61303439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592557844000005 meters 0.293456025934856 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 9.99990591e-01 -8.37676767e-04 4.25630211e-03 -1.25938990e-01] [ 8.23743367e-04 9.99994300e-01 3.27429193e-03 -2.54207526e-01] [-4.25902064e-03 -3.27075502e-03 9.99985581e-01 5.61659022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622557844000006 meters 0.29284881523939593 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 9.99991133e-01 -8.80887072e-04 4.11811103e-03 -1.25581735e-01] [ 8.67902958e-04 9.99994651e-01 3.15365398e-03 -2.53736979e-01] [-4.12086702e-03 -3.15005189e-03 9.99986548e-01 5.61640055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65255784400001 meters 0.29384497547106025 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.25, Z:0.56 [[ 9.99992374e-01 -8.95526097e-04 3.80138314e-03 -1.24511837e-01] [ 8.83555078e-04 9.99994650e-01 3.14963422e-03 -2.53802431e-01] [-3.80418338e-03 -3.14625147e-03 9.99987815e-01 5.60870022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682557844 meters 0.29353450605122994 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.25, Z:0.56 [[ 9.99991833e-01 -8.88609111e-04 3.94267511e-03 -1.24805399e-01] [ 8.76144891e-04 9.99994617e-01 3.16196269e-03 -2.53862662e-01] [-3.94546363e-03 -3.15848251e-03 9.99987229e-01 5.60710426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712557844 meters 0.2923917074936234 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 9.99989598e-01 -9.11910049e-04 4.46911972e-03 -1.26370203e-01] [ 8.98245258e-04 9.99994919e-01 3.05865628e-03 -2.53475354e-01] [-4.47188623e-03 -3.05461010e-03 9.99985336e-01 5.61705619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742557844000004 meters 0.2929818089062966 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.26, Z:0.56 [[ 0.99994657 0.00855197 0.00580738 -0.107569 ] [-0.00856301 0.99996157 0.00187948 -0.25692764] [-0.00579109 -0.00192911 0.99998137 0.56210695] [ 0. 0. 0. 1. ]] SLAMing on 34.772557844000005 meters 0.29260784823858654 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.25, Z:0.56 [[ 9.99990228e-01 -3.36165175e-04 4.40810638e-03 -1.25955669e-01] [ 3.21272602e-04 9.99994240e-01 3.37872423e-03 -2.51964846e-01] [-4.40921680e-03 -3.37727501e-03 9.99984576e-01 5.60528198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802557844000006 meters 0.2953406042433471 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.25, Z:0.56 [[ 0.99999522 0.00191272 0.0024289 -0.08380187] [-0.00192114 0.99999214 0.00346954 -0.24994181] [-0.00242225 -0.00347419 0.99999103 0.5615377 ] [ 0. 0. 0. 1. ]] SLAMing on 34.83255784400001 meters 0.29409252349026727 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.25, Z:0.56 [[ 0.99999561 0.00183963 0.00232328 -0.08335816] [-0.00184723 0.99999293 0.00327638 -0.24918588] [-0.00231724 -0.00328066 0.99999193 0.56115062] [ 0. 0. 0. 1. ]] SLAMing on 34.862557844 meters 0.2938810934788553 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.25, Z:0.56 [[ 0.99999585 0.00176356 0.00227691 -0.0832921 ] [-0.00177057 0.99999369 0.00307865 -0.24837486] [-0.00227147 -0.00308267 0.99999267 0.56128473] [ 0. 0. 0. 1. ]] SLAMing on 34.892557844 meters 0.29359078063341815 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.25, Z:0.56 [[ 0.99999608 0.00161219 0.00229131 -0.08354478] [-0.00161829 0.99999514 0.00266505 -0.24668258] [-0.002287 -0.00266875 0.99999382 0.56183497] [ 0. 0. 0. 1. ]] SLAMing on 34.922557844 meters 0.29388110232681747 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.25, Z:0.56 [[ 0.99999614 0.00149392 0.00234264 -0.08364359] [-0.00149942 0.99999612 0.00234782 -0.24539208] [-0.00233912 -0.00235133 0.9999945 0.56177903] [ 0. 0. 0. 1. ]] SLAMing on 34.952557844000005 meters 0.29565197849099517 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.24, Z:0.56 [[ 0.99999582 0.00270237 0.00102915 -0.04377132] [-0.0027036 0.99999564 0.00119086 -0.24149183] [-0.00102593 -0.00119363 0.99999876 0.56400002] [ 0. 0. 0. 1. ]] SLAMing on 34.982557844000006 meters 0.2935972709983457 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.56 [[ 9.99998822e-01 7.94269360e-04 1.31368124e-03 -8.19939971e-02] [-7.95611736e-04 9.99999162e-01 1.02163599e-03 -2.39757830e-01] [-1.31286868e-03 -1.02267997e-03 9.99998615e-01 5.61005825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01255784400001 meters 0.2928825944384593 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.56 [[ 9.99999045e-01 6.90159241e-04 1.19769188e-03 -8.16371979e-02] [-6.91050394e-04 9.99999485e-01 7.43804717e-04 -2.38638699e-01] [-1.19717792e-03 -7.44631672e-04 9.99999006e-01 5.60876861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04255784400001 meters 0.2943964847490164 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.56 [[ 9.99999201e-01 5.75159264e-04 1.12572853e-03 -8.13919295e-02] [-5.75650497e-04 9.99999739e-01 4.36093332e-04 -2.37395533e-01] [-1.12547741e-03 -4.36741010e-04 9.99999271e-01 5.60749003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072557844 meters 0.2943964847490164 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.56 [[ 9.99999201e-01 5.75159264e-04 1.12572853e-03 -8.13919295e-02] [-5.75650497e-04 9.99999739e-01 4.36093332e-04 -2.37395533e-01] [-1.12547741e-03 -4.36741010e-04 9.99999271e-01 5.60749003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102557844 meters 0.29388477640572475 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99999140e-01 3.29075294e-04 1.26943299e-03 -8.17556912e-02] [-3.28731788e-04 9.99999909e-01 -2.70796856e-04 -2.34557027e-01] [-1.26952199e-03 2.70379320e-04 9.99999158e-01 5.60765959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132557844000004 meters 0.2931596952031592 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99999015e-01 2.05041685e-04 1.38830133e-03 -8.20431968e-02] [-2.04216230e-04 9.99999802e-01 -5.94695284e-04 -2.33241515e-01] [-1.38842300e-03 5.94411184e-04 9.99998859e-01 5.60728263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162557844000006 meters 0.29428248799441675 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99998870e-01 1.00283547e-04 1.49982782e-03 -8.23171988e-02] [-9.89795756e-05 9.99999617e-01 -8.69463298e-04 -2.32123644e-01] [-1.49991444e-03 8.69313864e-04 9.99998497e-01 5.60701882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19255784400001 meters 0.2931968806197406 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:0.56 [[ 9.99997400e-01 -4.09032952e-04 2.24336241e-03 -1.22475001e-01] [ 4.08375862e-04 9.99999874e-01 2.93354031e-04 -2.31106110e-01] [-2.24348212e-03 -2.92437133e-04 9.99997441e-01 5.58893139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22255784400001 meters 0.29595196141852936 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99995243e-01 2.36313418e-04 3.07547430e-03 -7.56384669e-02] [-2.32883567e-04 9.99999351e-01 -1.11553688e-03 -2.28101960e-01] [-3.07573592e-03 1.11481535e-03 9.99994649e-01 5.55782021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252557844 meters 0.2954819978033941 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99995752e-01 2.04616623e-04 2.90763958e-03 -7.50875905e-02] [-2.01142545e-04 9.99999266e-01 -1.19505280e-03 -2.27809550e-01] [-2.90788198e-03 1.19446287e-03 9.99995059e-01 5.55491727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282557844 meters 0.29458258279714133 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99995793e-01 2.29802608e-04 2.89164705e-03 -7.50785232e-02] [-2.26547679e-04 9.99999341e-01 -1.12590883e-03 -2.28082596e-01] [-2.89190388e-03 1.12524899e-03 9.99995185e-01 5.55564027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312557844000004 meters 0.2941393923162926 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99995375e-01 2.26476105e-04 3.03279650e-03 -7.54596932e-02] [-2.23018780e-04 9.99999325e-01 -1.14026872e-03 -2.28025527e-01] [-3.03305269e-03 1.13958708e-03 9.99994751e-01 5.55636114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342557844000005 meters 0.294265152764956 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99994884e-01 2.33656038e-04 3.19018313e-03 -7.59156462e-02] [-2.30061789e-04 9.99999338e-01 -1.12697973e-03 -2.28072851e-01] [-3.19044435e-03 1.12624003e-03 9.99994276e-01 5.55788442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372557844000006 meters 0.2933981379643035 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99994110e-01 2.21133444e-04 3.42514500e-03 -7.66569847e-02] [-2.17144243e-04 9.99999298e-01 -1.16500902e-03 -2.27909143e-01] [-3.42540022e-03 1.16425840e-03 9.99993456e-01 5.56162712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40255784400001 meters 0.29420729409136265 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99994151e-01 1.47357269e-04 3.41699655e-03 -7.65983159e-02] [-1.42702002e-04 9.99999061e-01 -1.36258967e-03 -2.27108365e-01] [-3.41719413e-03 1.36209409e-03 9.99993234e-01 5.56098320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432557844 meters 0.2946611448533409 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.56 [[ 9.99994545e-01 2.87168700e-05 3.30283331e-03 -7.62822749e-02] [-2.31578715e-05 9.99998583e-01 -1.68312585e-03 -2.25813175e-01] [-3.30287697e-03 1.68304018e-03 9.99993129e-01 5.56084890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462557844 meters 0.29446460592104845 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99994762e-01 -1.11836293e-04 3.23464433e-03 -7.60728575e-02] [ 1.18555296e-04 9.99997836e-01 -2.07708282e-03 -2.24235003e-01] [-3.23440504e-03 2.07745542e-03 9.99992611e-01 5.56037684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492557844000004 meters 0.29324143512576906 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99994633e-01 -2.54849416e-04 3.26634213e-03 -7.61163990e-02] [ 2.63013041e-04 9.99996843e-01 -2.49913153e-03 -2.22557432e-01] [-3.26569491e-03 2.49997721e-03 9.99991543e-01 5.55983816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522557844000005 meters 0.2943538049294583 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.55 [[ 9.99974056e-01 -4.80107094e-03 5.36998198e-03 -5.24646561e-02] [ 4.79603304e-03 9.99988047e-01 9.50643802e-04 -2.21111748e-01] [-5.37448190e-03 -9.24864528e-04 9.99985130e-01 5.54294544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552557844000006 meters 0.29593418553503237 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.55 [[ 9.99971876e-01 -5.11226377e-03 5.48750323e-03 -5.27529795e-02] [ 5.11229783e-03 9.99986932e-01 7.82104076e-06 -2.17376017e-01] [-5.48747150e-03 2.02329300e-05 9.99984944e-01 5.54343676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58255784400001 meters 0.29555961466515224 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.55 [[ 9.99971574e-01 -5.22198820e-03 5.43899875e-03 -5.25894655e-02] [ 5.22357584e-03 9.99986318e-01 -2.77734304e-04 -2.16216980e-01] [-5.43747401e-03 3.06137431e-04 9.99985170e-01 5.54280337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612557844 meters 0.29609905150372856 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.55 [[ 9.99971216e-01 -5.31005572e-03 5.41950073e-03 -5.24627431e-02] [ 5.31286918e-03 9.99985759e-01 -5.04871432e-04 -2.15296995e-01] [-5.41674266e-03 5.33649998e-04 9.99985187e-01 5.54128054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642557844 meters 0.2946948784801277 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.55 [[ 0.99999019 0.00287608 0.00336807 -0.07292905] [-0.00287197 0.99999513 -0.00122389 -0.21579509] [-0.00337157 0.0012142 0.99999358 0.55401403] [ 0. 0. 0. 1. ]] SLAMing on 35.672557844 meters 0.2944572885359078 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.55 [[ 0.99999081 0.00267849 0.00334738 -0.0726326 ] [-0.00267261 0.99999488 -0.00176173 -0.21367801] [-0.00335208 0.00175277 0.99999285 0.55348197] [ 0. 0. 0. 1. ]] SLAMing on 35.702557844000005 meters 0.29575551710212206 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.55 [[ 0.99999096 0.00259458 0.00336913 -0.07270747] [-0.00258791 0.99999469 -0.00198244 -0.21277524] [-0.00337426 0.0019737 0.99999236 0.55354538] [ 0. 0. 0. 1. ]] SLAMing on 35.732557844000006 meters 0.2955191924775777 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.55 [[ 0.99999105 0.00245923 0.00344408 -0.07292134] [-0.00245121 0.99999428 -0.00233191 -0.21134157] [-0.00344979 0.00232344 0.99999135 0.55362538] [ 0. 0. 0. 1. ]] SLAMing on 35.76255784400001 meters 0.2950817028075408 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.55 [[ 0.99999129 0.0023238 0.00346599 -0.07306622] [-0.00231453 0.99999374 -0.00267764 -0.20991697] [-0.00347219 0.00266959 0.99999041 0.55385165] [ 0. 0. 0. 1. ]] SLAMing on 35.79255784400001 meters 0.29463439955428733 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.55 [[ 0.99999145 0.00220412 0.00349771 -0.07313944] [-0.00219366 0.99999312 -0.00299244 -0.20863141] [-0.00350429 0.00298474 0.99998941 0.55385305] [ 0. 0. 0. 1. ]] SLAMing on 35.822557844 meters 0.2959257273569524 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.55 [[ 0.99997207 -0.00595235 0.00451892 -0.05232035] [ 0.00596398 0.99997892 -0.00256554 -0.20395355] [-0.00450355 0.00259242 0.9999865 0.5542363 ] [ 0. 0. 0. 1. ]] SLAMing on 35.852557844 meters 0.29644824122541513 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.55 [[ 0.99998916 -0.00193912 0.00423389 -0.05114117] [ 0.00193433 0.99999749 0.00113461 -0.20237845] [-0.00423608 -0.0011264 0.99999039 0.55321396] [ 0. 0. 0. 1. ]] SLAMing on 35.882557844000004 meters 0.29560585538576234 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.55 [[ 9.99989445e-01 -2.03162798e-03 4.12104940e-03 -5.05809388e-02] [ 2.02794015e-03 9.99997540e-01 8.98859508e-04 -2.01436188e-01] [-4.12286541e-03 -8.90492778e-04 9.99991104e-01 5.52631831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912557844000006 meters 0.2947404733809638 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99994180e-01 3.38856295e-03 -3.97809023e-04 -7.25692038e-02] [-3.38923214e-03 9.99992822e-01 -1.69372690e-03 -1.95503354e-01] [ 3.92066867e-04 1.69506531e-03 9.99998487e-01 5.55476861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94255784400001 meters 0.29698324456821046 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 0.99999053 0.00410727 -0.0014408 -0.03062332] [-0.00411082 0.99998851 -0.00246625 -0.19353868] [ 0.00143065 0.00247215 0.99999592 0.55673783] [ 0. 0. 0. 1. ]] SLAMing on 35.97255784400001 meters 0.2977456063674462 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 0.99999194 0.00374258 -0.00145149 -0.03080486] [-0.00374752 0.99998713 -0.00341848 -0.18960427] [ 0.00143868 0.00342389 0.9999931 0.55730026] [ 0. 0. 0. 1. ]] SLAMing on 36.002557844 meters 0.29654605674606455 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 0.99999276 0.0035616 -0.00133914 -0.03125339] [-0.00356681 0.99998601 -0.0039057 -0.1875802 ] [ 0.00132521 0.00391045 0.99999148 0.55771252] [ 0. 0. 0. 1. ]] SLAMing on 36.032557844 meters 0.29572592672818043 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 0.99999361 0.00336461 -0.00120436 -0.03169934] [-0.00336993 0.99998445 -0.00444438 -0.18537235] [ 0.00118939 0.00444841 0.9999894 0.557974 ] [ 0. 0. 0. 1. ]] SLAMing on 36.062557844000004 meters 0.29644186217945767 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.56 [[ 0.99999782 -0.00156696 0.00138053 -0.00964633] [ 0.00156842 0.99999821 -0.00105632 -0.18337015] [-0.00137887 0.00105848 0.99999849 0.55705345] [ 0. 0. 0. 1. ]] SLAMing on 36.092557844000005 meters 0.29657445067680593 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.56 [[ 0.99999732 -0.00175349 0.00151108 -0.01005069] [ 0.00175583 0.99999726 -0.00154742 -0.18136306] [-0.00150836 0.00155007 0.99999766 0.55721886] [ 0. 0. 0. 1. ]] SLAMing on 36.122557844000006 meters 0.29596169545924095 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.56 [[ 0.99999663 -0.0020834 0.00155023 -0.01005058] [ 0.00208711 0.99999495 -0.00239506 -0.17793219] [-0.00154523 0.00239829 0.99999593 0.55707003] [ 0. 0. 0. 1. ]] SLAMing on 36.15255784400001 meters 0.29582310353510527 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.56 [[ 0.99999651 -0.00221266 0.00144509 -0.00961368] [ 0.00221661 0.99999379 -0.00273801 -0.17654925] [-0.00143902 0.0027412 0.99999521 0.5567147 ] [ 0. 0. 0. 1. ]] SLAMing on 36.182557844 meters 0.2962779917200931 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.56 [[ 0.99999639 -0.00231518 0.00136436 -0.00931791] [ 0.00231927 0.99999281 -0.0030015 -0.17548513] [-0.0013574 0.00300466 0.99999456 0.55654908] [ 0. 0. 0. 1. ]] SLAMing on 36.212557844 meters 0.2964423481497643 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.56 [[ 0.9999963 -0.00237285 0.00133111 -0.00932537] [ 0.00237703 0.99999222 -0.00314684 -0.17488892] [-0.00132363 0.00314999 0.99999416 0.55677262] [ 0. 0. 0. 1. ]] SLAMing on 36.242557844000004 meters 0.2976906288172137 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.56 [[ 0.99999613 -0.0024319 0.00134815 -0.00943377] [ 0.00243633 0.9999916 -0.00329643 -0.17427618] [-0.00134012 0.0032997 0.99999366 0.55692352] [ 0. 0. 0. 1. ]] SLAMing on 36.272557844000005 meters 0.2974442113405192 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.56 [[ 0.99999617 -0.00244249 0.00130416 -0.00926847] [ 0.00244681 0.99999148 -0.00332372 -0.17416965] [-0.00129603 0.0033269 0.99999363 0.55681918] [ 0. 0. 0. 1. ]] SLAMing on 36.302557844000006 meters 0.2951243206738557 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.55 [[ 0.99999557 -0.00182405 0.00235277 -0.04955031] [ 0.00182943 0.99999571 -0.00228728 -0.17046912] [-0.00234859 0.00229157 0.99999462 0.55456608] [ 0. 0. 0. 1. ]] SLAMing on 36.33255784400001 meters 0.2955056423408198 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.55 [[ 0.99999528 -0.00193159 0.00238993 -0.04960236] [ 0.00193775 0.9999948 -0.00257915 -0.16929057] [-0.00238494 0.00258377 0.99999382 0.55448771] [ 0. 0. 0. 1. ]] SLAMing on 36.362557844 meters 0.29637900011000406 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.55 [[ 0.99999507 -0.00203876 0.00239002 -0.04953513] [ 0.00204561 0.9999938 -0.0028664 -0.16813029] [-0.00238416 0.00287127 0.99999304 0.55436252] [ 0. 0. 0. 1. ]] SLAMing on 36.392557844 meters 0.2961325393825992 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.55 [[ 0.99999499 -0.00214188 0.00233009 -0.04939565] [ 0.00214921 0.99999273 -0.00314956 -0.16698893] [-0.00232333 0.00315455 0.99999233 0.55442258] [ 0. 0. 0. 1. ]] SLAMing on 36.422557844 meters 0.2955861403866593 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99999481 -0.00241198 0.00213681 -0.04881124] [ 0.00242058 0.99998894 -0.00403153 -0.16356681] [-0.00212706 0.00403668 0.99998959 0.5542497 ] [ 0. 0. 0. 1. ]] SLAMing on 36.452557844000005 meters 0.2961868278880924 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99999484 -0.00254124 0.00196622 -0.04820758] [ 0.00254989 0.99998704 -0.00440766 -0.16205945] [-0.00195499 0.00441265 0.99998835 0.55387002] [ 0. 0. 0. 1. ]] SLAMing on 36.482557844000006 meters 0.2964194669409866 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99999472 -0.0026868 0.00182797 -0.04767156] [ 0.00269558 0.99998474 -0.00482167 -0.1603848 ] [-0.00181499 0.00482658 0.9999867 0.55348124] [ 0. 0. 0. 1. ]] SLAMing on 36.51255784400001 meters 0.29650518516722185 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99999454 -0.00279372 0.00176472 -0.04745554] [ 0.00280271 0.99998301 -0.00511203 -0.15920294] [-0.0017504 0.00511695 0.99998538 0.55338484] [ 0. 0. 0. 1. ]] SLAMing on 36.54255784400001 meters 0.2968929001557817 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.55 [[ 0.99999371 -0.00302354 0.00185674 -0.04779421] [ 0.00303412 0.99997902 -0.00572233 -0.15669569] [-0.0018394 0.00572793 0.9999819 0.55370707] [ 0. 0. 0. 1. ]] SLAMing on 36.572557844 meters 0.2952924494278696 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.56 [[ 9.99976062e-01 -6.87028282e-03 -8.21039875e-04 -7.25763775e-02] [ 6.86992259e-03 9.99976305e-01 -4.40764459e-04 -1.57802228e-01] [ 8.24048597e-04 4.35113427e-04 9.99999566e-01 5.58189065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602557844 meters 0.2958134356648862 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.56 [[ 0.9999971 0.0018484 0.00154447 -0.05313081] [-0.00184599 0.99999709 -0.00155478 -0.15964649] [-0.00154734 0.00155193 0.9999976 0.55831893] [ 0. 0. 0. 1. ]] SLAMing on 36.632557844000004 meters 0.2956210796231127 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.56 [[ 0.99999712 0.00174277 0.00164741 -0.05342448] [-0.00173974 0.9999968 -0.00183801 -0.15849664] [-0.00165061 0.00183514 0.99999695 0.55841863] [ 0. 0. 0. 1. ]] SLAMing on 36.662557844000006 meters 0.2962237006068897 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.56 [[ 0.99997166 -0.00711998 0.00244819 -0.03146844] [ 0.00712421 0.99997314 -0.00172133 -0.15501753] [-0.00243587 0.00173872 0.99999552 0.55835276] [ 0. 0. 0. 1. ]] SLAMing on 36.69255784400001 meters 0.2953377028259957 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 0.99999268 -0.0029133 0.00248058 -0.03169683] [ 0.00290774 0.99999327 0.00223854 -0.15386156] [-0.00248708 -0.00223131 0.99999442 0.55846853] [ 0. 0. 0. 1. ]] SLAMing on 36.72255784400001 meters 0.29609011570934585 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 0.99999279 -0.00296365 0.00237554 -0.03145827] [ 0.00295864 0.9999934 0.0021072 -0.15331827] [-0.00238177 -0.00210015 0.99999496 0.55855907] [ 0. 0. 0. 1. ]] SLAMing on 36.752557844 meters 0.2958053985422501 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 0.99999295 -0.00297557 0.00228992 -0.03130673] [ 0.00297082 0.99999343 0.00207495 -0.15318207] [-0.00229608 -0.00206813 0.99999523 0.55872769] [ 0. 0. 0. 1. ]] SLAMing on 36.782557844 meters 0.2951824253150324 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.56 [[ 9.99985079e-01 5.37773132e-03 9.60533671e-04 -5.13939815e-02] [-5.37872407e-03 9.99985000e-01 1.03396397e-03 -1.55120729e-01] [-9.54958882e-04 -1.03911498e-03 9.99999004e-01 5.58092469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812557844000004 meters 0.2957380831616466 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.56 [[ 9.99985315e-01 5.32184380e-03 1.02361125e-03 -5.15898792e-02] [-5.32274726e-03 9.99985445e-01 8.81932684e-04 -1.54500105e-01] [-1.01890284e-03 -8.87368157e-04 9.99999087e-01 5.58192293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842557844000005 meters 0.295217845058283 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.56 [[ 9.99985441e-01 5.26445203e-03 1.18434804e-03 -5.20331882e-02] [-5.26531459e-03 9.99985874e-01 7.26360294e-04 -1.53874549e-01] [-1.18050743e-03 -7.32585684e-04 9.99999035e-01 5.58299875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872557844000006 meters 0.2957123796364873 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 9.99986895e-01 -7.20991710e-04 5.06851150e-03 -3.22288973e-02] [ 7.04317270e-04 9.99994337e-01 3.29082558e-03 -1.53279109e-01] [-5.07085546e-03 -3.28721262e-03 9.99981740e-01 5.57682581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90255784400001 meters 0.2956334201753468 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 9.99986727e-01 -8.29546263e-04 5.08498036e-03 -3.24100275e-02] [ 8.14299240e-04 9.99995169e-01 2.99978021e-03 -1.52077665e-01] [-5.08744425e-03 -2.99559970e-03 9.99982572e-01 5.58006486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932557844 meters 0.2960790705527472 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 9.99987009e-01 -9.11031752e-04 5.01510057e-03 -3.22313746e-02] [ 8.97116393e-04 9.99995744e-01 2.77624259e-03 -1.51168188e-01] [-5.01760847e-03 -2.77170740e-03 9.99983570e-01 5.58028104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962557844 meters 0.2960790705527472 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.56 [[ 9.99987009e-01 -9.11031752e-04 5.01510057e-03 -3.22313746e-02] [ 8.97116393e-04 9.99995744e-01 2.77624259e-03 -1.51168188e-01] [-5.01760847e-03 -2.77170740e-03 9.99983570e-01 5.58028104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992557844000004 meters 0.2947990297838511 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.56 [[ 9.99988610e-01 4.68878570e-03 8.91886688e-04 -5.32859817e-02] [-4.68830555e-03 9.99988864e-01 -5.39680190e-04 -1.44112021e-01] [-8.94407201e-04 5.35492606e-04 9.99999457e-01 5.59627147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022557844000005 meters 0.29583486735426123 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.56 [[ 9.99989576e-01 -4.31732030e-03 1.48621967e-03 -3.11896431e-02] [ 4.31795885e-03 9.99990587e-01 -4.26705885e-04 -1.40222200e-01] [-1.48436346e-03 4.33118872e-04 9.99998805e-01 5.59210795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052557844000006 meters 0.2955642658514943 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.56 [[ 9.99989460e-01 -4.36572805e-03 1.42162232e-03 -3.09443779e-02] [ 4.36652098e-03 9.99990313e-01 -5.55139514e-04 -1.39693084e-01] [-1.41918496e-03 5.61341206e-04 9.99998835e-01 5.59048900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08255784400001 meters 0.2963559857635826 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.56 [[ 9.99989371e-01 -4.41030695e-03 1.34425528e-03 -3.07271717e-02] [ 4.41121338e-03 9.99990045e-01 -6.72080636e-04 -1.39210816e-01] [-1.34127782e-03 6.78003289e-04 9.99998871e-01 5.59027722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112557844 meters 0.2949374607568843 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.56 [[ 9.99991263e-01 4.13069166e-03 -6.40703844e-04 -5.11745930e-02] [-4.13158518e-03 9.99990486e-01 -1.39958284e-03 -1.40187502e-01] [ 6.34916503e-04 1.40221774e-03 9.99998815e-01 5.58712046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142557844 meters 0.29490013103568646 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.56 [[ 9.99991429e-01 4.06688093e-03 -7.76436422e-04 -5.06973930e-02] [-4.06809636e-03 9.99990492e-01 -1.57028179e-03 -1.39494441e-01] [ 7.70042890e-04 1.57342695e-03 9.99998466e-01 5.58425152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172557844 meters 0.2959181341315965 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.56 [[ 9.99990496e-01 -4.23577841e-03 -1.03299647e-03 -2.98149649e-02] [ 4.23508137e-03 9.99990803e-01 -6.76038183e-04 -1.35227019e-01] [ 1.03585052e-03 6.71656934e-04 9.99999238e-01 5.59708138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202557844000005 meters 0.29602979073509467 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.56 [[ 9.99999254e-01 -1.02157883e-04 -1.21690611e-03 -2.92203850e-02] [ 1.05893572e-04 9.99995281e-01 3.07015633e-03 -1.32808123e-01] [ 1.21658673e-03 -3.07028291e-03 9.99994547e-01 5.59272669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232557844000006 meters 0.2948042392645462 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.56 [[ 9.99999066e-01 -2.50286073e-04 -1.34361263e-03 -2.88732966e-02] [ 2.53861592e-04 9.99996426e-01 2.66161233e-03 -1.31146270e-01] [ 1.34294166e-03 -2.66195093e-03 9.99995555e-01 5.59265643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26255784400001 meters 0.29530687387048343 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.56 [[ 9.99998936e-01 -3.89936351e-04 -1.40561323e-03 -2.86667474e-02] [ 3.93144576e-04 9.99997317e-01 2.28288499e-03 -1.29596129e-01] [ 1.40471928e-03 -2.28343518e-03 9.99996406e-01 5.59189160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29255784400001 meters 0.29549857907801413 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.56 [[ 9.99998933e-01 -4.89488315e-04 -1.37609875e-03 -2.87629750e-02] [ 4.92261385e-04 9.99997848e-01 2.01555235e-03 -1.28505508e-01] [ 1.37510920e-03 -2.01622760e-03 9.99997022e-01 5.59258550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322557844 meters 0.29425306798101736 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.56 [[ 9.99999041e-01 -6.00333882e-04 -1.24826576e-03 -2.91495682e-02] [ 6.02477521e-04 9.99998343e-01 1.71762763e-03 -1.27287138e-01] [ 1.24723254e-03 -1.71837804e-03 9.99997746e-01 5.59430865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352557844 meters 0.2959859591192729 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.56 [[ 9.99999569e-01 -5.28834991e-04 -7.62809943e-04 6.43914743e-03] [ 5.29842839e-04 9.99998986e-01 1.32163442e-03 -1.25910342e-01] [ 7.62110244e-04 -1.32203802e-03 9.99998836e-01 5.64559999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382557844000004 meters 0.29527130068140606 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99999560e-01 -6.14557871e-04 -7.08846184e-04 6.31303483e-03] [ 6.15333587e-04 9.99999212e-01 1.09463830e-03 -1.24984227e-01] [ 7.08172906e-04 -1.09507400e-03 9.99999150e-01 5.64548775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412557844000006 meters 0.29578115181482034 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99999412e-01 -6.78260078e-04 -8.45579154e-04 6.82631690e-03] [ 6.79037495e-04 9.99999347e-01 9.19442894e-04 -1.24274487e-01] [ 8.44954981e-04 -9.20016534e-04 9.99999220e-01 5.64163509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44255784400001 meters 0.2965287869363459 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99999228e-01 -7.36890573e-04 -1.00011603e-03 7.43016458e-03] [ 7.37648938e-04 9.99999441e-01 7.58119900e-04 -1.23604310e-01] [ 9.99556817e-04 -7.58857050e-04 9.99999213e-01 5.63665236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47255784400001 meters 0.2968831250496138 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99999013e-01 -7.62387860e-04 -1.18024316e-03 8.05242136e-03] [ 7.63206348e-04 9.99999468e-01 6.93195955e-04 -1.23330315e-01] [ 1.17971405e-03 -6.94096040e-04 9.99999063e-01 5.63314877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502557844 meters 0.2957814511402715 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99999007e-01 -7.69809682e-04 -1.18044394e-03 8.02760875e-03] [ 7.70606557e-04 9.99999475e-01 6.74757449e-04 -1.23255948e-01] [ 1.17992389e-03 -6.75666437e-04 9.99999076e-01 5.63371844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532557844 meters 0.29710537896437067 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:0.56 [[ 0.9999885 0.00414284 0.00241486 0.02742231] [-0.00413442 0.99998539 -0.00348212 -0.12355441] [-0.00242925 0.0034721 0.99999102 0.56355524] [ 0. 0. 0. 1. ]] SLAMing on 37.562557844000004 meters 0.2952638262267626 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:0.56 [[ 0.99998175 -0.00545314 0.00259911 0.00474349] [ 0.00546212 0.99997909 -0.00346128 -0.11979861] [-0.00258018 0.00347541 0.99999063 0.5643545 ] [ 0. 0. 0. 1. ]] SLAMing on 37.592557844000005 meters 0.2957696727676715 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:0.56 [[ 0.99998146 -0.00543275 0.00275148 0.00426407] [ 0.0054421 0.9999794 -0.00340274 -0.12004694] [-0.00273294 0.00341766 0.99999043 0.56455969] [ 0. 0. 0. 1. ]] SLAMing on 37.622557844000006 meters 0.29469471013261167 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:0.56 [[ 0.99998086 -0.0054578 0.0029158 0.00385062] [ 0.00546789 0.99997905 -0.00346476 -0.11978902] [-0.00289682 0.00348063 0.99998975 0.56453467] [ 0. 0. 0. 1. ]] SLAMing on 37.65255784400001 meters 0.2963113488622769 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:0.56 [[ 0.99998357 0.00351361 0.00452901 0.0243313 ] [-0.00349554 0.99998592 -0.00399267 -0.12371582] [-0.00454297 0.00397677 0.99998177 0.56415994] [ 0. 0. 0. 1. ]] SLAMing on 37.682557844 meters 0.2946023676924467 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:0.56 [[ 0.99997853 -0.00524201 0.00393136 0.00472832] [ 0.00525422 0.99998139 -0.00310157 -0.11840613] [-0.00391502 0.00312216 0.99998746 0.56330882] [ 0. 0. 0. 1. ]] SLAMing on 37.712557844 meters 0.2945928761321381 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:0.56 [[ 0.99997861 -0.00531186 0.00381632 0.00489377] [ 0.00532442 0.99998042 -0.00328865 -0.11765228] [-0.00379877 0.0033089 0.99998731 0.56361357] [ 0. 0. 0. 1. ]] SLAMing on 37.742557844000004 meters 0.29547308199996514 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 0.99997886 -0.00536766 0.00367092 0.0053476 ] [ 0.0053803 0.99997961 -0.0034403 -0.1170335 ] [-0.00365238 0.00345997 0.99998734 0.56344972] [ 0. 0. 0. 1. ]] SLAMing on 37.772557844000005 meters 0.29522873928839116 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99992648e-01 -1.06066477e-03 3.68501695e-03 5.41877501e-03] [ 1.05754389e-03 9.99999081e-01 8.48753415e-04 -1.16844442e-01] [-3.68591381e-03 -8.44850108e-04 9.99992850e-01 5.63111123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844000006 meters 0.2949280811325965 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.56 [[ 9.99992587e-01 -1.18407308e-03 3.66378440e-03 5.52530068e-03] [ 1.18218545e-03 9.99999167e-01 5.17337023e-04 -1.15491151e-01] [-3.66439391e-03 -5.13001916e-04 9.99993154e-01 5.63011851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83255784400001 meters 0.29463822423838365 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99992193e-01 -1.28523779e-03 3.73654872e-03 5.27501758e-03] [ 1.28431268e-03 9.99999144e-01 2.49972946e-04 -1.14402817e-01] [-3.73686679e-03 -2.45172097e-04 9.99992988e-01 5.63178615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters 0.2952969945070213 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:0.56 [[ 0.99996457 0.00697674 0.00471061 0.02425517] [-0.00696916 0.9999744 -0.00162378 -0.11681267] [-0.00472182 0.0015909 0.99998759 0.56453748] [ 0. 0. 0. 1. ]] SLAMing on 37.892557844 meters 0.2944600611894891 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99994738e-01 -1.25988921e-03 2.98927402e-03 5.09967842e-03] [ 1.26154777e-03 9.99999051e-01 -5.53018117e-04 -1.10663928e-01] [-2.98857444e-03 5.56786319e-04 9.99995379e-01 5.63666978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922557844 meters 0.2952178937944512 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99994881e-01 -1.25795367e-03 2.94214414e-03 5.50094424e-03] [ 1.25957893e-03 9.99999055e-01 -5.50617913e-04 -1.10656006e-01] [-2.94144871e-03 5.54320957e-04 9.99995520e-01 5.63029835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952557844000005 meters 0.29637511332939853 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99995024e-01 -1.24418033e-03 2.89909801e-03 5.92048877e-03] [ 1.24568012e-03 9.99999091e-01 -5.15583616e-04 -1.10799281e-01] [-2.89845389e-03 5.19192399e-04 9.99995665e-01 5.62286266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982557844000006 meters 0.29559266095783476 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99995123e-01 -1.23953643e-03 2.86649034e-03 6.25230460e-03] [ 1.24099003e-03 9.99999102e-01 -5.05377265e-04 -1.10848456e-01] [-2.86586133e-03 5.08932086e-04 9.99995764e-01 5.61669781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01255784400001 meters 0.29402521838029383 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.56 [[ 0.99999216 0.00380253 -0.00110373 -0.01502521] [-0.00380711 0.99998406 -0.00417073 -0.1069117 ] [ 0.00108785 0.0041749 0.99999069 0.56340176] [ 0. 0. 0. 1. ]] SLAMing on 38.04255784400001 meters 0.29642166107276463 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99997896e-01 -2.05042626e-03 -5.38261089e-05 8.48317901e-03] [ 2.05038714e-03 9.99997641e-01 -7.16992252e-04 -1.06563203e-01] [ 5.52961216e-05 7.16880380e-04 9.99999742e-01 5.62593283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072557844 meters 0.2957481623094981 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99997764e-01 -2.10667869e-03 -1.85667836e-04 8.74997141e-03] [ 2.10651587e-03 9.99997400e-01 -8.72816989e-04 -1.05921337e-01] [ 1.87506098e-04 8.72423925e-04 9.99999602e-01 5.62786010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters 0.29613930315341597 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.56 [[ 9.99997626e-01 -2.16624006e-03 -2.36837936e-04 8.83634717e-03] [ 2.16599442e-03 9.99997121e-01 -1.03255896e-03 -1.05264514e-01] [ 2.39074024e-04 1.03204352e-03 9.99999439e-01 5.62906192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132557844000004 meters 0.29673637476070674 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99997480e-01 -2.22997386e-03 -2.59801569e-04 8.89084152e-03] [ 2.22966043e-03 9.99996794e-01 -1.20053620e-03 -1.04578409e-01] [ 2.62477900e-04 1.19995391e-03 9.99999246e-01 5.62937230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844000006 meters 0.2946790694944551 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.10, Z:0.56 [[ 9.99998058e-01 -1.34636711e-03 1.43888067e-03 -3.16835464e-02] [ 1.34745258e-03 9.99998808e-01 -7.53676659e-04 -1.01457391e-01] [-1.43786423e-03 7.55614019e-04 9.99998681e-01 5.60061802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19255784400001 meters 0.296749098990884 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999803e-01 1.47780796e-04 6.09575441e-04 7.93748973e-03] [-1.48036757e-04 9.99999901e-01 4.19876492e-04 -1.01985362e-01] [-6.09513331e-04 -4.19966649e-04 9.99999726e-01 5.63230987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22255784400001 meters 0.29485654426071484 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999852e-01 8.50468382e-05 5.36745096e-04 8.03391596e-03] [-8.51789692e-05 9.99999966e-01 2.46152891e-04 -1.01277367e-01] [-5.36724143e-04 -2.46198574e-04 9.99999826e-01 5.63458488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252557844 meters 0.29517930542349585 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999885e-01 2.73134910e-05 4.79310220e-04 8.07663284e-03] [-2.73567789e-05 9.99999996e-01 9.03066140e-05 -1.00639704e-01] [-4.79307751e-04 -9.03197160e-05 9.99999881e-01 5.63714626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282557844 meters 0.29367039960990565 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999856e-01 -3.74550814e-06 5.35902892e-04 7.77310728e-03] [ 3.74127374e-06 1.00000000e+00 7.90244112e-06 -1.00310880e-01] [-5.35902921e-04 -7.90043502e-06 9.99999856e-01 5.64093270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312557844000004 meters 0.29505810061434296 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999808e-01 -3.90160751e-05 6.18326747e-04 7.46095235e-03] [ 3.90693292e-05 9.99999996e-01 -8.61143381e-05 -9.99300604e-02] [-6.18323384e-04 8.61384792e-05 9.99999805e-01 5.64346398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342557844000005 meters 0.2939446139168462 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999568e-01 -1.54888535e-04 9.16062640e-04 6.53538466e-03] [ 1.55285452e-04 9.99999894e-01 -4.33230863e-04 -9.84582353e-02] [-9.15995440e-04 4.33372927e-04 9.99999487e-01 5.64886875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372557844000006 meters 0.2937549586705048 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 9.99999501e-01 -2.19831989e-04 9.74492472e-04 6.33266487e-03] [ 2.20426213e-04 9.99999790e-01 -6.09712269e-04 -9.77366061e-02] [-9.74358233e-04 6.09926769e-04 9.99999339e-01 5.65023920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40255784400001 meters 0.29422405378904 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 9.99999510e-01 -2.79608393e-04 9.49643295e-04 6.36692339e-03] [ 2.80339968e-04 9.99999664e-01 -7.70323116e-04 -9.70745366e-02] [-9.49427587e-04 7.70588962e-04 9.99999252e-01 5.65105480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432557844 meters 0.2948016627213898 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 9.99999584e-01 -3.19214279e-04 8.54344021e-04 6.63891931e-03] [ 3.19966114e-04 9.99999562e-01 -8.80022519e-04 -9.66171565e-02] [-8.54062731e-04 8.80295514e-04 9.99999248e-01 5.65056651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462557844 meters 0.2948639044426089 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999647e-01 -3.09595870e-04 7.80528094e-04 6.95707861e-03] [ 3.10263030e-04 9.99999587e-01 -8.54778575e-04 -9.67178096e-02] [-7.80263135e-04 8.55020443e-04 9.99999330e-01 5.64756713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492557844000004 meters 0.29566205080791025 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999764e-01 -2.55886607e-04 6.38328305e-04 7.41804861e-03] [ 2.56339725e-04 9.99999715e-01 -7.09870368e-04 -9.73050621e-02] [-6.38146477e-04 7.10033829e-04 9.99999544e-01 5.64513876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522557844000005 meters 0.29644654292485306 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999773e-01 -1.96522025e-04 6.44807901e-04 7.43417437e-03] [ 1.96874668e-04 9.99999831e-01 -5.46878576e-04 -9.79687951e-02] [-6.44700319e-04 5.47005398e-04 9.99999643e-01 5.64422929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552557844000006 meters 0.29552771006726847 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999765e-01 -1.35594796e-04 6.72012818e-04 7.43231799e-03] [ 1.35847882e-04 9.99999920e-01 -3.76578061e-04 -9.86572798e-02] [-6.71961702e-04 3.76669264e-04 9.99999703e-01 5.64249780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58255784400001 meters 0.2953978443255862 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999759e-01 -7.79096735e-05 6.90107872e-04 7.45234063e-03] [ 7.80556682e-05 9.99999975e-01 -2.11528997e-04 -9.93168657e-02] [-6.90091374e-04 2.11582813e-04 9.99999740e-01 5.64074805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61255784400001 meters 0.29417384377425027 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999741e-01 -1.15670497e-05 7.19133164e-04 7.44126557e-03] [ 1.15866150e-05 1.00000000e+00 -2.72026853e-05 -1.00064652e-01] [-7.19132849e-04 2.72110105e-05 9.99999741e-01 5.63903847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642557844 meters 0.2941566982346222 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999750e-01 1.29135877e-05 7.07518953e-04 7.52786769e-03] [-1.29406003e-05 9.99999999e-01 3.81748219e-05 -1.00327565e-01] [-7.07518459e-04 -3.81839681e-05 9.99999749e-01 5.63765366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672557844 meters 0.2952766089793843 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999854e-01 6.75460537e-05 5.36583380e-04 8.09167380e-03] [-6.76442078e-05 9.99999981e-01 1.82908110e-04 -1.00897116e-01] [-5.36571015e-04 -1.82944380e-04 9.99999839e-01 5.63446277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702557844000005 meters 0.29540153787722506 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999892e-01 7.18469353e-05 4.60117491e-04 8.30435414e-03] [-7.19354183e-05 9.99999979e-01 1.92291485e-04 -1.00930867e-01] [-4.60103666e-04 -1.92324563e-04 9.99999876e-01 5.63417761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732557844000006 meters 0.29408073603715024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.56 [[ 9.99999867e-01 4.96053912e-05 5.13420896e-04 8.07997110e-03] [-4.96740042e-05 9.99999990e-01 1.33627029e-04 -1.00691558e-01] [-5.13414262e-04 -1.33652515e-04 9.99999859e-01 5.63624517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76255784400001 meters 0.29568117908142033 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999977e-01 -7.25256788e-05 -2.02881905e-04 4.62311059e-02] [ 7.24934375e-05 9.99999985e-01 -1.58919000e-04 -1.02561177e-01] [ 2.02893428e-04 1.58904288e-04 9.99999967e-01 5.67635093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79255784400001 meters 0.29446536405026036 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999992e-01 -1.26292715e-04 -2.87719971e-05 4.56187779e-02] [ 1.26284046e-04 9.99999947e-01 -3.01078765e-04 -1.01994719e-01] [ 2.88100196e-05 3.01075129e-04 9.99999954e-01 5.68074006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822557844 meters 0.29516510929146444 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999990e-01 -1.40711071e-04 1.54076482e-05 4.55987909e-02] [ 1.40716273e-04 9.99999933e-01 -3.38132056e-04 -1.01837970e-01] [-1.53600683e-05 3.38134221e-04 9.99999943e-01 5.67858995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852557844 meters 0.2950486962668945 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999994e-01 -1.02849756e-04 -3.01572784e-05 4.57360476e-02] [ 1.02842573e-04 9.99999966e-01 -2.38073530e-04 -1.02248567e-01] [ 3.01817632e-05 2.38070427e-04 9.99999971e-01 5.67807898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882557844000004 meters 0.2950486962668945 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999994e-01 -1.02849756e-04 -3.01572784e-05 4.57360476e-02] [ 1.02842573e-04 9.99999966e-01 -2.38073530e-04 -1.02248567e-01] [ 3.01817632e-05 2.38070427e-04 9.99999971e-01 5.67807898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912557844000006 meters 0.294829069626783 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999981e-01 -9.61942850e-05 -1.68685610e-04 4.61995386e-02] [ 9.61567898e-05 9.99999971e-01 -2.22272953e-04 -1.02317056e-01] [ 1.68706986e-04 2.22256729e-04 9.99999961e-01 5.67524850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94255784400001 meters 0.2970300362288616 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999921e-01 -9.26241943e-05 -3.87302777e-04 4.69466202e-02] [ 9.25391332e-05 9.99999972e-01 -2.19636287e-04 -1.02314550e-01] [ 3.87323110e-04 2.19600429e-04 9.99999901e-01 5.67045624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97255784400001 meters 0.29840823171174347 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999739e-01 -1.87744965e-04 -6.98368348e-04 4.79483378e-02] [ 1.87406083e-04 9.99999865e-01 -4.85281471e-04 -1.01144247e-01] [ 6.98459362e-04 4.85150466e-04 9.99999638e-01 5.66610642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002557844 meters 0.29518697623918044 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999743e-01 -2.36661814e-04 -6.76106652e-04 4.78148753e-02] [ 2.36245438e-04 9.99999782e-01 -6.15856659e-04 -1.00609035e-01] [ 6.76252255e-04 6.15696774e-04 9.99999582e-01 5.66792377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032557844 meters 0.29561263029371826 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:0.57 [[ 9.99999763e-01 -2.75427043e-04 -6.31092524e-04 4.75020885e-02] [ 2.74972927e-04 9.99999703e-01 -7.19544265e-04 -1.00206902e-01] [ 6.31290519e-04 7.19370561e-04 9.99999542e-01 5.67277315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062557844000004 meters 0.2931627613007845 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:0.57 [[ 9.99998619e-01 -6.35577856e-05 1.66071382e-03 4.71778070e-03] [ 6.49809596e-05 9.99999631e-01 -8.56925318e-04 -9.67638119e-02] [-1.66065874e-03 8.57032049e-04 9.99998254e-01 5.65889709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092557844000005 meters 0.2959835920051999 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.57 [[ 9.99992831e-01 1.40469594e-04 3.78392747e-03 4.49512243e-02] [-1.37599551e-04 9.99999703e-01 -7.58732052e-04 -9.87380296e-02] [-3.78403293e-03 7.58205946e-04 9.99992553e-01 5.67064102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122557844000006 meters 0.2955257317731409 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.57 [[ 9.99992479e-01 9.07825778e-05 3.87728185e-03 4.46111677e-02] [-8.73465977e-05 9.99999603e-01 -8.86342838e-04 -9.82152967e-02] [-3.87736078e-03 8.85997504e-04 9.99992091e-01 5.67288448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15255784400001 meters 0.2934379721291413 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99991608e-01 5.09414156e-04 4.06511416e-03 7.02166091e-03] [-5.06462569e-04 9.99999607e-01 -7.27073614e-04 -9.37961858e-02] [-4.06548294e-03 7.25008684e-04 9.99991473e-01 5.63559437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182557844 meters 0.2947464849256126 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99991968e-01 4.95499550e-04 3.97726003e-03 7.40949412e-03] [-4.92438568e-04 9.99999582e-01 -7.70563305e-04 -9.36068553e-02] [-3.97764018e-03 7.68598560e-04 9.99991794e-01 5.63160912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212557844 meters 0.29644713676642376 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992247e-01 4.82431423e-04 3.90803922e-03 7.72244838e-03] [-4.79274081e-04 9.99999558e-01 -8.08805656e-04 -9.34370113e-02] [-3.90842768e-03 8.06926363e-04 9.99992036e-01 5.62855223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242557844000004 meters 0.29671500870647394 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992535e-01 4.63820375e-04 3.83611876e-03 7.94455843e-03] [-4.60529025e-04 9.99999525e-01 -8.58828549e-04 -9.32271966e-02] [-3.83651528e-03 8.57055493e-04 9.99992273e-01 5.62788932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272557844000005 meters 0.29483280327282485 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992574e-01 4.09253483e-04 3.83192366e-03 7.85863685e-03] [-4.05404214e-04 9.99999413e-01 -1.00524948e-03 -9.26313215e-02] [-3.83233281e-03 1.00368854e-03 9.99992153e-01 5.63023022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302557844000006 meters 0.29495655784359764 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992557e-01 3.57120326e-04 3.84157670e-03 7.70278321e-03] [-3.52722136e-04 9.99999282e-01 -1.14550871e-03 -9.20613237e-02] [-3.84198303e-03 1.14414518e-03 9.99991965e-01 5.63343321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33255784400001 meters 0.2960399620400802 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992225e-01 2.53613523e-04 3.93527897e-03 7.22763335e-03] [-2.47988566e-04 9.99998947e-01 -1.42978889e-03 -9.09096756e-02] [-3.93563744e-03 1.42880187e-03 9.99991235e-01 5.63953479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36255784400001 meters 0.2951443764838877 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992421e-01 2.11012852e-04 3.88767783e-03 7.51293640e-03] [-2.05006137e-04 9.99998785e-01 -1.54539884e-03 -9.04168780e-02] [-3.88799921e-03 1.54459013e-03 9.99991249e-01 5.63599993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392557844 meters 0.29486563580433645 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99992681e-01 1.45592012e-04 3.82315396e-03 7.94472899e-03] [-1.39008081e-04 9.99998507e-01 -1.72232952e-03 -8.96391826e-02] [-3.82339901e-03 1.72178547e-03 9.99991208e-01 5.63003013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422557844 meters 0.2960773294236024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99993105e-01 1.18226997e-04 3.71171574e-03 8.46465852e-03] [-1.11542979e-04 9.99998372e-01 -1.80094462e-03 -8.92821617e-02] [-3.71192262e-03 1.80051818e-03 9.99991490e-01 5.62455587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452557844000005 meters 0.2953259425711408 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.56 [[ 9.99993284e-01 8.19436896e-05 3.66400585e-03 8.62445487e-03] [-7.49732318e-05 9.99998187e-01 -1.90251136e-03 -8.88590963e-02] [-3.66415511e-03 1.90222388e-03 9.99991478e-01 5.62381909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482557844000006 meters 0.2935531809805746 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.09, Z:0.57 [[ 9.99977052e-01 -6.65374736e-03 1.27375938e-03 -1.39658731e-02] [ 6.65320343e-03 9.99977774e-01 4.30790360e-04 -8.76030234e-02] [-1.27659744e-03 -4.22305894e-04 9.99999096e-01 5.65042566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51255784400001 meters 0.29527052050593827 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.57 [[ 9.99997330e-01 1.59414785e-03 1.67289402e-03 5.93628198e-03] [-1.59249765e-03 9.99998245e-01 -9.87305079e-04 -9.04466027e-02] [-1.67446499e-03 9.84638363e-04 9.99998113e-01 5.66759150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54255784400001 meters 0.29541702236573286 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.57 [[ 0.99999768 0.00149166 0.00155625 0.00639856] [-0.00148966 0.99999807 -0.00128165 -0.0892247 ] [-0.00155816 0.00127932 0.99999797 0.56639352] [ 0. 0. 0. 1. ]] SLAMing on 39.572557844 meters 0.29356578436072217 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.57 [[ 9.99992157e-01 -3.91816080e-03 -5.77288929e-04 -1.58208526e-02] [ 3.91941835e-03 9.99989913e-01 2.19359052e-03 -8.70043392e-02] [ 5.68688266e-04 -2.19583595e-03 9.99997427e-01 5.67631838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602557844 meters 0.2952117177515945 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.57 [[ 9.99989452e-01 4.53405584e-03 7.34050527e-04 4.68095823e-03] [-4.53475770e-03 9.99989260e-01 9.57327489e-04 -8.81460621e-02] [-7.29702066e-04 -9.60646132e-04 9.99999272e-01 5.67991313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632557844000004 meters 0.2949542036865725 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.57 [[ 9.99990082e-01 4.39165537e-03 7.41786853e-04 4.56932075e-03] [-4.39202894e-03 9.99990229e-01 5.02729568e-04 -8.63479023e-02] [-7.39571790e-04 -5.05982531e-04 9.99999599e-01 5.68268118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662557844000006 meters 0.295122745062894 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:0.57 [[ 9.99991011e-01 4.17111115e-03 7.61271647e-04 4.36588746e-03] [-4.17080873e-03 9.99991223e-01 -3.98412582e-04 -8.29501296e-02] [-7.62926788e-04 3.95233882e-04 9.99999631e-01 5.68784307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69255784400001 meters 0.29527684725616876 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:0.57 [[ 9.99991454e-01 4.05112805e-03 8.24508995e-04 4.16300405e-03] [-4.05047433e-03 9.99991482e-01 -7.92991185e-04 -8.14100653e-02] [-8.27714481e-04 7.89644756e-04 9.99999346e-01 5.68950283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72255784400001 meters 0.2931448682704426 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.57 [[ 9.99997427e-01 -2.26847560e-03 -5.28734129e-06 -1.90059176e-02] [ 2.26848153e-03 9.99995664e-01 1.87769597e-03 -7.79069748e-02] [ 1.02781086e-06 -1.87770313e-03 9.99998237e-01 5.70194554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752557844 meters 0.2935018027557022 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.57 [[ 9.99997189e-01 -2.37117930e-03 1.57340817e-05 -1.90922064e-02] [ 2.37115165e-03 9.99995955e-01 1.57113691e-03 -7.66826112e-02] [-1.94594654e-05 -1.57109518e-03 9.99998766e-01 5.70299592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782557844 meters 0.2941556736709708 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.57 [[ 9.99996849e-01 -2.51009222e-03 2.51435114e-05 -1.91910150e-02] [ 2.51006121e-03 9.99996171e-01 1.16553518e-03 -7.50481550e-02] [-2.80690159e-05 -1.16546839e-03 9.99999320e-01 5.70519577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812557844000004 meters 0.29520793946971274 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:0.57 [[ 9.99982453e-01 5.72482459e-03 1.52315399e-03 4.07204657e-04] [-5.72462988e-03 9.99983605e-01 -1.32159415e-04 -7.74659383e-02] [-1.52388561e-03 1.23437603e-04 9.99998831e-01 5.71787218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842557844000005 meters 0.29353270266176756 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.57 [[ 9.99996138e-01 -2.71550837e-03 5.91213633e-04 -1.89145490e-02] [ 2.71507982e-03 9.99996052e-01 7.24453420e-04 -7.14248342e-02] [-5.93178558e-04 -7.22845430e-04 9.99999563e-01 5.71080269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872557844000006 meters 0.29505612670821124 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.57 [[ 9.99996032e-01 -2.77294791e-03 4.96767866e-04 -1.85914130e-02] [ 2.77267000e-03 9.99996000e-01 5.59271208e-04 -7.07489808e-02] [-4.98316709e-04 -5.57891616e-04 9.99999720e-01 5.70875403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90255784400001 meters 0.29512740178111063 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.57 [[ 9.99995857e-01 -2.85197015e-03 3.89392391e-04 -1.82010553e-02] [ 2.85184522e-03 9.99995882e-01 3.21024124e-04 -6.97729885e-02] [-3.90306339e-04 -3.19912307e-04 9.99999873e-01 5.70585588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932557844 meters 0.2951571061093741 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.57 [[ 9.99995546e-01 -2.95612955e-03 4.11771850e-04 -1.82184803e-02] [ 2.95612624e-03 9.99995631e-01 8.65332823e-06 -6.85257933e-02] [-4.11795631e-04 -7.43604012e-06 9.99999915e-01 5.70482157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962557844 meters 0.29480787344723847 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.57 [[ 9.99994632e-01 -3.10269765e-03 1.05327302e-03 -2.00232479e-02] [ 3.10333568e-03 9.99995002e-01 -6.04665870e-04 -6.61606644e-02] [-1.05139166e-03 6.07931284e-04 9.99999262e-01 5.71382483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992557844000004 meters 0.294250623746025 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 0.99999407 -0.00322775 0.00119943 -0.02050993] [ 0.00322896 0.99999428 -0.00100551 -0.06457721] [-0.00119618 0.00100938 0.99999878 0.57171449] [ 0. 0. 0. 1. ]] SLAMing on 40.022557844000005 meters 0.2935118568138495 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.57 [[ 0.99999092 0.0039057 -0.00170732 -0.04243361] [-0.00391137 0.99998681 -0.00332896 -0.061415 ] [ 0.0016943 0.0033356 0.999993 0.57345946] [ 0. 0. 0. 1. ]] SLAMing on 40.052557844000006 meters 0.2939103522218866 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99996658e-01 -2.26129629e-03 -1.25337631e-03 -1.90521711e-02] [ 2.26125621e-03 9.99997443e-01 -3.34005737e-05 -5.94839125e-02] [ 1.25344863e-03 3.05662571e-05 9.99999214e-01 5.72359092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08255784400001 meters 0.2940183690756131 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995882e-01 -2.39829784e-03 -1.57605404e-03 -1.79767089e-02] [ 2.39751547e-03 9.99997002e-01 -4.98112174e-04 -5.75085301e-02] [ 1.57724394e-03 4.94331509e-04 9.99998634e-01 5.71520196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11255784400001 meters 0.29541753873610727 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995761e-01 -2.46070636e-03 -1.55646494e-03 -1.79109615e-02] [ 2.45967301e-03 9.99996754e-01 -6.65472453e-04 -5.68162784e-02] [ 1.55809742e-03 6.61641238e-04 9.99998567e-01 5.71253659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142557844 meters 0.29423977032529874 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995836e-01 -2.47807082e-03 -1.47877377e-03 -1.82236655e-02] [ 2.47702078e-03 9.99996679e-01 -7.11488559e-04 -5.66293368e-02] [ 1.48053197e-03 7.07822643e-04 9.99998654e-01 5.71519915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172557844 meters 0.29506278134142605 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995846e-01 -2.49554094e-03 -1.44222401e-03 -1.84651752e-02] [ 2.49445046e-03 9.99996602e-01 -7.57419490e-04 -5.64389453e-02] [ 1.44410928e-03 7.53818788e-04 9.99998673e-01 5.71869108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202557844000005 meters 0.29499307733028257 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995913e-01 -2.47885051e-03 -1.42446283e-03 -1.86047894e-02] [ 2.47783955e-03 9.99996677e-01 -7.11039321e-04 -5.66331981e-02] [ 1.42622066e-03 7.07506824e-04 9.99998733e-01 5.72086988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232557844000006 meters 0.2957140407234081 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99995980e-01 -2.44954590e-03 -1.42847571e-03 -1.85997515e-02] [ 2.44864357e-03 9.99996802e-01 -6.33080652e-04 -5.69548158e-02] [ 1.43002190e-03 6.29580279e-04 9.99998779e-01 5.72098672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26255784400001 meters 0.29391888623398393 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.57 [[ 0.99998813 0.00359061 -0.00329345 -0.04073196] [-0.00360371 0.99998559 -0.00398008 -0.0579794 ] [ 0.00327912 0.0039919 0.99998666 0.57315587] [ 0. 0. 0. 1. ]] SLAMing on 40.29255784400001 meters 0.2959412058222189 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99997035e-01 -2.29092852e-03 -8.25932283e-04 -1.78493796e-02] [ 2.29042242e-03 9.99997189e-01 -6.13190126e-04 -5.95481893e-02] [ 8.27334736e-04 6.11296574e-04 9.99999471e-01 5.71064770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322557844 meters 0.2957705702380035 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.57 [[ 9.99997135e-01 -2.26454996e-03 -7.76175878e-04 -1.78795421e-02] [ 2.26413238e-03 9.99997292e-01 -5.38451639e-04 -5.98458670e-02] [ 7.77393127e-04 5.36692731e-04 9.99999554e-01 5.70833965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352557844 meters 0.29399918284656984 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99998865e-01 -1.40668719e-03 5.40514457e-04 -5.71227260e-02] [ 1.40674095e-03 9.99999006e-01 -9.90795150e-05 -5.98767902e-02] [-5.40374546e-04 9.98397663e-05 9.99999849e-01 5.67208921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382557844000004 meters 0.29469364125293307 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99998830e-01 -1.43486151e-03 5.29744714e-04 -5.70139942e-02] [ 1.43495732e-03 9.99998954e-01 -1.80537051e-04 -5.95481658e-02] [-5.29485114e-04 1.81297001e-04 9.99999843e-01 5.67002246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412557844000006 meters 0.2930012883811524 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.57 [[ 9.99998810e-01 -4.18093846e-04 1.48512681e-03 -9.71178328e-02] [ 4.18058275e-04 9.99999912e-01 2.42617920e-05 -5.74346148e-02] [-1.48513682e-03 -2.36408935e-05 9.99998897e-01 5.65040407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44255784400001 meters 0.2948050529608166 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99999697e-01 3.87362020e-05 7.77944386e-04 -5.83502977e-02] [-3.90563870e-05 9.99999915e-01 4.11567205e-04 -5.60151269e-02] [-7.77928377e-04 -4.11597464e-04 9.99999613e-01 5.68743322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47255784400001 meters 0.2939786095368608 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99999601e-01 1.18665453e-05 8.93631906e-04 -5.87121844e-02] [-1.21638297e-05 9.99999945e-01 3.32665125e-04 -5.56990619e-02] [-8.93627909e-04 -3.32675862e-04 9.99999545e-01 5.68938864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502557844 meters 0.2945739836786959 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99999532e-01 -2.55467202e-05 9.66793230e-04 -5.90305306e-02] [ 2.53270758e-05 9.99999974e-01 2.27200183e-04 -5.52734642e-02] [-9.66799009e-04 -2.27175590e-04 9.99999507e-01 5.69281812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532557844 meters 0.29481603336868084 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 9.99999448e-01 -6.83195602e-05 1.04867719e-03 -5.92768581e-02] [ 6.82018755e-05 9.99999991e-01 1.12257363e-04 -5.48031581e-02] [-1.04868485e-03 -1.12185779e-04 9.99999444e-01 5.69370621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562557844000004 meters 0.2950657461902969 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.57 [[ 0.99997307 0.0062485 0.00385005 -0.03787064] [-0.00623771 0.9999766 -0.00280867 -0.05394036] [-0.00386751 0.00278458 0.99998864 0.56809245] [ 0. 0. 0. 1. ]] SLAMing on 40.592557844000005 meters 0.29504930239911653 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999364 -0.00268792 0.00234241 -0.05810461] [ 0.00269379 0.99999322 -0.00250962 -0.04897391] [-0.00233565 0.00251592 0.99999411 0.56820107] [ 0. 0. 0. 1. ]] SLAMing on 40.622557844000006 meters 0.29455942146450986 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999368 -0.00270079 0.00230994 -0.058099 ] [ 0.00270667 0.9999931 -0.00254433 -0.04883433] [-0.00230305 0.00255057 0.9999941 0.5683854 ] [ 0. 0. 0. 1. ]] SLAMing on 40.65255784400001 meters 0.2940095021345985 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999351 -0.00269716 0.00238667 -0.05836411] [ 0.0027032 0.99999314 -0.00253262 -0.04888454] [-0.00237982 0.00253906 0.99999394 0.56854955] [ 0. 0. 0. 1. ]] SLAMing on 40.682557844 meters 0.294375895649789 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999348 -0.00266251 0.00243786 -0.05849585] [ 0.00266845 0.99999347 -0.00243767 -0.04927496] [-0.00243136 0.00244415 0.99999406 0.56855267] [ 0. 0. 0. 1. ]] SLAMing on 40.712557844 meters 0.2937944721762246 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999356 -0.00258543 0.00248806 -0.05864134] [ 0.00259097 0.99999417 -0.00222604 -0.0501356 ] [-0.00248229 0.00223247 0.99999443 0.56859765] [ 0. 0. 0. 1. ]] SLAMing on 40.742557844000004 meters 0.29376545200490645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999382 -0.0024708 0.00250271 -0.05863064] [ 0.00247557 0.99999512 -0.00190642 -0.05143778] [-0.00249799 0.00191261 0.99999505 0.56849059] [ 0. 0. 0. 1. ]] SLAMing on 40.772557844000005 meters 0.29376545200490645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999382 -0.0024708 0.00250271 -0.05863064] [ 0.00247557 0.99999512 -0.00190642 -0.05143778] [-0.00249799 0.00191261 0.99999505 0.56849059] [ 0. 0. 0. 1. ]] SLAMing on 40.802557844000006 meters 0.29420923523790354 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.57 [[ 0.99999441 -0.00224696 0.002477 -0.05860679] [ 0.00224994 0.99999675 -0.00120191 -0.05423727] [-0.00247429 0.00120748 0.99999621 0.56859065] [ 0. 0. 0. 1. ]] SLAMing on 40.83255784400001 meters 0.2940963164505307 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.57 [[ 9.99994789e-01 -2.10210563e-03 2.45020595e-03 -5.85683127e-02] [ 2.10406619e-03 9.99997468e-01 -7.97861233e-04 -5.58787770e-02] [-2.44852255e-03 8.03012470e-04 9.99996680e-01 5.68665479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86255784400001 meters 0.2932844226182248 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.57 [[ 9.99993241e-01 -1.83379833e-03 3.18675738e-03 -9.73531809e-02] [ 1.83431472e-03 9.99998305e-01 -1.59128033e-04 -6.00586038e-02] [-3.18646016e-03 1.64972474e-04 9.99994910e-01 5.65645427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892557844 meters 0.296022502788556 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.06, Z:0.56 [[ 0.99998354 0.00431553 0.00378215 -0.07304672] [-0.00430476 0.99998667 -0.00285119 -0.06472512] [-0.0037944 0.00283486 0.99998878 0.56401345] [ 0. 0. 0. 1. ]] SLAMing on 40.922557844 meters 0.29516833184315144 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.56 [[ 0.99999036 -0.00407218 0.00163929 -0.0920377 ] [ 0.00407493 0.9999903 -0.00167356 -0.06241252] [-0.00163246 0.00168023 0.99999726 0.56319728] [ 0. 0. 0. 1. ]] SLAMing on 40.952557844000005 meters 0.2962182998388996 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:0.56 [[ 0.99998599 0.00491255 0.00197388 -0.0701279 ] [-0.0049085 0.99998585 -0.00205312 -0.06594787] [-0.00198394 0.0020434 0.99999594 0.56326932] [ 0. 0. 0. 1. ]] SLAMing on 40.982557844000006 meters 0.29423044486162475 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.57 [[ 9.99999534e-01 -8.76479179e-04 -4.04881665e-04 -9.36049983e-02] [ 8.76943457e-04 9.99998957e-01 1.14794973e-03 -6.72923655e-02] [ 4.03875089e-04 -1.14830425e-03 9.99999259e-01 5.65275107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01255784400001 meters 0.2948755538092004 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.57 [[ 9.99999481e-01 -9.18366574e-04 -4.41633042e-04 -9.34363642e-02] [ 9.18817941e-04 9.99999055e-01 1.02292610e-03 -6.67965932e-02] [ 4.40693203e-04 -1.02333135e-03 9.99999379e-01 5.65068352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04255784400001 meters 0.29647284252996725 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.06, Z:0.56 [[ 0.99998066 0.00580329 0.00223527 -0.07192322] [-0.00579934 0.99998161 -0.00177161 -0.06450402] [-0.00224551 0.00175862 0.99999593 0.5639316 ] [ 0. 0. 0. 1. ]] SLAMing on 41.072557844 meters 0.2945153852980052 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.57 [[ 9.99999342e-01 -5.57699637e-04 -1.00212157e-03 -9.38609599e-02] [ 5.58095139e-04 9.99999766e-01 3.94428294e-04 -6.34339282e-02] [ 1.00190137e-03 -3.94987314e-04 9.99999420e-01 5.65508703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102557844 meters 0.29630608718506823 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.57 [[ 9.99997852e-01 6.33293504e-04 -1.97363507e-03 -5.35364725e-02] [-6.30685179e-04 9.99998927e-01 1.32192635e-03 -6.06740100e-02] [ 1.97447012e-03 -1.32067876e-03 9.99997179e-01 5.67897407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132557844000004 meters 0.29499457507517124 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.57 [[ 9.99998171e-01 5.91258978e-04 -1.81896313e-03 -5.39791374e-02] [-5.89069461e-04 9.99999102e-01 1.20401750e-03 -6.01846864e-02] [ 1.81967338e-03 -1.20294380e-03 9.99997621e-01 5.67996486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162557844000006 meters 0.2957515163185026 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.57 [[ 9.99998401e-01 5.88570247e-04 -1.68859924e-03 -5.44177774e-02] [-5.86556416e-04 9.99999117e-01 1.19285143e-03 -6.01405393e-02] [ 1.68929982e-03 -1.19185907e-03 9.99997863e-01 5.68237288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19255784400001 meters 0.294167296109664 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.57 [[ 9.99998546e-01 6.40970438e-04 -1.58035113e-03 -5.49066386e-02] [-6.38859678e-04 9.99998904e-01 1.33576998e-03 -6.07370097e-02] [ 1.58120558e-03 -1.33475841e-03 9.99997859e-01 5.68760044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22255784400001 meters 0.29602166475583747 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.57 [[ 9.99981940e-01 6.00526243e-03 2.38940361e-04 -3.20399193e-02] [-6.00471968e-03 9.99979528e-01 -2.21079474e-03 -6.28046568e-02] [-2.52211872e-04 2.20932004e-03 9.99997528e-01 5.67667618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252557844 meters 0.2957595779565849 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.57 [[ 9.99981425e-01 6.09384241e-03 1.18885383e-04 -3.16166191e-02] [-6.09359681e-03 9.99979499e-01 -1.96705733e-03 -6.38108039e-02] [-1.30869883e-04 1.96629635e-03 9.99998058e-01 5.67398135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282557844 meters 0.29551393301247664 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:0.57 [[ 9.99981067e-01 6.15293075e-03 7.88477621e-05 -3.13754810e-02] [-6.15277821e-03 9.99979438e-01 -1.80734643e-03 -6.44765386e-02] [-8.99666183e-05 1.80682708e-03 9.99998364e-01 5.67072785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312557844000004 meters 0.29485837988084 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.57 [[ 9.99980582e-01 6.23118675e-03 9.40168010e-05 -3.13915979e-02] [-6.23102836e-03 9.99979307e-01 -1.60018739e-03 -6.53294405e-02] [-1.03985922e-04 1.59957049e-03 9.99998715e-01 5.67025118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342557844000005 meters 0.29460536240172064 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.57 [[ 9.99980130e-01 6.30151708e-03 1.73129390e-04 -3.16488400e-02] [-6.30126676e-03 9.99979152e-01 -1.41021697e-03 -6.61093067e-02] [-1.82012287e-04 1.40909801e-03 9.99998991e-01 5.67153236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372557844000006 meters 0.29577362078913394 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.57 [[ 9.99996353e-01 5.05099578e-04 2.65292243e-03 -1.11625808e-02] [-5.11298752e-04 9.99997139e-01 2.33657583e-03 -6.70498502e-02] [-2.65173464e-03 -2.33792375e-03 9.99993751e-01 5.67337803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40255784400001 meters 0.29670677043977733 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.57 [[ 9.99996299e-01 5.57776519e-04 2.66305628e-03 -1.12962136e-02] [-5.64383691e-04 9.99996763e-01 2.48094186e-03 -6.76352643e-02] [-2.66166385e-03 -2.48243566e-03 9.99993377e-01 5.67594138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432557844 meters 0.29536578303755384 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.57 [[ 9.99980742e-01 6.18013692e-03 5.66837515e-04 -3.31658349e-02] [-6.17957404e-03 9.99980417e-01 -9.89443664e-04 -6.92607447e-02] [-5.72941312e-04 9.85921795e-04 9.99999350e-01 5.68587370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462557844 meters 0.29665302643556835 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.57 [[ 9.99993178e-01 -3.41715638e-03 1.40279248e-03 -1.08774377e-02] [ 3.41850760e-03 9.99993694e-01 -9.61967599e-04 -6.79718718e-02] [-1.39949645e-03 9.66756493e-04 9.99998553e-01 5.67574944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492557844000004 meters 0.295993095440979 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.57 [[ 9.99993784e-01 -3.21676089e-03 1.44386203e-03 -1.08877067e-02] [ 3.21740059e-03 9.99994727e-01 -4.40943518e-04 -7.01042655e-02] [-1.44243600e-03 4.45586260e-04 9.99998860e-01 5.67370535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522557844000005 meters 0.29432037498071634 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:0.57 [[ 9.99996264e-01 2.73336830e-03 1.12162110e-05 -3.46852056e-02] [-2.73331830e-03 9.99991127e-01 -3.20547961e-03 -7.36064998e-02] [-1.99778678e-05 3.20543698e-03 9.99994862e-01 5.69363037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552557844000006 meters 0.2943480441673131 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.57 [[ 9.99987504e-01 -4.15287615e-03 2.78290006e-03 -1.76531448e-02] [ 4.15292673e-03 9.99991376e-01 -1.23949878e-05 -7.61439454e-02] [-2.78282459e-03 2.39520130e-05 9.99996128e-01 5.71854626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58255784400001 meters 0.29413536199276813 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.57 [[ 9.99988528e-01 -3.94899366e-03 2.71100714e-03 -1.76597276e-02] [ 3.94760433e-03 9.99992074e-01 5.17637407e-04 -7.83195894e-02] [-2.71302980e-03 -5.06929485e-04 9.99996191e-01 5.72318644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61255784400001 meters 0.2956528015388379 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:0.57 [[ 9.99986179e-01 4.39559597e-03 2.88443925e-03 2.48155670e-03] [-4.39436855e-03 9.99990252e-01 -4.31733207e-04 -8.46227520e-02] [-2.88630886e-03 4.19051951e-04 9.99995747e-01 5.73880106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642557844 meters 0.29635325952650166 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.57 [[ 9.99985255e-01 4.72474341e-03 2.67717884e-03 3.63177494e-03] [-4.72581207e-03 9.99988756e-01 3.92989060e-04 -8.81228022e-02] [-2.67529197e-03 -4.05635109e-04 9.99996339e-01 5.72414185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672557844 meters 0.29440016525724033 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.57 [[ 9.99991625e-01 -4.03038948e-03 7.11358275e-04 -1.53608134e-02] [ 4.02917256e-03 9.99990431e-01 1.70392059e-03 -8.86313134e-02] [-7.18218932e-04 -1.70104014e-03 9.99998295e-01 5.71224381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702557844000005 meters 0.2950504299641851 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.57 [[ 9.99992039e-01 -3.90510483e-03 8.19652301e-04 -1.55546709e-02] [ 3.90343586e-03 9.99990325e-01 2.02800901e-03 -8.99471517e-02] [-8.27563959e-04 -2.02479340e-03 9.99997608e-01 5.71065975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732557844000006 meters 0.29680661215249504 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.57 [[ 9.99989481e-01 2.68209119e-03 3.72080991e-03 5.81435039e-03] [-2.67989293e-03 9.99996232e-01 -5.95660799e-04 -9.04067246e-02] [-3.72239350e-03 5.85683161e-04 9.99992900e-01 5.69974425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76255784400001 meters 0.2957620407418421 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.57 [[ 9.99989080e-01 2.78336269e-03 3.75415828e-03 5.57089042e-03] [-2.78212775e-03 9.99996074e-01 -3.34134864e-04 -9.14711398e-02] [-3.75507356e-03 3.23686667e-04 9.99992897e-01 5.70350621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79255784400001 meters 0.2960865059549714 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:0.57 [[ 9.99988581e-01 2.89179463e-03 3.80476197e-03 5.28784035e-03] [-2.89164212e-03 9.99995818e-01 -4.55860383e-05 -9.26422601e-02] [-3.80487788e-03 3.45835078e-05 9.99992761e-01 5.70726480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822557844 meters 0.2959386737817809 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:0.57 [[ 9.99987371e-01 3.08136919e-03 3.97017638e-03 4.81556129e-03] [-3.08309256e-03 9.99995156e-01 4.28030022e-04 -9.45850350e-02] [-3.96883823e-03 -4.40265038e-04 9.99992027e-01 5.70844701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852557844 meters 0.29552063778795457 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:0.57 [[ 9.99986811e-01 3.18745042e-03 4.02709587e-03 4.71316511e-03] [-3.19031869e-03 9.99994662e-01 7.06019724e-04 -9.57256242e-02] [-4.02482397e-03 -7.18858132e-04 9.99991642e-01 5.70754990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882557844000004 meters 0.29649926340757055 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:0.57 [[ 0.99998638 0.00334233 0.00400915 0.00479996] [-0.00334686 0.99999377 0.0011243 -0.0974323 ] [-0.00400537 -0.0011377 0.99999133 0.57068521] [ 0. 0. 0. 1. ]] SLAMing on 41.912557844000006 meters 0.29646479942407156 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 0.99998626 0.00349746 0.00390481 0.00512254] [-0.00350356 0.99999265 0.00155723 -0.09919443] [-0.00389933 -0.00157089 0.99999116 0.57058546] [ 0. 0. 0. 1. ]] SLAMing on 41.94255784400001 meters 0.29663880054761044 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 0.99998648 0.00365371 0.00370097 0.00576513] [-0.00366117 0.99999128 0.00201124 -0.10106551] [-0.00369359 -0.00202477 0.99999113 0.570324 ] [ 0. 0. 0. 1. ]] SLAMing on 41.97255784400001 meters 0.2970491650859832 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:0.57 [[ 0.99998657 0.00389577 0.00341709 0.0067343 ] [-0.00390506 0.99998868 0.00271737 -0.10400765] [-0.00340647 -0.00273068 0.99999047 0.56979223] [ 0. 0. 0. 1. ]] SLAMing on 42.002557844 meters 0.29659689329095346 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99993608e-01 -3.38430100e-04 3.55929303e-03 6.35816653e-03] [ 3.43203431e-04 9.99999043e-01 -1.34056426e-03 -1.05060288e-01] [-3.55883594e-03 1.34177725e-03 9.99992767e-01 5.69803040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032557844 meters 0.2968620281843508 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99993655e-01 -1.82250070e-04 3.55750490e-03 6.13572153e-03] [ 1.85581100e-04 9.99999545e-01 -9.36031013e-04 -1.06721087e-01] [-3.55733269e-03 9.36685280e-04 9.99993234e-01 5.70332907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062557844000004 meters 0.29614927074392117 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99993383e-01 9.99984215e-05 3.63638714e-03 5.66685613e-03] [-9.93269388e-05 9.99999978e-01 -1.84836660e-04 -1.09801689e-01] [-3.63640555e-03 1.84474245e-04 9.99993371e-01 5.71026057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092557844000005 meters 0.29594907884262467 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99993504e-01 2.52710149e-04 3.59567900e-03 5.87714107e-03] [-2.53528209e-04 9.99999942e-01 2.27057985e-04 -1.11514691e-01] [-3.59562141e-03 -2.27968116e-04 9.99993510e-01 5.70807064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122557844000006 meters 0.29648255189315836 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99993875e-01 3.67613595e-04 3.48051159e-03 6.43322248e-03] [-3.69544205e-04 9.99999778e-01 5.54064582e-04 -1.12908467e-01] [-3.48030714e-03 -5.55347392e-04 9.99993790e-01 5.70191307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15255784400001 meters 0.2975124443490801 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:0.57 [[ 9.99994389e-01 4.85343052e-04 3.31451660e-03 7.13864442e-03] [-4.88325096e-04 9.99999477e-01 8.98942024e-04 -1.14379085e-01] [-3.31407857e-03 -9.00555541e-04 9.99994103e-01 5.69538614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18255784400001 meters 0.29715047771305003 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.57 [[ 9.99994655e-01 6.20998265e-04 3.21000174e-03 7.47275990e-03] [-6.25142792e-04 9.99998972e-01 1.29028705e-03 -1.15969412e-01] [-3.20919718e-03 -1.29228686e-03 9.99994016e-01 5.69411646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212557844 meters 0.2950425961007344 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:0.57 [[ 9.99994644e-01 7.61489452e-04 3.18314850e-03 7.41863696e-03] [-7.66907195e-04 9.99998259e-01 1.70113383e-03 -1.17614226e-01] [-3.18184757e-03 -1.70356590e-03 9.99993487e-01 5.69732746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242557844000004 meters 0.29718806979349466 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:0.57 [[ 9.99996777e-01 7.52851101e-04 2.42481342e-03 4.54506251e-02] [-7.57226686e-04 9.99998086e-01 1.80409145e-03 -1.20327496e-01] [-2.42345057e-03 -1.80592177e-03 9.99995433e-01 5.74356764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272557844000005 meters 0.2946406227723631 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:0.58 [[ 9.99999755e-01 -4.96727573e-04 4.92279577e-04 1.70580670e-03] [ 4.95903663e-04 9.99998479e-01 1.67237265e-03 -1.25341093e-01] [-4.93109542e-04 -1.67212812e-03 9.99998480e-01 5.75591149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302557844000006 meters 0.2961002668030791 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 9.99999878e-01 -4.17329701e-04 -2.63386229e-04 4.04691571e-02] [ 4.17590451e-04 9.99999422e-01 9.90713026e-04 -1.25352113e-01] [ 2.62972623e-04 -9.90822893e-04 9.99999475e-01 5.78897489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33255784400001 meters 0.29640526399795153 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 9.99999944e-01 -2.74300415e-04 -1.90380003e-04 4.03579450e-02] [ 2.74557716e-04 9.99999047e-01 1.35280460e-03 -1.26837315e-01] [ 1.90008746e-04 -1.35285680e-03 9.99999067e-01 5.78732104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36255784400001 meters 0.2961129709936997 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 9.99999946e-01 -1.77752352e-04 -2.74665353e-04 4.06932736e-02] [ 1.78195283e-04 9.99998683e-01 1.61343795e-03 -1.27918402e-01] [ 2.74378199e-04 -1.61348680e-03 9.99998661e-01 5.78473005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392557844 meters 0.29486908990515204 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:0.58 [[ 0.99997764 0.005639 -0.0035935 0.02058816] [-0.00564333 0.99998336 -0.00119597 -0.12937089] [ 0.00358669 0.00121622 0.99999283 0.57907457] [ 0. 0. 0. 1. ]] SLAMing on 42.422557844 meters 0.2965140061167861 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 9.99994369e-01 -2.39411551e-03 -2.35180574e-03 4.05392625e-02] [ 2.39407314e-03 9.99997134e-01 -2.08338435e-05 -1.25955880e-01] [ 2.35184888e-03 1.52033312e-05 9.99997234e-01 5.79403722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452557844000005 meters 0.29711211962296435 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:0.58 [[ 9.99990512e-01 4.35095463e-03 -2.13966674e-04 6.18080339e-02] [-4.35153575e-03 9.99986626e-01 -2.79494147e-03 -1.28560806e-01] [ 2.01803149e-04 2.79584603e-03 9.99996071e-01 5.78894515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482557844000006 meters 0.2963786968431508 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 0.99998642 -0.00502155 -0.00139263 0.04072868] [ 0.00501896 0.99998567 -0.00186141 -0.12868149] [ 0.00140196 0.0018544 0.9999973 0.57899726] [ 0. 0. 0. 1. ]] SLAMing on 42.51255784400001 meters 0.2960777324512486 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 0.99998729 -0.00485066 -0.00137459 0.04064875] [ 0.00484873 0.99998727 -0.00139837 -0.13056647] [ 0.00138135 0.00139169 0.99999808 0.57910339] [ 0. 0. 0. 1. ]] SLAMing on 42.54255784400001 meters 0.29720030018903254 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.58 [[ 9.99988045e-01 -4.67649955e-03 -1.42852648e-03 4.09035633e-02] [ 4.67517784e-03 9.99988641e-01 -9.27172190e-04 -1.32509470e-01] [ 1.43284617e-03 9.20482490e-04 9.99998550e-01 5.78864783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572557844 meters 0.29670920877352586 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.58 [[ 9.99989251e-01 -4.31529910e-03 -1.69580336e-03 4.18614921e-02] [ 4.31538122e-03 9.99990688e-01 4.47721889e-05 -1.36563379e-01] [ 1.69559436e-03 -5.20897456e-05 9.99998561e-01 5.78397420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602557844 meters 0.29740172115065266 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.14, Z:0.58 [[ 9.99989098e-01 4.57473291e-03 -9.35758042e-04 6.14274895e-02] [-4.57547628e-03 9.99989217e-01 -7.93816108e-04 -1.42773078e-01] [ 9.32116456e-04 7.98088993e-04 9.99999247e-01 5.79755899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632557844000004 meters 0.29581577041409896 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.58 [[ 9.99986192e-01 -4.96921477e-03 -1.70958144e-03 3.99220291e-02] [ 4.96959626e-03 9.99987628e-01 2.18972990e-04 -1.44133168e-01] [ 1.70847217e-03 -2.27465895e-04 9.99998515e-01 5.79952075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662557844000006 meters 0.29601722008624415 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.58 [[ 9.99987262e-01 -4.75776447e-03 -1.68480938e-03 3.97280650e-02] [ 4.75911704e-03 9.99988356e-01 7.99704462e-04 -1.46491507e-01] [ 1.68098495e-03 -8.07712481e-04 9.99998261e-01 5.80293568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69255784400001 meters 0.29601722008624415 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.58 [[ 9.99987262e-01 -4.75776447e-03 -1.68480938e-03 3.97280650e-02] [ 4.75911704e-03 9.99988356e-01 7.99704462e-04 -1.46491507e-01] [ 1.68098495e-03 -8.07712481e-04 9.99998261e-01 5.80293568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72255784400001 meters 0.29709922575681935 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.58 [[ 0.99998816 -0.00456455 -0.00168615 0.03972323] [ 0.00456675 0.99998872 0.00130501 -0.14855242] [ 0.00168018 -0.00131269 0.99999773 0.58033408] [ 0. 0. 0. 1. ]] SLAMing on 42.752557844 meters 0.29746355013276116 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.58 [[ 0.99999618 0.00233936 -0.00146886 0.0641932 ] [-0.0023413 0.99999639 -0.00131986 -0.15357431] [ 0.00146577 0.00132329 0.99999805 0.57850467] [ 0. 0. 0. 1. ]] SLAMing on 42.782557844 meters 0.29725274028861076 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.58 [[ 9.99972422e-01 -6.83077901e-03 -2.91487462e-03 4.49825846e-02] [ 6.83062667e-03 9.99976669e-01 -6.22136128e-05 -1.52307265e-01] [ 2.91523158e-03 4.23014768e-05 9.99995750e-01 5.77627236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812557844000004 meters 0.2980811386720297 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.58 [[ 9.99997189e-01 2.22769261e-03 -8.12035849e-04 6.44000742e-02] [-2.22844505e-03 9.99997087e-01 -9.26877851e-04 -1.54273463e-01] [ 8.09968685e-04 9.28684823e-04 9.99999241e-01 5.78561954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842557844000005 meters 0.29757474712999576 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99997192e-01 2.31572469e-03 -5.03329772e-04 6.33422201e-02] [-2.31606907e-03 9.99997084e-01 -6.84700459e-04 -1.55122514e-01] [ 5.01742727e-04 6.85864283e-04 9.99999639e-01 5.79381642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872557844000006 meters 0.29632701713507426 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99997151e-01 2.31675974e-03 -5.74377519e-04 6.36395456e-02] [-2.31714964e-03 9.99997085e-01 -6.79084520e-04 -1.55165399e-01] [ 5.72802568e-04 6.80413504e-04 9.99999604e-01 5.79126608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90255784400001 meters 0.2964625271510686 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99996990e-01 2.34443401e-03 -7.23928986e-04 6.41929917e-02] [-2.34486797e-03 9.99997071e-01 -5.99191459e-04 -1.55541382e-01] [ 7.22522101e-04 6.00887174e-04 9.99999558e-01 5.78712376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93255784400001 meters 0.2972498343360512 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99996850e-01 2.36369148e-03 -8.44095533e-04 6.46959579e-02] [-2.36414870e-03 9.99997059e-01 -5.41082750e-04 -1.55823394e-01] [ 8.42814098e-04 5.43076613e-04 9.99999497e-01 5.78247377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962557844 meters 0.29797384782022796 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99996733e-01 2.39294979e-03 -8.98843636e-04 6.49771782e-02] [-2.39336402e-03 9.99997030e-01 -4.60055039e-04 -1.56183995e-01] [ 8.97740078e-04 4.62204796e-04 9.99999490e-01 5.77935279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992557844000004 meters 0.29732713183290854 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 0.99998395 -0.00505207 -0.00256472 0.04365858] [ 0.00505889 0.99998367 0.00265923 -0.15888646] [ 0.00255125 -0.00267216 0.99999318 0.5791681 ] [ 0. 0. 0. 1. ]] SLAMing on 43.022557844000005 meters 0.2966858782257194 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 0.99998449 -0.00493507 -0.00258321 0.04355231] [ 0.00494279 0.99998331 0.00299242 -0.16020393] [ 0.0025684 -0.00300514 0.99999219 0.57955386] [ 0. 0. 0. 1. ]] SLAMing on 43.052557844000006 meters 0.29630342626837847 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 0.99998484 -0.00483768 -0.00262953 0.04367594] [ 0.00484629 0.99998289 0.00327583 -0.16134604] [ 0.00261364 -0.00328852 0.99999118 0.57955529] [ 0. 0. 0. 1. ]] SLAMing on 43.08255784400001 meters 0.2973989400979999 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 0.9999849 -0.00476819 -0.00273305 0.0440506 ] [ 0.00477768 0.99998254 0.00347682 -0.16218848] [ 0.00271642 -0.00348983 0.99999022 0.57930218] [ 0. 0. 0. 1. ]] SLAMing on 43.11255784400001 meters 0.29717313405350126 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 0.999985 -0.0047012 -0.00280957 0.04440347] [ 0.00471148 0.99998219 0.00366352 -0.16298486] [ 0.0027923 -0.0036767 0.99998934 0.57894418] [ 0. 0. 0. 1. ]] SLAMing on 43.142557844 meters 0.2974234325382976 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 9.99996577e-01 2.13750037e-03 -1.50925884e-03 6.75933198e-02] [-2.13626790e-03 9.99997384e-01 8.17747140e-04 -1.65201287e-01] [ 1.51100283e-03 -8.14520159e-04 9.99998527e-01 5.77426493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172557844 meters 0.2976254742406562 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999627 0.00223869 -0.00156664 0.0676454 ] [-0.00223699 0.9999969 0.00109198 -0.1663047 ] [ 0.00156908 -0.00108847 0.99999818 0.57765655] [ 0. 0. 0. 1. ]] SLAMing on 43.202557844000005 meters 0.2967629731725926 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999598 0.00234143 -0.00159921 0.06762784] [-0.00233925 0.99999633 0.00136576 -0.16741264] [ 0.0016024 -0.00136201 0.99999779 0.57790326] [ 0. 0. 0. 1. ]] SLAMing on 43.232557844000006 meters 0.29744609994288 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999592 0.00241015 -0.00153475 0.06735387] [-0.00240777 0.99999591 0.0015468 -0.16813321] [ 0.00153847 -0.0015431 0.99999763 0.57816178] [ 0. 0. 0. 1. ]] SLAMing on 43.26255784400001 meters 0.29749405149830266 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999582 0.00254828 -0.00136793 0.06663888] [-0.00254566 0.99999493 0.00191246 -0.16957952] [ 0.0013728 -0.00190897 0.99999724 0.57892312] [ 0. 0. 0. 1. ]] SLAMing on 43.29255784400001 meters 0.2959911168539832 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999564 0.00266364 -0.00127707 0.06618015] [-0.00266081 0.999994 0.00221752 -0.17080539] [ 0.00128297 -0.00221411 0.99999673 0.57944218] [ 0. 0. 0. 1. ]] SLAMing on 43.322557844 meters 0.29631546130643166 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999542 0.0027629 -0.00123322 0.06589534] [-0.00275983 0.99999311 0.00248456 -0.17186704] [ 0.00124008 -0.00248115 0.99999615 0.57984521] [ 0. 0. 0. 1. ]] SLAMing on 43.352557844 meters 0.29513685658960354 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.58 [[ 0.99997524 -0.00641355 -0.00289635 0.04616625] [ 0.00642455 0.99997212 0.00380659 -0.1717369 ] [ 0.00287185 -0.0038251 0.99998856 0.5793059 ] [ 0. 0. 0. 1. ]] SLAMing on 43.382557844000004 meters 0.29665995762175246 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.58 [[ 0.99999064 0.00336997 -0.00271316 0.06718846] [-0.00336068 0.9999885 0.00342216 -0.1764826 ] [ 0.00272466 -0.00341301 0.99999046 0.5796361 ] [ 0. 0. 0. 1. ]] SLAMing on 43.412557844000006 meters 0.29684923389039203 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.58 [[ 0.9999897 0.00348639 -0.00290599 0.0678027 ] [-0.00347542 0.99998685 0.00377125 -0.17793949] [ 0.0029191 -0.00376112 0.99998867 0.57936751] [ 0. 0. 0. 1. ]] SLAMing on 43.44255784400001 meters 0.29591408709676115 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.58 [[ 0.9999878 0.0037458 -0.00321863 0.06849324] [-0.0037306 0.99998192 0.00471556 -0.18156023] [ 0.00323624 -0.0047035 0.9999837 0.57957783] [ 0. 0. 0. 1. ]] SLAMing on 43.47255784400001 meters 0.29747799719231166 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.58 [[ 0.99998351 -0.00501671 -0.00279673 0.09199613] [ 0.00503053 0.99997505 0.00495888 -0.1813854 ] [ 0.00277178 -0.00497287 0.99998379 0.57871928] [ 0. 0. 0. 1. ]] SLAMing on 43.502557844 meters 0.2976952362817083 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.58 [[ 0.99998342 -0.0048284 -0.00313632 0.09302559] [ 0.0048458 0.99997279 0.00556296 -0.18388108] [ 0.00310937 -0.00557807 0.99997961 0.57831668] [ 0. 0. 0. 1. ]] SLAMing on 43.532557844 meters 0.29634763964286487 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.19, Z:0.58 [[ 9.99986354e-01 -3.83003990e-04 -5.21018175e-03 7.01304158e-02] [ 3.94165092e-04 9.99997630e-01 2.14131307e-03 -1.87204334e-01] [ 5.20934927e-03 -2.14333752e-03 9.99984134e-01 5.79287870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562557844000004 meters 0.29689000529276244 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.58 [[ 0.99998391 -0.0054867 -0.00144028 0.09165817] [ 0.00549457 0.99996969 0.00551652 -0.1916176 ] [ 0.00140997 -0.00552434 0.99998375 0.57715258] [ 0. 0. 0. 1. ]] SLAMing on 43.592557844000005 meters 0.29465704540208093 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99995208e-01 2.94887547e-03 9.42755533e-04 6.81418549e-02] [-2.95460720e-03 9.99976802e-01 6.13730793e-03 -2.00259714e-01] [-9.24635505e-04 -6.14006399e-03 9.99980722e-01 5.77756184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844000006 meters 0.29565520918636234 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.58 [[ 9.99991174e-01 4.10507348e-03 8.94562256e-04 1.04896143e-01] [-4.11004834e-03 9.99975692e-01 5.63222175e-03 -1.97959229e-01] [-8.71419828e-04 -5.63584874e-03 9.99983739e-01 5.81789738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65255784400001 meters 0.295818404017249 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.58 [[ 9.99991224e-01 4.09802947e-03 8.70679026e-04 1.04883235e-01] [-4.10285628e-03 9.99975812e-01 5.61621460e-03 -1.97876393e-01] [-8.47642554e-04 -5.61973758e-03 9.99983850e-01 5.81960562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68255784400001 meters 0.29472283453881004 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.59 [[ 9.99974890e-01 6.25007888e-03 -3.33999115e-03 8.26415240e-02] [-6.25168786e-03 9.99980347e-01 -4.71508348e-04 -1.92987867e-01] [ 3.33697854e-03 4.92377090e-04 9.99994311e-01 5.85056236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712557844 meters 0.2955325640438182 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 9.99975118e-01 6.16303328e-03 -3.43236389e-03 8.33748227e-02] [-6.16550798e-03 9.99980740e-01 -7.10876262e-04 -1.92107308e-01] [ 3.42791663e-03 7.32020841e-04 9.99993857e-01 5.83732646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742557844000004 meters 0.2974604457424786 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998818e-01 7.75203994e-04 -1.32755912e-03 1.06300941e-01] [-7.72158708e-04 9.99997073e-01 2.29287747e-03 -1.90860073e-01] [ 1.32933268e-03 -2.29184967e-03 9.99996490e-01 5.81772192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772557844000005 meters 0.29689655125425946 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998920e-01 7.54701786e-04 -1.26094688e-03 1.06102339e-01] [-7.51880164e-04 9.99997216e-01 2.23667870e-03 -1.90617432e-01] [ 1.26263139e-03 -2.23572820e-03 9.99996704e-01 5.81820792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802557844000006 meters 0.2971460524227324 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998982e-01 7.84255329e-04 -1.19191458e-03 1.05778693e-01] [-7.81497266e-04 9.99997020e-01 2.31268381e-03 -1.90896016e-01] [ 1.19372476e-03 -2.31174998e-03 9.99996615e-01 5.82167102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83255784400001 meters 0.2972640142333427 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998860e-01 8.08805693e-04 -1.27533136e-03 1.05872995e-01] [-8.05757577e-04 9.99996822e-01 2.38876284e-03 -1.91179301e-01] [ 1.27725935e-03 -2.38773251e-03 9.99996334e-01 5.82460748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86255784400001 meters 0.2978429849438465 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998532e-01 8.30177204e-04 -1.49872434e-03 1.06423301e-01] [-8.26484897e-04 9.99996626e-01 2.46257370e-03 -1.91485022e-01] [ 1.50076366e-03 -2.46133141e-03 9.99995845e-01 5.82511964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892557844 meters 0.2962536854500453 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998162e-01 9.20898441e-04 -1.68149613e-03 1.07067944e-01] [-9.16346863e-04 9.99995920e-01 2.70562867e-03 -1.92481799e-01] [ 1.68398088e-03 -2.70408286e-03 9.99994926e-01 5.82063174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922557844 meters 0.2966138831124541 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998255e-01 8.85259395e-04 -1.64531640e-03 1.07061760e-01] [-8.80946147e-04 9.99996179e-01 2.62040976e-03 -1.92129994e-01] [ 1.64762985e-03 -2.61895575e-03 9.99995213e-01 5.81869183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952557844000005 meters 0.2963846217437725 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998438e-01 8.73561569e-04 -1.53663957e-03 1.06729599e-01] [-8.69586316e-04 9.99996279e-01 2.58574710e-03 -1.91970247e-01] [ 1.53889266e-03 -2.58440682e-03 9.99995476e-01 5.81976320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982557844000006 meters 0.2960133998534005 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998558e-01 8.92786353e-04 -1.44432154e-03 1.06364181e-01] [-8.88985028e-04 9.99996145e-01 2.63041456e-03 -1.92138823e-01] [ 1.44666438e-03 -2.62912679e-03 9.99995497e-01 5.82270179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01255784400001 meters 0.29599453587432284 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998606e-01 8.97109213e-04 -1.40813403e-03 1.06137343e-01] [-8.93390906e-04 9.99996119e-01 2.63900326e-03 -1.92164594e-01] [ 1.41049604e-03 -2.63774157e-03 9.99995526e-01 5.82566641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04255784400001 meters 0.2964290615359679 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998621e-01 8.54869819e-04 -1.42359787e-03 1.06143094e-01] [-8.51267272e-04 9.99996439e-01 2.52927913e-03 -1.91708971e-01] [ 1.42575501e-03 -2.52806378e-03 9.99995788e-01 5.82641274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072557844 meters 0.29666257430066373 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998709e-01 6.64870696e-04 -1.46319191e-03 1.06547891e-01] [-6.61858677e-04 9.99997663e-01 2.05804913e-03 -1.89762239e-01] [ 1.46455682e-03 -2.05707805e-03 9.99996812e-01 5.82008819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102557844 meters 0.29616734009371326 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.58 [[ 9.99998783e-01 5.66756190e-04 -1.45381570e-03 1.06600110e-01] [-5.64132501e-04 9.99998213e-01 1.80446769e-03 -1.88733029e-01] [ 1.45483580e-03 -1.80364535e-03 9.99997315e-01 5.81828645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132557844000004 meters 0.2974956890284588 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.19, Z:0.58 [[ 0.99998639 -0.0047472 0.00216393 0.12794533] [ 0.00473704 0.99997783 0.00467895 -0.18876043] [-0.0021861 -0.00466863 0.99998671 0.57991957] [ 0. 0. 0. 1. ]] SLAMing on 44.162557844000006 meters 0.2956178202605077 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99998917e-01 4.70563206e-04 1.39416333e-03 1.03751061e-01] [-4.72053669e-04 9.99999317e-01 1.06893731e-03 -1.87627484e-01] [-1.39365937e-03 -1.06959427e-03 9.99998457e-01 5.81716672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19255784400001 meters 0.2959259318600097 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99998791e-01 4.57798166e-04 1.48636229e-03 1.03528269e-01] [-4.59330128e-04 9.99999364e-01 1.03050092e-03 -1.87472867e-01] [-1.48588958e-03 -1.03118241e-03 9.99998364e-01 5.81682130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22255784400001 meters 0.29496516145822094 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 0.99998879 0.00451694 -0.00142353 0.08018049] [-0.0045211 0.99998549 -0.00293067 -0.18583929] [ 0.00141027 0.00293707 0.99999469 0.58394861] [ 0. 0. 0. 1. ]] SLAMing on 44.252557844 meters 0.29582434831585336 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99997570e-01 -1.45351925e-03 1.65722281e-03 1.01623048e-01] [ 1.45394694e-03 9.99998910e-01 -2.56899048e-04 -1.87130339e-01] [-1.65684760e-03 2.59307938e-04 9.99998594e-01 5.82198242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282557844 meters 0.2959050723540976 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99997679e-01 -1.39086034e-03 1.64532790e-03 1.01680346e-01] [ 1.39098880e-03 9.99999030e-01 -7.69374038e-05 -1.87856211e-01] [-1.64521930e-03 7.92258579e-05 9.99998643e-01 5.82130480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312557844000004 meters 0.2966998705961319 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99997620e-01 -1.31768230e-03 1.73888435e-03 1.01371192e-01] [ 1.31746366e-03 9.99999124e-01 1.26876468e-04 -1.88665755e-01] [-1.73905001e-03 -1.24585250e-04 9.99998480e-01 5.82298328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342557844000005 meters 0.2960150334263155 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99996767e-01 -1.26322603e-03 2.20708977e-03 9.98873762e-02] [ 1.26259910e-03 9.99999162e-01 2.85419441e-04 -1.89205827e-01] [-2.20744847e-03 -2.82631848e-04 9.99997524e-01 5.83331662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372557844000006 meters 0.2962342834463731 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99996656e-01 -1.24412080e-03 2.26700277e-03 9.95980731e-02] [ 1.24336780e-03 9.99999171e-01 3.33536970e-04 -1.89380768e-01] [-2.26741585e-03 -3.30717137e-04 9.99997375e-01 5.83642773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40255784400001 meters 0.29416356550371303 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.58 [[ 9.99993124e-01 -2.45441784e-03 2.77971956e-03 6.07071539e-02] [ 2.45222140e-03 9.99996679e-01 7.93299644e-04 -1.91041986e-01] [-2.78165742e-03 -7.86477702e-04 9.99995822e-01 5.80848735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43255784400001 meters 0.29539179974299024 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.58 [[ 9.99994012e-01 -2.43514421e-03 2.45895570e-03 6.17267905e-02] [ 2.43300509e-03 9.99996660e-01 8.72545094e-04 -1.91433916e-01] [-2.46107226e-03 -8.66557217e-04 9.99996596e-01 5.80205268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters 0.2949221356708378 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.58 [[ 9.99994222e-01 -2.39251187e-03 2.41480748e-03 6.19476701e-02] [ 2.39013067e-03 9.99996655e-01 9.88488576e-04 -1.91924643e-01] [-2.41716438e-03 -9.82711159e-04 9.99996596e-01 5.79952380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492557844000004 meters 0.29681499890229845 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.58 [[ 9.99966016e-01 7.34712483e-03 3.73992974e-03 8.19473470e-02] [-7.34961127e-03 9.99972779e-01 6.51528767e-04 -1.96459216e-01] [-3.73504108e-03 -6.78993655e-04 9.99992794e-01 5.79786214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522557844000005 meters 0.2943170170911267 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.58 [[ 0.99999719 -0.00162636 0.00172729 0.06265093] [ 0.00162302 0.99999681 0.00193461 -0.19503133] [-0.00173044 -0.00193181 0.99999664 0.57931219] [ 0. 0. 0. 1. ]] SLAMing on 44.552557844000006 meters 0.2961815559721594 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99999414e-01 -1.07530400e-03 1.23230821e-04 1.02827669e-01] [ 1.07518980e-03 9.99998996e-01 9.23085378e-04 -1.94890706e-01] [-1.24223295e-04 -9.22952340e-04 9.99999566e-01 5.82010824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58255784400001 meters 0.2961815559721594 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99999414e-01 -1.07530400e-03 1.23230821e-04 1.02827669e-01] [ 1.07518980e-03 9.99998996e-01 9.23085378e-04 -1.94890706e-01] [-1.24223295e-04 -9.22952340e-04 9.99999566e-01 5.82010824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61255784400001 meters 0.29509620347430715 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 0.99998953 0.00395834 -0.0022949 0.0809878 ] [-0.00396469 0.99998831 -0.00276912 -0.19430635] [ 0.00228391 0.00277819 0.99999353 0.58303733] [ 0. 0. 0. 1. ]] SLAMing on 44.642557844 meters 0.2946523286539913 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 0.9999899 0.00390456 -0.00222466 0.08075292] [-0.00391103 0.9999881 -0.00291504 -0.19369783] [ 0.00221325 0.00292371 0.99999328 0.58316531] [ 0. 0. 0. 1. ]] SLAMing on 44.672557844 meters 0.2963223855973115 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99993302e-01 -3.65407456e-03 -2.09162882e-04 9.95680766e-02] [ 3.65367796e-03 9.99991584e-01 -1.86610152e-03 -1.88495896e-01] [ 2.15979996e-04 1.86532481e-03 9.99998237e-01 5.84175053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702557844000005 meters 0.2965554345223698 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99993034e-01 -3.72870080e-03 -1.67019915e-04 9.94800407e-02] [ 3.72834798e-03 9.99990917e-01 -2.06515897e-03 -1.87684785e-01] [ 1.74718758e-04 2.06452188e-03 9.99997854e-01 5.84129261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732557844000006 meters 0.29640810149988117 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99992784e-01 -3.79357723e-03 -2.04089677e-04 9.96794965e-02] [ 3.79311136e-03 9.99990305e-01 -2.23658500e-03 -1.86991864e-01] [ 2.12572356e-04 2.23579472e-03 9.99997478e-01 5.83906603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76255784400001 meters 0.29702174172439555 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 9.99992802e-01 -3.78526263e-03 -2.61231398e-04 9.99018150e-02] [ 3.78467469e-03 9.99990384e-01 -2.21556697e-03 -1.87088725e-01] [ 2.69615389e-04 2.21456235e-03 9.99997512e-01 5.83745002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79255784400001 meters 0.2951717258050468 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 0.99998719 0.00470875 -0.00185882 0.07939671] [-0.00471325 0.99998596 -0.00242184 -0.19091734] [ 0.00184739 0.00243057 0.99999534 0.58384505] [ 0. 0. 0. 1. ]] SLAMing on 44.822557844 meters 0.29559829303826946 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.58 [[ 0.99998684 0.00477115 -0.00188708 0.07948433] [-0.00477536 0.99998611 -0.00223169 -0.19167462] [ 0.00187641 0.00224068 0.99999573 0.58378783] [ 0. 0. 0. 1. ]] SLAMing on 44.852557844 meters 0.2961716562957389 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 0.99999139 -0.003937 -0.00131365 0.10219486] [ 0.00393443 0.99999036 -0.00195122 -0.19108556] [ 0.00132132 0.00194603 0.99999723 0.58365645] [ 0. 0. 0. 1. ]] SLAMing on 44.882557844000004 meters 0.2954223013237875 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 0.99999149 -0.00387103 -0.0014291 0.10261361] [ 0.00386851 0.99999097 -0.00176054 -0.19186224] [ 0.0014359 0.001755 0.99999743 0.58332911] [ 0. 0. 0. 1. ]] SLAMing on 44.912557844000006 meters 0.2955407925414 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.58 [[ 0.99999161 -0.00381517 -0.00149261 0.10288827] [ 0.00381276 0.99999143 -0.00161281 -0.19247889] [ 0.00149875 0.0016071 0.99999759 0.58306388] [ 0. 0. 0. 1. ]] SLAMing on 44.94255784400001 meters 0.2940166752669005 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.58 [[ 0.99998586 0.0051505 -0.0013274 0.07993457] [-0.00515265 0.99998541 -0.00162113 -0.19509174] [ 0.00131903 0.00162794 0.9999978 0.58387446] [ 0. 0. 0. 1. ]] SLAMing on 44.97255784400001 meters 0.29619547748365155 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.59 [[ 0.9999852 0.00517121 -0.00168867 0.11792593] [-0.0051765 0.99998166 -0.00314444 -0.19437342] [ 0.00167238 0.00315313 0.99999363 0.58759202] [ 0. 0. 0. 1. ]] SLAMing on 45.002557844 meters 0.29431532355292733 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.59 [[ 0.99998581 -0.00473593 -0.00243953 0.09741953] [ 0.00472881 0.99998457 -0.00291616 -0.18970693] [ 0.0024533 0.00290458 0.99999277 0.58783678] [ 0. 0. 0. 1. ]] SLAMing on 45.032557844 meters 0.29650329890142807 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.59 [[ 0.99998337 0.00557728 -0.00146798 0.11929087] [-0.00558181 0.99997963 -0.00309723 -0.18965751] [ 0.00145068 0.00310538 0.99999413 0.58687119] [ 0. 0. 0. 1. ]] SLAMing on 45.062557844000004 meters 0.2947889599099079 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.59 [[ 0.99998764 -0.00335887 -0.003665 0.10156746] [ 0.00335112 0.99999214 -0.00211973 -0.18421793] [ 0.00367209 0.00210742 0.99999104 0.58540815] [ 0. 0. 0. 1. ]] SLAMing on 45.092557844000005 meters 0.2977553402605216 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.58 [[ 0.9999729 0.00653866 -0.00338312 0.12373166] [-0.00654749 0.99997518 -0.00260326 -0.18587778] [ 0.00336601 0.00262534 0.99999089 0.58478084] [ 0. 0. 0. 1. ]] SLAMing on 45.122557844000006 meters 0.2953262654376831 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:0.58 [[ 0.99998431 0.00489656 -0.00272274 0.08513691] [-0.00490523 0.99998288 -0.00318916 -0.18279925] [ 0.00270708 0.00320246 0.99999121 0.58148233] [ 0. 0. 0. 1. ]] SLAMing on 45.15255784400001 meters 0.296788422261986 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.58 [[ 9.99999931e-01 -3.04500568e-04 2.11157563e-04 1.07505547e-01] [ 3.04534081e-04 9.99999941e-01 -1.58699649e-04 -1.83206014e-01] [-2.11109226e-04 1.58763942e-04 9.99999965e-01 5.79750638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18255784400001 meters 0.29664261504405137 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.58 [[ 9.99999890e-01 -3.96014372e-04 2.52209135e-04 1.07331556e-01] [ 3.96115859e-04 9.99999841e-01 -4.02469945e-04 -1.82192485e-01] [-2.52049711e-04 4.02569804e-04 9.99999887e-01 5.79908712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212557844 meters 0.2950815021228481 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.58 [[ 9.99996798e-01 -2.10231062e-04 2.52191509e-03 6.50865618e-02] [ 2.09303996e-04 9.99999910e-01 3.67862559e-04 -1.77829306e-01] [-2.52199220e-03 -3.67333534e-04 9.99996752e-01 5.78145381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242557844000004 meters 0.29367453902808816 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.58 [[ 9.99996581e-01 -3.53110129e-04 2.59106338e-03 6.49663698e-02] [ 3.53207010e-04 9.99999937e-01 -3.69329858e-05 -1.76193476e-01] [-2.59105018e-03 3.78480413e-05 9.99996643e-01 5.78020608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272557844000005 meters 0.294383380504076 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 9.99996660e-01 -4.98954916e-04 2.53575526e-03 6.53187547e-02] [ 5.00098978e-04 9.99999773e-01 -4.50558069e-04 -1.74527028e-01] [-2.53552988e-03 4.51824693e-04 9.99996683e-01 5.77526896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844000006 meters 0.2964283063897854 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 9.99997054e-01 -6.37345127e-04 2.34213101e-03 6.60275008e-02] [ 6.39341177e-04 9.99999433e-01 -8.51586783e-04 -1.72907619e-01] [-2.34158693e-03 8.53081695e-04 9.99996895e-01 5.76996237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33255784400001 meters 0.2966839550252128 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 9.99997305e-01 -7.74378657e-04 2.18878432e-03 6.65960522e-02] [ 7.77114965e-04 9.99998917e-01 -1.24957546e-03 -1.71322620e-01] [-2.18781431e-03 1.25127303e-03 9.99996824e-01 5.76562822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36255784400001 meters 0.29660762888342196 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.58 [[ 0.99999581 -0.00100843 0.0027124 0.06505288] [ 0.0010144 0.99999706 -0.00220141 -0.16748527] [-0.00271017 0.00220415 0.9999939 0.57727741] [ 0. 0. 0. 1. ]] SLAMing on 45.392557844 meters 0.2948487365557724 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:0.58 [[ 9.99990478e-01 -4.96434044e-04 4.33569123e-03 2.34900907e-02] [ 5.00329321e-04 9.99999472e-01 -8.97382930e-04 -1.66035693e-01] [-4.33524345e-03 8.99543658e-04 9.99990198e-01 5.75728019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422557844 meters 0.2964939977019005 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99989807e-01 -6.46530596e-04 4.46859532e-03 2.31129020e-02] [ 6.52462277e-04 9.99998908e-01 -1.32608475e-03 -1.64281446e-01] [-4.46773309e-03 1.32898682e-03 9.99989137e-01 5.75838707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452557844000005 meters 0.2940977713780031 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99989313e-01 -7.62712222e-04 4.55977019e-03 2.27833261e-02] [ 7.70228978e-04 9.99998347e-01 -1.64696588e-03 -1.62950006e-01] [-4.55850649e-03 1.65046035e-03 9.99988248e-01 5.76084207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482557844000006 meters 0.29625233220898517 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99990786e-01 6.16926278e-04 4.24819144e-03 6.01513091e-02] [-6.08632994e-04 9.99997907e-01 -1.95320774e-03 -1.58938011e-01] [-4.24938753e-03 1.95060416e-03 9.99989069e-01 5.80096783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51255784400001 meters 0.29536871573535906 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99990566e-01 5.71566925e-04 4.30584648e-03 5.99846816e-02] [-5.62656064e-04 9.99997698e-01 -2.07040686e-03 -1.58453255e-01] [-4.30701995e-03 2.06796461e-03 9.99988586e-01 5.80128276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54255784400001 meters 0.29425541298353725 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 9.99977966e-01 -6.48926700e-03 1.39856921e-03 3.91218542e-02] [ 6.48849619e-03 9.99978795e-01 5.54972067e-04 -1.58881017e-01] [-1.40214092e-03 -5.45885228e-04 9.99998868e-01 5.81386437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572557844 meters 0.29541477846175224 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99995401e-01 9.07912911e-04 2.89385581e-03 6.15183738e-02] [-9.02141109e-04 9.99997603e-01 -1.99518406e-03 -1.60043085e-01] [-2.89566033e-03 1.99256421e-03 9.99993822e-01 5.79595895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602557844 meters 0.2948402198964176 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 9.99981744e-01 -6.01979914e-03 -5.23292561e-04 4.10454564e-02] [ 6.02017281e-03 9.99981623e-01 7.15458177e-04 -1.61886371e-01] [ 5.18976030e-04 -7.18595427e-04 9.99999607e-01 5.80828071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632557844000004 meters 0.2953669759895372 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99990169e-01 4.17597302e-03 -1.49095362e-03 6.36359291e-02] [-4.17491115e-03 9.99991030e-01 7.14615715e-04 -1.64944387e-01] [ 1.49392447e-03 -7.08384091e-04 9.99998633e-01 5.80586504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662557844000006 meters 0.29635078484368865 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99990122e-01 4.11326842e-03 -1.68447683e-03 6.42465792e-02] [-4.11235044e-03 9.99991394e-01 5.48066781e-04 -1.64257286e-01] [ 1.68671668e-03 -5.41134208e-04 9.99998431e-01 5.80343729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69255784400001 meters 0.29472255892962534 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99996880e-01 2.30414248e-03 -9.64862831e-04 2.46473760e-02] [-2.30432588e-03 9.99997327e-01 -1.89008787e-04 -1.62817437e-01] [ 9.64424749e-04 1.91231556e-04 9.99999517e-01 5.77641174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72255784400001 meters 0.2946892249167175 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997126e-01 2.23964872e-03 -8.55483387e-04 2.42803027e-02] [-2.23997085e-03 9.99997421e-01 -3.75784526e-04 -1.62043768e-01] [ 8.54639555e-04 3.77699704e-04 9.99999563e-01 5.77875428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75255784400001 meters 0.29541984203684474 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997449e-01 2.17336236e-03 -6.15263867e-04 2.35743367e-02] [-2.17371813e-03 9.99997470e-01 -5.78158923e-04 -1.61188067e-01] [ 6.14005762e-04 5.79494858e-04 9.99999644e-01 5.78154711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782557844 meters 0.29573430978029647 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997712e-01 2.10643795e-03 -3.71929042e-04 2.30587846e-02] [-2.10673913e-03 9.99997452e-01 -8.11255324e-04 -1.60286355e-01] [ 3.70219235e-04 8.12037025e-04 9.99999602e-01 5.77935915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812557844000004 meters 0.2958186420559742 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997754e-01 2.05320554e-03 -5.25649914e-04 2.36657838e-02] [-2.05370706e-03 9.99997435e-01 -9.55336193e-04 -1.59714215e-01] [ 5.23687064e-04 9.56413578e-04 9.99999406e-01 5.77423310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842557844000005 meters 0.29614157297570814 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997766e-01 2.00292530e-03 -6.75902297e-04 2.42137466e-02] [-2.00366363e-03 9.99997395e-01 -1.09345229e-03 -1.59170166e-01] [ 6.73710433e-04 1.09480413e-03 9.99999174e-01 5.77000303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872557844000006 meters 0.29648787909607466 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997593e-01 2.02516935e-03 -8.44304949e-04 2.48331455e-02] [-2.02603683e-03 9.99997419e-01 -1.02786374e-03 -1.59471381e-01] [ 8.42221172e-04 1.02957186e-03 9.99999115e-01 5.76521370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90255784400001 meters 0.29565570121703694 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99997585e-01 2.06684591e-03 -7.47061393e-04 2.44581107e-02] [-2.06753075e-03 9.99997442e-01 -9.17105198e-04 -1.59912298e-01] [ 7.45163966e-04 9.18647555e-04 9.99999300e-01 5.76813394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93255784400001 meters 0.29614328690795877 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 9.99983138e-01 -5.45539552e-03 1.99067826e-03 4.34082719e-02] [ 5.45468114e-03 9.99985057e-01 3.64114374e-04 -1.58121726e-01] [-1.99263490e-03 -3.53249719e-04 9.99997952e-01 5.77772598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962557844 meters 0.2961388199913926 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.58 [[ 9.99983418e-01 -5.36943027e-03 2.08133744e-03 4.29977756e-02] [ 5.36819460e-03 9.99985412e-01 5.98822144e-04 -1.59076884e-01] [-2.08452242e-03 -5.87639190e-04 9.99997655e-01 5.78201005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992557844000004 meters 0.29470081378275204 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.58 [[ 9.99999994e-01 1.09717236e-04 -2.90497485e-05 1.98833237e-02] [-1.09790752e-04 9.99996761e-01 -2.54290908e-03 -1.59240583e-01] [ 2.87706534e-05 2.54291226e-03 9.99996766e-01 5.80203917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022557844000005 meters 0.2957946255476921 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:0.58 [[ 9.99998826e-01 1.23322977e-03 -9.09133344e-04 5.90206036e-02] [-1.23562748e-03 9.99995748e-01 -2.64152527e-03 -1.59750171e-01] [ 9.05871871e-04 2.64264552e-03 9.99996098e-01 5.83398790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052557844000006 meters 0.2950983655930735 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.59 [[ 9.99979602e-01 -5.14464582e-03 -3.78517171e-03 3.65216777e-02] [ 5.14739508e-03 9.99986495e-01 7.16940045e-04 -1.63016422e-01] [ 3.78143218e-03 -7.36409196e-04 9.99992579e-01 5.86123165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08255784400001 meters 0.2952365077662659 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.59 [[ 9.99991768e-01 3.62236517e-03 -1.82844141e-03 5.57243639e-02] [-3.62311527e-03 9.99993354e-01 -4.07091156e-04 -1.66204142e-01] [ 1.82695463e-03 4.13712459e-04 9.99998246e-01 5.87145485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11255784400001 meters 0.29561503305781467 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.59 [[ 9.99991536e-01 3.68405851e-03 -1.83170352e-03 5.56897965e-02] [-3.68450990e-03 9.99993183e-01 -2.43119093e-04 -1.66868017e-01] [ 1.83079537e-03 2.49865965e-04 9.99998293e-01 5.87242939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142557844 meters 0.29560878582451583 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.59 [[ 9.99990645e-01 3.87762201e-03 -1.91684530e-03 5.59743469e-02] [-3.87714243e-03 9.99992452e-01 2.53845944e-04 -1.68890869e-01] [ 1.91781515e-03 -2.46411687e-04 9.99998131e-01 5.87084870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172557844 meters 0.2963103684366553 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.59 [[ 9.99990082e-01 3.98026981e-03 -1.99840139e-03 5.62550564e-02] [-3.97924649e-03 9.99991950e-01 5.15782145e-04 -1.69972040e-01] [ 2.00043825e-03 -5.07824897e-04 9.99997870e-01 5.86941637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844000005 meters 0.2951745539659219 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.17, Z:0.58 [[ 9.99997347e-01 1.88354628e-03 -1.32590202e-03 1.77475729e-02] [-1.88329400e-03 9.99998208e-01 1.91500181e-04 -1.73133156e-01] [ 1.32626035e-03 -1.89002609e-04 9.99999103e-01 5.83705356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232557844000006 meters 0.2956561747766146 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.58 [[ 0.99999336 -0.00315977 0.00181781 0.0404623 ] [ 0.00315311 0.99998834 0.00365841 -0.17647158] [-0.00182935 -0.00365266 0.99999166 0.58133546] [ 0. 0. 0. 1. ]] SLAMing on 46.26255784400001 meters 0.29602603080299755 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.58 [[ 0.9999937 -0.00303944 0.00183354 0.04038305] [ 0.00303213 0.9999875 0.0039769 -0.17777358] [-0.00184561 -0.00397132 0.99999041 0.58142942] [ 0. 0. 0. 1. ]] SLAMing on 46.29255784400001 meters 0.29544044413288356 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.58 [[ 0.9999876 0.00479672 0.00133649 0.02080385] [-0.00480096 0.9999834 0.00318539 -0.18321199] [-0.00132119 -0.00319177 0.99999403 0.57997977] [ 0. 0. 0. 1. ]] SLAMing on 46.322557844 meters 0.29439064080505367 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.58 [[ 0.99998705 0.00494633 0.0011978 0.02120475] [-0.00495057 0.99998138 0.00356946 -0.18479572] [-0.00118012 -0.00357534 0.99999291 0.57988179] [ 0. 0. 0. 1. ]] SLAMing on 46.352557844 meters 0.296341574558659 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.58 [[ 0.9999906 -0.00418704 0.00112568 0.04469718] [ 0.0041833 0.99998578 0.0033081 -0.18156676] [-0.00113951 -0.00330336 0.99999389 0.57850362] [ 0. 0. 0. 1. ]] SLAMing on 46.382557844000004 meters 0.2953375297280219 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.58 [[ 9.99994568e-01 3.19200516e-03 -8.21508288e-04 2.61314881e-02] [-3.19033008e-03 9.99992846e-01 2.03232721e-03 -1.85675727e-01] [ 8.27989610e-04 -2.02969529e-03 9.99997597e-01 5.76482655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412557844000006 meters 0.2940798414902085 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99997776 -0.00566936 -0.00351122 0.00807727] [ 0.00568101 0.99997836 0.0033171 -0.18361873] [ 0.00349234 -0.00333698 0.99998833 0.57570766] [ 0. 0. 0. 1. ]] SLAMing on 46.44255784400001 meters 0.29551230123695876 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99999384e-01 1.09691255e-03 1.71200913e-04 2.86769127e-02] [-1.09702955e-03 9.99999164e-01 6.84837358e-04 -1.84011871e-01] [-1.70449563e-04 -6.85024748e-04 9.99999751e-01 5.74366331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47255784400001 meters 0.2952215230421178 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.57 [[ 9.99999218e-01 1.22597132e-03 2.48200429e-04 2.82270892e-02] [-1.22623007e-03 9.99998702e-01 1.04505004e-03 -1.85450569e-01] [-2.46918906e-04 -1.04535358e-03 9.99999423e-01 5.74971624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50255784400001 meters 0.2952215230421178 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.57 [[ 9.99999218e-01 1.22597132e-03 2.48200429e-04 2.82270892e-02] [-1.22623007e-03 9.99998702e-01 1.04505004e-03 -1.85450569e-01] [-2.46918906e-04 -1.04535358e-03 9.99999423e-01 5.74971624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532557844 meters 0.29510896078375815 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.58 [[ 9.99999073e-01 1.35018072e-03 1.74950262e-04 2.83446257e-02] [-1.35042458e-03 9.99998106e-01 1.40129743e-03 -1.86879202e-01] [-1.73057926e-04 -1.40153239e-03 9.99999003e-01 5.75135228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562557844000004 meters 0.2950268172331346 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.57 [[ 9.99998931e-01 1.46207199e-03 3.15042707e-05 2.88788207e-02] [-1.46212452e-03 9.99997422e-01 1.73753445e-03 -1.88275213e-01] [-2.89637890e-05 -1.73757866e-03 9.99998490e-01 5.74711409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592557844000005 meters 0.2955146027804952 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.57 [[ 9.99998767e-01 1.56475019e-03 -1.30999907e-04 2.94112856e-02] [-1.56447914e-03 9.99996687e-01 2.04422190e-03 -1.89550782e-01] [ 1.34198170e-04 -2.04401443e-03 9.99997902e-01 5.74424281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622557844000006 meters 0.2953800313495872 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.57 [[ 9.99998522e-01 1.70526094e-03 -2.17198040e-04 2.97543146e-02] [-1.70472319e-03 9.99995540e-01 2.45243076e-03 -1.91220215e-01] [ 2.21379106e-04 -2.45205687e-03 9.99996969e-01 5.74126187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65255784400001 meters 0.29701586181500167 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99999395e-01 6.32572230e-04 -8.99613938e-04 6.89945283e-02] [-6.31965774e-04 9.99999573e-01 6.74253890e-04 -1.95684853e-01] [ 9.00040069e-04 -6.73684957e-04 9.99999368e-01 5.77176927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68255784400001 meters 0.2956979011317337 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99999198e-01 8.38179950e-04 -9.49633876e-04 6.89739656e-02] [-8.37037939e-04 9.99998927e-01 1.20233938e-03 -1.97805788e-01] [ 9.50640634e-04 -1.20154354e-03 9.99998826e-01 5.77491483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712557844 meters 0.2944531635722238 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.57 [[ 9.99999669e-01 -6.98454548e-04 -4.18371253e-04 3.07595204e-02] [ 6.99241952e-04 9.99997979e-01 1.88489099e-03 -2.03341977e-01] [ 4.17053897e-04 -1.88518291e-03 9.99998136e-01 5.74856273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844000004 meters 0.29520224196655154 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99999668e-01 7.88320780e-04 -2.06194866e-04 6.74799898e-02] [-7.87917934e-04 9.99997795e-01 1.94655453e-03 -2.04536107e-01] [ 2.07728921e-04 -1.94639142e-03 9.99998084e-01 5.78741202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772557844000005 meters 0.29567132876882846 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.58 [[ 9.99999444e-01 -4.21834709e-04 9.66816385e-04 2.72907213e-02] [ 4.19186004e-04 9.99996163e-01 2.73818260e-03 -2.07668029e-01] [-9.67967736e-04 -2.73777580e-03 9.99995784e-01 5.76960495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802557844000006 meters 0.2963300809363611 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.58 [[ 9.99968241e-01 6.80689713e-03 4.14517312e-03 4.80470522e-02] [-6.80691867e-03 9.99976833e-01 -8.91182346e-06 -2.06529455e-01] [-4.14513775e-03 -1.93043158e-05 9.99991409e-01 5.75286333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83255784400001 meters 0.29584824207197874 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.57 [[ 9.99968705e-01 6.81805319e-03 4.01275255e-03 4.85163502e-02] [-6.81821876e-03 9.99976755e-01 2.75838419e-05 -2.06702619e-01] [-4.01247121e-03 -5.49428035e-05 9.99991948e-01 5.74970781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86255784400001 meters 0.2953180148958942 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.57 [[ 9.99969449e-01 6.81858507e-03 3.82192512e-03 4.92193410e-02] [-6.81877158e-03 9.99976751e-01 3.57723992e-05 -2.06781931e-01] [-3.82159235e-03 -6.18321407e-05 9.99992696e-01 5.74414632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892557844 meters 0.29674357388477823 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99993568e-01 -9.42594385e-04 3.46058376e-03 6.93538452e-02] [ 9.38920291e-04 9.99998994e-01 1.06316890e-03 -2.02925676e-01] [-3.46158242e-03 -1.05991285e-03 9.99993447e-01 5.75339112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922557844 meters 0.2973291709411227 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.20, Z:0.58 [[ 9.99993527e-01 -8.27831899e-04 3.50158773e-03 6.91860865e-02] [ 8.23051752e-04 9.99998728e-01 1.36635789e-03 -2.04160534e-01] [-3.50271439e-03 -1.36346706e-03 9.99992936e-01 5.75491390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952557844000005 meters 0.29605156744272526 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99993500e-01 -7.10701204e-04 3.53483865e-03 6.90073287e-02] [ 7.04732158e-04 9.99998324e-01 1.68959213e-03 -2.05456999e-01] [-3.53603352e-03 -1.68709003e-03 9.99992325e-01 5.75713169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982557844000006 meters 0.29601080866100743 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99993935e-01 -6.12459826e-04 3.42841147e-03 6.91692484e-02] [ 6.05695991e-04 9.99997869e-01 1.97356818e-03 -2.06589717e-01] [-3.42961290e-03 -1.97147963e-03 9.99992175e-01 5.75990556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01255784400001 meters 0.295755501807593 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99995466e-01 -4.11632014e-04 2.98296866e-03 7.02742998e-02] [ 4.03460309e-04 9.99996166e-01 2.73953803e-03 -2.09589406e-01] [-2.98408491e-03 -2.73832210e-03 9.99991798e-01 5.76021163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04255784400001 meters 0.29548596588160414 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99995738e-01 -2.53773161e-04 2.90864929e-03 7.05353586e-02] [ 2.44451885e-04 9.99994835e-01 3.20458284e-03 -2.11474366e-01] [-2.90944750e-03 -3.20385816e-03 9.99990635e-01 5.75838785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072557844 meters 0.29544829449089116 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99995773e-01 -8.74351716e-05 2.90631801e-03 7.05096610e-02] [ 7.67795817e-05 9.99993276e-01 3.66626315e-03 -2.13338531e-01] [-2.90661903e-03 -3.66602450e-03 9.99989056e-01 5.75912621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102557844 meters 0.2955555659596785 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99995633e-01 1.80934909e-05 2.95531511e-03 7.03090303e-02] [-2.97582021e-05 9.99992210e-01 3.94703159e-03 -2.14474223e-01] [-2.95522068e-03 -3.94710230e-03 9.99987843e-01 5.76083786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132557844000004 meters 0.2953073255436452 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 9.99995599e-01 9.29300448e-05 2.96520563e-03 7.01396289e-02] [-1.05223692e-04 9.99991399e-01 4.14608120e-03 -2.15266836e-01] [-2.96479484e-03 -4.14637497e-03 9.99987009e-01 5.76419583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162557844000006 meters 0.2955319521822737 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 9.99995934e-01 1.66695658e-04 2.84670749e-03 7.03300621e-02] [-1.79118390e-04 9.99990461e-01 4.36419764e-03 -2.16120395e-01] [-2.84595284e-03 -4.36468979e-03 9.99986425e-01 5.76694985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19255784400001 meters 0.29624623167943004 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 9.99996277e-01 1.76892254e-04 2.72295586e-03 7.07540034e-02] [-1.88862667e-04 9.99990318e-01 4.39648048e-03 -2.16273033e-01] [-2.72215179e-03 -4.39697838e-03 9.99986628e-01 5.76448497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22255784400001 meters 0.29548839494815365 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99987321e-01 5.03032587e-03 -2.31380554e-04 4.89979662e-02] [-5.03008160e-03 9.99986804e-01 1.04444376e-03 -2.16548784e-01] [ 2.36631393e-04 -1.04326666e-03 9.99999428e-01 5.77857221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25255784400001 meters 0.297379696613818 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99987055e-01 5.08275167e-03 -2.36043242e-04 4.90090701e-02] [-5.08246903e-03 9.99986384e-01 1.18294912e-03 -2.17113844e-01] [ 2.42052665e-04 -1.18173413e-03 9.99999272e-01 5.77857749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282557844 meters 0.296156319334935 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99986736e-01 5.14682502e-03 -1.92665487e-04 4.88779953e-02] [-5.14656088e-03 9.99985849e-01 1.34724926e-03 -2.17788673e-01] [ 1.99596817e-04 -1.34623983e-03 9.99999074e-01 5.77893624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312557844000004 meters 0.2952590161493055 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99986435e-01 5.20539887e-03 -1.85620005e-04 4.87341149e-02] [-5.20511465e-03 9.99985328e-01 1.50014029e-03 -2.18394678e-01] [ 1.93426110e-04 -1.49915377e-03 9.99998858e-01 5.78173066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342557844000005 meters 0.2964507446017169 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 9.99995326e-01 -3.04783960e-03 2.42675168e-04 7.07241009e-02] [ 3.04736451e-03 9.99993485e-01 1.93461829e-03 -2.16395294e-01] [-2.48569993e-04 -1.93386973e-03 9.99998099e-01 5.78085380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372557844000006 meters 0.2950809816984901 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99989199e-01 4.19930215e-03 -1.99185781e-03 5.21321413e-02] [-4.19775828e-03 9.99990886e-01 7.78636611e-04 -2.20988279e-01] [ 1.99510939e-03 -7.70266864e-04 9.99997713e-01 5.76893072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40255784400001 meters 0.2963962392573573 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99989838e-01 4.12472303e-03 -1.81973777e-03 5.17697664e-02] [-4.12370786e-03 9.99991340e-01 5.61263730e-04 -2.20100765e-01] [ 1.82203707e-03 -5.53753959e-04 9.99998187e-01 5.76689758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43255784400001 meters 0.29786392307354503 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99994868e-01 -3.19368955e-03 2.54454429e-04 6.99978281e-02] [ 3.19327853e-03 9.99993622e-01 1.59966078e-03 -2.14814146e-01] [-2.59561626e-04 -1.59884002e-03 9.99998688e-01 5.77951261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462557844 meters 0.2964001741093083 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99994646e-01 -3.25373106e-03 3.48817988e-04 6.96795849e-02] [ 3.25322647e-03 9.99993675e-01 1.43752102e-03 -2.14123210e-01] [-3.53493089e-04 -1.43637854e-03 9.99998906e-01 5.78105244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492557844000004 meters 0.29663752666161497 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.58 [[ 0.99999529 0.00194968 -0.00236952 0.04758759] [-0.00195382 0.99999657 -0.00174438 -0.21352131] [ 0.00236612 0.001749 0.99999567 0.57997344] [ 0. 0. 0. 1. ]] SLAMing on 47.522557844000005 meters 0.2972524005074884 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 9.99996352e-01 -2.52261349e-03 9.65183792e-04 7.11315237e-02] [ 2.52114054e-03 9.99995660e-01 1.52426707e-03 -2.15028695e-01] [-9.69024740e-04 -1.52182814e-03 9.99998373e-01 5.76830505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552557844000006 meters 0.2953443872411607 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99996335e-01 -2.54178263e-03 9.32434556e-04 7.12190241e-02] [ 2.54040583e-03 9.99995686e-01 1.47478221e-03 -2.14827094e-01] [-9.36179108e-04 -1.47240805e-03 9.99998478e-01 5.76825340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58255784400001 meters 0.2963729078032667 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.58 [[ 9.99996298e-01 -2.56145680e-03 9.18208274e-04 7.11815780e-02] [ 2.56014786e-03 9.99995709e-01 1.42388983e-03 -2.14599966e-01] [-9.21851566e-04 -1.42153381e-03 9.99998565e-01 5.76993212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61255784400001 meters 0.2950724489911174 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99986881e-01 5.11116611e-03 -3.36540282e-04 5.12991111e-02] [-5.11098264e-03 9.99986791e-01 5.43782602e-04 -2.18871281e-01] [ 3.39315200e-04 -5.42055417e-04 9.99999796e-01 5.76526749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642557844 meters 0.2946932206743089 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.58 [[ 9.99986847e-01 5.12454853e-03 -2.13044047e-04 5.08643053e-02] [-5.12442640e-03 9.99986708e-01 5.69907923e-04 -2.18948733e-01] [ 2.15961736e-04 -5.68808699e-04 9.99999815e-01 5.76806375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672557844 meters 0.2964039344284656 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 0.99999465 -0.00271967 0.0018192 0.07169095] [ 0.00271779 0.99999577 0.00103753 -0.21593207] [-0.00182201 -0.00103258 0.99999781 0.57651876] [ 0. 0. 0. 1. ]] SLAMing on 47.702557844000005 meters 0.2963681655158714 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 0.99999495 -0.00261062 0.00181483 0.07180043] [ 0.0026082 0.99999571 0.00133177 -0.21716353] [-0.0018183 -0.00132703 0.99999747 0.57630201] [ 0. 0. 0. 1. ]] SLAMing on 47.732557844000006 meters 0.29510208076883104 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 0.99999526 -0.00254097 0.00173973 0.07204034] [ 0.00253833 0.99999562 0.00152103 -0.21795361] [-0.00174358 -0.00151661 0.99999733 0.57620253] [ 0. 0. 0. 1. ]] SLAMing on 47.76255784400001 meters 0.29633099566462046 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 0.99999559 -0.00248553 0.00162496 0.07235672] [ 0.00248281 0.99999551 0.00167557 -0.21860429] [-0.00162911 -0.00167153 0.99999728 0.57616399] [ 0. 0. 0. 1. ]] SLAMing on 47.79255784400001 meters 0.29578197824023195 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.58 [[ 0.99999586 -0.00247105 0.00147675 0.07285727] [ 0.00246851 0.99999547 0.0017217 -0.21883141] [-0.001481 -0.00171805 0.99999743 0.57589124] [ 0. 0. 0. 1. ]] SLAMing on 47.822557844 meters 0.2981034866993397 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:0.57 [[ 0.99999614 -0.00252289 0.00116208 0.07403317] [ 0.00252105 0.99999557 0.00158494 -0.21832909] [-0.00116607 -0.001582 0.99999807 0.57468381] [ 0. 0. 0. 1. ]] SLAMing on 47.852557844 meters 0.2974290462372913 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:0.57 [[ 0.99996705 0.00803438 0.00115803 0.09652088] [-0.00803614 0.99996655 0.00152314 -0.21995503] [-0.00114575 -0.0015324 0.99999817 0.57366414] [ 0. 0. 0. 1. ]] SLAMing on 47.882557844000004 meters 0.2955130484384531 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 0.99999806 -0.00167977 -0.00102469 0.07752878] [ 0.00168201 0.99999618 0.00219222 -0.21703648] [ 0.001021 -0.00219394 0.99999707 0.57325912] [ 0. 0. 0. 1. ]] SLAMing on 47.912557844000006 meters 0.2960949595908086 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 0.9999979 -0.00171603 -0.00111899 0.07777925] [ 0.00171838 0.99999632 0.00210079 -0.21666163] [ 0.00111538 -0.00210271 0.99999717 0.5732482 ] [ 0. 0. 0. 1. ]] SLAMing on 47.94255784400001 meters 0.2959865001369074 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 0.99999786 -0.00174497 -0.00111114 0.0776013 ] [ 0.00174722 0.99999642 0.00202446 -0.21632047] [ 0.00110761 -0.00202639 0.99999733 0.57360543] [ 0. 0. 0. 1. ]] SLAMing on 47.97255784400001 meters 0.2966940535842012 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998152e-01 -1.72729739e-03 -8.43639809e-04 7.65696408e-02] [ 1.72902777e-03 9.99996394e-01 2.05469055e-03 -2.16305993e-01] [ 8.40087705e-04 -2.05614543e-03 9.99997533e-01 5.74586582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00255784400001 meters 0.2967973105196343 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998203e-01 -1.73972988e-03 -7.53660078e-04 7.63535012e-02] [ 1.74124757e-03 9.99996448e-01 2.01780577e-03 -2.16150796e-01] [ 7.50146964e-04 -2.01911445e-03 9.99997680e-01 5.74542084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032557844 meters 0.2961369985417424 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998273e-01 -1.71437748e-03 -7.18261578e-04 7.63405040e-02] [ 1.71587033e-03 9.99996358e-01 2.08298699e-03 -2.16437482e-01] [ 7.14687937e-04 -2.08421583e-03 9.99997573e-01 5.74359934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844000004 meters 0.2970940727312342 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998274e-01 -1.69138960e-03 -7.69509737e-04 7.65387371e-02] [ 1.69303728e-03 9.99996265e-01 2.14561852e-03 -2.16714017e-01] [ 7.65877786e-04 -2.14691763e-03 9.99997402e-01 5.74224788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092557844000005 meters 0.29678016681016905 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998214e-01 -1.70354699e-03 -8.19067231e-04 7.66395205e-02] [ 1.70527740e-03 9.99996306e-01 2.11661381e-03 -2.16589710e-01] [ 8.15458454e-04 -2.11800677e-03 9.99997425e-01 5.74290404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844000006 meters 0.2966718216597317 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 0.99998068 0.00584134 -0.00212516 0.05724773] [-0.00583894 0.99998231 0.0011361 -0.22090466] [ 0.00213175 -0.00112367 0.9999971 0.57367008] [ 0. 0. 0. 1. ]] SLAMing on 48.15255784400001 meters 0.2974247093203652 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99981042e-01 5.75497725e-03 -2.19014300e-03 5.72699202e-02] [-5.75300230e-03 9.99983040e-01 9.06976851e-04 -2.19920562e-01] [ 2.19532548e-03 -8.94359759e-04 9.99997190e-01 5.74013881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18255784400001 meters 0.29824218883470893 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99997368e-01 -2.21884613e-03 -5.83763768e-04 7.77090167e-02] [ 2.21955232e-03 9.99996802e-01 1.21185896e-03 -2.15190589e-01] [ 5.81072973e-04 -1.21315147e-03 9.99999095e-01 5.74004640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212557844 meters 0.2983253218909802 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.57 [[ 9.99997327e-01 -2.25013758e-03 -5.31164323e-04 7.75382261e-02] [ 2.25073468e-03 9.99996833e-01 1.12623096e-03 -2.14824799e-01] [ 5.28628467e-04 -1.12742346e-03 9.99999225e-01 5.74071897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242557844000004 meters 0.29588213291550297 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.57 [[ 9.99997286e-01 -2.28672148e-03 -4.45639815e-04 7.72912143e-02] [ 2.28717623e-03 9.99996862e-01 1.02261678e-03 -2.14385768e-01] [ 4.43299977e-04 -1.02363326e-03 9.99999378e-01 5.74119047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272557844000005 meters 0.2981309801809936 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.57 [[ 9.99997252e-01 -2.31374612e-03 -3.77372818e-04 7.69715093e-02] [ 2.31410326e-03 9.99996872e-01 9.48711061e-04 -2.14042913e-01] [ 3.75176561e-04 -9.49581733e-04 9.99999479e-01 5.74438099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302557844000006 meters 0.2968854541108144 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.57 [[ 9.99997324e-01 -2.28660379e-03 -3.51464447e-04 7.67080713e-02] [ 2.28696016e-03 9.99996868e-01 1.01691252e-03 -2.14274397e-01] [ 3.49138070e-04 -1.01771359e-03 9.99999421e-01 5.74884860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33255784400001 meters 0.29660303366888224 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.58 [[ 9.99997403e-01 -2.25720700e-03 -3.15050973e-04 7.64794403e-02] [ 2.25755059e-03 9.99996853e-01 1.09453373e-03 -2.14559616e-01] [ 3.12579392e-04 -1.09524213e-03 9.99999351e-01 5.75206825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36255784400001 meters 0.2967364991206018 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99997508e-01 -2.20665614e-03 -3.39032778e-04 7.64325642e-02] [ 2.20707325e-03 9.99996802e-01 1.23488224e-03 -2.15107010e-01] [ 3.36306733e-04 -1.23562744e-03 9.99999180e-01 5.75462949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392557844 meters 0.2967364991206018 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99997508e-01 -2.20665614e-03 -3.39032778e-04 7.64325642e-02] [ 2.20707325e-03 9.99996802e-01 1.23488224e-03 -2.15107010e-01] [ 3.36306733e-04 -1.23562744e-03 9.99999180e-01 5.75462949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422557844 meters 0.29593673960019024 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99997625e-01 -2.15620042e-03 -3.16116789e-04 7.63751128e-02] [ 2.15663184e-03 9.99996735e-01 1.37084957e-03 -2.15657845e-01] [ 3.13159931e-04 -1.37152806e-03 9.99999010e-01 5.75459890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452557844000005 meters 0.29613643564400216 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99997736e-01 -2.11360326e-03 -2.47701944e-04 7.62215610e-02] [ 2.11396747e-03 9.99996671e-01 1.47943132e-03 -2.16106705e-01] [ 2.44574188e-04 -1.47995160e-03 9.99998875e-01 5.75406276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482557844000006 meters 0.2953621912344786 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99997890e-01 -2.03453611e-03 -2.82803296e-04 7.63363747e-02] [ 2.03501317e-03 9.99996490e-01 1.69695559e-03 -2.17007593e-01] [ 2.79349785e-04 -1.69752752e-03 9.99998520e-01 5.75351559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51255784400001 meters 0.29447995520300163 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99984861e-01 5.33936452e-03 -1.33026576e-03 5.74148670e-02] [-5.33866447e-03 9.99985609e-01 5.29249475e-04 -2.21917431e-01] [ 1.33307247e-03 -5.22139620e-04 9.99998975e-01 5.74245784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54255784400001 meters 0.29647796719073866 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99984977e-01 5.31703408e-03 -1.33262063e-03 5.73298379e-02] [-5.31641020e-03 9.99985757e-01 4.71262877e-04 -2.21655508e-01] [ 1.33510737e-03 -4.64171040e-04 9.99999001e-01 5.74455203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572557844 meters 0.2959048551530498 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99996695e-01 -2.56921430e-03 9.84786344e-05 7.70348076e-02] [ 2.56910699e-03 9.99996122e-01 1.07479975e-03 -2.16747249e-01] [-1.01239643e-04 -1.07454320e-03 9.99999418e-01 5.74703024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602557844 meters 0.29757142592845615 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99996655e-01 -2.58639109e-03 2.03337194e-05 7.73375805e-02] [ 2.58636871e-03 9.99996122e-01 1.03291156e-03 -2.16596577e-01] [-2.30051538e-05 -1.03285552e-03 9.99999466e-01 5.74471413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632557844000004 meters 0.2948119186340999 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.57 [[ 9.99994535e-01 -3.30285368e-03 1.47550481e-04 3.94638333e-02] [ 3.30250933e-03 9.99991956e-01 2.27607079e-03 -2.20283588e-01] [-1.55066823e-04 -2.27557107e-03 9.99997399e-01 5.71570490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662557844000006 meters 0.29609027296639345 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99977330e-01 6.71626302e-03 4.81799167e-04 6.07476118e-02] [-6.71700702e-03 9.99976224e-01 1.55959633e-03 -2.21665226e-01] [-4.71313052e-04 -1.56279723e-03 9.99998668e-01 5.71650347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69255784400001 meters 0.29644274389407355 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99977744e-01 6.66008128e-03 3.92502941e-04 6.11703954e-02] [-6.66063006e-03 9.99976818e-01 1.41385310e-03 -2.21097624e-01] [-3.83077466e-04 -1.41643595e-03 9.99998923e-01 5.71194257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72255784400001 meters 0.2976078745185284 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998931e-01 -1.21956808e-03 -8.06488465e-04 8.23237378e-02] [ 1.22120458e-03 9.99997190e-01 2.03179763e-03 -2.16878274e-01] [ 8.04008283e-04 -2.03278035e-03 9.99997611e-01 5.71763901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75255784400001 meters 0.29748850278954514 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99998968e-01 -1.15783970e-03 -8.50676425e-04 8.23947266e-02] [ 1.15970581e-03 9.99996915e-01 2.19646728e-03 -2.17552789e-01] [ 8.48130644e-04 -2.19745155e-03 9.99997226e-01 5.71873160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782557844 meters 0.2977062906902893 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99999053e-01 -1.07771862e-03 -8.55442008e-04 8.22696329e-02] [ 1.07978237e-03 9.99996499e-01 2.41571645e-03 -2.18415239e-01] [ 8.52835551e-04 -2.41663786e-03 9.99996716e-01 5.72199544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812557844000004 meters 0.29670022834566534 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99999198e-01 -9.95376693e-04 -7.83554821e-04 8.19776091e-02] [ 9.97441459e-04 9.99996020e-01 2.63916145e-03 -2.19298791e-01] [ 7.80924742e-04 -2.63994088e-03 9.99996210e-01 5.72457991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842557844000005 meters 0.29621800754503386 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.57 [[ 9.99999418e-01 -8.45332427e-04 -6.70614287e-04 8.14571094e-02] [ 8.47401780e-04 9.99994862e-01 3.09149766e-03 -2.21048297e-01] [ 6.67997498e-04 -3.09206414e-03 9.99994996e-01 5.73102036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872557844000006 meters 0.29499033376708567 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.57 [[ 9.99991014e-01 3.70917778e-03 -2.05255516e-03 5.78273776e-02] [-3.71016190e-03 9.99993004e-01 -4.75860278e-04 -2.22979562e-01] [ 2.05077575e-03 4.83471314e-04 9.99997780e-01 5.74603448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90255784400001 meters 0.2960832595384059 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 9.99991610e-01 -3.87198626e-03 -1.33713436e-03 7.80177431e-02] [ 3.87278093e-03 9.99992325e-01 5.92230703e-04 -2.20184769e-01] [ 1.33483099e-03 -5.97404163e-04 9.99998931e-01 5.75559506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93255784400001 meters 0.2983848463941462 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.22, Z:0.57 [[ 9.99992681e-01 3.74083803e-03 8.02243638e-04 9.98384706e-02] [-3.73920128e-03 9.99990944e-01 -2.03210234e-03 -2.20478353e-01] [-8.09838139e-04 2.02908771e-03 9.99997613e-01 5.73377427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962557844 meters 0.29597245202295525 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.58 [[ 0.99999074 -0.00390522 -0.00180668 0.07890477] [ 0.00390709 0.99999183 0.0010331 -0.22464348] [ 0.00180264 -0.00104014 0.99999783 0.57522771] [ 0. 0. 0. 1. ]] SLAMing on 48.992557844000004 meters 0.29708806907975016 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.23, Z:0.58 [[ 9.99985878e-01 5.31071062e-03 2.00234393e-04 9.68528708e-02] [-5.31070523e-03 9.99985898e-01 -2.74338411e-05 -2.29420858e-01] [-2.00377262e-04 2.63700678e-05 9.99999980e-01 5.76744207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022557844000005 meters 0.29603818215765876 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99986408e-01 -5.13994838e-03 -8.73984953e-04 7.54628449e-02] [ 5.14026029e-03 9.99986726e-01 3.55016213e-04 -2.29655582e-01] [ 8.72148586e-04 -3.59503898e-04 9.99999555e-01 5.77718785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052557844000006 meters 0.29559613822021596 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:0.58 [[ 9.99991179e-01 4.19277583e-03 -2.52088108e-04 9.41871604e-02] [-4.19297747e-03 9.99990886e-01 -8.04727208e-04 -2.34860560e-01] [ 2.48711770e-04 8.05777109e-04 9.99999644e-01 5.79352644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08255784400001 meters 0.2965626951253012 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.24, Z:0.58 [[ 0.99999433 -0.00177883 -0.00285961 0.11168232] [ 0.00178301 0.99999735 0.00145858 -0.23669811] [ 0.00285701 -0.00146367 0.99999485 0.58380566] [ 0. 0. 0. 1. ]] SLAMing on 49.11255784400001 meters 0.29531065426072917 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:0.58 [[ 9.99978405e-01 5.53788031e-03 -3.53848106e-03 9.26409426e-02] [-5.53637509e-03 9.99984580e-01 4.35040422e-04 -2.41797941e-01] [ 3.54083569e-03 -4.15440669e-04 9.99993645e-01 5.81908256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142557844 meters 0.29547950654814825 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:0.58 [[ 9.99978435e-01 5.53402400e-03 -3.53614032e-03 9.27834874e-02] [-5.53255152e-03 9.99984605e-01 4.26057166e-04 -2.41793304e-01] [ 3.53844369e-03 -4.06484100e-04 9.99993657e-01 5.81573466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172557844 meters 0.29730515518100115 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:0.58 [[ 9.99978526e-01 5.51836436e-03 -3.53481367e-03 9.28377845e-02] [-5.51703053e-03 9.99984706e-01 3.86980320e-04 -2.41642906e-01] [ 3.53689511e-03 -3.67470335e-04 9.99993678e-01 5.81445285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202557844000005 meters 0.29569309483366196 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:0.58 [[ 9.99978583e-01 5.51901892e-03 -3.51774380e-03 9.26790888e-02] [-5.51768702e-03 9.99984702e-01 3.88217221e-04 -2.41619189e-01] [ 3.51983256e-03 -3.68799097e-04 9.99993737e-01 5.81699369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232557844000006 meters 0.29682567895282547 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:0.58 [[ 9.99979374e-01 5.42655102e-03 -3.43566190e-03 9.24119144e-02] [-5.42618526e-03 9.99985271e-01 1.15770305e-04 -2.40486774e-01] [ 3.43623953e-03 -9.71253792e-05 9.99994091e-01 5.81837969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26255784400001 meters 0.29701711458475427 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.58 [[ 9.99994388e-01 -2.23842816e-03 -2.49286004e-03 1.12011285e-01] [ 2.24037166e-03 9.99997188e-01 7.77104462e-04 -2.34780879e-01] [ 2.49111354e-03 -7.82685034e-04 9.99996591e-01 5.82387605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29255784400001 meters 0.29677238678494877 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.58 [[ 9.99994167e-01 -2.30957890e-03 -2.51648707e-03 1.12194718e-01] [ 2.31106109e-03 9.99997158e-01 5.86240192e-04 -2.34026803e-01] [ 2.51512595e-03 -5.92052528e-04 9.99996662e-01 5.82102581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32255784400001 meters 0.29724084241356535 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.58 [[ 9.99994039e-01 -2.38139400e-03 -2.50035615e-03 1.12245821e-01] [ 2.38239027e-03 9.99997084e-01 3.95549609e-04 -2.33262141e-01] [ 2.49940690e-03 -4.01504075e-04 9.99996796e-01 5.81883469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352557844 meters 0.29697471084301835 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.58 [[ 9.99994132e-01 -2.51645040e-03 -2.32436191e-03 1.11711557e-01] [ 2.51650957e-03 9.99996833e-01 2.25320344e-05 -2.31684313e-01] [ 2.32429785e-03 -2.83811812e-05 9.99997298e-01 5.82047596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382557844000004 meters 0.29602473496242715 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.58 [[ 0.99999368 -0.00339593 -0.0010548 0.07169929] [ 0.00339756 0.99999303 0.00154723 -0.23499052] [ 0.00104954 -0.00155081 0.99999825 0.58011511] [ 0. 0. 0. 1. ]] SLAMing on 49.412557844000006 meters 0.2966425617475795 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.58 [[ 9.99993374e-01 -3.50023520e-03 -1.00003112e-03 7.16460920e-02] [ 3.50150590e-03 9.99993061e-01 1.27175064e-03 -2.33866217e-01] [ 9.95572753e-04 -1.27524382e-03 9.99998691e-01 5.79898083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44255784400001 meters 0.2983917088817023 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.58 [[ 0.99999862 -0.00107305 -0.00126745 0.11332306] [ 0.00107442 0.99999884 0.00108125 -0.22869104] [ 0.00126629 -0.00108261 0.99999861 0.58024224] [ 0. 0. 0. 1. ]] SLAMing on 49.47255784400001 meters 0.29644467933771185 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99997001e-01 -2.32281792e-03 -7.75744330e-04 7.57116260e-02] [ 2.32432499e-03 9.99995402e-01 1.94752006e-03 -2.30269028e-01] [ 7.71217029e-04 -1.94931731e-03 9.99997803e-01 5.76779486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50255784400001 meters 0.29634194854287604 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99996731e-01 -2.43330641e-03 -7.85396794e-04 7.57984808e-02] [ 2.43460585e-03 9.99995662e-01 1.65780652e-03 -2.29087304e-01] [ 7.81359436e-04 -1.65971323e-03 9.99998317e-01 5.76628410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532557844 meters 0.29582056788384903 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99996529e-01 -2.51002482e-03 -8.00761882e-04 7.56667125e-02] [ 2.51118738e-03 9.99995790e-01 1.45413809e-03 -2.28210935e-01] [ 7.97108588e-04 -1.45614391e-03 9.99998622e-01 5.77014939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844000004 meters 0.29618793042670183 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99996433e-01 -2.55586385e-03 -7.75377344e-04 7.56352159e-02] [ 2.55689697e-03 9.99995841e-01 1.33436490e-03 -2.27721323e-01] [ 7.71963664e-04 -1.33634270e-03 9.99998809e-01 5.76931953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592557844000005 meters 0.2973380575272697 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 9.99996496e-01 -2.54156630e-03 -7.39886716e-04 7.55735004e-02] [ 2.54257699e-03 9.99995832e-01 1.36829598e-03 -2.27867828e-01] [ 7.36406017e-04 -1.37017241e-03 9.99998790e-01 5.76863684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844000006 meters 0.2947147077011103 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.58 [[ 0.99999419 0.00241511 -0.00240531 0.05222971] [-0.00241981 0.99999517 -0.0019517 -0.22838065] [ 0.00240059 0.00195751 0.9999952 0.57870922] [ 0. 0. 0. 1. ]] SLAMing on 49.65255784400001 meters 0.29657396954058884 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.58 [[ 9.99984422e-01 -5.51584760e-03 -8.54693690e-04 7.41212528e-02] [ 5.51440906e-03 9.99983390e-01 -1.67642445e-03 -2.26060059e-01] [ 8.63926396e-04 1.67168520e-03 9.99998230e-01 5.78743627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68255784400001 meters 0.29620560387251726 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.58 [[ 9.99984576e-01 -5.48068013e-03 -8.99897168e-04 7.42875696e-02] [ 5.47925073e-03 9.99983735e-01 -1.58325306e-03 -2.26464304e-01] [ 9.08559835e-04 1.57829788e-03 9.99998342e-01 5.78642839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712557844 meters 0.2950142143350967 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99975536e-01 -5.41432944e-03 -4.42852713e-03 3.15816223e-02] [ 5.41730969e-03 9.99985108e-01 6.61247130e-04 -2.32390037e-01] [ 4.42488097e-03 -6.85221657e-04 9.99989975e-01 5.80668193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742557844000004 meters 0.2972016428858518 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:0.58 [[ 0.99999518 -0.00291612 -0.00106816 0.07715568] [ 0.00291734 0.99999509 0.00113988 -0.22972114] [ 0.00106483 -0.00114299 0.99999878 0.57701068] [ 0. 0. 0. 1. ]] SLAMing on 49.772557844000005 meters 0.29450787309728893 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 0.99998389 -0.00424878 -0.00376459 0.03398023] [ 0.00425591 0.99998916 0.00188813 -0.2336197 ] [ 0.00375653 -0.00190412 0.99999113 0.57860554] [ 0. 0. 0. 1. ]] SLAMing on 49.802557844000006 meters 0.2956541563749831 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.58 [[ 9.99994719e-01 3.10742266e-03 -9.51546808e-04 5.49974227e-02] [-3.10836711e-03 9.99994676e-01 -9.92681783e-04 -2.32148773e-01] [ 9.48457061e-04 9.95634298e-04 9.99999055e-01 5.76862596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83255784400001 meters 0.2951474762552822 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99998671e-01 1.57919914e-03 4.04071000e-04 1.44539688e-02] [-1.57923934e-03 9.99998748e-01 9.91853642e-05 -2.35040603e-01] [-4.03913861e-04 -9.98233573e-05 9.99999913e-01 5.75524660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86255784400001 meters 0.2957068619494843 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:0.57 [[ 0.99999146 -0.00303815 0.00280215 0.03782449] [ 0.00302812 0.99998902 0.00357581 -0.2357634 ] [-0.00281299 -0.0035673 0.99998968 0.57357777] [ 0. 0. 0. 1. ]] SLAMing on 49.892557844 meters 0.29439664682300115 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.24, Z:0.58 [[ 9.99999015e-01 1.36025469e-03 3.46767395e-04 1.53159405e-02] [-1.36019850e-03 9.99999062e-01 -1.62218991e-04 -2.35582917e-01] [-3.46987729e-04 1.61747159e-04 9.99999927e-01 5.75113600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922557844 meters 0.2953853223264221 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.24, Z:0.58 [[ 9.99999013e-01 1.38803039e-03 2.16672233e-04 1.56615091e-02] [-1.38801346e-03 9.99999034e-01 -7.83043726e-05 -2.35942430e-01] [-2.16780712e-04 7.80035513e-05 9.99999973e-01 5.75086100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952557844000005 meters 0.2957999177728196 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.24, Z:0.57 [[ 9.99998975e-01 1.42079084e-03 1.76664447e-04 1.58767392e-02] [-1.42079261e-03 9.99998991e-01 9.87474219e-06 -2.36336172e-01] [-1.76650239e-04 -1.01257356e-05 9.99999984e-01 5.74832430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982557844000006 meters 0.29481052541601827 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.24, Z:0.57 [[ 9.99999475e-01 2.11179224e-04 1.00229725e-03 -2.27345207e-02] [-2.12661602e-04 9.99998884e-01 1.47910461e-03 -2.40386046e-01] [-1.00198377e-03 -1.47931699e-03 9.99998404e-01 5.72205849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01255784400001 meters 0.2957323366031981 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.24, Z:0.58 [[ 9.99999254e-01 1.20713561e-03 -1.84228027e-04 1.63342924e-02] [-1.20716109e-03 9.99999262e-01 -1.38274515e-04 -2.36619874e-01] [ 1.84060975e-04 1.38496805e-04 9.99999973e-01 5.75051890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04255784400001 meters 0.2970937526107966 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.23, Z:0.58 [[ 9.99978598e-01 -6.47414703e-03 9.42963270e-04 3.61292435e-02] [ 6.47356506e-03 9.99978855e-01 6.18917708e-04 -2.32201118e-01] [-9.46950295e-04 -6.12800128e-04 9.99999364e-01 5.75867524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07255784400001 meters 0.29502973987702896 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99998010e-01 1.97515248e-03 2.80710750e-04 1.34042354e-02] [-1.97532820e-03 9.99997852e-01 6.27105811e-04 -2.34919789e-01] [-2.79471518e-04 -6.27659059e-04 9.99999764e-01 5.76678772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102557844 meters 0.2949258797201452 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99998118e-01 1.88427566e-03 4.62739421e-04 1.29284068e-02] [-1.88444482e-03 9.99998158e-01 3.65408070e-04 -2.33819595e-01] [-4.62050039e-04 -3.66279389e-04 9.99999826e-01 5.76678225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132557844000004 meters 0.2950848911160118 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99998166e-01 1.82534178e-03 5.79598973e-04 1.25031492e-02] [-1.82545741e-03 9.99998314e-01 1.99031364e-04 -2.33086751e-01] [-5.79234695e-04 -2.00089032e-04 9.99999812e-01 5.76975165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162557844000006 meters 0.29519069203097215 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99998089e-01 1.82515772e-03 7.00227714e-04 1.20236482e-02] [-1.82529151e-03 9.99998316e-01 1.90481305e-04 -2.33007637e-01] [-6.99878877e-04 -1.91759061e-04 9.99999737e-01 5.77364300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19255784400001 meters 0.297145147076821 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99979530e-01 -5.71320157e-03 2.88078083e-03 3.17672308e-02] [ 5.71034669e-03 9.99983198e-01 9.98259616e-04 -2.30046960e-01] [-2.88643568e-03 -9.81788924e-04 9.99995352e-01 5.77936923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22255784400001 meters 0.29605927889443745 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99996023e-01 1.66253486e-03 2.27827475e-03 1.24632364e-02] [-1.66228810e-03 9.99998612e-01 -1.10200727e-04 -2.34826222e-01] [-2.27845480e-03 1.06413140e-04 9.99997399e-01 5.76643010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25255784400001 meters 0.2965844350960218 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996049e-01 1.72646091e-03 2.21822151e-03 1.28836172e-02] [-1.72659624e-03 9.99998508e-01 5.90915471e-05 -2.35594508e-01] [-2.21811618e-03 -6.29212866e-05 9.99997538e-01 5.76054864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282557844 meters 0.29551692742451663 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996322e-01 1.76165318e-03 2.06227128e-03 1.33730259e-02] [-1.76200295e-03 9.99998434e-01 1.67799600e-04 -2.36087495e-01] [-2.06197244e-03 -1.71432711e-04 9.99997859e-01 5.75867895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312557844000004 meters 0.29551692742451663 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996322e-01 1.76165318e-03 2.06227128e-03 1.33730259e-02] [-1.76200295e-03 9.99998434e-01 1.67799600e-04 -2.36087495e-01] [-2.06197244e-03 -1.71432711e-04 9.99997859e-01 5.75867895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342557844000005 meters 0.296251934322599 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996451e-01 1.83919113e-03 1.92755406e-03 1.37555764e-02] [-1.83991333e-03 9.99998238e-01 3.72968809e-04 -2.36956233e-01] [-1.92686471e-03 -3.76514017e-04 9.99998073e-01 5.75808814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372557844000006 meters 0.29622086841734735 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996446e-01 1.89250674e-03 1.87786334e-03 1.38173487e-02] [-1.89347249e-03 9.99998076e-01 5.12636583e-04 -2.37527003e-01] [-1.87688956e-03 -5.16190444e-04 9.99998105e-01 5.75961037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40255784400001 meters 0.2958591857011223 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996306e-01 1.88578506e-03 1.95749283e-03 1.35767441e-02] [-1.88674749e-03 9.99998100e-01 4.89932498e-04 -2.37421392e-01] [-1.95656520e-03 -4.93623983e-04 9.99997964e-01 5.76034470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43255784400001 meters 0.2959754462628928 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996106e-01 1.87716610e-03 2.06519034e-03 1.32886154e-02] [-1.87812273e-03 9.99998130e-01 4.61374875e-04 -2.37292315e-01] [-2.06432040e-03 -4.65251760e-04 9.99997761e-01 5.76049452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462557844 meters 0.29543229945526106 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.58 [[ 9.99996124e-01 1.80596563e-03 2.11886925e-03 1.34059291e-02] [-1.80653174e-03 9.99998333e-01 2.65293215e-04 -2.36511152e-01] [-2.11838661e-03 -2.69119991e-04 9.99997720e-01 5.75443997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492557844000004 meters 0.29513973538826926 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.57 [[ 9.99996492e-01 1.76724077e-03 1.97294519e-03 1.40115312e-02] [-1.76757435e-03 9.99998424e-01 1.67347267e-04 -2.36167086e-01] [-1.97264634e-03 -1.70834007e-04 9.99998040e-01 5.74863574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522557844000005 meters 0.2957781912271307 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.24, Z:0.57 [[ 9.99996916e-01 1.71105160e-03 1.80006798e-03 1.47142294e-02] [-1.71109606e-03 9.99998536e-01 2.31545316e-05 -2.35628444e-01] [-1.80002573e-03 -2.62345494e-05 9.99998380e-01 5.74189941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552557844000006 meters 0.2956520735628732 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.57 [[ 9.99997362e-01 1.58968459e-03 1.65811724e-03 1.53735126e-02] [-1.58919632e-03 9.99998693e-01 -2.95752125e-04 -2.34316761e-01] [-1.65858523e-03 2.93116271e-04 9.99998582e-01 5.73512424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58255784400001 meters 0.29711988802718575 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.57 [[ 9.99997417e-01 1.55262015e-03 1.66020500e-03 1.52811286e-02] [-1.55196816e-03 9.99998718e-01 -3.93931907e-04 -2.33886797e-01] [-1.66081450e-03 3.91354304e-04 9.99998544e-01 5.73708529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61255784400001 meters 0.29562471731776646 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.57 [[ 9.99997454e-01 1.54154134e-03 1.64784299e-03 1.52653365e-02] [-1.54084597e-03 9.99998723e-01 -4.23174546e-04 -2.33758149e-01] [-1.64849323e-03 4.20634396e-04 9.99998553e-01 5.73813837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters 0.2947666742670512 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.57 [[ 9.99997492e-01 1.50726900e-03 1.65642861e-03 1.52578769e-02] [-1.50641472e-03 9.99998732e-01 -5.16860595e-04 -2.33375090e-01] [-1.65720555e-03 5.14364030e-04 9.99998495e-01 5.73777576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672557844 meters 0.2971410616287807 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.58 [[ 0.99999517 0.00293495 0.00102057 0.05425258] [-0.00293343 0.9999946 -0.00148407 -0.22897017] [-0.00102492 0.00148107 0.99999838 0.5761891 ] [ 0. 0. 0. 1. ]] SLAMing on 50.702557844000005 meters 0.29385019713005894 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.58 [[ 9.99995520e-01 1.77522347e-03 -2.41011415e-03 8.88201736e-03] [-1.77621980e-03 9.99998338e-01 -4.11316215e-04 -2.30501643e-01] [ 2.40937997e-03 4.15595264e-04 9.99997011e-01 5.79658738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732557844000006 meters 0.2951249014730737 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99993504e-01 -3.60377589e-03 -7.45517660e-05 3.18119932e-02] [ 3.60393767e-03 9.99990866e-01 2.29758131e-03 -2.29228433e-01] [ 6.62711169e-05 -2.29783506e-03 9.99997358e-01 5.77311023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76255784400001 meters 0.29529550175923025 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99993405e-01 -3.62914427e-03 -1.35404972e-04 3.20788023e-02] [ 3.62943768e-03 9.99990919e-01 2.23347796e-03 -2.28984889e-01] [ 1.27298129e-04 -2.23395468e-03 9.99997497e-01 5.77064828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79255784400001 meters 0.2959786606552828 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99993203e-01 -3.68499602e-03 -1.23968220e-04 3.21043279e-02] [ 3.68524687e-03 9.99991029e-01 2.08806321e-03 -2.28389728e-01] [ 1.16272603e-04 -2.08850587e-03 9.99997812e-01 5.76936109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82255784400001 meters 0.29548089775317926 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 9.99992931e-01 -3.76015243e-03 1.07398235e-05 3.17120644e-02] [ 3.76012532e-03 9.99991135e-01 1.89499008e-03 -2.27550740e-01] [-1.78651799e-05 -1.89493630e-03 9.99998204e-01 5.76994699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852557844 meters 0.2961357045015289 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.58 [[ 0.99997319 0.00664866 0.00306689 0.05139223] [-0.00665521 0.99997558 0.00213175 -0.22717315] [-0.00305264 -0.00215211 0.99999302 0.576458 ] [ 0. 0. 0. 1. ]] SLAMing on 50.882557844000004 meters 0.29457622467066574 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.23, Z:0.58 [[ 0.99999264 -0.00349813 0.00157793 0.03099451] [ 0.00349425 0.99999089 0.00244976 -0.22501248] [-0.00158649 -0.00244423 0.99999575 0.5766755 ] [ 0. 0. 0. 1. ]] SLAMing on 50.912557844000006 meters 0.2956759172539422 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:0.58 [[ 0.99999274 -0.0035249 0.00144779 0.03141072] [ 0.00352144 0.99999096 0.00238407 -0.22476234] [-0.00145618 -0.00237895 0.99999611 0.57649341] [ 0. 0. 0. 1. ]] SLAMing on 50.94255784400001 meters 0.2947426177463456 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.57 [[ 9.99993059e-01 3.70248529e-03 -4.17394314e-04 1.28027514e-02] [-3.70208190e-03 9.99992683e-01 9.63106404e-04 -2.28012445e-01] [ 4.20957148e-04 -9.61554491e-04 9.99999449e-01 5.74931454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97255784400001 meters 0.29426226225538116 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.57 [[ 9.99993515e-01 3.58194424e-03 -3.73141583e-04 1.29066567e-02] [-3.58170729e-03 9.99993385e-01 6.33758081e-04 -2.26677228e-01] [ 3.75409200e-04 -6.32417487e-04 9.99999730e-01 5.74421579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00255784400001 meters 0.29610431209446014 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.57 [[ 0.99999865 -0.00123468 0.00108145 0.03684799] [ 0.00123054 0.99999195 0.00381953 -0.22396394] [-0.00108616 -0.00381819 0.99999212 0.57227482] [ 0. 0. 0. 1. ]] SLAMing on 51.032557844 meters 0.29458826254486237 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.57 [[ 9.99977914e-01 6.58358796e-03 9.09703514e-04 1.48535292e-02] [-6.58615775e-03 9.99974246e-01 2.85135837e-03 -2.25581141e-01] [-8.90907917e-04 -2.85728684e-03 9.99995521e-01 5.72308914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844000004 meters 0.2951343065348554 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:0.57 [[ 0.9999962 -0.00106645 0.00254136 0.03414501] [ 0.00105751 0.99999326 0.00351487 -0.22013294] [-0.00254509 -0.00351216 0.99999059 0.57329026] [ 0. 0. 0. 1. ]] SLAMing on 51.092557844000005 meters 0.2948079038637994 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:0.57 [[ 0.99999589 -0.0011526 0.00262546 0.03392831] [ 0.00114399 0.99999396 0.00328105 -0.21914604] [-0.00262922 -0.00327803 0.99999117 0.57327357] [ 0. 0. 0. 1. ]] SLAMing on 51.122557844000006 meters 0.29576822856875123 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:0.57 [[ 0.9999956 -0.00127006 0.00268241 0.03390223] [ 0.00126207 0.99999478 0.00297526 -0.21788563] [-0.00268618 -0.00297187 0.99999198 0.57298086] [ 0. 0. 0. 1. ]] SLAMing on 51.15255784400001 meters 0.2944473796559886 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.57 [[ 9.99991798e-01 3.62818706e-03 1.80020065e-03 1.01251385e-02] [-3.62707485e-03 9.99993230e-01 -6.20707535e-04 -2.18566941e-01] [-1.80244050e-03 6.14172981e-04 9.99998187e-01 5.74518761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18255784400001 meters 0.2947694726632277 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.58 [[ 9.99991629e-01 3.63309749e-03 1.88229648e-03 9.67254453e-03] [-3.63194855e-03 9.99993216e-01 -6.13451644e-04 -2.18536117e-01] [-1.88451244e-03 6.06610104e-04 9.99998040e-01 5.75120380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212557844 meters 0.2956434867136996 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.58 [[ 9.99987055e-01 -3.48314386e-03 3.70918959e-03 2.78533100e-02] [ 3.48009485e-03 9.99993602e-01 8.28150249e-04 -2.13921666e-01] [-3.71205042e-03 -8.15231196e-04 9.99992778e-01 5.77170190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242557844000004 meters 0.29347825716133774 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998492e-01 1.55696131e-03 7.68942964e-04 3.83135103e-03] [-1.55531598e-03 9.99996510e-01 -2.13570754e-03 -2.12214429e-01] [-7.72265494e-04 2.13450837e-03 9.99997424e-01 5.80797255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272557844000005 meters 0.29444820258532295 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998528e-01 1.51731057e-03 8.01717367e-04 3.81415601e-03] [-1.51550899e-03 9.99996336e-01 -2.24299257e-03 -2.11780643e-01] [-8.05117746e-04 2.24177426e-03 9.99997163e-01 5.80637968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302557844000006 meters 0.2940654479277288 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998594e-01 1.47993453e-03 7.89072539e-04 3.96852626e-03] [-1.47808412e-03 9.99996169e-01 -2.34049696e-03 -2.11399025e-01] [-7.92533298e-04 2.33932735e-03 9.99996950e-01 5.80355131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33255784400001 meters 0.2945578606354419 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998607e-01 1.48227039e-03 7.67503539e-04 4.14820159e-03] [-1.48047565e-03 9.99996181e-01 -2.33371976e-03 -2.11450610e-01] [-7.70959811e-04 2.33258024e-03 9.99996982e-01 5.80070367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36255784400001 meters 0.29435844786389453 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998660e-01 1.42446876e-03 8.07359930e-04 4.15456219e-03] [-1.42245599e-03 9.99995893e-01 -2.48814870e-03 -2.10833938e-01] [-8.10900904e-04 2.48699693e-03 9.99996579e-01 5.79818773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392557844 meters 0.2941649999479184 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.21, Z:0.58 [[ 9.99998671e-01 1.38177125e-03 8.65740636e-04 4.06076922e-03] [-1.37951273e-03 9.99995658e-01 -2.60395948e-03 -2.10363144e-01] [-8.69334953e-04 2.60276171e-03 9.99996235e-01 5.79689640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422557844 meters 0.29556242767235574 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.58 [[ 9.99991713e-01 -3.21982854e-03 2.49125953e-03 2.80594534e-02] [ 3.21780421e-03 9.99994490e-01 8.16157434e-04 -2.08477185e-01] [-2.49387369e-03 -8.08134285e-04 9.99996564e-01 5.77840483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452557844000005 meters 0.2955256977007643 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.58 [[ 9.99991496e-01 -3.30865381e-03 2.46188020e-03 2.81840557e-02] [ 3.30722833e-03 9.99994361e-01 5.82869087e-04 -2.07517970e-01] [-2.46379483e-03 -5.74722130e-04 9.99996800e-01 5.77718543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844000006 meters 0.29408096098939857 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.58 [[ 9.99997297e-01 2.28964173e-03 -4.04139497e-04 5.76499034e-03] [-2.29069768e-03 9.99993913e-01 -2.63199445e-03 -2.03294427e-01] [ 3.98110713e-04 2.63291310e-03 9.99996455e-01 5.79427521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51255784400001 meters 0.2960298568962318 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.58 [[ 9.99996829e-01 -2.40711870e-03 7.39489944e-04 2.99122802e-02] [ 2.40671518e-03 9.99996955e-01 5.46076059e-04 -1.98978383e-01] [-7.40802162e-04 -5.44294586e-04 9.99999577e-01 5.77452068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54255784400001 meters 0.2967432682795476 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.58 [[ 9.99996308e-01 -2.60822584e-03 7.62010272e-04 3.01199202e-02] [ 2.60824489e-03 9.99996598e-01 -2.40075910e-05 -1.96695797e-01] [-7.61945062e-04 2.59950118e-05 9.99999709e-01 5.76824019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57255784400001 meters 0.2953570670150686 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99999186 0.00284941 -0.0028584 0.0078617 ] [-0.00285869 0.99999064 -0.00324688 -0.18893321] [ 0.00284912 0.00325502 0.99999064 0.57857488] [ 0. 0. 0. 1. ]] SLAMing on 51.602557844 meters 0.2934473230997304 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996984 -0.00479358 -0.00611138 -0.0120881 ] [ 0.00478593 0.99998775 -0.00126478 -0.18685757] [ 0.00611736 0.0012355 0.99998053 0.57969025] [ 0. 0. 0. 1. ]] SLAMing on 51.632557844000004 meters 0.2951400813784898 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996883 -0.00494357 -0.00615652 -0.01198105] [ 0.00493351 0.99998647 -0.00164846 -0.18525679] [ 0.00616459 0.00161804 0.99997969 0.57968257] [ 0. 0. 0. 1. ]] SLAMing on 51.662557844000006 meters 0.29488057723972466 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.99996846 -0.00498876 -0.00617949 -0.01204624] [ 0.00497795 0.99998605 -0.00176403 -0.18475847] [ 0.0061882 0.00173321 0.99997935 0.5799506 ] [ 0. 0. 0. 1. ]] SLAMing on 51.69255784400001 meters 0.29551042493660407 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.99996868 -0.00500842 -0.00612782 -0.01235749] [ 0.00499736 0.99998586 -0.00181995 -0.18449015] [ 0.00613685 0.00178927 0.99997957 0.5803525 ] [ 0. 0. 0. 1. ]] SLAMing on 51.72255784400001 meters 0.2948950233147974 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.99996905 -0.00496631 -0.00610133 -0.01257415] [ 0.00495596 0.99998626 -0.00171064 -0.18491865] [ 0.00610975 0.00168035 0.99997992 0.58069549] [ 0. 0. 0. 1. ]] SLAMing on 51.75255784400001 meters 0.2949989911431929 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996909 -0.00491291 -0.00613875 -0.01249936] [ 0.00490345 0.99998677 -0.00155447 -0.1855576 ] [ 0.00614631 0.00152433 0.99997995 0.58073959] [ 0. 0. 0. 1. ]] SLAMing on 51.782557844 meters 0.29688105943911264 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996973 -0.00484951 -0.00608395 -0.01264168] [ 0.00484112 0.99998731 -0.00139285 -0.1862267 ] [ 0.00609063 0.00136335 0.99998052 0.58074286] [ 0. 0. 0. 1. ]] SLAMing on 51.812557844000004 meters 0.2958651083033287 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99997063 -0.00480651 -0.00596911 -0.01300272] [ 0.0047989 0.99998765 -0.00128903 -0.18664604] [ 0.00597523 0.00126035 0.99998135 0.58087862] [ 0. 0. 0. 1. ]] SLAMing on 51.842557844000005 meters 0.2959301998628276 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99997142 -0.0047755 -0.00586091 -0.0134108 ] [ 0.00476846 0.99998789 -0.00121446 -0.18693021] [ 0.00586664 0.00118647 0.99998209 0.58116361] [ 0. 0. 0. 1. ]] SLAMing on 51.872557844000006 meters 0.2948767372908606 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99997179 -0.00471366 -0.00584795 -0.01363628] [ 0.00470757 0.99998836 -0.00105394 -0.18757305] [ 0.00585285 0.00102638 0.99998235 0.58160146] [ 0. 0. 0. 1. ]] SLAMing on 51.90255784400001 meters 0.29512934520455647 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 9.99971225e-01 -4.67782875e-03 -5.97211424e-03 -1.32212808e-02] [ 4.67218633e-03 9.99988626e-01 -9.58396945e-04 -1.87994714e-01] [ 5.97652953e-03 9.30466537e-04 9.99981707e-01 5.81405447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93255784400001 meters 0.2943993636643948 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.58 [[ 0.99996814 0.00266012 -0.00752582 -0.03183609] [-0.00267685 0.99999397 -0.00221398 -0.19277215] [ 0.00751988 0.00223406 0.99996923 0.5791742 ] [ 0. 0. 0. 1. ]] SLAMing on 51.962557844 meters 0.29378925516921606 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.58 [[ 0.99996737 0.00268178 -0.0076204 -0.0313941 ] [-0.00269826 0.99999404 -0.00215308 -0.19306547] [ 0.00761458 0.00217357 0.99996865 0.57869676] [ 0. 0. 0. 1. ]] SLAMing on 51.992557844000004 meters 0.29544309402872637 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996853 -0.0050236 -0.00614067 -0.01195237] [ 0.00501657 0.99998675 -0.00115837 -0.18857553] [ 0.00614641 0.00112752 0.99998047 0.57932765] [ 0. 0. 0. 1. ]] SLAMing on 52.022557844000005 meters 0.29673835477448135 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99996912 -0.00504768 -0.00602388 -0.01224532] [ 0.00504037 0.99998654 -0.00122808 -0.18828085] [ 0.00603 0.00119768 0.9999811 0.57930471] [ 0. 0. 0. 1. ]] SLAMing on 52.052557844000006 meters 0.29569474083139724 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99997083 -0.0051142 -0.00567277 -0.01319463] [ 0.00510605 0.99998591 -0.00145007 -0.18730755] [ 0.00568011 0.00142106 0.99998286 0.57943812] [ 0. 0. 0. 1. ]] SLAMing on 52.08255784400001 meters 0.294826423596984 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 0.99997104 -0.00517083 -0.00558419 -0.01331093] [ 0.00516195 0.99998539 -0.00160452 -0.18668586] [ 0.00559241 0.00157565 0.99998312 0.57916807] [ 0. 0. 0. 1. ]] SLAMing on 52.11255784400001 meters 0.29624069083108656 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99999095 0.0030811 -0.00293398 0.00704049] [-0.00309178 0.99998859 -0.00364152 -0.18575363] [ 0.00292273 0.00365056 0.99998907 0.5780342 ] [ 0. 0. 0. 1. ]] SLAMing on 52.142557844 meters 0.29762098369897677 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999113 0.00297459 -0.00298065 0.00736074] [-0.00298629 0.99998783 -0.00392757 -0.18459867] [ 0.00296893 0.00393644 0.99998784 0.57757971] [ 0. 0. 0. 1. ]] SLAMing on 52.172557844 meters 0.29619292146455545 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999129 0.00297205 -0.00293127 0.0072177 ] [-0.00298358 0.9999878 -0.00393613 -0.18455647] [ 0.00291953 0.00394484 0.99998796 0.57760428] [ 0. 0. 0. 1. ]] SLAMing on 52.202557844000005 meters 0.29619292146455545 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999129 0.00297205 -0.00293127 0.0072177 ] [-0.00298358 0.9999878 -0.00393613 -0.18455647] [ 0.00291953 0.00394484 0.99998796 0.57760428] [ 0. 0. 0. 1. ]] SLAMing on 52.232557844000006 meters 0.2952178202982758 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.99996875 -0.00657231 -0.00439316 -0.01297361] [ 0.00655888 0.99997379 -0.00306564 -0.1831041 ] [ 0.0044132 0.00303673 0.99998565 0.57742375] [ 0. 0. 0. 1. ]] SLAMing on 52.26255784400001 meters 0.2968563943002638 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99999128 0.00258642 -0.00327878 0.00652731] [-0.0026006 0.99998726 -0.00432726 -0.18664555] [ 0.00326755 0.00433575 0.99998526 0.57841521] [ 0. 0. 0. 1. ]] SLAMing on 52.29255784400001 meters 0.2963018312615357 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.999991 0.00260496 -0.00334788 0.0067728 ] [-0.00261927 0.99998742 -0.00427745 -0.18686835] [ 0.00333669 0.00428618 0.99998525 0.57827445] [ 0. 0. 0. 1. ]] SLAMing on 52.32255784400001 meters 0.2969312816834826 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99999115 0.00256633 -0.00333489 0.00689613] [-0.00258092 0.99998709 -0.00437765 -0.18647711] [ 0.00332361 0.00438622 0.99998486 0.57792777] [ 0. 0. 0. 1. ]] SLAMing on 52.352557844 meters 0.2963668999270015 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999214 0.00235522 -0.00318984 0.00687457] [-0.00237077 0.99998528 -0.00488065 -0.18434517] [ 0.0031783 0.00488818 0.999983 0.5771852 ] [ 0. 0. 0. 1. ]] SLAMing on 52.382557844000004 meters 0.2964983592615234 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999235 0.00229212 -0.00316809 0.00690697] [-0.00230809 0.99998461 -0.00504513 -0.1836745 ] [ 0.00315648 0.0050524 0.99998225 0.57698293] [ 0. 0. 0. 1. ]] SLAMing on 52.412557844000006 meters 0.2972147368065011 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99996836e-01 -2.48966473e-03 -3.59177740e-04 2.97670900e-02] [ 2.48906300e-03 9.99995514e-01 -1.66613854e-03 -1.83855054e-01] [ 3.63324255e-04 1.66523925e-03 9.99998547e-01 5.74879398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44255784400001 meters 0.2955176385831828 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.57 [[ 9.99990116e-01 -4.36632969e-03 8.38617064e-04 -1.23274221e-02] [ 4.36772245e-03 9.99989073e-01 -1.66619174e-03 -1.86639167e-01] [-8.31332758e-04 1.66983811e-03 9.99998260e-01 5.74167851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47255784400001 meters 0.29617689714388024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99998334 0.00506104 0.0027756 0.00635822] [-0.00505363 0.99998366 -0.00267288 -0.18822423] [-0.00278909 0.00265881 0.99999258 0.57507947] [ 0. 0. 0. 1. ]] SLAMing on 52.50255784400001 meters 0.2965423555551604 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.58 [[ 0.99998343 0.00507024 0.00272525 0.00642008] [-0.00506303 0.99998368 -0.00264716 -0.18832232] [-0.00273863 0.00263332 0.99999278 0.57523656] [ 0. 0. 0. 1. ]] SLAMing on 52.532557844 meters 0.29550219636407926 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.57 [[ 9.99992319e-01 -3.91515521e-03 1.85331907e-04 -1.24103306e-02] [ 3.91542077e-03 9.99991276e-01 -1.45492461e-03 -1.87532166e-01] [-1.79634035e-04 1.45563908e-03 9.99998924e-01 5.74415607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844000004 meters 0.2964540204119724 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.57 [[ 9.99992372e-01 -3.90583380e-03 2.22542274e-05 -1.17691522e-02] [ 3.90586146e-03 9.99991364e-01 -1.41989284e-03 -1.87758052e-01] [-1.67081698e-05 1.41996893e-03 9.99998992e-01 5.73882961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592557844000005 meters 0.29627735810959505 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.57 [[ 9.99992477e-01 -3.87885810e-03 -2.91812993e-05 -1.14551743e-02] [ 3.87881529e-03 9.99991571e-01 -1.34661837e-03 -1.88105596e-01] [ 3.44043949e-05 1.34649505e-03 9.99999093e-01 5.73472783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622557844000006 meters 0.2969056356600143 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.57 [[ 9.99992654e-01 -3.83206877e-03 8.57864566e-05 -1.17174773e-02] [ 3.83217137e-03 9.99991901e-01 -1.22954550e-03 -1.88594112e-01] [-8.10740589e-05 1.22986521e-03 9.99999240e-01 5.73402801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65255784400001 meters 0.2956434734000758 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.58 [[ 0.99999499 0.00205029 -0.00241269 -0.03402545] [-0.00205954 0.99999052 -0.00383628 -0.18913381] [ 0.0024048 0.00384123 0.99998973 0.57537314] [ 0. 0. 0. 1. ]] SLAMing on 52.68255784400001 meters 0.2961020982211544 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.58 [[ 0.99998443 -0.005427 -0.00130172 -0.01517177] [ 0.00542358 0.99998186 -0.00262086 -0.18438589] [ 0.00131592 0.00261376 0.99999572 0.57693209] [ 0. 0. 0. 1. ]] SLAMing on 52.712557844 meters 0.29588241890551725 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.58 [[ 0.99998404 -0.00548453 -0.00135709 -0.01504002] [ 0.00548075 0.99998114 -0.00277011 -0.18376519] [ 0.00137226 0.00276263 0.99999524 0.57695549] [ 0. 0. 0. 1. ]] SLAMing on 52.742557844000004 meters 0.2946192676345928 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.58 [[ 0.9999837 -0.00558391 -0.0011948 -0.01554009] [ 0.00558022 0.9999797 -0.00307445 -0.182483 ] [ 0.00121195 0.00306774 0.99999456 0.57715935] [ 0. 0. 0. 1. ]] SLAMing on 52.772557844000005 meters 0.2971212121510991 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.58 [[ 0.99999574 -0.0025649 -0.00139088 0.02252069] [ 0.00256197 0.9999945 -0.00210425 -0.17902339] [ 0.00139627 0.00210068 0.99999682 0.58040536] [ 0. 0. 0. 1. ]] SLAMing on 52.802557844000006 meters 0.2956510326010916 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.58 [[ 0.99999575 -0.00261915 -0.00127998 0.022161 ] [ 0.00261626 0.99999405 -0.00225057 -0.17839478] [ 0.00128586 0.00224722 0.99999665 0.58056739] [ 0. 0. 0. 1. ]] SLAMing on 52.83255784400001 meters 0.2958031883876967 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.58 [[ 0.99999581 -0.00260673 -0.00125945 0.02206588] [ 0.00260393 0.99999415 -0.00221993 -0.17851482] [ 0.00126523 0.00221664 0.99999674 0.58066349] [ 0. 0. 0. 1. ]] SLAMing on 52.86255784400001 meters 0.29459350669015605 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:0.58 [[ 0.99998182 0.00501882 -0.00334186 0.00346809] [-0.00502972 0.99998203 -0.00326169 -0.18312606] [ 0.00332543 0.00327844 0.9999891 0.57969643] [ 0. 0. 0. 1. ]] SLAMing on 52.89255784400001 meters 0.29607825061233206 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999065e-01 -8.34396586e-04 -1.08310280e-03 2.52349728e-02] [ 8.33992399e-04 9.99999582e-01 -3.73572560e-04 -1.82786320e-01] [ 1.08341406e-03 3.72668911e-04 9.99999344e-01 5.78158128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922557844 meters 0.2956865671897422 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99998964e-01 -7.50366666e-04 -1.22854494e-03 2.57770356e-02] [ 7.50206230e-04 9.99999710e-01 -1.31045629e-04 -1.83823334e-01] [ 1.22864292e-03 1.30123831e-04 9.99999237e-01 5.77718461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952557844000005 meters 0.29429440407002255 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999071e-01 -6.93512240e-04 -1.17389010e-03 2.54938562e-02] [ 6.93534393e-04 9.99999759e-01 1.84641758e-05 -1.84430324e-01] [ 1.17387701e-03 -1.92782918e-05 9.99999311e-01 5.78055680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844000006 meters 0.29578340725547647 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.58 [[ 9.99999153e-01 -6.26047730e-04 -1.14071333e-03 2.52546734e-02] [ 6.26270433e-04 9.99999785e-01 1.94885017e-04 -1.85156464e-01] [ 1.14059108e-03 -1.95599247e-04 9.99999330e-01 5.78419792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01255784400001 meters 0.2953753176230767 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.58 [[ 9.99999232e-01 -6.06510545e-04 -1.08046882e-03 2.50021630e-02] [ 6.06774497e-04 9.99999786e-01 2.43983479e-04 -1.85345636e-01] [ 1.08032061e-03 -2.44638893e-04 9.99999387e-01 5.78651979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04255784400001 meters 0.2941138732832825 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.58 [[ 9.99999675e-01 -7.11585090e-04 3.78863950e-04 -1.53771027e-02] [ 7.10798188e-04 9.99997599e-01 2.07310289e-03 -1.88659583e-01] [-3.80338229e-04 -2.07283292e-03 9.99997779e-01 5.76299077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07255784400001 meters 0.29525294003924757 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.58 [[ 9.99999690e-01 -7.23640320e-04 3.09727959e-04 -1.51263389e-02] [ 7.23005663e-04 9.99997649e-01 2.04431157e-03 -1.88550584e-01] [-3.11206577e-04 -2.04408700e-03 9.99997862e-01 5.76115464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102557844 meters 0.29524395319887237 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.58 [[ 9.99999697e-01 -7.38605872e-04 2.46374987e-04 -1.47996247e-02] [ 7.38109431e-04 9.99997710e-01 2.00902402e-03 -1.88440527e-01] [-2.47858300e-04 -2.00884156e-03 9.99997952e-01 5.75721214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132557844000004 meters 0.2967421148103667 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999150e-01 5.18399507e-05 -1.30289613e-03 2.52190350e-02] [-5.14220796e-05 9.99999947e-01 3.20756263e-04 -1.84596914e-01] [ 1.30291269e-03 -3.20688993e-04 9.99999100e-01 5.78085939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162557844000006 meters 0.2959535862861003 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999070e-01 4.23775397e-05 -1.36337734e-03 2.54709084e-02] [-4.19700984e-05 9.99999954e-01 2.98874277e-04 -1.84523529e-01] [ 1.36338994e-03 -2.98816778e-04 9.99999026e-01 5.77871268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19255784400001 meters 0.29604637629704 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999140e-01 6.56596048e-06 -1.31148113e-03 2.54616478e-02] [-6.30346374e-06 9.99999980e-01 2.00156925e-04 -1.84129558e-01] [ 1.31148242e-03 -2.00148486e-04 9.99999120e-01 5.77571728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22255784400001 meters 0.2959005990915706 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999151e-01 -2.78629901e-05 -1.30270716e-03 2.55464222e-02] [ 2.80066340e-05 9.99999994e-01 1.10247626e-04 -1.83772530e-01] [ 1.30270408e-03 -1.10284017e-04 9.99999145e-01 5.77322590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25255784400001 meters 0.29709557097983585 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.58 [[ 9.99999085e-01 -2.33975426e-05 -1.35251563e-03 2.57934244e-02] [ 2.35658936e-05 9.99999992e-01 1.24456717e-04 -1.83853212e-01] [ 1.35251270e-03 -1.24488476e-04 9.99999078e-01 5.77054938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282557844 meters 0.2959128526980436 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:0.58 [[ 0.9999811 0.00468691 -0.00397911 0.00273659] [-0.00470019 0.9999834 -0.00333392 -0.18370912] [ 0.00396342 0.00335255 0.99998653 0.57891291] [ 0. 0. 0. 1. ]] SLAMing on 53.312557844000004 meters 0.29642954540816163 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.18, Z:0.58 [[ 0.99998054 0.00469704 -0.00410677 0.00309612] [-0.0047106 0.99998346 -0.00329891 -0.18386673] [ 0.0040912 0.00331819 0.99998613 0.57883811] [ 0. 0. 0. 1. ]] SLAMing on 53.342557844000005 meters 0.29496052586114946 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.58 [[ 0.99997237 -0.00420342 -0.00613044 -0.0151112 ] [ 0.00419245 0.99998959 -0.00180111 -0.18228614] [ 0.00613795 0.00177536 0.99997959 0.57740088] [ 0. 0. 0. 1. ]] SLAMing on 53.372557844000006 meters 0.2967328277078018 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.9999722 -0.00417299 -0.00617992 -0.01488911] [ 0.00416244 0.99998986 -0.00171911 -0.18264752] [ 0.00618703 0.00169334 0.99997943 0.57719003] [ 0. 0. 0. 1. ]] SLAMing on 53.40255784400001 meters 0.2954083939842398 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.9999724 -0.0041441 -0.00616702 -0.01489027] [ 0.00413404 0.9999901 -0.00164364 -0.18296875] [ 0.00617378 0.0016181 0.99997963 0.57711804] [ 0. 0. 0. 1. ]] SLAMing on 53.43255784400001 meters 0.29603920348981044 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.58 [[ 0.99997249 -0.00412133 -0.0061668 -0.01492215] [ 0.00411163 0.99999029 -0.00158355 -0.18321297] [ 0.00617326 0.00155815 0.99997973 0.57719263] [ 0. 0. 0. 1. ]] SLAMing on 53.462557844 meters 0.2959300242357761 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.58 [[ 0.99997276 -0.00419335 -0.00607418 -0.01524129] [ 0.00418255 0.99998965 -0.00178932 -0.18233642] [ 0.00608162 0.00176387 0.99997995 0.57737617] [ 0. 0. 0. 1. ]] SLAMing on 53.492557844000004 meters 0.2970637958090046 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.57 [[ 0.99999285 0.00317521 -0.00205292 0.00576487] [-0.00318364 0.99998646 -0.00411704 -0.17769153] [ 0.00203982 0.00412355 0.99998942 0.57490488] [ 0. 0. 0. 1. ]] SLAMing on 53.522557844000005 meters 0.2975514654620479 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.58 [[ 0.99999353 0.00306056 -0.00188782 0.00526724] [-0.00306893 0.99998542 -0.00444232 -0.17631749] [ 0.00187419 0.00444809 0.99998835 0.57503983] [ 0. 0. 0. 1. ]] SLAMing on 53.552557844000006 meters 0.2970964223310423 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.17, Z:0.58 [[ 0.99999431 0.00295624 -0.00162647 0.0044987 ] [-0.00296395 0.9999843 -0.00475472 -0.17496781] [ 0.00161239 0.00475951 0.99998737 0.57524801] [ 0. 0. 0. 1. ]] SLAMing on 53.58255784400001 meters 0.2969111675345171 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.17, Z:0.58 [[ 0.99999479 0.00287026 -0.00147746 0.00395222] [-0.00287762 0.99998336 -0.00500088 -0.1738987 ] [ 0.00146308 0.0050051 0.9999864 0.5756361 ] [ 0. 0. 0. 1. ]] SLAMing on 53.61255784400001 meters 0.2973325914252524 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.17, Z:0.58 [[ 0.99999548 0.00262808 -0.00146248 0.0040009 ] [-0.00263631 0.99998056 -0.0056509 -0.17120082] [ 0.0014476 0.00565473 0.99998296 0.57542472] [ 0. 0. 0. 1. ]] SLAMing on 53.64255784400001 meters 0.2960505165067561 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.58 [[ 0.99997803 -0.00457078 -0.00480146 -0.0163541 ] [ 0.00455571 0.99998468 -0.00314477 -0.17121989] [ 0.00481576 0.00312283 0.99998353 0.57668097] [ 0. 0. 0. 1. ]] SLAMing on 53.672557844 meters 0.29659728097959026 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.58 [[ 9.99986035e-01 -4.58474752e-04 -5.26487328e-03 -1.53013927e-02] [ 4.61190828e-04 9.99999761e-01 5.14683717e-04 -1.68895730e-01] [ 5.26463606e-03 -5.17104640e-04 9.99986008e-01 5.76764472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844000005 meters 0.29737812792832835 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.58 [[ 9.99986119e-01 -4.78931406e-04 -5.24720513e-03 -1.54730392e-02] [ 4.81341397e-04 9.99999779e-01 4.58037247e-04 -1.68635612e-01] [ 5.24698460e-03 -4.60556585e-04 9.99986128e-01 5.77051499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732557844000006 meters 0.29699076391743207 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.58 [[ 9.99986346e-01 -4.75909968e-04 -5.20397373e-03 -1.57067772e-02] [ 4.78317888e-04 9.99999779e-01 4.61473216e-04 -1.68628414e-01] [ 5.20375296e-03 -4.63956069e-04 9.99986353e-01 5.77336846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76255784400001 meters 0.2973896383609503 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.58 [[ 9.99986114e-01 -4.88496045e-04 -5.24713328e-03 -1.57242391e-02] [ 4.90737119e-04 9.99999789e-01 4.25825581e-04 -1.68462753e-01] [ 5.24692416e-03 -4.28394631e-04 9.99986143e-01 5.77645148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79255784400001 meters 0.29641163055177105 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.58 [[ 0.99997261 0.00448727 -0.00588565 -0.03969319] [-0.0045062 0.99998471 -0.003206 -0.17049371] [ 0.00587118 0.00323243 0.99997754 0.57869216] [ 0. 0. 0. 1. ]] SLAMing on 53.82255784400001 meters 0.29611302519935967 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.58 [[ 0.99997276 0.00450547 -0.00584658 -0.03977641] [-0.00452401 0.99998477 -0.00316032 -0.17068508] [ 0.00583226 0.00318668 0.99997791 0.57865088] [ 0. 0. 0. 1. ]] SLAMing on 53.852557844 meters 0.29647883624942345 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.58 [[ 0.9999736 0.00454564 -0.00566969 -0.04015376] [-0.00456301 0.99998492 -0.00305488 -0.17112103] [ 0.00565571 0.00308067 0.99997926 0.57848017] [ 0. 0. 0. 1. ]] SLAMing on 53.882557844000004 meters 0.29664068909578145 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.58 [[ 0.99997346 0.00453657 -0.00570065 -0.04006769] [-0.00455417 0.99998489 -0.00307787 -0.17102853] [ 0.0056866 0.00310375 0.99997901 0.57846849] [ 0. 0. 0. 1. ]] SLAMing on 53.912557844000006 meters 0.29553128078794016 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:0.58 [[ 9.99955600e-01 -2.38142992e-03 -9.11735401e-03 -6.13434076e-02] [ 2.37883694e-03 9.99997127e-01 -2.95234400e-04 -1.73042075e-01] [ 9.11803089e-03 2.73532593e-04 9.99958392e-01 5.80374836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94255784400001 meters 0.29648292013069877 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.17, Z:0.58 [[ 9.99954562e-01 -2.42250712e-03 -9.21987771e-03 -6.09645034e-02] [ 2.41894048e-03 9.99996995e-01 -3.97974125e-04 -1.72641527e-01] [ 9.22081410e-03 3.75653706e-04 9.99957417e-01 5.80100689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97255784400001 meters 0.29781833979788475 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.58 [[ 9.99946513e-01 -9.49354398e-05 -1.03422370e-02 -5.44645846e-02] [ 1.13327106e-04 9.99998413e-01 1.77773492e-03 -1.72813104e-01] [ 1.03420518e-02 -1.77881189e-03 9.99944937e-01 5.75309859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00255784400001 meters 0.29704576230604013 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.57 [[ 9.99945547e-01 -2.07784976e-04 -1.04335568e-02 -5.40645399e-02] [ 2.23335366e-04 9.99998866e-01 1.48927776e-03 -1.71634188e-01] [ 1.04332356e-02 -1.49152685e-03 9.99944460e-01 5.74934219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032557844 meters 0.29634545313573574 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.57 [[ 9.99946011e-01 -3.25816087e-04 -1.03860405e-02 -5.41880836e-02] [ 3.37983311e-04 9.99999259e-01 1.16976417e-03 -1.70314332e-01] [ 1.03856517e-02 -1.17321133e-03 9.99945379e-01 5.74921561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062557844000004 meters 0.2973341400439431 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.57 [[ 0.99995927 0.00638894 -0.0063749 -0.03371491] [-0.00640102 0.99997775 -0.00187643 -0.16505945] [ 0.00636277 0.00191716 0.99997792 0.57318402] [ 0. 0. 0. 1. ]] SLAMing on 54.092557844000005 meters 0.2970825363347978 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.57 [[ 0.99996054 0.00625226 -0.00631035 -0.03392191] [-0.00626659 0.99997782 -0.00225475 -0.16349227] [ 0.00629611 0.00229421 0.99997755 0.57327207] [ 0. 0. 0. 1. ]] SLAMing on 54.122557844000006 meters 0.2970825363347978 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.57 [[ 0.99996054 0.00625226 -0.00631035 -0.03392191] [-0.00626659 0.99997782 -0.00225475 -0.16349227] [ 0.00629611 0.00229421 0.99997755 0.57327207] [ 0. 0. 0. 1. ]] SLAMing on 54.15255784400001 meters 0.2980288683279443 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997313 -0.00150213 -0.00717548 -0.01407711] [ 0.00148916 0.99999725 -0.00181135 -0.15396813] [ 0.00717818 0.00180061 0.99997262 0.57412681] [ 0. 0. 0. 1. ]] SLAMing on 54.18255784400001 meters 0.29769118884611817 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997316 -0.00162446 -0.00714429 -0.01403921] [ 0.00160928 0.99999644 -0.00212933 -0.1526603 ] [ 0.00714773 0.00211777 0.99997221 0.57385083] [ 0. 0. 0. 1. ]] SLAMing on 54.212557844 meters 0.2969291294618091 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997329 -0.00171356 -0.00710457 -0.01420435] [ 0.00169685 0.99999578 -0.00235814 -0.15169891] [ 0.00710858 0.00234603 0.99997198 0.57397494] [ 0. 0. 0. 1. ]] SLAMing on 54.242557844000004 meters 0.2976456204360156 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997365 -0.00176256 -0.00704286 -0.01447016] [ 0.00174508 0.99999538 -0.00248753 -0.15114714] [ 0.00704721 0.00247517 0.9999721 0.57420798] [ 0. 0. 0. 1. ]] SLAMing on 54.272557844000005 meters 0.29674212488783247 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997341 -0.00178673 -0.00706979 -0.01464846] [ 0.00176871 0.99999517 -0.00255434 -0.15085666] [ 0.00707432 0.00254177 0.99997175 0.57479083] [ 0. 0. 0. 1. ]] SLAMing on 54.302557844000006 meters 0.29678653588875936 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997336 -0.00177987 -0.00707841 -0.01461118] [ 0.00176194 0.99999523 -0.00253767 -0.15092934] [ 0.0070829 0.00252513 0.99997173 0.57475823] [ 0. 0. 0. 1. ]] SLAMing on 54.33255784400001 meters 0.29663184513736596 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.57 [[ 0.99997392 -0.00177809 -0.00700022 -0.01488838] [ 0.00176037 0.99999523 -0.0025374 -0.1509112 ] [ 0.0070047 0.00252502 0.99997228 0.57492598] [ 0. 0. 0. 1. ]] SLAMing on 54.36255784400001 meters 0.2973401751321266 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.57 [[ 0.99998314 0.00518076 -0.00262447 0.00477336] [-0.00519372 0.99997423 -0.00495664 -0.14860543] [ 0.00259872 0.00497018 0.99998427 0.5733259 ] [ 0. 0. 0. 1. ]] SLAMing on 54.39255784400001 meters 0.2966421356383759 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.57 [[ 0.99998353 0.00516941 -0.0024934 0.00420923] [-0.00518182 0.99997411 -0.00499359 -0.14840514] [ 0.00246752 0.00500643 0.99998442 0.57390768] [ 0. 0. 0. 1. ]] SLAMing on 54.422557844 meters 0.29588615817803043 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.57 [[ 0.99998381 0.00517513 -0.00236682 0.00366437] [-0.00518688 0.99997412 -0.00498464 -0.14841058] [ 0.00234096 0.00499683 0.99998478 0.57447692] [ 0. 0. 0. 1. ]] SLAMing on 54.452557844000005 meters 0.2965473660470885 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.57 [[ 0.9999842 0.00509295 -0.00238108 0.00371944] [-0.00510527 0.99997346 -0.00519811 -0.14752223] [ 0.00235455 0.00521019 0.99998365 0.57443789] [ 0. 0. 0. 1. ]] SLAMing on 54.482557844000006 meters 0.2957096269978363 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.58 [[ 0.99998251 -0.00134493 -0.0057598 -0.01661767] [ 0.00133368 0.9999972 -0.00195642 -0.14852348] [ 0.00576241 0.00194871 0.9999815 0.57530948] [ 0. 0. 0. 1. ]] SLAMing on 54.51255784400001 meters 0.29758615095404 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.57 [[ 0.99998842 -0.00419589 -0.00235769 0.00732425] [ 0.00420359 0.99998581 0.00327191 -0.15068129] [ 0.00234393 -0.00328178 0.99999187 0.57148946] [ 0. 0. 0. 1. ]] SLAMing on 54.54255784400001 meters 0.29834253880960254 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.57 [[ 0.99998805 -0.00423241 -0.00244639 0.00757075] [ 0.00424018 0.99998595 0.00317994 -0.15030801] [ 0.00243289 -0.00319028 0.99999195 0.57144952] [ 0. 0. 0. 1. ]] SLAMing on 54.57255784400001 meters 0.29690172850204694 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.57 [[ 0.99998824 -0.00424465 -0.00234789 0.00711141] [ 0.00425202 0.99998602 0.00314195 -0.15010128] [ 0.00233453 -0.0031519 0.99999231 0.57193425] [ 0. 0. 0. 1. ]] SLAMing on 54.602557844 meters 0.29722051037158453 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99988053e-01 4.87528628e-03 -3.54613603e-04 2.62843444e-02] [-4.87450631e-03 9.99985769e-01 2.16807901e-03 -1.52333911e-01] [ 3.65178563e-04 -2.16632455e-03 9.99997587e-01 5.72750997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632557844000004 meters 0.29654296623180276 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99988040e-01 4.88363565e-03 -2.65413605e-04 2.59957427e-02] [-4.88304372e-03 9.99985687e-01 2.18690136e-03 -1.52403320e-01] [ 2.76089836e-04 -2.18557918e-03 9.99997574e-01 5.72874180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844000006 meters 0.2962809405780621 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99987926e-01 4.90835323e-03 -2.37548846e-04 2.59407170e-02] [-4.90780662e-03 9.99985427e-01 2.24937882e-03 -1.52665302e-01] [ 2.48586130e-04 -2.24818582e-03 9.99997442e-01 5.72835841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69255784400001 meters 0.29622950776594403 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99987773e-01 4.93498941e-03 -3.14682182e-04 2.61693938e-02] [-4.93424560e-03 9.99985130e-01 2.32220545e-03 -1.52978077e-01] [ 3.26137562e-04 -2.32062434e-03 9.99997254e-01 5.72774608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72255784400001 meters 0.2967268910750733 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99987602e-01 4.95753225e-03 -4.68737374e-04 2.66753174e-02] [-4.95639860e-03 9.99984862e-01 2.38952465e-03 -1.53284188e-01] [ 4.80576423e-04 -2.38717178e-03 9.99997035e-01 5.72525251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75255784400001 meters 0.29709982467461915 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99987365e-01 4.97948453e-03 -6.88780115e-04 2.74964739e-02] [-4.97777309e-03 9.99984574e-01 2.46453525e-03 -1.53652694e-01] [ 7.01041605e-04 -2.46107552e-03 9.99996726e-01 5.71866131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters 0.2974666917432833 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99987144e-01 5.01747709e-03 -7.32131184e-04 2.77053742e-02] [-5.01558529e-03 9.99984137e-01 2.56331011e-03 -1.54079745e-01] [ 7.44980920e-04 -2.55960509e-03 9.99996447e-01 5.71657824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812557844000004 meters 0.2963314671727037 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.57 [[ 0.99998792 -0.00448797 -0.00200663 0.0071113 ] [ 0.00449469 0.99998427 0.00335577 -0.15256159] [ 0.00199154 -0.00336475 0.99999236 0.57130315] [ 0. 0. 0. 1. ]] SLAMing on 54.842557844000005 meters 0.29578046283588805 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.57 [[ 0.99999165 0.00342158 -0.00223352 -0.01262794] [-0.00341562 0.99999061 0.00266631 -0.15888745] [ 0.00224262 -0.00265866 0.99999395 0.57018264] [ 0. 0. 0. 1. ]] SLAMing on 54.872557844000006 meters 0.29686291171698387 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.57 [[ 9.99988465e-01 -4.71102445e-03 -9.36067591e-04 8.04596938e-03] [ 4.71420469e-03 9.99983023e-01 3.42478570e-03 -1.55264053e-01] [ 9.19917450e-04 -3.42915901e-03 9.99993697e-01 5.70432300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90255784400001 meters 0.29723585596951135 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.57 [[ 0.99998873 -0.00463415 -0.00102974 0.00832578] [ 0.00463785 0.99998267 0.00362545 -0.15611373] [ 0.00101292 -0.00363019 0.9999929 0.57037527] [ 0. 0. 0. 1. ]] SLAMing on 54.93255784400001 meters 0.29806111451219236 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990719e-01 4.30426821e-03 -1.85237595e-04 2.76273256e-02] [-4.30382224e-03 9.99987991e-01 2.34413854e-03 -1.59924536e-01] [ 1.95325172e-04 -2.34331956e-03 9.99997235e-01 5.71715295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters 0.2975476884660839 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990666e-01 4.32035392e-03 -5.65239286e-05 2.73874514e-02] [-4.32020710e-03 9.99987833e-01 2.38103457e-03 -1.60085246e-01] [ 6.68101530e-05 -2.38076815e-03 9.99997164e-01 5.71497644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992557844000004 meters 0.29671944180380544 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990850e-01 4.27641514e-03 -1.08309306e-04 2.76562215e-02] [-4.27615853e-03 9.99988285e-01 2.26794263e-03 -1.59630178e-01] [ 1.18006701e-04 -2.26745873e-03 9.99997422e-01 5.71187860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844000005 meters 0.29729032545533346 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99991043e-01 4.22725935e-03 -2.08107566e-04 2.81064503e-02] [-4.22680392e-03 9.99988772e-01 2.14225144e-03 -1.59123664e-01] [ 2.17161082e-04 -2.14135262e-03 9.99997684e-01 5.70740325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052557844000006 meters 0.2974496611454263 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99991149e-01 4.19219185e-03 -3.57654023e-04 2.86577847e-02] [-4.19144803e-03 9.99989103e-01 2.05570787e-03 -1.58784880e-01] [ 3.66268047e-04 -2.05419059e-03 9.99997823e-01 5.70356993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08255784400001 meters 0.2976932867825347 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99991153e-01 4.18056611e-03 -4.66051770e-04 2.89992159e-02] [-4.17961113e-03 9.99989202e-01 2.03155767e-03 -1.58696336e-01] [ 4.74539798e-04 -2.02959178e-03 9.99997828e-01 5.70221315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11255784400001 meters 0.29719746656542895 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990926e-01 4.22099459e-03 -5.75918686e-04 2.92825394e-02] [-4.21975085e-03 9.99988798e-01 2.14396985e-03 -1.59169672e-01] [ 5.84961920e-04 -2.14152016e-03 9.99997536e-01 5.70229854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14255784400001 meters 0.2966446498814037 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990729e-01 4.27001641e-03 -5.54998440e-04 2.90993138e-02] [-4.26874459e-03 9.99988306e-01 2.27290597e-03 -1.59687059e-01] [ 5.64697295e-04 -2.27051576e-03 9.99997263e-01 5.70534078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172557844 meters 0.2961655706749703 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990700e-01 4.28537424e-03 -4.84241744e-04 2.88282446e-02] [-4.28424447e-03 9.99988153e-01 2.31051288e-03 -1.59827925e-01] [ 4.94137420e-04 -2.30841679e-03 9.99997214e-01 5.70742957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844000005 meters 0.2965682109677778 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99990698e-01 4.29587187e-03 -3.86752674e-04 2.85357663e-02] [-4.29495816e-03 9.99988055e-01 2.33311557e-03 -1.59910551e-01] [ 3.96770820e-04 -2.33143278e-03 9.99997203e-01 5.70841308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232557844000006 meters 0.2982597794075614 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.9999927 -0.00342439 0.00169773 0.04818901] [ 0.00341888 0.9999889 0.0032409 -0.15568194] [-0.00170881 -0.00323507 0.99999331 0.57125792] [ 0. 0. 0. 1. ]] SLAMing on 55.26255784400001 meters 0.297415983378866 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99999272 -0.00344955 0.00162885 0.04839057] [ 0.00344435 0.99998901 0.00317946 -0.15543379] [-0.0016398 -0.00317383 0.99999362 0.57121017] [ 0. 0. 0. 1. ]] SLAMing on 55.29255784400001 meters 0.2975592440284424 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99999286 -0.00345029 0.00153937 0.04868953] [ 0.00344538 0.999989 0.00318108 -0.15545685] [-0.00155033 -0.00317576 0.99999376 0.57105862] [ 0. 0. 0. 1. ]] SLAMing on 55.32255784400001 meters 0.2976963842188509 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99999311 -0.00342038 0.00144287 0.04888742] [ 0.00341566 0.99998884 0.00326405 -0.15579974] [-0.00145402 -0.0032591 0.99999363 0.57118902] [ 0. 0. 0. 1. ]] SLAMing on 55.352557844 meters 0.2973756184401363 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99999346 -0.0033378 0.00139388 0.04890454] [ 0.00333293 0.99998838 0.00348258 -0.15669696] [-0.00140549 -0.00347791 0.99999296 0.57145485] [ 0. 0. 0. 1. ]] SLAMing on 55.382557844000004 meters 0.2973486699331693 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99999406 -0.00314021 0.00141966 0.04855146] [ 0.00313436 0.99998666 0.00410555 -0.15917353] [-0.00143253 -0.00410108 0.99999056 0.57217589] [ 0. 0. 0. 1. ]] SLAMing on 55.412557844000006 meters 0.29804558486464466 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99988264e-01 3.54831432e-03 3.29874640e-03 7.01761831e-02] [-3.55130675e-03 9.99993288e-01 9.01727653e-04 -1.61022137e-01] [-3.29552464e-03 -9.13431931e-04 9.99994153e-01 5.70986972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44255784400001 meters 0.29702540220083135 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998781 0.00365586 0.00331747 0.07012163] [-0.00365982 0.9999926 0.00118877 -0.1622165 ] [-0.0033131 -0.00120089 0.99999379 0.57099438] [ 0. 0. 0. 1. ]] SLAMing on 55.47255784400001 meters 0.29657379359630176 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998746 0.00375226 0.00331733 0.07008295] [-0.00375706 0.9999919 0.00144412 -0.1632814 ] [-0.00331189 -0.00145656 0.99999345 0.57109352] [ 0. 0. 0. 1. ]] SLAMing on 55.50255784400001 meters 0.29697310703240876 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998721 0.00378761 0.00335042 0.06996357] [-0.00379277 0.99999163 0.00153681 -0.16366339] [-0.00334457 -0.0015495 0.99999321 0.57117319] [ 0. 0. 0. 1. ]] SLAMing on 55.532557844 meters 0.29691562249865483 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998709 0.0037981 0.00337479 0.06984765] [-0.00380339 0.99999154 0.001565 -0.16376888] [-0.00336882 -0.00157782 0.99999308 0.5712937 ] [ 0. 0. 0. 1. ]] SLAMing on 55.562557844000004 meters 0.29663530347930167 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998719 0.00377847 0.00336689 0.06987093] [-0.00378359 0.99999169 0.00151538 -0.16355845] [-0.00336114 -0.00152809 0.99999318 0.57128429] [ 0. 0. 0. 1. ]] SLAMing on 55.592557844000005 meters 0.29663330059331167 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998761 0.00369809 0.00333177 0.07023629] [-0.00370235 0.99999234 0.00127328 -0.16263755] [-0.00332704 -0.0012856 0.99999364 0.57056874] [ 0. 0. 0. 1. ]] SLAMing on 55.622557844000006 meters 0.29691317863502703 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99998725 0.00364239 0.00349678 0.06986131] [-0.00364629 0.99999274 0.00110984 -0.16195541] [-0.00349271 -0.00112258 0.99999327 0.57045031] [ 0. 0. 0. 1. ]] SLAMing on 55.65255784400001 meters 0.2962076398137683 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99986813e-01 3.59816986e-03 3.66423876e-03 6.94063743e-02] [-3.60178307e-03 9.99993033e-01 9.79953602e-04 -1.61397829e-01] [-3.66068720e-03 -9.93138473e-04 9.99992806e-01 5.70523409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68255784400001 meters 0.2985230393664428 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 0.99997386 -0.0045232 0.0056409 0.08855893] [ 0.00451461 0.99998863 0.00153518 -0.15579401] [-0.00564778 -0.00150968 0.99998291 0.57062975] [ 0. 0. 0. 1. ]] SLAMing on 55.712557844 meters 0.29704825217915837 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99985387e-01 2.91389569e-03 4.55357252e-03 6.99854982e-02] [-2.91472472e-03 9.99995737e-01 1.75434738e-04 -1.60905111e-01] [-4.55304191e-03 -1.88704585e-04 9.99989617e-01 5.69200578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742557844000004 meters 0.2964825745669377 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99985479e-01 2.94390983e-03 4.51380657e-03 7.00072178e-02] [-2.94510477e-03 9.99995630e-01 2.58104631e-04 -1.61237407e-01] [-4.51302701e-03 -2.71394517e-04 9.99989779e-01 5.69396584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772557844000005 meters 0.2973110287410081 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99984663e-01 3.04650728e-03 4.62510148e-03 6.95550291e-02] [-3.04909630e-03 9.99995199e-01 5.52827349e-04 -1.62419293e-01] [-4.62339508e-03 -5.66921251e-04 9.99989151e-01 5.69848177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802557844000006 meters 0.2970318824173391 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 0.99996837 -0.00501256 0.00617461 0.09045568] [ 0.00500389 0.99998647 0.00141824 -0.16152691] [-0.00618164 -0.00138729 0.99997993 0.57050327] [ 0. 0. 0. 1. ]] SLAMing on 55.83255784400001 meters 0.2958425545592482 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99981433e-01 2.75059381e-03 5.43771425e-03 7.15818997e-02] [-2.75478778e-03 9.99995914e-01 7.63934717e-04 -1.69850135e-01] [-5.43559076e-03 -7.78900282e-04 9.99984924e-01 5.69810569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86255784400001 meters 0.2962291472599613 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99998594 0.00282702 0.00448675 0.07421712] [-0.00283415 0.99999473 0.00158335 -0.17352416] [-0.00448225 -0.00159605 0.99998868 0.5688605 ] [ 0. 0. 0. 1. ]] SLAMing on 55.89255784400001 meters 0.2957994971610915 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.57 [[ 0.99998664 0.00297262 0.00422812 0.07515198] [-0.00298114 0.99999353 0.00201104 -0.17542695] [-0.00422212 -0.00202361 0.99998904 0.56820499] [ 0. 0. 0. 1. ]] SLAMing on 55.922557844 meters 0.2966153195958145 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.57 [[ 0.99998719 0.00304268 0.00404592 0.07583399] [-0.00305163 0.99999291 0.00220663 -0.17630256] [-0.00403918 -0.00221895 0.99998938 0.5677038 ] [ 0. 0. 0. 1. ]] SLAMing on 55.952557844000005 meters 0.29641910091758716 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.57 [[ 0.99998869 0.00302874 0.0036666 0.0769701 ] [-0.00303681 0.99999298 0.00219715 -0.17629266] [-0.00365992 -0.00220826 0.99999086 0.56709343] [ 0. 0. 0. 1. ]] SLAMing on 55.982557844000006 meters 0.2946935206371371 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.17, Z:0.57 [[ 0.9999889 0.00292628 0.00369147 0.07702918] [-0.00293321 0.99999394 0.00187291 -0.17499477] [-0.00368596 -0.00188372 0.99999143 0.56674694] [ 0. 0. 0. 1. ]] SLAMing on 56.01255784400001 meters 0.2946935206371371 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.17, Z:0.57 [[ 0.9999889 0.00292628 0.00369147 0.07702918] [-0.00293321 0.99999394 0.00187291 -0.17499477] [-0.00368596 -0.00188372 0.99999143 0.56674694] [ 0. 0. 0. 1. ]] SLAMing on 56.04255784400001 meters 0.297767087822613 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:0.57 [[ 0.99997976 0.00561435 0.00299285 0.11613415] [-0.00562026 0.99998227 0.00196941 -0.16881075] [-0.00298174 -0.00198619 0.99999358 0.56915019] [ 0. 0. 0. 1. ]] SLAMing on 56.07255784400001 meters 0.2956062894855016 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.57 [[ 0.99998932 -0.00402538 0.00227232 0.09572404] [ 0.00401974 0.99998884 0.00248358 -0.16365218] [-0.00228229 -0.00247441 0.99999433 0.56867513] [ 0. 0. 0. 1. ]] SLAMing on 56.102557844 meters 0.29718382797749343 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.16, Z:0.57 [[ 9.99974419e-01 3.18231634e-03 6.40580616e-03 1.16502101e-01] [-3.18054249e-03 9.99994901e-01 -2.87079862e-04 -1.57022975e-01] [-6.40668707e-03 2.66698580e-04 9.99979441e-01 5.65889112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132557844000004 meters 0.2958881590176225 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 0.99998406 -0.00371755 0.00424995 0.09426292] [ 0.00370628 0.9999896 0.00265679 -0.15637331] [-0.00425978 -0.002641 0.99998744 0.56771718] [ 0. 0. 0. 1. ]] SLAMing on 56.162557844000006 meters 0.29725343024218287 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.57 [[ 9.99968618e-01 5.09638358e-03 6.06552996e-03 1.12745589e-01] [-5.10041862e-03 9.99986782e-01 6.49957784e-04 -1.55659521e-01] [-6.06213735e-03 -6.80874128e-04 9.99981393e-01 5.69025330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19255784400001 meters 0.2971075798369538 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.57 [[ 9.99968339e-01 5.09231159e-03 6.11475527e-03 1.12454061e-01] [-5.09627971e-03 9.99986813e-01 6.33536435e-04 -1.55566369e-01] [-6.11144847e-03 -6.64678880e-04 9.99981104e-01 5.69435699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22255784400001 meters 0.2991394532971189 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.57 [[ 9.99967096e-01 5.13531653e-03 6.27979097e-03 1.11847679e-01] [-5.14011719e-03 9.99986509e-01 7.48561370e-04 -1.55997349e-01] [-6.27586215e-03 -7.80815601e-04 9.99980002e-01 5.69941275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25255784400001 meters 0.2956437258751072 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 0.99998928 -0.00241993 0.0039471 0.08992466] [ 0.00240606 0.99999093 0.00351415 -0.15856511] [-0.00395556 -0.00350461 0.99998604 0.5718716 ] [ 0. 0. 0. 1. ]] SLAMing on 56.282557844 meters 0.29604776003901473 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 0.99998951 -0.00229215 0.00396488 0.08980685] [ 0.00227651 0.99998963 0.00394404 -0.16024078] [-0.00397388 -0.00393497 0.99998436 0.57210084] [ 0. 0. 0. 1. ]] SLAMing on 56.312557844000004 meters 0.2970706562543058 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.16, Z:0.57 [[ 9.99976496e-01 4.52190478e-03 5.15357534e-03 1.12765966e-01] [-4.52564539e-03 9.99989504e-01 7.14397741e-04 -1.61272369e-01] [-5.15029081e-03 -7.37704205e-04 9.99986465e-01 5.70438012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342557844000005 meters 0.29588439631218344 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 0.99999523 -0.00275922 0.00138484 0.09207491] [ 0.00275458 0.99999063 0.00333928 -0.16521264] [-0.00139404 -0.00333545 0.99999347 0.57238062] [ 0. 0. 0. 1. ]] SLAMing on 56.372557844000006 meters 0.2961986836317848 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:0.57 [[ 0.99997481 0.00688219 0.00173472 0.11237116] [-0.00688667 0.99997293 0.0025926 -0.16891492] [-0.00171683 -0.00260448 0.99999513 0.57293673] [ 0. 0. 0. 1. ]] SLAMing on 56.40255784400001 meters 0.29557441683302843 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99998102e-01 -1.94743067e-03 -5.91569940e-05 9.40635439e-02] [ 1.94766203e-03 9.99989278e-01 4.20132362e-03 -1.67019249e-01] [ 5.09745732e-05 -4.20143087e-03 9.99991173e-01 5.71372097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43255784400001 meters 0.29622094989484854 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99998113e-01 -1.94061294e-03 -8.47259062e-05 9.42328704e-02] [ 1.94095330e-03 9.99989207e-01 4.22116732e-03 -1.67123561e-01] [ 7.65333398e-05 -4.22132381e-03 9.99991087e-01 5.71135505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46255784400001 meters 0.296420681675833 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99998207e-01 -1.89293592e-03 -5.20084491e-05 9.41227198e-02] [ 1.89314403e-03 9.99988768e-01 4.34499910e-03 -1.67640978e-01] [ 4.37830601e-05 -4.34508976e-03 9.99990559e-01 5.71199567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492557844000004 meters 0.2957713946581789 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99998197e-01 -1.89792074e-03 6.67474463e-05 9.37654110e-02] [ 1.89761417e-03 9.99988839e-01 4.32684586e-03 -1.67543677e-01] [-7.49587118e-05 -4.32671139e-03 9.99990637e-01 5.71318842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522557844000005 meters 0.2959160449089357 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99998101e-01 -1.94023715e-03 1.80713761e-04 9.33936168e-02] [ 1.93945971e-03 9.99989269e-01 4.20724282e-03 -1.67007835e-01] [-1.88874871e-04 -4.20688435e-03 9.99991133e-01 5.71497331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552557844000006 meters 0.2961486923846715 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99997862e-01 -2.06075000e-03 1.68608603e-04 9.34320051e-02] [ 2.06007897e-03 9.99990321e-01 3.88764770e-03 -1.65675412e-01] [-1.76618442e-04 -3.88729204e-03 9.99992429e-01 5.71463310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58255784400001 meters 0.29550863439426145 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:0.57 [[ 9.99997768e-01 -2.11232826e-03 3.60877113e-05 9.39440992e-02] [ 2.11217791e-03 9.99990724e-01 3.75379876e-03 -1.65159532e-01] [-4.40166318e-05 -3.75371416e-03 9.99992954e-01 5.71045319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61255784400001 meters 0.29541569465320905 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 9.99997573e-01 -2.20277982e-03 -2.99729891e-05 9.43230270e-02] [ 2.20287149e-03 9.99991409e-01 3.51122296e-03 -1.64182108e-01] [ 2.22382805e-05 -3.51128047e-03 9.99993835e-01 5.70528948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64255784400001 meters 0.29585552371416246 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 9.99997319e-01 -2.31535147e-03 -2.44176750e-05 9.44716860e-02] [ 2.31541781e-03 9.99992188e-01 3.20366227e-03 -1.62925928e-01] [ 1.69998801e-05 -3.20371022e-03 9.99994868e-01 5.70127596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672557844 meters 0.2960709623084668 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 9.99996799e-01 -2.52261507e-03 1.96909082e-04 9.39795593e-02] [ 2.52210032e-03 9.99993512e-01 2.57201889e-03 -1.60331318e-01] [-2.03396018e-04 -2.57151404e-03 9.99996673e-01 5.69909914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702557844000005 meters 0.2970836673446495 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 9.99996599e-01 -2.59973436e-03 2.06248754e-04 9.39101901e-02] [ 2.59923901e-03 9.99993821e-01 2.36669458e-03 -1.59461124e-01] [-2.12400257e-04 -2.36615044e-03 9.99997178e-01 5.70004363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732557844000006 meters 0.297663818991163 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.57 [[ 9.99996439e-01 -2.66347742e-03 1.66587240e-04 9.39724853e-02] [ 2.66310397e-03 9.99994027e-01 2.20315450e-03 -1.58769521e-01] [-1.72454297e-04 -2.20270301e-03 9.99997559e-01 5.70092526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76255784400001 meters 0.29606355895178355 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99999401 0.0024532 -0.00244288 0.07181983] [-0.00245623 0.99999622 -0.00123774 -0.1583669 ] [ 0.00243983 0.00124373 0.99999625 0.57166725] [ 0. 0. 0. 1. ]] SLAMing on 56.79255784400001 meters 0.29758308909075365 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.57 [[ 9.99996199e-01 -2.67335254e-03 -6.74551244e-04 9.52059234e-02] [ 2.67476771e-03 9.99994206e-01 2.10584142e-03 -1.57407016e-01] [ 6.68917679e-04 -2.10763768e-03 9.99997555e-01 5.69831739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82255784400001 meters 0.2965760400803413 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.57 [[ 9.99995937e-01 -2.76487584e-03 -6.94320472e-04 9.56092676e-02] [ 2.76616399e-03 9.99994442e-01 1.86121559e-03 -1.56422166e-01] [ 6.89170583e-04 -1.86312863e-03 9.99998027e-01 5.68987535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852557844 meters 0.2975471442399795 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.57 [[ 9.99995883e-01 -2.79967874e-03 -6.29008839e-04 9.55525978e-02] [ 2.80078703e-03 9.99994515e-01 1.76805109e-03 -1.56047511e-01] [ 6.24055414e-04 -1.76980553e-03 9.99998239e-01 5.68722380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882557844000004 meters 0.2976308922969946 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.57 [[ 9.99995812e-01 -2.84316282e-03 -5.41320168e-04 9.53238713e-02] [ 2.84405332e-03 9.99994592e-01 1.65143994e-03 -1.55549947e-01] [ 5.36621928e-04 -1.65297257e-03 9.99998490e-01 5.68710341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912557844000006 meters 0.2968041959175049 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.57 [[ 9.99988198e-01 4.74855093e-03 -1.02711271e-03 7.58553256e-02] [-4.74820510e-03 9.99988670e-01 3.38878249e-04 -1.59823762e-01] [ 1.02871025e-03 -3.33997308e-04 9.99999415e-01 5.67330267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94255784400001 meters 0.2965471878616908 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.57 [[ 9.99988440e-01 4.66808626e-03 -1.15302975e-03 7.62028831e-02] [-4.66793252e-03 9.99989096e-01 1.35986221e-04 -1.58982462e-01] [ 1.15365197e-03 -1.30602384e-04 9.99999326e-01 5.67274692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97255784400001 meters 0.2957887747646645 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.57 [[ 9.99988583e-01 4.60465615e-03 -1.27689963e-03 7.66741192e-02] [-4.60469310e-03 9.99989398e-01 -2.59945857e-05 -1.58335957e-01] [ 1.27676640e-03 3.18740199e-05 9.99999184e-01 5.66909331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00255784400001 meters 0.29721858831956466 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.57 [[ 9.99988717e-01 4.54502983e-03 -1.38130166e-03 7.71325628e-02] [-4.54528241e-03 9.99989654e-01 -1.79775529e-04 -1.57729912e-01] [ 1.38047028e-03 1.86051906e-04 9.99999030e-01 5.66458308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032557844 meters 0.2977519292321855 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.57 [[ 9.99989011e-01 4.46889545e-03 -1.41634653e-03 7.73208401e-02] [-4.46943469e-03 9.99989941e-01 -3.77792803e-04 -1.56913224e-01] [ 1.41464396e-03 3.84118920e-04 9.99998926e-01 5.66233390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062557844000004 meters 0.2956481854454991 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99996698e-01 2.56764133e-03 -1.09082976e-04 3.70012253e-02] [-2.56770199e-03 9.99996547e-01 -5.59647004e-04 -1.58375134e-01] [ 1.07645627e-04 5.59925248e-04 9.99999837e-01 5.63596987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092557844000005 meters 0.2968347764459366 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.57 [[ 9.99986867e-01 -4.88355616e-03 1.55435210e-03 5.54199024e-02] [ 4.88247858e-03 9.99987838e-01 6.96306983e-04 -1.53228280e-01] [-1.55773365e-03 -6.88708748e-04 9.99998550e-01 5.65082506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122557844000006 meters 0.2952564514655062 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.57 [[ 9.99986868e-01 -4.85992230e-03 1.62633435e-03 5.50084034e-02] [ 4.85870030e-03 9.99987912e-01 7.54491959e-04 -1.53431090e-01] [-1.62998146e-03 -7.46580180e-04 9.99998393e-01 5.65638533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15255784400001 meters 0.2964846793282002 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.57 [[ 0.99999552 0.00217146 -0.00206234 0.07115645] [-0.00217356 0.99999712 -0.00101531 -0.15378347] [ 0.00206013 0.00101979 0.99999736 0.57067407] [ 0. 0. 0. 1. ]] SLAMing on 57.18255784400001 meters 0.29629446024993017 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.57 [[ 9.99995219e-01 2.24931690e-03 -2.12174384e-03 7.12723769e-02] [-2.25103816e-03 9.99997139e-01 -8.09207789e-04 -1.54639184e-01] [ 2.11991760e-03 8.13980047e-04 9.99997422e-01 5.70774239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21255784400001 meters 0.29461016153739994 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99997346 -0.00569645 -0.00454307 0.05101827] [ 0.00570354 0.99998253 0.0015496 -0.15630576] [ 0.00453417 -0.00157547 0.99998848 0.57138209] [ 0. 0. 0. 1. ]] SLAMing on 57.242557844000004 meters 0.29630278487654493 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 0.99999827 0.00107339 -0.00151728 0.07262907] [-0.00107526 0.99999866 -0.00123214 -0.15628076] [ 0.00151595 0.00123377 0.99999809 0.56975095] [ 0. 0. 0. 1. ]] SLAMing on 57.272557844000005 meters 0.2949686027879006 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:0.57 [[ 0.99996953 -0.00653195 -0.00427382 0.05156321] [ 0.00653815 0.99997759 0.00143745 -0.16022876] [ 0.00426433 -0.00146535 0.99998983 0.57145669] [ 0. 0. 0. 1. ]] SLAMing on 57.302557844000006 meters 0.2954717416436061 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99999202 0.00320859 -0.00237961 0.06993161] [-0.00320542 0.99999397 0.00133576 -0.16653212] [ 0.00238388 -0.00132812 0.99999628 0.57261441] [ 0. 0. 0. 1. ]] SLAMing on 57.33255784400001 meters 0.29620226158483454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99999161 0.00329871 -0.00242833 0.07001552] [-0.00329488 0.99999333 0.00157867 -0.16753343] [ 0.00243352 -0.00157066 0.99999581 0.57272339] [ 0. 0. 0. 1. ]] SLAMing on 57.36255784400001 meters 0.2941244928209099 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 9.99998518e-01 9.69294025e-04 -1.42307526e-03 3.10010412e-02] [-9.67425666e-04 9.99998670e-01 1.31300449e-03 -1.70704498e-01] [ 1.42434606e-03 -1.31162582e-03 9.99998125e-01 5.69340875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39255784400001 meters 0.2946612315723769 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99999828 0.00120468 -0.00141097 0.03081216] [-0.00120195 0.99999741 0.00193475 -0.17325807] [ 0.00141329 -0.00193305 0.99999713 0.56965508] [ 0. 0. 0. 1. ]] SLAMing on 57.422557844 meters 0.2941625558671888 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99999818 0.00128397 -0.0014101 0.03075005] [-0.00128095 0.99999689 0.00214103 -0.17411223] [ 0.00141284 -0.00213922 0.99999671 0.56979655] [ 0. 0. 0. 1. ]] SLAMing on 57.452557844000005 meters 0.29382444470361735 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99999803 0.0013294 -0.00147553 0.03088472] [-0.00132606 0.99999656 0.00226237 -0.17461565] [ 0.00147853 -0.00226041 0.99999635 0.56988007] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844000006 meters 0.2960692702539368 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99999314 0.00208556 -0.00306217 0.07108553] [-0.00208194 0.99999713 0.00118591 -0.17228982] [ 0.00306463 -0.00117952 0.99999461 0.57274824] [ 0. 0. 0. 1. ]] SLAMing on 57.51255784400001 meters 0.2944040638559719 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99999265 0.00211354 -0.00319883 0.07154804] [-0.00210952 0.99999698 0.00126168 -0.1726389 ] [ 0.00320148 -0.00125492 0.99999409 0.57252614] [ 0. 0. 0. 1. ]] SLAMing on 57.54255784400001 meters 0.29464083266254004 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 0.99999234 0.00218196 -0.00324918 0.07170181] [-0.00217731 0.9999966 0.00143483 -0.17337438] [ 0.0032523 -0.00142775 0.99999369 0.57249152] [ 0. 0. 0. 1. ]] SLAMing on 57.57255784400001 meters 0.29487454300739346 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.57 [[ 0.99999235 0.00234863 -0.00312905 0.07132581] [-0.00234283 0.99999553 0.00185564 -0.175133 ] [ 0.00313339 -0.00184829 0.99999338 0.57267538] [ 0. 0. 0. 1. ]] SLAMing on 57.602557844 meters 0.29368197498306187 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.57 [[ 0.99999228 0.00244205 -0.00307766 0.07109543] [-0.00243561 0.99999484 0.00209287 -0.17610945] [ 0.00308276 -0.00208536 0.99999307 0.572901 ] [ 0. 0. 0. 1. ]] SLAMing on 57.632557844000004 meters 0.2957031579444926 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.57 [[ 0.99999183 0.0025206 -0.00315933 0.07130648] [-0.00251335 0.9999942 0.00229697 -0.17696983] [ 0.0031651 -0.00228901 0.99999237 0.57291885] [ 0. 0. 0. 1. ]] SLAMing on 57.662557844000006 meters 0.294472577303326 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.57 [[ 0.99999058 0.00261449 -0.00346378 0.07230398] [-0.00260569 0.99999337 0.00254425 -0.1780859 ] [ 0.00347041 -0.0025352 0.99999076 0.57233515] [ 0. 0. 0. 1. ]] SLAMing on 57.69255784400001 meters 0.2958354543617197 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.57 [[ 0.99999211 -0.00260611 -0.00299933 0.09669888] [ 0.00262372 0.99997925 0.00588373 -0.1760356 ] [ 0.00298394 -0.00589155 0.99997819 0.57050821] [ 0. 0. 0. 1. ]] SLAMing on 57.72255784400001 meters 0.29480676427604835 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.57 [[ 0.99997842 0.00512517 -0.0041107 0.07631667] [-0.00510529 0.99997529 0.00483263 -0.17855104] [ 0.00413537 -0.00481154 0.99997987 0.56898226] [ 0. 0. 0. 1. ]] SLAMing on 57.75255784400001 meters 0.29650020961591456 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.57 [[ 0.99997928 0.00501907 -0.00403198 0.07631447] [-0.00500072 0.99997714 0.0045502 -0.17741105] [ 0.00405473 -0.00452994 0.99998152 0.56851181] [ 0. 0. 0. 1. ]] SLAMing on 57.782557844 meters 0.29582679098896636 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997619 -0.00501865 -0.00473609 0.05622966] [ 0.00504175 0.9999754 0.00487674 -0.17331196] [ 0.0047115 -0.00490051 0.99997689 0.56780218] [ 0. 0. 0. 1. ]] SLAMing on 57.812557844000004 meters 0.29555744510070586 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997648 -0.00507755 -0.00461165 0.05587673] [ 0.00509928 0.99997589 0.00471304 -0.17261301] [ 0.00458761 -0.00473644 0.99997826 0.56785038] [ 0. 0. 0. 1. ]] SLAMing on 57.842557844000005 meters 0.2945722281478198 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997668 -0.00513073 -0.00450719 0.05539534] [ 0.00515135 0.99997626 0.00457726 -0.17197197] [ 0.0044836 -0.00460038 0.99997937 0.56829325] [ 0. 0. 0. 1. ]] SLAMing on 57.872557844000006 meters 0.29538082072459504 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997673 -0.00506857 -0.00456594 0.05539864] [ 0.00509024 0.99997577 0.00474766 -0.17265093] [ 0.00454176 -0.00477079 0.99997831 0.56865307] [ 0. 0. 0. 1. ]] SLAMing on 57.90255784400001 meters 0.2955200442834522 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997674 -0.00499831 -0.00463998 0.05553406] [ 0.0050213 0.99997511 0.00495598 -0.17349057] [ 0.0046151 -0.00497916 0.99997695 0.56880196] [ 0. 0. 0. 1. ]] SLAMing on 57.93255784400001 meters 0.2955200442834522 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99997674 -0.00499831 -0.00463998 0.05553406] [ 0.0050213 0.99997511 0.00495598 -0.17349057] [ 0.0046151 -0.00497916 0.99997695 0.56880196] [ 0. 0. 0. 1. ]] SLAMing on 57.96255784400001 meters 0.2927924698025015 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99978695e-01 -2.80371888e-04 -6.52155503e-03 3.20532864e-02] [ 2.91178668e-04 9.99998586e-01 1.65619604e-03 -1.75909145e-01] [ 6.52108146e-03 -1.65805969e-03 9.99977363e-01 5.70343400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992557844000004 meters 0.2948552162937127 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99977848e-01 -1.93252669e-04 -6.65327180e-03 3.25191394e-02] [ 2.06021095e-04 9.99998138e-01 1.91848797e-03 -1.77014995e-01] [ 6.65288866e-03 -1.91981619e-03 9.99976026e-01 5.70011417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844000005 meters 0.2953167042537961 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.57 [[ 0.99997733 -0.00586374 -0.00330921 0.05423014] [ 0.00587969 0.99997104 0.00483184 -0.17947173] [ 0.00328078 -0.00485118 0.99998285 0.56826156] [ 0. 0. 0. 1. ]] SLAMing on 58.052557844000006 meters 0.2946440901046445 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.57 [[ 0.99997735 -0.00584158 -0.00334399 0.05418991] [ 0.00585789 0.99997089 0.00488885 -0.17969525] [ 0.00331533 -0.00490833 0.99998246 0.56855667] [ 0. 0. 0. 1. ]] SLAMing on 58.08255784400001 meters 0.29317086554179167 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99984108e-01 -3.35829045e-04 -5.62768123e-03 3.20868820e-02] [ 3.45826479e-04 9.99998364e-01 1.77559589e-03 -1.80084038e-01] [ 5.62707573e-03 -1.77751388e-03 9.99982588e-01 5.70133130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11255784400001 meters 0.29530863607157587 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.57 [[ 9.99975546e-01 6.73373917e-03 -1.88802736e-03 5.28100614e-02] [-6.73553783e-03 9.99976867e-01 -9.47932233e-04 -1.77195152e-01] [ 1.88160055e-03 9.60625931e-04 9.99997768e-01 5.68122129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14255784400001 meters 0.2930059313930087 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 9.99992470e-01 -2.50875802e-03 -2.96079016e-03 3.31831154e-02] [ 2.50948876e-03 9.99996822e-01 2.43115513e-04 -1.73997709e-01] [ 2.96017083e-03 -2.50543752e-04 9.99995587e-01 5.67435398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172557844 meters 0.2961015807562663 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99996769e-01 -7.50907853e-04 -2.42859607e-03 7.03238693e-02] [ 7.50966411e-04 9.99999718e-01 2.31997959e-05 -1.71463661e-01] [ 2.42857797e-03 -2.50235150e-05 9.99997051e-01 5.70756710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202557844000005 meters 0.2941468309096506 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.57 [[ 0.99998168 0.00453461 -0.00400944 0.04812082] [-0.00454849 0.99998368 -0.0034576 -0.17235271] [ 0.00399369 0.00347577 0.99998598 0.5716271 ] [ 0. 0. 0. 1. ]] SLAMing on 58.232557844000006 meters 0.2935663508929447 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.57 [[ 0.99998178 0.00450618 -0.00401668 0.04817325] [-0.00452038 0.99998355 -0.00353148 -0.17205079] [ 0.0040007 0.00354957 0.9999857 0.57155188] [ 0. 0. 0. 1. ]] SLAMing on 58.26255784400001 meters 0.29496829703716454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99989978e-01 -1.04872601e-03 -4.35236605e-03 7.26813176e-02] [ 1.04676181e-03 9.99999349e-01 -4.53547922e-04 -1.69852804e-01] [ 4.35283886e-03 4.48987487e-04 9.99990426e-01 5.70149073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29255784400001 meters 0.29496829703716454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99989978e-01 -1.04872601e-03 -4.35236605e-03 7.26813176e-02] [ 1.04676181e-03 9.99999349e-01 -4.53547922e-04 -1.69852804e-01] [ 4.35283886e-03 4.48987487e-04 9.99990426e-01 5.70149073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32255784400001 meters 0.294411003567081 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99989701e-01 -1.01470681e-03 -4.42353716e-03 7.29557886e-02] [ 1.01311831e-03 9.99999422e-01 -3.61328140e-04 -1.70266306e-01] [ 4.42390125e-03 3.56842852e-04 9.99990151e-01 5.69953881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352557844 meters 0.29378144095817743 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.17, Z:0.57 [[ 9.99990088e-01 -9.65277729e-04 -4.34649404e-03 7.26567781e-02] [ 9.64269699e-04 9.99999508e-01 -2.34007603e-04 -1.70777567e-01] [ 4.34671778e-03 2.29814091e-04 9.99990527e-01 5.70196993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382557844000004 meters 0.2927098870729327 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 0.99999451 -0.00194026 -0.00268486 0.03164344] [ 0.00194343 0.99999742 0.00117874 -0.17578235] [ 0.00268256 -0.00118395 0.9999957 0.5684114 ] [ 0. 0. 0. 1. ]] SLAMing on 58.412557844000006 meters 0.29357661607012375 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.57 [[ 9.99988206e-01 4.80762397e-03 6.88425772e-04 5.27526749e-02] [-4.80637822e-03 9.99986829e-01 -1.79993534e-03 -1.74536390e-01] [-6.97070117e-04 1.79660528e-03 9.99998143e-01 5.66577901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44255784400001 meters 0.2929418162303968 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 9.99989907e-01 -4.45555127e-03 -5.77382047e-04 3.31215655e-02] [ 4.45531020e-03 9.99989988e-01 -4.18138044e-04 -1.74385601e-01] [ 5.79239301e-04 4.15561408e-04 9.99999746e-01 5.65730872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47255784400001 meters 0.29285934028107774 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99990272e-01 -4.36116940e-03 -6.60234803e-04 3.33501719e-02] [ 4.36106900e-03 9.99990479e-01 -1.53432652e-04 -1.75489168e-01] [ 6.60897663e-04 1.50551830e-04 9.99999770e-01 5.65702007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50255784400001 meters 0.2936754177890049 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.57 [[ 9.99990637e-01 -4.26021578e-03 -7.59068847e-04 3.36586982e-02] [ 4.26031357e-03 9.99990917e-01 1.27252593e-04 -1.76672140e-01] [ 7.58519828e-04 -1.30485273e-04 9.99999704e-01 5.65594894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532557844 meters 0.29498433114403166 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.57 [[ 9.99988335e-01 4.74206042e-03 -9.18491954e-04 5.36849445e-02] [-4.74309394e-03 9.99988117e-01 -1.12634606e-03 -1.82494340e-01] [ 9.13139838e-04 1.13068941e-03 9.99998944e-01 5.66763864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562557844000004 meters 0.29240477803696796 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.19, Z:0.56 [[ 9.99996518e-01 2.63630665e-03 -1.20858216e-04 1.41838996e-02] [-2.63642976e-03 9.99995994e-01 -1.03005697e-03 -1.85455207e-01] [ 1.18142186e-04 1.03037202e-03 9.99999462e-01 5.64279899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592557844000005 meters 0.29382900676428225 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.56 [[ 0.99999446 -0.00264365 0.00202294 0.03688856] [ 0.00263898 0.99999385 0.00230797 -0.18629804] [-0.00202902 -0.00230262 0.99999529 0.56274462] [ 0. 0. 0. 1. ]] SLAMing on 58.622557844000006 meters 0.2936419427129111 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.56 [[ 9.99987854e-01 4.87207941e-03 7.44508725e-04 1.79592453e-02] [-4.87304230e-03 9.99987286e-01 1.29703346e-03 -1.91612097e-01] [-7.38180009e-04 -1.30064573e-03 9.99998882e-01 5.61371644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65255784400001 meters 0.29433490926737627 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.56 [[ 9.99987727e-01 4.91272293e-03 6.41658387e-04 1.82545349e-02] [-4.91362488e-03 9.99986932e-01 1.41172629e-03 -1.92092677e-01] [-6.34714582e-04 -1.41486183e-03 9.99998798e-01 5.61294718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68255784400001 meters 0.2948881841835478 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.56 [[ 0.99999192 -0.00386734 0.00109254 0.03975992] [ 0.00386573 0.99999144 0.00147467 -0.188435 ] [-0.00109823 -0.00147044 0.99999832 0.56048205] [ 0. 0. 0. 1. ]] SLAMing on 58.71255784400001 meters 0.2926877636322292 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.56 [[ 0.99999705 0.00159389 -0.00183198 0.01729992] [-0.00159654 0.99999769 -0.00144169 -0.18757416] [ 0.00182968 0.00144461 0.99999728 0.56237084] [ 0. 0. 0. 1. ]] SLAMing on 58.742557844000004 meters 0.29396304418803765 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:0.56 [[ 0.99999717 0.00148406 -0.00186201 0.01749567] [-0.00148734 0.99999734 -0.00176054 -0.18630327] [ 0.00185939 0.0017633 0.99999672 0.56205663] [ 0. 0. 0. 1. ]] SLAMing on 58.772557844000005 meters 0.2952124121956213 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.56 [[ 9.99993955e-01 -3.34457476e-03 -9.50831558e-04 4.14069444e-02] [ 3.34610027e-03 9.99993110e-01 1.60736067e-03 -1.83340102e-01] [ 9.45449069e-04 -1.61053253e-03 9.99998256e-01 5.60539639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802557844000006 meters 0.2939443611930528 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.56 [[ 0.99998975 0.00226637 -0.0039202 0.01888194] [-0.00227126 0.99999665 -0.00124395 -0.18163893] [ 0.00391736 0.00125284 0.99999154 0.56261067] [ 0. 0. 0. 1. ]] SLAMing on 58.83255784400001 meters 0.29391823387642935 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.56 [[ 0.99999023 0.00215373 -0.00385925 0.01879831] [-0.00215981 0.99999643 -0.00157238 -0.18031265] [ 0.00385585 0.0015807 0.99999132 0.56243347] [ 0. 0. 0. 1. ]] SLAMing on 58.86255784400001 meters 0.2936489312415938 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.56 [[ 0.9999907 0.00200998 -0.00381692 0.01885617] [-0.00201755 0.999996 -0.00198169 -0.17865176] [ 0.00381292 0.00198937 0.99999075 0.5620422 ] [ 0. 0. 0. 1. ]] SLAMing on 58.89255784400001 meters 0.2962825314779559 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.56 [[ 0.99999305 -0.00310594 -0.00206174 0.04252699] [ 0.00310847 0.99999442 0.00122636 -0.17756996] [ 0.00205792 -0.00123276 0.99999712 0.55997139] [ 0. 0. 0. 1. ]] SLAMing on 58.922557844 meters 0.2942345781304169 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.18, Z:0.56 [[ 0.99998943 0.00163448 -0.00429773 0.01847427] [-0.00164351 0.99999645 -0.00209876 -0.17759569] [ 0.00429428 0.00210581 0.99998856 0.56245899] [ 0. 0. 0. 1. ]] SLAMing on 58.952557844000005 meters 0.2969088928850632 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.57 [[ 0.99998968 0.00265723 -0.00368532 0.05560493] [-0.0026677 0.99999241 -0.00283862 -0.17365098] [ 0.00367775 0.00284842 0.99998918 0.56582511] [ 0. 0. 0. 1. ]] SLAMing on 58.982557844000006 meters 0.2966214515013195 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.57 [[ 0.99999021 0.00266149 -0.00353369 0.05494489] [-0.00267152 0.99999241 -0.00283644 -0.17359785] [ 0.00352611 0.00284585 0.99998973 0.56650252] [ 0. 0. 0. 1. ]] SLAMing on 59.01255784400001 meters 0.29396237105309203 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99996841 -0.0072432 -0.00327249 0.03287875] [ 0.00723602 0.99997139 -0.00220209 -0.17120891] [ 0.00328835 0.00217835 0.99999222 0.56644742] [ 0. 0. 0. 1. ]] SLAMing on 59.04255784400001 meters 0.2954255087812926 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99996742 -0.00735155 -0.00333473 0.03314329] [ 0.00734328 0.99996995 -0.00248441 -0.17006547] [ 0.00335289 0.00245984 0.99999135 0.56619246] [ 0. 0. 0. 1. ]] SLAMing on 59.07255784400001 meters 0.2951825979441806 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99996608 -0.00746617 -0.00347895 0.03375245] [ 0.00745647 0.9999683 -0.00279285 -0.16883294] [ 0.00349969 0.00276682 0.99999005 0.56560764] [ 0. 0. 0. 1. ]] SLAMing on 59.102557844 meters 0.2968213547559383 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.57 [[ 0.99998843 -0.00308319 -0.0036921 0.03450572] [ 0.00308917 0.99999392 0.00161558 -0.16932284] [ 0.0036871 -0.00162697 0.99999188 0.56514607] [ 0. 0. 0. 1. ]] SLAMing on 59.132557844000004 meters 0.2944918879338219 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.56 [[ 9.99976154e-01 4.75761852e-03 -5.00554831e-03 1.36599222e-02] [-4.75475272e-03 9.99988525e-01 5.84268643e-04 -1.70304092e-01] [ 5.00827060e-03 -5.60454566e-04 9.99987301e-01 5.64333365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162557844000006 meters 0.295813293287189 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 0.99998964 -0.00298579 -0.00343714 0.03220277] [ 0.00298983 0.99999484 0.00117093 -0.16257138] [ 0.00343363 -0.0011812 0.99999341 0.56514955] [ 0. 0. 0. 1. ]] SLAMing on 59.19255784400001 meters 0.29630794666692584 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99989538e-01 -3.14462245e-03 -3.32193889e-03 3.17834956e-02] [ 3.14704328e-03 9.99994786e-01 7.23765025e-04 -1.60700835e-01] [ 3.31964560e-03 -7.34211739e-04 9.99994220e-01 5.65391483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22255784400001 meters 0.29440159475129135 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.56 [[ 0.99999178 -0.00341121 -0.00219384 -0.00921127] [ 0.00341479 0.99999284 0.00163215 -0.16030803] [ 0.00218826 -0.00163963 0.99999626 0.56370469] [ 0. 0. 0. 1. ]] SLAMing on 59.25255784400001 meters 0.297608553499091 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99998527e-01 -1.71366871e-03 9.41715138e-05 3.43362717e-02] [ 1.71352939e-03 9.99997466e-01 1.46019360e-03 -1.54119482e-01] [-9.66735632e-05 -1.46003008e-03 9.99998929e-01 5.61932017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282557844 meters 0.2955501000574526 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 0.99999284 0.00332733 -0.00180394 0.01146115] [-0.00333126 0.99999207 -0.00218011 -0.15342196] [ 0.00179668 0.0021861 0.999996 0.56345843] [ 0. 0. 0. 1. ]] SLAMing on 59.312557844000004 meters 0.29514240537172315 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 0.99999325 0.00325219 -0.00171196 0.01113493] [-0.00325627 0.99999185 -0.00238746 -0.15253985] [ 0.00170418 0.00239302 0.99999568 0.5636576 ] [ 0. 0. 0. 1. ]] SLAMing on 59.342557844000005 meters 0.2940341570841014 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 0.99999354 0.00322288 -0.00159328 0.01070258] [-0.00322682 0.99999173 -0.00247535 -0.15215418] [ 0.00158529 0.00248047 0.99999567 0.56396433] [ 0. 0. 0. 1. ]] SLAMing on 59.372557844000006 meters 0.2944342622007228 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 0.99999384 0.00314309 -0.00156211 0.01057935] [-0.00314728 0.99999143 -0.00268925 -0.15125538] [ 0.00155364 0.00269415 0.99999516 0.56405909] [ 0. 0. 0. 1. ]] SLAMing on 59.40255784400001 meters 0.29594284894468914 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.56 [[ 9.99996511e-01 -2.00307967e-03 -1.72233138e-03 3.54101635e-02] [ 2.00375811e-03 9.99997916e-01 3.92273111e-04 -1.45666229e-01] [ 1.72154203e-03 -3.95722878e-04 9.99998440e-01 5.62522357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43255784400001 meters 0.29628183105478034 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.56 [[ 9.99996251e-01 -2.06926314e-03 -1.79330918e-03 3.57517947e-02] [ 2.06967237e-03 9.99997833e-01 2.26369412e-04 -1.45007898e-01] [ 1.79283688e-03 -2.30080126e-04 9.99998366e-01 5.62177909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46255784400001 meters 0.2941521471779504 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:0.56 [[ 9.99993974e-01 -3.23715577e-03 -1.25441485e-03 -3.88729963e-03] [ 3.23805476e-03 9.99994502e-01 7.15294003e-04 -1.48535105e-01] [ 1.25209244e-03 -7.19351557e-04 9.99998957e-01 5.59822257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492557844000004 meters 0.29557247772680717 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 9.99983509e-01 5.69059350e-03 7.74466642e-04 1.48197572e-02] [-5.69006863e-03 9.99983581e-01 -6.78243468e-04 -1.50618210e-01] [-7.78313535e-04 6.73825515e-04 9.99999470e-01 5.60710675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522557844000005 meters 0.29439936930112554 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 9.99983535e-01 5.67490326e-03 8.52050573e-04 1.45428280e-02] [-5.67428623e-03 9.99983638e-01 -7.24856022e-04 -1.50414098e-01] [-8.56150120e-04 7.20009308e-04 9.99999374e-01 5.60884096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552557844000006 meters 0.2931988852040455 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.56 [[ 0.9999968 -0.00194422 -0.00161739 -0.00624946] [ 0.00194703 0.9999966 0.00173396 -0.15037849] [ 0.00161402 -0.00173711 0.99999719 0.56201205] [ 0. 0. 0. 1. ]] SLAMing on 59.58255784400001 meters 0.2936195165900106 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:0.56 [[ 0.999966 0.00818497 -0.00100571 0.0151422 ] [-0.00818334 0.99996521 0.001614 -0.15429503] [ 0.00101889 -0.00160571 0.99999819 0.56159662] [ 0. 0. 0. 1. ]] SLAMing on 59.61255784400001 meters 0.29582729513346395 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.56 [[ 9.99999716e-01 -4.21848944e-04 -6.23890973e-04 3.78583472e-02] [ 4.22965498e-04 9.99998307e-01 1.79061413e-03 -1.51484666e-01] [ 6.23134548e-04 -1.79087751e-03 9.99998202e-01 5.61509597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64255784400001 meters 0.29423026670814606 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.56 [[ 0.99998758 0.00439036 -0.00235761 0.01421552] [-0.00439409 0.9999891 -0.00157983 -0.15385141] [ 0.00235064 0.00159017 0.99999597 0.56348591] [ 0. 0. 0. 1. ]] SLAMing on 59.672557844 meters 0.29457460800575475 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.56 [[ 9.99998343e-01 -1.78829916e-03 3.40864781e-04 3.55992383e-02] [ 1.78794454e-03 9.99997863e-01 1.03784474e-03 -1.54862830e-01] [-3.42720029e-04 -1.03723357e-03 9.99999403e-01 5.62399086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702557844000005 meters 0.2944519205084069 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998540e-01 -1.69406030e-03 2.25795879e-04 3.58785119e-02] [ 1.69376373e-03 9.99997711e-01 1.30718471e-03 -1.55966110e-01] [-2.28009812e-04 -1.30680035e-03 9.99999120e-01 5.62443879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732557844000006 meters 0.2937088610439492 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998664e-01 -1.63068918e-03 1.14077753e-04 3.60994593e-02] [ 1.63051805e-03 9.99997569e-01 1.48442198e-03 -1.56683413e-01] [-1.16498107e-04 -1.48423399e-03 9.99998892e-01 5.62612675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76255784400001 meters 0.2945970648965598 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998965e-01 -1.43470491e-03 1.09899785e-04 3.59700284e-02] [ 1.43448371e-03 9.99996997e-01 1.98710186e-03 -1.58739981e-01] [-1.12750359e-04 -1.98694215e-03 9.99998020e-01 5.62931006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79255784400001 meters 0.2945864246536627 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99999049e-01 -1.36989415e-03 1.61408196e-04 3.58852149e-02] [ 1.36954345e-03 9.99996744e-01 2.15322846e-03 -1.59427151e-01] [-1.64357365e-04 -2.15300536e-03 9.99997669e-01 5.62825122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82255784400001 meters 0.2945864246536627 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99999049e-01 -1.36989415e-03 1.61408196e-04 3.58852149e-02] [ 1.36954345e-03 9.99996744e-01 2.15322846e-03 -1.59427151e-01] [-1.64357365e-04 -2.15300536e-03 9.99997669e-01 5.62825122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852557844 meters 0.2933966668431605 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.56 [[ 0.99999018 0.00361304 -0.00256648 0.01353114] [-0.00361619 0.99999271 -0.00122284 -0.15960852] [ 0.00256204 0.00123211 0.99999596 0.56441388] [ 0. 0. 0. 1. ]] SLAMing on 59.882557844000004 meters 0.29514074106894433 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998478e-01 -1.67435076e-03 -4.91200269e-04 3.72231165e-02] [ 1.67529078e-03 9.99996754e-01 1.91959072e-03 -1.59823680e-01] [ 4.87984606e-04 -1.92041070e-03 9.99998037e-01 5.61955601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912557844000006 meters 0.2940543054342625 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.56 [[ 0.99998781 0.00318513 -0.00377238 0.01466417] [-0.00319031 0.99999397 -0.00136848 -0.15848048] [ 0.003768 0.0013805 0.99999195 0.56399155] [ 0. 0. 0. 1. ]] SLAMing on 59.94255784400001 meters 0.295203599481929 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 0.99999697 -0.00198462 -0.00145759 0.03847576] [ 0.00198719 0.99999647 0.00176226 -0.1589495 ] [ 0.00145409 -0.00176515 0.99999738 0.56159368] [ 0. 0. 0. 1. ]] SLAMing on 59.97255784400001 meters 0.2945208638370434 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.56 [[ 0.99999296 0.00308717 -0.0021308 0.01473872] [-0.00309109 0.99999354 -0.00183495 -0.16072559] [ 0.00212512 0.00184152 0.99999605 0.56319662] [ 0. 0. 0. 1. ]] SLAMing on 60.00255784400001 meters 0.2950722516688221 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99989773e-01 -4.45190222e-03 -7.96333217e-04 3.39677781e-02] [ 4.45140840e-03 9.99989900e-01 -6.20823942e-04 -1.56965367e-01] [ 7.99089021e-04 6.17272789e-04 9.99999490e-01 5.64770504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03255784400001 meters 0.29417896980550345 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99989864e-01 -4.43933882e-03 -7.50750609e-04 3.38501664e-02] [ 4.43889635e-03 9.99989974e-01 -5.90014887e-04 -1.57089887e-01] [ 7.53362358e-04 5.86676403e-04 9.99999544e-01 5.64767727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062557844000004 meters 0.2959208933897442 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99989778e-01 -4.46850090e-03 -6.89925856e-04 3.37545156e-02] [ 4.46803968e-03 9.99989795e-01 -6.68601101e-04 -1.56772164e-01] [ 6.92906460e-04 6.65511651e-04 9.99999538e-01 5.64619666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092557844000005 meters 0.29478823696291506 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99989823e-01 -4.46017167e-03 -6.78101603e-04 3.37954157e-02] [ 4.45973390e-03 9.99989847e-01 -6.45729041e-04 -1.56873748e-01] [ 6.80974781e-04 6.42698317e-04 9.99999562e-01 5.64456250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122557844000006 meters 0.2933397071315105 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.57 [[ 9.99994966e-01 8.16090912e-04 -3.06641063e-03 1.13931820e-02] [-8.27973586e-04 9.99992146e-01 -3.87583937e-03 -1.58088182e-01] [ 3.06322351e-03 3.87835876e-03 9.99987787e-01 5.66134048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15255784400001 meters 0.2943313600426656 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99997877e-01 -1.91218101e-03 7.68133043e-04 3.52945531e-02] [ 1.91111910e-03 9.99997220e-01 1.38081590e-03 -1.62491768e-01] [-7.70771277e-04 -1.37934497e-03 9.99998752e-01 5.62169875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18255784400001 meters 0.2945350542755927 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99997907e-01 -1.88232015e-03 8.01492900e-04 3.51482757e-02] [ 1.88115010e-03 9.99997168e-01 1.45809273e-03 -1.62796486e-01] [-8.04235227e-04 -1.45658196e-03 9.99998616e-01 5.62311642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21255784400001 meters 0.2935184050953193 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.56 [[ 0.99999271 0.00338827 -0.00176219 0.01273506] [-0.00339124 0.99999283 -0.00168251 -0.16291437] [ 0.00175647 0.00168848 0.99999703 0.56421929] [ 0. 0. 0. 1. ]] SLAMing on 60.242557844000004 meters 0.2946378747486684 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998418e-01 -1.54454710e-03 8.82263212e-04 3.60696888e-02] [ 1.54311594e-03 9.99997496e-01 1.62052235e-03 -1.63692652e-01] [-8.84763977e-04 -1.61915835e-03 9.99998298e-01 5.61998866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272557844000005 meters 0.29432686532873736 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.56 [[ 9.99998505e-01 -1.50258718e-03 8.55403811e-04 3.61521785e-02] [ 1.50110410e-03 9.99997374e-01 1.73178330e-03 -1.64153901e-01] [-8.58003719e-04 -1.73049666e-03 9.99998135e-01 5.61974560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302557844000006 meters 0.2955418565800748 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.56 [[ 9.99970823e-01 7.19480191e-03 2.56657045e-03 5.57802955e-02] [-7.19549278e-03 9.99974078e-01 2.60048717e-04 -1.66791142e-01] [-2.56463292e-03 -2.78508869e-04 9.99996673e-01 5.62582743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33255784400001 meters 0.29588557647927494 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.56 [[ 9.99970884e-01 7.18623364e-03 2.56701515e-03 5.58181554e-02] [-7.18687110e-03 9.99974146e-01 2.39187560e-04 -1.66709580e-01] [-2.56522992e-03 -2.57629402e-04 9.99996677e-01 5.62492414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36255784400001 meters 0.29426628338322586 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.56 [[ 9.99999712e-01 -7.15199585e-04 2.55362635e-04 3.41332053e-02] [ 7.14584106e-04 9.99996859e-01 2.40222363e-03 -1.66563220e-01] [-2.57079903e-04 -2.40204046e-03 9.99997082e-01 5.64074294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39255784400001 meters 0.2947429664562039 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.56 [[ 9.99999665e-01 -8.01202606e-04 1.70158037e-04 3.44715240e-02] [ 8.00833938e-04 9.99997356e-01 2.15574774e-03 -1.65592632e-01] [-1.71884778e-04 -2.15561075e-03 9.99997662e-01 5.63742486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422557844 meters 0.2957297395832945 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99999577e-01 -9.14058182e-04 1.06285870e-04 3.48416987e-02] [ 9.13862020e-04 9.99997906e-01 1.83123647e-03 -1.64312920e-01] [-1.07959504e-04 -1.83113857e-03 9.99998318e-01 5.63190006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452557844000005 meters 0.29658884259161056 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99999486e-01 -1.00797953e-03 1.05550865e-04 3.49586885e-02] [ 1.00781362e-03 9.99998275e-01 1.56024932e-03 -1.63235829e-01] [-1.07123383e-04 -1.56014214e-03 9.99998777e-01 5.62896520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482557844000006 meters 0.2956313999841419 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99999236e-01 -1.18852006e-03 3.38668280e-04 3.44496869e-02] [ 1.18818218e-03 9.99998798e-01 9.96132476e-04 -1.60967646e-01] [-3.39851797e-04 -9.95729316e-04 9.99999447e-01 5.62653103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51255784400001 meters 0.2972264705080089 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.16, Z:0.57 [[ 9.99999699e-01 1.39044419e-04 -7.63584055e-04 7.34967572e-02] [-1.39036016e-04 9.99999990e-01 1.10576776e-05 -1.55101924e-01] [ 7.63585585e-04 -1.09515086e-05 9.99999708e-01 5.65742462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54255784400001 meters 0.29645555865302725 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.57 [[ 9.99999688e-01 6.82555639e-05 -7.87255513e-04 7.35461758e-02] [-6.83892493e-05 9.99999983e-01 -1.69786257e-04 -1.54353075e-01] [ 7.87243911e-04 1.69840044e-04 9.99999676e-01 5.65767254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57255784400001 meters 0.29867345321616784 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.57 [[ 9.99999666e-01 1.22379986e-05 -8.16689461e-04 7.36270899e-02] [-1.24935283e-05 9.99999951e-01 -3.12880466e-04 -1.53766443e-01] [ 8.16685592e-04 3.12890565e-04 9.99999618e-01 5.65749351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557844 meters 0.29893369938710684 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.57 [[ 9.99999706e-01 -6.44429429e-05 -7.64599697e-04 7.34634475e-02] [ 6.40509581e-05 9.99999867e-01 -5.12680087e-04 -1.52928718e-01] [ 7.64632634e-04 5.12630963e-04 9.99999576e-01 5.65792198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632557844000004 meters 0.2955577286997357 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99994489e-01 -1.95278316e-03 2.68483270e-03 2.89204955e-02] [ 1.95461969e-03 9.99997857e-01 -6.81586478e-04 -1.53493487e-01] [-2.68349595e-03 6.86830549e-04 9.99996164e-01 5.65063081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662557844000006 meters 0.29606688514506607 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.57 [[ 9.99994140e-01 -2.05205997e-03 2.74037667e-03 2.86373925e-02] [ 2.05465684e-03 9.99997443e-01 -9.45154770e-04 -1.52368210e-01] [-2.73843015e-03 9.50779765e-04 9.99995799e-01 5.65365020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69255784400001 meters 0.2943014136335333 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.57 [[ 9.99982803e-01 5.80130261e-03 8.59545009e-04 8.75167465e-03] [-5.79961342e-03 9.99981271e-01 -1.95484043e-03 -1.55039436e-01] [-8.70869531e-04 1.94982179e-03 9.99997720e-01 5.65150101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72255784400001 meters 0.2968214832050689 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99997572e-01 3.24228137e-04 2.17942470e-03 3.26381330e-02] [-3.26421085e-04 9.99999441e-01 1.00592455e-03 -1.52510144e-01] [-2.17909733e-03 -1.00663352e-03 9.99997119e-01 5.63147859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75255784400001 meters 0.29670863143328796 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99997973e-01 2.75600335e-04 1.99425354e-03 3.32681815e-02] [-2.77367325e-04 9.99999569e-01 8.85818450e-04 -1.52057740e-01] [-1.99400855e-03 -8.86369796e-04 9.99997619e-01 5.62774116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78255784400001 meters 0.29610552958918346 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99998337e-01 2.95082965e-04 1.79982163e-03 3.38232593e-02] [-2.96801260e-04 9.99999500e-01 9.54510445e-04 -1.52365096e-01] [-1.79953907e-03 -9.55043046e-04 9.99997925e-01 5.62656763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812557844000004 meters 0.29563065810647376 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99998660e-01 3.44576041e-04 1.60015933e-03 3.41233259e-02] [-3.46394943e-04 9.99999294e-01 1.13656258e-03 -1.53057928e-01] [-1.59976657e-03 -1.13711534e-03 9.99998074e-01 5.63169907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842557844000005 meters 0.294938744445128 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99998589e-01 4.21372289e-04 1.62587568e-03 3.39385342e-02] [-4.23588988e-04 9.99998981e-01 1.36328434e-03 -1.53950182e-01] [-1.62529957e-03 -1.36397112e-03 9.99997749e-01 5.63478414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872557844000006 meters 0.29520984850532145 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.56 [[ 9.99998462e-01 4.85797803e-04 1.68514780e-03 3.36459203e-02] [-4.88399791e-04 9.99998689e-01 1.54400362e-03 -1.54656387e-01] [-1.68439552e-03 -1.54482427e-03 9.99997388e-01 5.63846289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90255784400001 meters 0.2950989417467447 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99998280e-01 5.66940003e-04 1.76567585e-03 3.31972335e-02] [-5.70070310e-04 9.99998266e-01 1.77286798e-03 -1.55551977e-01] [-1.76466768e-03 -1.77387149e-03 9.99996870e-01 5.64463609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93255784400001 meters 0.29373522991674594 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.56 [[ 9.99998084e-01 6.70102061e-04 1.83908969e-03 3.28140614e-02] [-6.73903233e-04 9.99997637e-01 2.06703640e-03 -1.56721859e-01] [-1.83770022e-03 -2.06827181e-03 9.99996173e-01 5.64959107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96255784400001 meters 0.29541449887572085 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:0.57 [[ 9.99997981e-01 8.00195272e-04 1.84320418e-03 3.26151909e-02] [-8.04667744e-04 9.99996731e-01 2.42700400e-03 -1.58179381e-01] [-1.84125608e-03 -2.42848227e-03 9.99995356e-01 5.65401563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992557844000004 meters 0.2946881161445557 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.16, Z:0.57 [[ 9.99985018e-01 5.45496462e-03 4.55709727e-04 8.72349510e-03] [-5.45445744e-03 9.99984512e-01 -1.10686186e-03 -1.61063374e-01] [-4.61740561e-04 1.10435962e-03 9.99999284e-01 5.67026312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022557844000005 meters 0.29262464399445315 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.57 [[ 0.99999424 -0.00183718 -0.0028537 -0.01206235] [ 0.00184177 0.99999701 0.00160694 -0.1644481 ] [ 0.00285074 -0.00161219 0.99999464 0.56877178] [ 0. 0. 0. 1. ]] SLAMing on 61.052557844000006 meters 0.2937186253616261 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.57 [[ 0.99995744 0.00851297 -0.00355671 0.01079699] [-0.00850548 0.99996159 0.00211514 -0.17122497] [ 0.00357458 -0.0020848 0.99999144 0.5680198 ] [ 0. 0. 0. 1. ]] SLAMing on 61.08255784400001 meters 0.294102013399007 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.57 [[ 0.99998497 0.00411162 -0.00362657 0.01104894] [-0.00412006 0.99998881 -0.00232298 -0.17073115] [ 0.00361698 0.00233789 0.99999073 0.56768203] [ 0. 0. 0. 1. ]] SLAMing on 61.11255784400001 meters 0.2944536416104396 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.57 [[ 0.99998428 0.00427492 -0.00362966 0.01088754] [-0.00428179 0.99998905 -0.00188639 -0.17251074] [ 0.00362156 0.0019019 0.99999163 0.56806227] [ 0. 0. 0. 1. ]] SLAMing on 61.14255784400001 meters 0.29421683094961 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.57 [[ 0.99998377 0.00443517 -0.00357682 0.01046811] [-0.00444036 0.9999891 -0.00144644 -0.17428631] [ 0.00357036 0.0014623 0.99999256 0.56872219] [ 0. 0. 0. 1. ]] SLAMing on 61.172557844 meters 0.29343157002879516 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.57 [[ 9.99975193e-01 -5.37363044e-03 -4.55382955e-03 -1.06747489e-02] [ 5.37063731e-03 9.99985354e-01 -6.69250267e-04 -1.74173052e-01] [ 4.55735916e-03 6.44776698e-04 9.99989407e-01 5.68982073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202557844000005 meters 0.2943048811966127 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.57 [[ 9.99975825e-01 -5.22957905e-03 -4.58262692e-03 -1.06471965e-02] [ 5.22834092e-03 9.99986292e-01 -2.82118376e-04 -1.75773814e-01] [ 4.58403946e-03 2.58152021e-04 9.99989460e-01 5.69097908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232557844000006 meters 0.2948192533202061 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.57 [[ 0.99999471 0.0021692 -0.00242512 0.0118537 ] [-0.00217482 0.99999495 -0.00231643 -0.17948812] [ 0.00242008 0.0023217 0.99999438 0.56690657] [ 0. 0. 0. 1. ]] SLAMing on 61.26255784400001 meters 0.29643844790338575 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.57 [[ 0.9999944 0.00230428 -0.00242786 0.01180725] [-0.00230903 0.99999542 -0.00195517 -0.18097395] [ 0.00242335 0.00196077 0.99999514 0.56701653] [ 0. 0. 0. 1. ]] SLAMing on 61.29255784400001 meters 0.29435258307826057 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 9.99998715e-01 7.24064098e-04 -1.43035382e-03 -2.68088661e-02] [-7.25965611e-04 9.99998853e-01 -1.32932900e-03 -1.85250972e-01] [ 1.42938966e-03 1.33036568e-03 9.99998093e-01 5.63816257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32255784400001 meters 0.29460883025343204 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 9.99998558e-01 8.47442657e-04 -1.47175377e-03 -2.67660677e-02] [-8.48882731e-04 9.99999161e-01 -9.78125671e-04 -1.86671719e-01] [ 1.47092363e-03 9.79373607e-04 9.99998439e-01 5.63961981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352557844 meters 0.2939959339020667 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 9.99998466e-01 1.00640869e-03 -1.43383979e-03 -2.70169264e-02] [-1.00716582e-03 9.99999354e-01 -5.27421846e-04 -1.88488203e-01] [ 1.43330806e-03 5.28865151e-04 9.99998833e-01 5.64326491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382557844000004 meters 0.29510837952264146 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 9.99998412e-01 1.16644982e-03 -1.34733114e-03 -2.73955047e-02] [-1.16653533e-03 9.99999318e-01 -6.26859357e-05 -1.90343765e-01] [ 1.34725710e-03 6.42575456e-05 9.99999090e-01 5.64711809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412557844000006 meters 0.2934722744819793 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99999628e-01 -7.46483894e-04 -4.31201714e-04 -6.58746958e-02] [ 7.46995260e-04 9.99999017e-01 1.18696659e-03 -1.99297226e-01] [ 4.30315239e-04 -1.18728826e-03 9.99999203e-01 5.61995796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44255784400001 meters 0.29320062665772534 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99999713e-01 -5.86749404e-04 -4.79023798e-04 -6.57727631e-02] [ 5.87544858e-04 9.99998446e-01 1.66212346e-03 -2.01217671e-01] [ 4.78047804e-04 -1.66240443e-03 9.99998504e-01 5.62026989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47255784400001 meters 0.2960042572883137 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:0.56 [[ 9.99999574e-01 -3.47298118e-04 -8.54716218e-04 -2.49627239e-02] [ 3.47742823e-04 9.99999804e-01 5.20202073e-04 -2.02908852e-01] [ 8.54535386e-04 -5.20499073e-04 9.99999499e-01 5.63518302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50255784400001 meters 0.2939828304278351 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.57 [[ 0.9999866 0.00423353 -0.00297889 -0.04863056] [-0.00424166 0.99998728 -0.00273032 -0.20497025] [ 0.00296729 0.00274292 0.99999184 0.56530159] [ 0. 0. 0. 1. ]] SLAMing on 61.53255784400001 meters 0.2945938620490896 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.57 [[ 0.99998587 0.00439651 -0.00298948 -0.04863698] [-0.00440331 0.99998772 -0.00227257 -0.20683728] [ 0.00297945 0.0022857 0.99999295 0.56534689] [ 0. 0. 0. 1. ]] SLAMing on 61.562557844000004 meters 0.29422179370973806 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99978996e-01 -4.82471606e-03 -4.32767211e-03 -6.77834822e-02] [ 4.82183267e-03 9.99988146e-01 -6.76454866e-04 -2.07296309e-01] [ 4.33088452e-03 6.55573347e-04 9.99990407e-01 5.64665209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592557844000005 meters 0.2948619104092258 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.57 [[ 0.99998438 0.00460831 -0.00316202 -0.04867731] [-0.00461218 0.99998862 -0.00121812 -0.21385236] [ 0.00315637 0.00123269 0.99999426 0.56566054] [ 0. 0. 0. 1. ]] SLAMing on 61.622557844000006 meters 0.29278797317322836 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99993100e-01 2.87713171e-03 -2.34983282e-03 -8.73832289e-02] [-2.87913100e-03 9.99995496e-01 -8.47882876e-04 -2.14938798e-01] [ 2.34738276e-03 8.54642502e-04 9.99996880e-01 5.62533681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65255784400001 meters 0.2948551476681655 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.56 [[ 9.99996816e-01 -2.40684725e-03 7.57835820e-04 -6.45488259e-02] [ 2.40521897e-03 9.99994813e-01 2.14222159e-03 -2.17305042e-01] [-7.62987889e-04 -2.14039201e-03 9.99997418e-01 5.59955667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68255784400001 meters 0.29344885854335506 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.56 [[ 0.99999513 0.0020768 -0.00233095 -0.08757806] [-0.00207984 0.99999699 -0.0013025 -0.21567111] [ 0.00232824 0.00130734 0.99999644 0.5620037 ] [ 0. 0. 0. 1. ]] SLAMing on 61.71255784400001 meters 0.29371347731518826 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.56 [[ 0.99999495 0.00210756 -0.00237798 -0.08735579] [-0.00211046 0.99999703 -0.00121757 -0.2160366 ] [ 0.00237541 0.00122259 0.99999643 0.56174437] [ 0. 0. 0. 1. ]] SLAMing on 61.742557844000004 meters 0.29371347731518826 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.56 [[ 0.99999495 0.00210756 -0.00237798 -0.08735579] [-0.00211046 0.99999703 -0.00121757 -0.2160366 ] [ 0.00237541 0.00122259 0.99999643 0.56174437] [ 0. 0. 0. 1. ]] SLAMing on 61.772557844000005 meters 0.2945905387539664 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983829e-01 -5.57137367e-03 -1.14081653e-03 -6.69420335e-02] [ 5.57106394e-03 9.99984444e-01 -2.74494308e-04 -2.13129655e-01] [ 1.14232809e-03 2.68134307e-04 9.99999312e-01 5.62576161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802557844000006 meters 0.2959446918859037 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983635e-01 -5.56396044e-03 -1.33156196e-03 -6.63415822e-02] [ 5.56362994e-03 9.99984491e-01 -2.51779246e-04 -2.13257099e-01] [ 1.33294220e-03 2.44366807e-04 9.99999082e-01 5.62274153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83255784400001 meters 0.2956347479819739 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983655e-01 -5.56630514e-03 -1.30626672e-03 -6.63612267e-02] [ 5.56596944e-03 9.99984476e-01 -2.60488115e-04 -2.13228760e-01] [ 1.30769640e-03 2.53213217e-04 9.99999113e-01 5.62168475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86255784400001 meters 0.29562138132898624 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983656e-01 -5.57015277e-03 -1.28893378e-03 -6.64058916e-02] [ 5.56980464e-03 9.99984451e-01 -2.73525688e-04 -2.13176953e-01] [ 1.29043732e-03 2.66342108e-04 9.99999132e-01 5.62167975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89255784400001 meters 0.2943555203479312 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983653e-01 -5.59276953e-03 -1.18981582e-03 -6.66860584e-02] [ 5.59237042e-03 9.99984305e-01 -3.38503863e-04 -2.12908090e-01] [ 1.19169032e-03 3.31844439e-04 9.99999235e-01 5.62232323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922557844 meters 0.29470904956951527 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99983463e-01 -5.64532973e-03 -1.09753060e-03 -6.69169062e-02] [ 5.64480720e-03 9.99983953e-01 -4.78620653e-04 -2.12333091e-01] [ 1.10021496e-03 4.72417389e-04 9.99999283e-01 5.62224776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952557844000005 meters 0.2938270014040858 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99998611e-01 -1.38956694e-03 -9.20840860e-04 -6.74572042e-02] [ 1.39283926e-03 9.99992684e-01 3.56256075e-03 -2.11260707e-01] [ 9.15883706e-04 -3.56383838e-03 9.99993230e-01 5.62425366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982557844000006 meters 0.2938895834075718 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99998494e-01 -1.46200819e-03 -9.35603886e-04 -6.73937278e-02] [ 1.46515516e-03 9.99993242e-01 3.37176762e-03 -2.10472306e-01] [ 9.30668011e-04 -3.37313335e-03 9.99993878e-01 5.62374951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01255784400001 meters 0.2933416775994785 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99986815e-01 3.07752212e-03 -4.11083116e-03 -8.97664263e-02] [-3.07920015e-03 9.99995178e-01 -4.01931093e-04 -2.07059753e-01] [ 4.10957439e-03 4.14583865e-04 9.99991470e-01 5.64164858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04255784400001 meters 0.294385252514698 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99985335e-01 -4.78136680e-03 -2.54310142e-03 -6.93727537e-02] [ 4.78197203e-03 9.99988539e-01 2.31959841e-04 -2.03319738e-01] [ 2.54196319e-03 -2.44117480e-04 9.99996739e-01 5.64558742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07255784400001 meters 0.29512871513667865 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99984710e-01 -4.85877387e-03 -2.64061224e-03 -6.90030444e-02] [ 4.85887208e-03 9.99988195e-01 3.07810414e-05 -2.02503407e-01] [ 2.64043151e-03 -4.36109678e-05 9.99996513e-01 5.64298392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102557844 meters 0.2942268742128901 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99983992e-01 -4.96825187e-03 -2.70763439e-03 -6.87348303e-02] [ 4.96756122e-03 9.99987627e-01 -2.61740018e-04 -2.01311322e-01] [ 2.70890128e-03 2.48285489e-04 9.99996300e-01 5.64083149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132557844000004 meters 0.29458033719561627 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99982869e-01 -5.15096740e-03 -2.78002409e-03 -6.86081690e-02] [ 5.14866605e-03 9.99986397e-01 -8.34338858e-04 -1.99019147e-01] [ 2.78428392e-03 8.20011149e-04 9.99995788e-01 5.64252490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162557844000006 meters 0.29359238644772556 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 0.99998923 0.00271042 -0.00376871 -0.08956009] [-0.00271769 0.99999445 -0.00192735 -0.20006518] [ 0.00376347 0.00193757 0.99999104 0.56348034] [ 0. 0. 0. 1. ]] SLAMing on 62.19255784400001 meters 0.2944475685151804 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 0.99998926 0.00262731 -0.00381728 -0.08942228] [-0.0026356 0.99999417 -0.0021688 -0.19908953] [ 0.00381156 0.00217883 0.99999036 0.56345554] [ 0. 0. 0. 1. ]] SLAMing on 62.22255784400001 meters 0.29548539521180595 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.99998408 -0.00505224 -0.00251112 -0.07070405] [ 0.00504924 0.99998653 -0.0011982 -0.1933711 ] [ 0.00251714 0.0011855 0.99999613 0.56460709] [ 0. 0. 0. 1. ]] SLAMing on 62.25255784400001 meters 0.29536770495321124 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.99998373 -0.00511765 -0.00251796 -0.07070757] [ 0.00511417 0.99998596 -0.00138572 -0.19260826] [ 0.00252501 0.00137282 0.99999587 0.56466226] [ 0. 0. 0. 1. ]] SLAMing on 62.28255784400001 meters 0.2958855024953062 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.9999831 -0.0052293 -0.00254108 -0.07069182] [ 0.00522486 0.99998481 -0.00175254 -0.191141 ] [ 0.00255021 0.00173923 0.99999524 0.56478118] [ 0. 0. 0. 1. ]] SLAMing on 62.312557844000004 meters 0.2951891958523766 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.99998248 -0.00530406 -0.00262878 -0.07048694] [ 0.00529891 0.99998403 -0.00196377 -0.19028268] [ 0.00263916 0.00194981 0.99999462 0.56482215] [ 0. 0. 0. 1. ]] SLAMing on 62.342557844000005 meters 0.2963597541923669 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.99998173 -0.00540034 -0.00271483 -0.07029675] [ 0.00539429 0.99998295 -0.00223428 -0.18917839] [ 0.00272685 0.0022196 0.99999382 0.56488798] [ 0. 0. 0. 1. ]] SLAMing on 62.372557844000006 meters 0.2943049222402186 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.19, Z:0.56 [[ 9.99986181e-01 -4.85354350e-03 -2.02036924e-03 -1.10290408e-01] [ 4.85256296e-03 9.99988106e-01 -4.89944571e-04 -1.89510532e-01] [ 2.02272318e-03 4.80133831e-04 9.99997839e-01 5.62751038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40255784400001 meters 0.29452814330335925 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.19, Z:0.56 [[ 0.99998586 -0.00505132 -0.00166507 -0.1111686 ] [ 0.00504928 0.9999865 -0.00122846 -0.18650089] [ 0.00167125 0.00122004 0.99999786 0.56278601] [ 0. 0. 0. 1. ]] SLAMing on 62.43255784400001 meters 0.2960306222107474 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 9.99989169e-01 4.65046804e-03 1.86683740e-04 -9.06747157e-02] [-4.65011180e-03 9.99987448e-01 -1.86539726e-03 -1.86863799e-01] [-1.95356367e-04 1.86450895e-03 9.99998243e-01 5.62547788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46255784400001 meters 0.29407255403502464 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:0.56 [[ 0.99999485 0.00286565 0.00144743 -0.13064759] [-0.00286287 0.99999406 -0.00191914 -0.18718447] [-0.00145292 0.00191499 0.99999711 0.56009817] [ 0. 0. 0. 1. ]] SLAMing on 62.492557844000004 meters 0.2942858498679858 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:0.56 [[ 0.9999948 0.00288374 0.00144662 -0.1306722 ] [-0.00288103 0.9999941 -0.00187206 -0.18737728] [-0.00145201 0.00186788 0.9999972 0.56015987] [ 0. 0. 0. 1. ]] SLAMing on 62.522557844000005 meters 0.2942253563752107 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.19, Z:0.56 [[ 0.99999477 0.00290201 0.00142919 -0.13066224] [-0.00289941 0.99999413 -0.00182352 -0.18757501] [-0.00143447 0.00181937 0.99999732 0.56023828] [ 0. 0. 0. 1. ]] SLAMing on 62.552557844000006 meters 0.2948488518983157 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.56 [[ 9.99985570e-01 -4.49112173e-03 2.94770506e-03 -1.11613438e-01] [ 4.49240739e-03 9.99989817e-01 -4.29680398e-04 -1.83938323e-01] [-2.94574530e-03 4.42916490e-04 9.99995563e-01 5.61579772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58255784400001 meters 0.2954883205576335 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99997313 0.0049502 0.0054062 -0.09250275] [-0.00494465 0.99998724 -0.00103936 -0.18653161] [-0.00541127 0.00101261 0.99998485 0.56155144] [ 0. 0. 0. 1. ]] SLAMing on 62.61255784400001 meters 0.29599022966486305 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99997305 0.00495393 0.00541749 -0.09261391] [-0.00494841 0.99998723 -0.00103058 -0.1865601 ] [-0.00542253 0.00100375 0.99998479 0.5617367 ] [ 0. 0. 0. 1. ]] SLAMing on 62.64255784400001 meters 0.2956277687033376 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99997303 0.00495158 0.00542358 -0.09272779] [-0.00494602 0.99998723 -0.00103726 -0.18652136] [-0.00542865 0.00101041 0.99998475 0.5619597 ] [ 0. 0. 0. 1. ]] SLAMing on 62.672557844 meters 0.2954037469840477 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99997324 0.00494224 0.0053945 -0.09266306] [-0.00493659 0.99998725 -0.00106032 -0.18642494] [-0.00539967 0.00103366 0.99998489 0.56198328] [ 0. 0. 0. 1. ]] SLAMing on 62.702557844000005 meters 0.2954547350802192 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99997345 0.00488525 0.00540693 -0.09256238] [-0.0048787 0.99998735 -0.00122402 -0.18576566] [-0.00541284 0.00119761 0.99998463 0.56165185] [ 0. 0. 0. 1. ]] SLAMing on 62.732557844000006 meters 0.2947759753075771 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.56 [[ 0.9999739 0.00479936 0.00540128 -0.09251454] [-0.00479156 0.99998746 -0.00145561 -0.18481727] [-0.0054082 0.00142969 0.99998435 0.56157613] [ 0. 0. 0. 1. ]] SLAMing on 62.76255784400001 meters 0.2965813385903145 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99970480e-01 -3.14590932e-03 7.01009459e-03 -7.29815854e-02] [ 3.15132066e-03 9.99994745e-01 -7.61023218e-04 -1.79813538e-01] [-7.00766364e-03 7.83091809e-04 9.99975139e-01 5.61880000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79255784400001 meters 0.2945130095829608 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99970614e-01 -3.22350767e-03 6.95564662e-03 -7.27802024e-02] [ 3.23037655e-03 9.99994306e-01 -9.76516405e-04 -1.78936062e-01] [-6.95245921e-03 9.98957066e-04 9.99975332e-01 5.61726762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82255784400001 meters 0.2955664957960117 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99997061 -0.00329252 0.00692434 -0.07256565] [ 0.00330069 0.99999387 -0.00116878 -0.17816326] [-0.00692045 0.0011916 0.99997534 0.56139768] [ 0. 0. 0. 1. ]] SLAMing on 62.852557844 meters 0.29485117317642223 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.56 [[ 0.9999919 0.0023859 0.00324074 -0.09426327] [-0.00237339 0.99998974 -0.0038576 -0.17631724] [-0.00324991 0.00384987 0.99998731 0.56384907] [ 0. 0. 0. 1. ]] SLAMing on 62.882557844000004 meters 0.29714243742553065 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.9999879 0.00396987 0.0029057 -0.05217107] [-0.00395769 0.99998341 -0.00418496 -0.17529719] [-0.00292227 0.00417341 0.99998702 0.56468675] [ 0. 0. 0. 1. ]] SLAMing on 62.912557844000006 meters 0.2967042719818761 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998774 0.00400521 0.00291095 -0.05215386] [-0.00399328 0.99998365 -0.00409391 -0.17567871] [-0.0029273 0.00408223 0.99998738 0.56461991] [ 0. 0. 0. 1. ]] SLAMing on 62.94255784400001 meters 0.29467503500985154 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.9999876 0.00401514 0.00294596 -0.05232444] [-0.00400314 0.99998371 -0.00406756 -0.17577844] [-0.00296225 0.00405572 0.99998739 0.56479884] [ 0. 0. 0. 1. ]] SLAMing on 62.97255784400001 meters 0.29473588267249556 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.57 [[ 0.99998671 0.00407747 0.0031546 -0.05313082] [-0.00406513 0.99998411 -0.00390595 -0.17640106] [-0.00317047 0.00389308 0.9999874 0.56550592] [ 0. 0. 0. 1. ]] SLAMing on 63.00255784400001 meters 0.2939855164200859 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.57 [[ 0.99998634 0.00412973 0.00320495 -0.0531894 ] [-0.00411763 0.99998441 -0.00377198 -0.17696571] [-0.00322048 0.00375873 0.99998775 0.5653445 ] [ 0. 0. 0. 1. ]] SLAMing on 63.03255784400001 meters 0.2952669784277262 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998627 0.00417969 0.00316227 -0.05288013] [-0.00416817 0.99998469 -0.00364029 -0.17754342] [-0.00317744 0.00362706 0.99998837 0.5648923 ] [ 0. 0. 0. 1. ]] SLAMing on 63.062557844000004 meters 0.2952907998345376 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998631 0.00422863 0.00308339 -0.05245635] [-0.0042178 0.99998494 -0.00351012 -0.17811188] [-0.00309818 0.00349706 0.99998909 0.56438929] [ 0. 0. 0. 1. ]] SLAMing on 63.092557844000005 meters 0.29471836856557737 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998651 0.00426638 0.00296247 -0.05194859] [-0.00425628 0.99998514 -0.00340701 -0.17856355] [-0.00297696 0.00339436 0.99998981 0.56393231] [ 0. 0. 0. 1. ]] SLAMing on 63.122557844000006 meters 0.2959929564201977 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998676 0.00431379 0.00280398 -0.05135817] [-0.0043046 0.99998537 -0.00327632 -0.1791305 ] [-0.00281807 0.0032642 0.9999907 0.56348525] [ 0. 0. 0. 1. ]] SLAMing on 63.15255784400001 meters 0.2966790859906489 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.56 [[ 0.99998711 0.00437796 0.00256978 -0.05053363] [-0.00436995 0.9999856 -0.00311558 -0.17988178] [-0.00258339 0.00310431 0.99999184 0.56293884] [ 0. 0. 0. 1. ]] SLAMing on 63.18255784400001 meters 0.29542768392830554 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99996819e-01 -2.34404667e-03 -9.31324972e-04 -7.14831796e-02] [ 2.34410858e-03 9.99997250e-01 6.53873544e-05 -1.82664089e-01] [ 9.31169140e-04 -6.75702733e-05 9.99999564e-01 5.64887903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21255784400001 meters 0.29675675908540217 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.57 [[ 9.99997963e-01 -2.01997105e-04 -2.00827575e-03 -3.08215166e-02] [ 2.02596331e-04 9.99999935e-01 2.98179198e-04 -1.81193654e-01] [ 2.00821539e-03 -2.98585459e-04 9.99997939e-01 5.66966725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242557844000004 meters 0.2949562519185473 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 9.99999111e-01 -1.17380713e-03 -6.33235114e-04 -7.03280609e-02] [ 1.17485599e-03 9.99997934e-01 1.65852856e-03 -1.85592078e-01] [ 6.31287014e-04 -1.65927105e-03 9.99998424e-01 5.64098269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272557844000005 meters 0.29373893380758115 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 9.99999251e-01 -1.09236573e-03 -5.51528214e-04 -7.07144173e-02] [ 1.09339643e-03 9.99997650e-01 1.87198554e-03 -1.86450701e-01] [ 5.49482025e-04 -1.87258717e-03 9.99998096e-01 5.64525517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302557844000006 meters 0.2958319391999124 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.57 [[ 9.99999805e-01 -3.33254730e-04 -5.27746288e-04 -3.26277311e-02] [ 3.33778207e-04 9.99999452e-01 9.92134696e-04 -1.84960403e-01] [ 5.27415366e-04 -9.92310653e-04 9.99999369e-01 5.67901639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33255784400001 meters 0.2951866402163822 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.57 [[ 9.99999887e-01 -1.37300337e-04 -4.54399637e-04 -3.30386086e-02] [ 1.37991037e-04 9.99998835e-01 1.52034557e-03 -1.87126587e-01] [ 4.54190363e-04 -1.52040811e-03 9.99998741e-01 5.68423576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36255784400001 meters 0.2937465833803883 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.57 [[ 9.99997558e-01 -2.02739840e-03 8.79605103e-04 -7.30740038e-02] [ 2.02566280e-03 9.99996009e-01 1.96958414e-03 -1.91322993e-01] [-8.83594724e-04 -1.96779755e-03 9.99997674e-01 5.65797950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39255784400001 meters 0.2952886928559196 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99999340e-01 -1.11474547e-03 2.79703394e-04 -3.53554248e-02] [ 1.11444447e-03 9.99998802e-01 1.07400312e-03 -1.89867229e-01] [-2.80900299e-04 -1.07369069e-03 9.99999384e-01 5.69555549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422557844 meters 0.29618164978595996 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99999500e-01 -9.36449281e-04 3.51754633e-04 -3.58320849e-02] [ 9.35908617e-04 9.99998385e-01 1.53408036e-03 -1.91810526e-01] [-3.53190654e-04 -1.53375038e-03 9.99998761e-01 5.70210170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452557844000005 meters 0.2939082467735304 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.57 [[ 0.99998883 0.00382125 -0.00278218 -0.05820791] [-0.00382664 0.99999081 -0.00193259 -0.19086493] [ 0.00277477 0.00194322 0.99999426 0.57235775] [ 0. 0. 0. 1. ]] SLAMing on 63.482557844000006 meters 0.2953163841388651 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99999779 -0.0017631 -0.00114355 -0.03609115] [ 0.00176438 0.99999781 0.00112257 -0.18988951] [ 0.00114156 -0.00112459 0.99999872 0.57106186] [ 0. 0. 0. 1. ]] SLAMing on 63.51255784400001 meters 0.29506703234212134 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99999759 -0.00180611 -0.00125066 -0.0355872 ] [ 0.00180737 0.99999785 0.00101319 -0.18945665] [ 0.00124883 -0.00101544 0.9999987 0.57053763] [ 0. 0. 0. 1. ]] SLAMing on 63.54255784400001 meters 0.29622140889933046 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99997383e-01 -1.84718900e-03 -1.34944137e-03 -3.51091703e-02] [ 1.84841627e-03 9.99997879e-01 9.08780546e-04 -1.89047617e-01] [ 1.34775982e-03 -9.11272497e-04 9.99998677e-01 5.70029981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57255784400001 meters 0.2961016782562389 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.57 [[ 9.99997303e-01 -1.86088536e-03 -1.38977631e-03 -3.49118925e-02] [ 1.86210386e-03 9.99997883e-01 8.75981554e-04 -1.88924581e-01] [ 1.38814327e-03 -8.78567100e-04 9.99998651e-01 5.69827781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60255784400001 meters 0.2939368056570645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.57 [[ 0.99998804 0.00306351 -0.00381324 -0.05798565] [-0.00307332 0.99999198 -0.00256761 -0.18844589] [ 0.00380535 0.0025793 0.99998943 0.57197989] [ 0. 0. 0. 1. ]] SLAMing on 63.632557844000004 meters 0.2939368056570645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.57 [[ 0.99998804 0.00306351 -0.00381324 -0.05798565] [-0.00307332 0.99999198 -0.00256761 -0.18844589] [ 0.00380535 0.0025793 0.99998943 0.57197989] [ 0. 0. 0. 1. ]] SLAMing on 63.662557844000006 meters 0.29472360608362674 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.18, Z:0.57 [[ 0.9999874 -0.00449298 -0.00223781 -0.03882853] [ 0.00448969 0.99998883 -0.00147442 -0.18436139] [ 0.00224441 0.00146436 0.99999641 0.5730782 ] [ 0. 0. 0. 1. ]] SLAMing on 63.69255784400001 meters 0.2947238036997742 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.18, Z:0.57 [[ 0.99998776 -0.00444627 -0.00216935 -0.03908832] [ 0.00444333 0.9999892 -0.00135899 -0.18483639] [ 0.00217537 0.00134933 0.99999672 0.57326184] [ 0. 0. 0. 1. ]] SLAMing on 63.72255784400001 meters 0.2940563957353946 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99998811 -0.00440849 -0.00208259 -0.03936917] [ 0.00440586 0.99998949 -0.00126553 -0.18521626] [ 0.00208814 0.00125634 0.99999703 0.57339221] [ 0. 0. 0. 1. ]] SLAMing on 63.75255784400001 meters 0.29564226240200653 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99998845 -0.00435644 -0.00203227 -0.03950441] [ 0.00435414 0.99998988 -0.00113289 -0.18577458] [ 0.00203718 0.00112403 0.99999729 0.5734089 ] [ 0. 0. 0. 1. ]] SLAMing on 63.78255784400001 meters 0.2945747088549963 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99998836 -0.00434524 -0.00209584 -0.03921277] [ 0.00434294 0.99998996 -0.00110075 -0.18594093] [ 0.0021006 0.00109163 0.9999972 0.5731321 ] [ 0. 0. 0. 1. ]] SLAMing on 63.812557844000004 meters 0.29435656583129727 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 0.99998826 -0.00431394 -0.0022059 -0.03875054] [ 0.00431171 0.99999019 -0.00101689 -0.18634407] [ 0.00221026 0.00100737 0.99999705 0.5727289 ] [ 0. 0. 0. 1. ]] SLAMing on 63.842557844000005 meters 0.29426160786825367 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99988154e-01 -4.28420066e-03 -2.31027529e-03 -3.82855152e-02] [ 4.28204740e-03 9.99990394e-01 -9.36179386e-04 -1.86723323e-01] [ 2.31426388e-03 9.26275588e-04 9.99996893e-01 5.72280878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872557844000006 meters 0.2948836283742442 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99988396e-01 -4.21872863e-03 -2.32603972e-03 -3.81544261e-02] [ 4.21695123e-03 9.99990813e-01 -7.68509470e-04 -1.87440450e-01] [ 2.32926048e-03 7.58691756e-04 9.99996999e-01 5.72088803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90255784400001 meters 0.2954078985383367 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99988737e-01 -4.15608778e-03 -2.29196157e-03 -3.82828463e-02] [ 4.15469192e-03 9.99991181e-01 -6.13449581e-04 -1.88088033e-01] [ 2.29449091e-03 6.03920278e-04 9.99997185e-01 5.72181599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93255784400001 meters 0.29471783440571453 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.19, Z:0.57 [[ 9.99989539e-01 -4.05896716e-03 -2.10877834e-03 -3.90470257e-02] [ 4.05819550e-03 9.99991697e-01 -3.70080145e-04 -1.89011590e-01] [ 2.11026298e-03 3.61518439e-04 9.99997708e-01 5.72951406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96255784400001 meters 0.2936002122010556 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.57 [[ 9.99991759e-01 3.69454093e-03 -1.68315628e-03 -5.98510179e-02] [-3.69619268e-03 9.99992690e-01 -9.79290044e-04 -1.94619297e-01] [ 1.67952595e-03 9.85503243e-04 9.99998104e-01 5.71946763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992557844000004 meters 0.29533535332169764 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.57 [[ 0.99999735 -0.00160961 0.00164366 -0.03781201] [ 0.00160639 0.9999968 0.00195556 -0.19607469] [-0.0016468 -0.00195291 0.99999674 0.56963228] [ 0. 0. 0. 1. ]] SLAMing on 64.022557844 meters 0.29429585956371584 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.57 [[ 0.99999405 0.00321954 -0.00123921 -0.0589897 ] [-0.00322122 0.99999389 -0.0013551 -0.19818851] [ 0.00123484 0.00135909 0.99999831 0.57046607] [ 0. 0. 0. 1. ]] SLAMing on 64.052557844 meters 0.2951185773422808 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.57 [[ 0.99999379 0.00326502 -0.00132713 -0.05871016] [-0.00326665 0.9999939 -0.00123408 -0.19871068] [ 0.00132309 0.0012384 0.99999836 0.57036242] [ 0. 0. 0. 1. ]] SLAMing on 64.082557844 meters 0.297416613820694 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.57 [[ 0.99999794 -0.00146817 0.00140497 -0.03499909] [ 0.0014652 0.9999967 0.00210892 -0.19994202] [-0.00140806 -0.00210686 0.99999679 0.56758618] [ 0. 0. 0. 1. ]] SLAMing on 64.112557844 meters 0.2945995594820592 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.57 [[ 9.99994122e-01 3.30751132e-03 -9.03869272e-04 -5.81308674e-02] [-3.30869755e-03 9.99993663e-01 -1.31406951e-03 -2.00463218e-01] [ 8.99517245e-04 1.31705241e-03 9.99998728e-01 5.69501810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142557844 meters 0.29554593464791307 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.57 [[ 9.99991236e-01 -4.13166212e-03 6.76046734e-04 -3.91164747e-02] [ 4.13170509e-03 9.99991463e-01 -6.21742864e-05 -1.96981664e-01] [-6.75784079e-04 6.49669672e-05 9.99999770e-01 5.70545312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172557844 meters 0.294377704237821 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.57 [[ 9.99994040e-01 3.40441679e-03 5.74510053e-04 -5.90013357e-02] [-3.40395453e-03 9.99993884e-01 -8.03675481e-04 -2.03414294e-01] [-5.77242586e-04 8.01715085e-04 9.99999512e-01 5.69452341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202557844 meters 0.2944473079681019 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.57 [[ 9.99993775e-01 3.49674397e-03 4.71164269e-04 -5.87965716e-02] [-3.49647934e-03 9.99993730e-01 -5.61304406e-04 -2.04423489e-01] [-4.73124052e-04 5.59653496e-04 9.99999731e-01 5.69609465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.232557844 meters 0.29483121475823637 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 9.99993426e-01 3.60322039e-03 4.06816194e-04 -5.87011140e-02] [-3.60310597e-03 9.99993469e-01 -2.81637667e-04 -2.05577727e-01] [-4.07828340e-04 2.80170013e-04 9.99999878e-01 5.69784607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262557844 meters 0.29593364631421354 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.57 [[ 9.99991016e-01 -3.78936694e-03 1.89984061e-03 -3.86919598e-02] [ 3.78751436e-03 9.99992349e-01 9.77777813e-04 -2.03236704e-01] [-1.90353124e-03 -9.70573355e-04 9.99997717e-01 5.70855133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292557844 meters 0.2950509131773138 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.57 [[ 0.99999129 -0.00368305 0.00196427 -0.03892387] [ 0.00368061 0.99999245 0.0012428 -0.20434322] [-0.00196884 -0.00123556 0.9999973 0.5710069 ] [ 0. 0. 0. 1. ]] SLAMing on 64.322557844 meters 0.2959684119331112 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999189 -0.00348885 0.00201293 -0.03893909] [ 0.00348529 0.99999235 0.00177289 -0.20654508] [-0.0020191 -0.00176586 0.9999964 0.57082737] [ 0. 0. 0. 1. ]] SLAMing on 64.352557844 meters 0.2948311163496475 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999275 -0.00333198 0.00184184 -0.03848398] [ 0.0033279 0.99999201 0.00221402 -0.20838554] [-0.00184921 -0.00220787 0.99999585 0.57085758] [ 0. 0. 0. 1. ]] SLAMing on 64.382557844 meters 0.29461017805521733 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999372 -0.0031441 0.00163339 -0.03788841] [ 0.0031396 0.9999913 0.00274812 -0.21063085] [-0.00164201 -0.00274297 0.99999489 0.5707732 ] [ 0. 0. 0. 1. ]] SLAMing on 64.412557844 meters 0.2948658590944381 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999443 -0.00298183 0.00150218 -0.03749926] [ 0.00297703 0.99999048 0.00319037 -0.21247555] [-0.00151168 -0.00318588 0.99999378 0.57070384] [ 0. 0. 0. 1. ]] SLAMing on 64.442557844 meters 0.2951268517463767 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999487 -0.0028253 0.00151175 -0.03745223] [ 0.00281987 0.9999896 0.0035844 -0.21415335] [-0.00152186 -0.00358011 0.99999243 0.57058189] [ 0. 0. 0. 1. ]] SLAMing on 64.472557844 meters 0.2961992253729124 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999501 -0.0028232 0.00141491 -0.03698206] [ 0.0028181 0.99998957 0.00359401 -0.2142436 ] [-0.00142504 -0.00359 0.99999254 0.57012639] [ 0. 0. 0. 1. ]] SLAMing on 64.502557844 meters 0.2953243598145642 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999512 -0.00283154 0.00131837 -0.03647742] [ 0.00282681 0.99998961 0.00357663 -0.21423054] [-0.00132849 -0.00357289 0.99999273 0.56957644] [ 0. 0. 0. 1. ]] SLAMing on 64.532557844 meters 0.296840569650069 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999509 -0.00288735 0.00122117 -0.03602954] [ 0.00288313 0.99998992 0.00344179 -0.21369999] [-0.0012311 -0.00343826 0.99999333 0.56915533] [ 0. 0. 0. 1. ]] SLAMing on 64.562557844 meters 0.2957265474725875 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99989730e-01 4.53202537e-03 1.02612448e-05 -5.57436695e-02] [-4.53203695e-03 9.99986864e-01 2.39444027e-03 -2.17584874e-01] [ 5.90554028e-07 -2.39446218e-03 9.99997133e-01 5.68094451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592557844 meters 0.2955753173384805 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99989373e-01 4.61000704e-03 -4.09270006e-05 -5.57251953e-02] [-4.60988555e-03 9.99986019e-01 2.59069198e-03 -2.18402261e-01] [ 5.28695367e-05 -2.59047578e-03 9.99996643e-01 5.68355574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622557844 meters 0.2945638128060241 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99989093e-01 4.66896472e-03 -1.19818024e-04 -5.55450840e-02] [-4.66861790e-03 9.99985327e-01 2.74774209e-03 -2.19061716e-01] [ 1.32645377e-04 -2.74715273e-03 9.99996218e-01 5.68431040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652557844 meters 0.2947682594468654 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99988833e-01 4.72216415e-03 -1.85625849e-04 -5.54028750e-02] [-4.72160803e-03 9.99984677e-01 2.89013679e-03 -2.19658025e-01] [ 1.99270705e-04 -2.88922807e-03 9.99995806e-01 5.68504530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682557844 meters 0.29573316161993424 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999508 -0.00288195 0.00123512 -0.03507851] [ 0.00287748 0.99998937 0.00360161 -0.21475604] [-0.00124548 -0.00359804 0.99999275 0.56868175] [ 0. 0. 0. 1. ]] SLAMing on 64.712557844 meters 0.29304441360930455 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.57 [[ 0.99998985 -0.00401757 -0.00203704 -0.07997617] [ 0.00402694 0.99998124 0.00461474 -0.2178004 ] [ 0.00201846 -0.0046229 0.99998728 0.57193246] [ 0. 0. 0. 1. ]] SLAMing on 64.742557844 meters 0.292746941834948 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.57 [[ 0.99998986 -0.00402605 -0.00201955 -0.08001225] [ 0.00403529 0.99998132 0.00459191 -0.21770598] [ 0.00200102 -0.00460001 0.99998742 0.57190892] [ 0. 0. 0. 1. ]] SLAMing on 64.772557844 meters 0.2950954364349813 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 0.99999025 -0.00312433 -0.00312107 -0.04000834] [ 0.00313324 0.99999102 0.00285459 -0.21407064] [ 0.00311213 -0.00286434 0.99999106 0.57430488] [ 0. 0. 0. 1. ]] SLAMing on 64.802557844 meters 0.2938693733890993 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.58 [[ 9.99983738e-01 1.56936121e-03 -5.48283974e-03 -6.21099057e-02] [-1.57354060e-03 9.99998475e-01 -7.58037357e-04 -2.14342996e-01] [ 5.48164174e-03 7.66652500e-04 9.99984682e-01 5.75494792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832557844 meters 0.2939927785385582 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.58 [[ 9.99983565e-01 1.60475157e-03 -5.50403173e-03 -6.18787776e-02] [-1.60844327e-03 9.99998484e-01 -6.66365984e-04 -2.14772960e-01] [ 5.50295403e-03 6.75207955e-04 9.99984631e-01 5.75109515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862557844 meters 0.2956195464713932 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.57 [[ 0.99998496 -0.00352945 -0.00419785 -0.03739204] [ 0.00354072 0.99999014 0.00268032 -0.21507625] [ 0.00418835 -0.00269514 0.9999876 0.57233283] [ 0. 0. 0. 1. ]] SLAMing on 64.892557844 meters 0.2942298282114751 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 9.99974177e-01 1.23442818e-03 -7.07958968e-03 -6.00883619e-02] [-1.23925638e-03 9.99999003e-01 -6.77643094e-04 -2.14062507e-01] [ 7.07874612e-03 6.86399022e-04 9.99974710e-01 5.74355886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922557844 meters 0.29446404810859855 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 9.99974591e-01 1.25092555e-03 -7.01808110e-03 -6.04502010e-02] [-1.25544253e-03 9.99999008e-01 -6.39251859e-04 -2.14182210e-01] [ 7.01727448e-03 6.48046414e-04 9.99975169e-01 5.74794568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952557844 meters 0.2928579146108666 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:0.57 [[ 9.99987059e-01 -2.89221737e-04 -5.07925112e-03 -1.02741694e-01] [ 2.90490802e-04 9.99999927e-01 2.49116837e-04 -2.17533133e-01] [ 5.07917869e-03 -2.50589089e-04 9.99987069e-01 5.73887024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982557844 meters 0.29379810200361095 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.57 [[ 0.99998945 -0.00445633 -0.00111755 -0.08157881] [ 0.00446062 0.99998259 0.00386169 -0.21858244] [ 0.00110033 -0.00386663 0.99999192 0.57253374] [ 0. 0. 0. 1. ]] SLAMing on 65.012557844 meters 0.2924352706713486 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:0.57 [[ 0.99999449 0.00314751 -0.00105042 -0.10272239] [-0.00314444 0.99999082 0.00291161 -0.22167134] [ 0.00105957 -0.00290829 0.99999521 0.57149551] [ 0. 0. 0. 1. ]] SLAMing on 65.042557844 meters 0.2947492393863256 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 0.99997801 0.00633462 -0.00196499 -0.06232394] [-0.00632844 0.99997505 0.00313814 -0.21622113] [ 0.00198482 -0.00312564 0.99999315 0.5728618 ] [ 0. 0. 0. 1. ]] SLAMing on 65.072557844 meters 0.2960888624207069 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999659 0.00190441 -0.00178781 -0.06249752] [-0.00190725 0.99999692 -0.00158894 -0.21413518] [ 0.00178478 0.00159234 0.99999714 0.57220056] [ 0. 0. 0. 1. ]] SLAMing on 65.102557844 meters 0.2941303681857676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999667 0.00181431 -0.00183639 -0.06222093] [-0.00181765 0.99999669 -0.00182128 -0.21319553] [ 0.00183307 0.00182461 0.99999666 0.57185669] [ 0. 0. 0. 1. ]] SLAMing on 65.132557844 meters 0.2947257621366451 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999684 0.00163823 -0.00190872 -0.06204049] [-0.00164259 0.99999604 -0.00228505 -0.21125478] [ 0.00190497 0.00228817 0.99999557 0.57186071] [ 0. 0. 0. 1. ]] SLAMing on 65.162557844 meters 0.2949885145702592 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999707 0.00158839 -0.00182767 -0.06235712] [-0.00159281 0.99999581 -0.00241777 -0.21066018] [ 0.00182382 0.00242068 0.99999541 0.5720734 ] [ 0. 0. 0. 1. ]] SLAMing on 65.192557844 meters 0.29359116022909915 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999725 0.00153936 -0.00177131 -0.06262655] [-0.00154386 0.99999557 -0.00254553 -0.21008463] [ 0.00176738 0.00254826 0.99999519 0.57233063] [ 0. 0. 0. 1. ]] SLAMing on 65.222557844 meters 0.2933626135665264 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999736 0.00154065 -0.00170614 -0.06284295] [-0.00154499 0.99999556 -0.00254638 -0.21006843] [ 0.0017022 0.00254901 0.9999953 0.57242673] [ 0. 0. 0. 1. ]] SLAMing on 65.252557844 meters 0.2938080336921247 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.57 [[ 9.99983091e-01 -5.77446773e-03 -6.87410901e-04 -4.29618029e-02] [ 5.77357048e-03 9.99982488e-01 -1.30016901e-03 -2.06325417e-01] [ 6.94906647e-04 1.29617821e-03 9.99998919e-01 5.73680912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282557844 meters 0.2929583349318866 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999636 0.00192292 -0.00189231 -0.06191367] [-0.001927 0.99999582 -0.00215528 -0.21193943] [ 0.00188816 0.00215892 0.99999589 0.57287385] [ 0. 0. 0. 1. ]] SLAMing on 65.312557844 meters 0.2922747705608113 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.57 [[ 0.99999627 0.00206553 -0.00178544 -0.06252528] [-0.00206857 0.99999641 -0.00170151 -0.21368169] [ 0.00178192 0.0017052 0.99999696 0.57370696] [ 0. 0. 0. 1. ]] SLAMing on 65.342557844 meters 0.2933459531768945 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.57 [[ 0.99999424 -0.0029458 0.0016832 -0.04126049] [ 0.00294297 0.99999425 0.00168433 -0.21579479] [-0.00168815 -0.00167936 0.99999716 0.57217262] [ 0. 0. 0. 1. ]] SLAMing on 65.372557844 meters 0.2921134156807933 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 9.99998486e-01 1.47814583e-03 -9.18366503e-04 -6.50688774e-02] [-1.47967114e-03 9.99997523e-01 -1.66244162e-03 -2.16068520e-01] [ 9.15906897e-04 1.66379798e-03 9.99998196e-01 5.74875856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402557844 meters 0.2917828097172405 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 0.99999815 0.00158869 -0.00108139 -0.06462506] [-0.00159013 0.99999784 -0.00133821 -0.21743017] [ 0.00107926 0.00133993 0.99999852 0.57481749] [ 0. 0. 0. 1. ]] SLAMing on 65.432557844 meters 0.29283343983065485 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99996349e-01 7.95230644e-04 -2.58269013e-03 -5.95291019e-02] [-7.99679040e-04 9.99998198e-01 -1.72181305e-03 -2.18972819e-01] [ 2.58131624e-03 1.72387208e-03 9.99995183e-01 5.72405169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462557844 meters 0.29359354568732626 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99995711e-01 9.62171988e-04 -2.76616532e-03 -5.89473175e-02] [-9.65670253e-04 9.99998735e-01 -1.26360483e-03 -2.20929668e-01] [ 2.76494602e-03 1.26627061e-03 9.99995376e-01 5.72176635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492557844 meters 0.2921256839575983 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.57 [[ 0.99996082 -0.00624288 -0.00627537 -0.07952785] [ 0.00625485 0.99997865 0.0018898 -0.22500534] [ 0.00626344 -0.00192897 0.99997852 0.57437738] [ 0. 0. 0. 1. ]] SLAMing on 65.522557844 meters 0.29278989588237575 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.57 [[ 9.99994128e-01 1.41822630e-03 -3.11971563e-03 -5.96230617e-02] [-1.41992220e-03 9.99998845e-01 -5.41458824e-04 -2.25696002e-01] [ 3.11894411e-03 5.45885398e-04 9.99994987e-01 5.73049831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552557844 meters 0.29278989588237575 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.57 [[ 9.99994128e-01 1.41822630e-03 -3.11971563e-03 -5.96230617e-02] [-1.41992220e-03 9.99998845e-01 -5.41458824e-04 -2.25696002e-01] [ 3.11894411e-03 5.45885398e-04 9.99994987e-01 5.73049831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582557844 meters 0.29301080763074333 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.57 [[ 9.99994206e-01 1.47466715e-03 -3.06824438e-03 -5.98991418e-02] [-1.47588687e-03 9.99998833e-01 -3.95303658e-04 -2.26280487e-01] [ 3.06765786e-03 3.99829749e-04 9.99995215e-01 5.73370901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612557844 meters 0.29310678471294643 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.57 [[ 9.99994338e-01 1.50944248e-03 -3.00745560e-03 -6.00932041e-02] [-1.51037161e-03 9.99998812e-01 -3.06694104e-04 -2.26640649e-01] [ 3.00698909e-03 3.11234744e-04 9.99995431e-01 5.73454194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642557844 meters 0.29346849448741824 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.57 [[ 9.99994039e-01 1.53003935e-03 -3.09533585e-03 -5.97830230e-02] [-1.53077927e-03 9.99998800e-01 -2.36685876e-04 -2.26934776e-01] [ 3.09496999e-03 2.41422741e-04 9.99995181e-01 5.73254929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672557844 meters 0.29211857846521216 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.23, Z:0.57 [[ 9.99996121e-01 1.11808471e-04 -2.78320325e-03 -9.69138387e-02] [-1.09997577e-04 9.99999782e-01 6.50795498e-04 -2.30561770e-01] [ 2.78327541e-03 -6.50486827e-04 9.99995915e-01 5.69671586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702557844 meters 0.29247616846537017 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.23, Z:0.57 [[ 9.99995915e-01 1.22761214e-04 -2.85559977e-03 -9.66496797e-02] [-1.20809443e-04 9.99999759e-01 6.83651391e-04 -2.30716626e-01] [ 2.85568301e-03 -6.83303615e-04 9.99995689e-01 5.69492798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.732557844 meters 0.29257905990941147 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.23, Z:0.57 [[ 9.99996115e-01 7.53584574e-05 -2.78661890e-03 -9.67659264e-02] [-7.38309096e-05 9.99999847e-01 5.48271279e-04 -2.30174144e-01] [ 2.78665979e-03 -5.48063410e-04 9.99995967e-01 5.69346475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762557844 meters 0.29551663538379896 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.23, Z:0.57 [[ 9.99997373e-01 2.01062566e-03 1.10059459e-03 -5.33922089e-02] [-2.01089771e-03 9.99997948e-01 2.46139480e-04 -2.25196845e-01] [-1.10009744e-03 -2.48352017e-04 9.99999364e-01 5.66779634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.792557844 meters 0.29377024946938923 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.57 [[ 9.99997469e-01 1.91543226e-03 1.18037689e-03 -5.36853224e-02] [-1.91543630e-03 9.99998166e-01 2.29671871e-06 -2.24132530e-01] [-1.18037033e-03 -4.55764964e-06 9.99999303e-01 5.66939233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822557844 meters 0.29222873604841254 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 0.99998189 -0.00590093 -0.00118098 -0.07446883] [ 0.00590406 0.99997902 0.0026639 -0.22449917] [ 0.00116523 -0.00267082 0.99999575 0.56869486] [ 0. 0. 0. 1. ]] SLAMing on 65.852557844 meters 0.2929420353450871 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 0.99998194 -0.00589153 -0.00118529 -0.07456085] [ 0.0058947 0.99997901 0.00268786 -0.22457884] [ 0.00116943 -0.0026948 0.99999569 0.56892889] [ 0. 0. 0. 1. ]] SLAMing on 65.882557844 meters 0.29274568238133153 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 0.99998201 -0.00588143 -0.00118024 -0.07454788] [ 0.00588462 0.99997901 0.00271196 -0.22468828] [ 0.00116426 -0.00271886 0.99999563 0.56887229] [ 0. 0. 0. 1. ]] SLAMing on 65.912557844 meters 0.2927409077729168 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 0.99998198 -0.00589736 -0.00111975 -0.07460243] [ 0.00590033 0.99997904 0.00266711 -0.22451837] [ 0.00110399 -0.00267366 0.99999582 0.5686376 ] [ 0. 0. 0. 1. ]] SLAMing on 65.942557844 meters 0.292851136241143 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.57 [[ 0.99998225 -0.00585898 -0.00108426 -0.07479996] [ 0.00586196 0.999979 0.00276477 -0.22490971] [ 0.00106804 -0.00277107 0.99999559 0.56887884] [ 0. 0. 0. 1. ]] SLAMing on 65.972557844 meters 0.2930259702330926 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:0.57 [[ 0.99998261 -0.00580152 -0.00105853 -0.07494009] [ 0.00580458 0.99997892 0.0029104 -0.22551236] [ 0.00104163 -0.0029165 0.9999952 0.5690458 ] [ 0. 0. 0. 1. ]] SLAMing on 66.002557844 meters 0.2912693460917696 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.23, Z:0.57 [[ 9.99993396e-01 -1.28387527e-03 -3.39991093e-03 -9.85211443e-02] [ 1.28206061e-03 9.99999035e-01 -5.35864577e-04 -2.25699033e-01] [ 3.40059563e-03 5.31502146e-04 9.99994077e-01 5.71328042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032557844 meters 0.2928944369590778 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99990749e-01 4.18222689e-04 -4.28103498e-03 -5.95584817e-02] [-4.24288858e-04 9.99998907e-01 -1.41617648e-03 -2.22485907e-01] [ 4.28043803e-03 1.41797977e-03 9.99989834e-01 5.74039685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062557844 meters 0.29511939104269175 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99990498e-01 3.89800506e-04 -4.34192268e-03 -5.93254144e-02] [-3.96247820e-04 9.99998820e-01 -1.48413733e-03 -2.22214391e-01] [ 4.34133904e-03 1.48584371e-03 9.99989472e-01 5.73886254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092557844 meters 0.2924720633929872 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99990467e-01 3.45483081e-04 -4.35265635e-03 -5.92169626e-02] [-3.52420421e-04 9.99998669e-01 -1.59315132e-03 -2.21766663e-01] [ 4.35210015e-03 1.59467010e-03 9.99989258e-01 5.73709169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122557844 meters 0.2920830057664899 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99990531e-01 2.66289519e-04 -4.34353455e-03 -5.91740712e-02] [-2.74104366e-04 9.99998345e-01 -1.79869468e-03 -2.20915337e-01] [ 4.34304839e-03 1.79986823e-03 9.99988949e-01 5.73554405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152557844 meters 0.2928849529351055 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.57 [[ 9.99990643e-01 2.00053845e-04 -4.32129736e-03 -5.91052838e-02] [-2.08567481e-04 9.99998038e-01 -1.96979669e-03 -2.20219430e-01] [ 4.32089482e-03 1.97067954e-03 9.99988723e-01 5.73266204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182557844 meters 0.29147029485977 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.22, Z:0.57 [[ 9.99993932e-01 -6.95293908e-04 -3.41347975e-03 -9.68873740e-02] [ 6.93964346e-04 9.99999683e-01 -3.90672261e-04 -2.23029933e-01] [ 3.41375029e-03 3.88301057e-04 9.99994098e-01 5.69290151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.212557844 meters 0.29418905452083566 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.22, Z:0.57 [[ 0.99998115 0.00162506 -0.00592142 -0.05333575] [-0.00163284 0.99999781 -0.00131031 -0.21747269] [ 0.00591927 0.00131996 0.99998161 0.56971125] [ 0. 0. 0. 1. ]] SLAMing on 66.242557844 meters 0.2924994067208529 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.57 [[ 9.99980372e-01 1.36686346e-04 -6.26389279e-03 -8.90923073e-02] [-1.41170890e-04 9.99999734e-01 -7.15499141e-04 -2.20351183e-01] [ 6.26379332e-03 7.16369377e-04 9.99980126e-01 5.65103363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272557844 meters 0.29634324674288576 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.56 [[ 0.99999319 0.00152686 -0.00335983 -0.04342962] [-0.00153303 0.99999714 -0.00183527 -0.2153056 ] [ 0.00335702 0.00184041 0.99999267 0.56139615] [ 0. 0. 0. 1. ]] SLAMing on 66.302557844 meters 0.2937670184057 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99997544e-01 4.03138418e-04 -2.17936858e-03 -8.27348928e-02] [-4.03908569e-04 9.99999856e-01 -3.52953925e-04 -2.18525618e-01] [ 2.17922597e-03 3.53833323e-04 9.99997563e-01 5.58579082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332557844 meters 0.2943205137118062 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99997678e-01 3.09664852e-04 -2.13284823e-03 -8.29963558e-02] [-3.10927420e-04 9.99999777e-01 -5.91657106e-04 -2.17470907e-01] [ 2.13266454e-03 5.92318892e-04 9.99997550e-01 5.58871924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362557844 meters 0.29201427754071246 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99997919e-01 2.58676482e-04 -2.02374317e-03 -8.36742121e-02] [-2.60153775e-04 9.99999700e-01 -7.29751234e-04 -2.16755737e-01] [ 2.02355379e-03 7.30276199e-04 9.99997686e-01 5.59818871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392557844 meters 0.2915108267785697 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99997936e-01 2.90339026e-04 -2.01085496e-03 -8.37621219e-02] [-2.91645165e-04 9.99999747e-01 -6.49281302e-04 -2.17085481e-01] [ 2.01066594e-03 6.49866418e-04 9.99997767e-01 5.59945967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422557844 meters 0.2949974705528695 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.56 [[ 0.99999638 0.00152498 -0.00221868 -0.04511631] [-0.00152846 0.9999976 -0.00156822 -0.21452571] [ 0.00221629 0.00157161 0.99999631 0.56260266] [ 0. 0. 0. 1. ]] SLAMing on 66.452557844 meters 0.29185347705906434 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99999180e-01 1.15521824e-04 -1.27531054e-03 -8.33458344e-02] [-1.15923334e-04 9.99999944e-01 -3.14764081e-04 -2.19220072e-01] [ 1.27527410e-03 3.14911661e-04 9.99999137e-01 5.59158589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.482557844 meters 0.2930717079404951 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.56 [[ 0.99998814 -0.00436162 0.00216511 -0.06035989] [ 0.00435488 0.99998568 0.00311016 -0.2213957 ] [-0.00217865 -0.00310069 0.99999282 0.55641637] [ 0. 0. 0. 1. ]] SLAMing on 66.512557844 meters 0.2912416782492928 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.56 [[ 9.99999423e-01 6.39752628e-04 -8.62480429e-04 -8.30313677e-02] [-6.39845487e-04 9.99999790e-01 -1.07393466e-04 -2.20181228e-01] [ 8.62411542e-04 1.07945258e-04 9.99999622e-01 5.58861487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542557844 meters 0.2934602694076382 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 0.99999577 0.00246694 -0.00154087 -0.04368523] [-0.0024686 0.99999637 -0.00107732 -0.21429562] [ 0.00153821 0.00108112 0.99999823 0.56128585] [ 0. 0. 0. 1. ]] SLAMing on 66.572557844 meters 0.2923385786573997 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.56 [[ 9.99972028e-01 -6.79089888e-03 -3.13467943e-03 -6.16617850e-02] [ 6.79154983e-03 9.99976918e-01 1.97061800e-04 -2.09617108e-01] [ 3.13326885e-03 -2.18345620e-04 9.99995067e-01 5.59875128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602557844 meters 0.293412654812437 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 9.99990661e-01 3.57872844e-03 -2.42280664e-03 -3.97333962e-02] [-3.57955778e-03 9.99993536e-01 -3.38055938e-04 -2.09032202e-01] [ 2.42158117e-03 3.46725358e-04 9.99997008e-01 5.59168341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.632557844 meters 0.2956737754978245 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:0.56 [[ 9.99991176e-01 -4.01057896e-03 -1.24989501e-03 -2.02627050e-02] [ 4.01106353e-03 9.99991881e-01 3.85421882e-04 -2.02699655e-01] [ 1.24833910e-03 -3.90431890e-04 9.99999145e-01 5.59610498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662557844 meters 0.29364728525166006 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.56 [[ 0.9999903 0.00335131 -0.00285753 -0.0400303 ] [-0.00335443 0.99999378 -0.00108549 -0.20400725] [ 0.00285388 0.00109506 0.99999533 0.55897763] [ 0. 0. 0. 1. ]] SLAMing on 66.692557844 meters 0.29189933785380273 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99997807 -0.00459565 -0.00476802 -0.06090493] [ 0.00460273 0.99998832 0.00147473 -0.20353153] [ 0.00476119 -0.00149665 0.99998755 0.56025659] [ 0. 0. 0. 1. ]] SLAMing on 66.722557844 meters 0.29206102039419907 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99997833 -0.00460473 -0.00470491 -0.06137271] [ 0.00461159 0.99998832 0.00144935 -0.20334683] [ 0.00469818 -0.00147102 0.99998788 0.56097071] [ 0. 0. 0. 1. ]] SLAMing on 66.752557844 meters 0.2935818447886165 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.56 [[ 9.99997915e-01 1.92631088e-03 -6.77854440e-04 -4.13829875e-02] [-1.92758984e-03 9.99996354e-01 -1.89120229e-03 -2.01070948e-01] [ 6.74208925e-04 1.89250497e-03 9.99997982e-01 5.59456268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782557844 meters 0.29117427669009965 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99960522e-01 -8.88040977e-03 -3.05659462e-04 -6.57142174e-02] [ 8.87980923e-03 9.99958744e-01 -1.91301379e-03 -2.01470640e-01] [ 3.22635198e-04 1.91022407e-03 9.99998123e-01 5.61126599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812557844 meters 0.2912882129225719 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99960938e-01 -8.83333668e-03 -3.08630139e-04 -6.57488537e-02] [ 8.83276982e-03 9.99959384e-01 -1.79217085e-03 -2.01972542e-01] [ 3.24448452e-04 1.78937478e-03 9.99998346e-01 5.61230610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842557844 meters 0.2910543490168635 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99999232e-01 -9.14660642e-04 -8.36338763e-04 -8.55942666e-02] [ 9.12657845e-04 9.99996723e-01 -2.39197303e-03 -2.07492765e-01] [ 8.38523866e-04 2.39120790e-03 9.99996789e-01 5.60331636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.872557844 meters 0.29181901071899474 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99999179e-01 -7.20225623e-04 -1.06029072e-03 -8.50571127e-02] [ 7.18321947e-04 9.99998132e-01 -1.79471520e-03 -2.09967575e-01] [ 1.06158134e-03 1.79395209e-03 9.99997827e-01 5.60446577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902557844 meters 0.2904211671459483 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:0.56 [[ 0.99998829 0.00357729 -0.00325829 -0.1082848 ] [-0.00359445 0.99997962 -0.00527625 -0.21257742] [ 0.00323935 0.0052879 0.99998077 0.56210562] [ 0. 0. 0. 1. ]] SLAMing on 66.932557844 meters 0.2917153725730475 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.56 [[ 9.99998604e-01 -1.66385013e-03 1.53518144e-04 -8.69827606e-02] [ 1.66416126e-03 9.99996515e-01 -2.04929035e-03 -2.15138659e-01] [-1.50107897e-04 2.04954297e-03 9.99997888e-01 5.59904120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962557844 meters 0.29378369222620887 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.56 [[ 0.99997802 -0.00618041 0.00239975 -0.06401091] [ 0.00617594 0.99997919 0.00186263 -0.21666124] [-0.00241121 -0.00184777 0.99999539 0.5579411 ] [ 0. 0. 0. 1. ]] SLAMing on 66.992557844 meters 0.2919278967700676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.22, Z:0.56 [[ 0.99997802 -0.00617427 0.00241798 -0.06388104] [ 0.00616973 0.9999792 0.0018794 -0.21676191] [-0.00242953 -0.00186444 0.99999531 0.55754677] [ 0. 0. 0. 1. ]] SLAMing on 67.022557844 meters 0.29070976622938016 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.22, Z:0.56 [[ 9.99999557e-01 -4.90231161e-04 -8.03608939e-04 -8.59879202e-02] [ 4.89660574e-04 9.99999628e-01 -7.10074303e-04 -2.16067111e-01] [ 8.03956740e-04 7.09680492e-04 9.99999425e-01 5.59578851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.052557844 meters 0.29231732823386697 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.56 [[ 0.99999778 0.00111096 -0.0017886 -0.04710419] [-0.00111446 0.99999747 -0.00195623 -0.21232373] [ 0.00178642 0.00195822 0.99999649 0.56226349] [ 0. 0. 0. 1. ]] SLAMing on 67.082557844 meters 0.2952886565071579 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.56 [[ 0.99999074 0.00307199 -0.00301247 -0.006867 ] [-0.00308081 0.99999097 -0.00292865 -0.2076632 ] [ 0.00300344 0.0029379 0.99999117 0.56442607] [ 0. 0. 0. 1. ]] SLAMing on 67.112557844 meters 0.2930017732844046 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 0.99999289 0.00242045 -0.00289068 -0.04423362] [-0.002425 0.99999583 -0.00156946 -0.20928496] [ 0.00288687 0.00157646 0.99999459 0.56066458] [ 0. 0. 0. 1. ]] SLAMing on 67.142557844 meters 0.2939349370117488 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 0.99999283 0.0022249 -0.00306408 -0.04335555] [-0.00223141 0.99999525 -0.00212559 -0.20706987] [ 0.00305933 0.00213241 0.99999305 0.55965297] [ 0. 0. 0. 1. ]] SLAMing on 67.172557844 meters 0.2938470355160201 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 0.99999312 0.00218479 -0.00299732 -0.04347054] [-0.00219148 0.99999511 -0.00222936 -0.20663339] [ 0.00299244 0.00223591 0.99999302 0.55950995] [ 0. 0. 0. 1. ]] SLAMing on 67.202557844 meters 0.29386083461629253 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.56 [[ 0.99999317 0.00213123 -0.00301794 -0.04329264] [-0.00213837 0.99999492 -0.00236272 -0.20609156] [ 0.00301288 0.00236916 0.99999265 0.55923785] [ 0. 0. 0. 1. ]] SLAMing on 67.232557844 meters 0.292710208860098 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 9.99966149e-01 -6.90526681e-03 -4.47406152e-03 -6.18779909e-02] [ 6.90149582e-03 9.99975817e-01 -8.57747191e-04 -2.03137801e-01] [ 4.47987629e-03 8.26840439e-04 9.99989623e-01 5.57625946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262557844 meters 0.29350646028974087 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.56 [[ 0.99998903 0.00324527 -0.00337773 -0.0415907 ] [-0.00325042 0.99999356 -0.00152095 -0.2045731 ] [ 0.00337277 0.00153192 0.99999314 0.55750421] [ 0. 0. 0. 1. ]] SLAMing on 67.292557844 meters 0.29369989360672893 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.56 [[ 0.99998916 0.00318288 -0.0033977 -0.04150001] [-0.00318859 0.99999351 -0.00167497 -0.20392291] [ 0.00339234 0.00168579 0.99999283 0.55741531] [ 0. 0. 0. 1. ]] SLAMing on 67.322557844 meters 0.2910497049406846 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.56 [[ 9.99997874e-01 8.15994928e-04 -1.89361614e-03 -8.25669284e-02] [-8.19594370e-04 9.99997858e-01 -1.90083303e-03 -2.04484323e-01] [ 1.89206101e-03 1.90238099e-03 9.99996401e-01 5.55656154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.352557844 meters 0.29249321446916005 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999253 -0.00365494 0.00126053 -0.06080099] [ 0.00365277 0.99999184 0.00172279 -0.20424442] [-0.00126682 -0.00171817 0.99999772 0.55408615] [ 0. 0. 0. 1. ]] SLAMing on 67.382557844 meters 0.2923726305226022 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999224 -0.00372579 0.00128362 -0.06092409] [ 0.0037238 0.99999187 0.00154686 -0.20347507] [-0.00128937 -0.00154207 0.99999798 0.55420525] [ 0. 0. 0. 1. ]] SLAMing on 67.412557844 meters 0.2929297129064779 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999203 -0.00377971 0.00128782 -0.06099405] [ 0.00377789 0.99999187 0.00141222 -0.20288445] [-0.00129315 -0.00140735 0.99999817 0.55432496] [ 0. 0. 0. 1. ]] SLAMing on 67.442557844 meters 0.2929297129064779 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999203 -0.00377971 0.00128782 -0.06099405] [ 0.00377789 0.99999187 0.00141222 -0.20288445] [-0.00129315 -0.00140735 0.99999817 0.55432496] [ 0. 0. 0. 1. ]] SLAMing on 67.472557844 meters 0.2933388217180235 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999203 -0.00380142 0.00122292 -0.06078234] [ 0.00379975 0.99999186 0.00135884 -0.20267092] [-0.00122807 -0.00135418 0.99999833 0.55423466] [ 0. 0. 0. 1. ]] SLAMing on 67.502557844 meters 0.29323447082449916 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.99999214 -0.00377306 0.00121591 -0.06082024] [ 0.00377132 0.99999187 0.00142741 -0.20296026] [-0.00122128 -0.00142281 0.99999824 0.55436027] [ 0. 0. 0. 1. ]] SLAMing on 67.532557844 meters 0.2910835285086896 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.56 [[ 0.99999872 0.00107716 -0.00118139 -0.08445168] [-0.00107932 0.99999774 -0.00183066 -0.20269968] [ 0.00117941 0.00183194 0.99999763 0.55686592] [ 0. 0. 0. 1. ]] SLAMing on 67.562557844 meters 0.29125910453414083 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.56 [[ 0.99999871 0.0010854 -0.00118038 -0.08444897] [-0.00108754 0.99999777 -0.00180991 -0.20279002] [ 0.00117842 0.00181119 0.99999767 0.55685413] [ 0. 0. 0. 1. ]] SLAMing on 67.592557844 meters 0.2937758525755033 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.56 [[ 0.99999621 0.00245948 0.00123368 -0.04566443] [-0.0024564 0.99999389 -0.00248907 -0.19952321] [-0.00123979 0.00248603 0.99999614 0.55829177] [ 0. 0. 0. 1. ]] SLAMing on 67.622557844 meters 0.2912199547964128 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 0.99999668 0.00120817 0.00227414 -0.08554498] [-0.00120497 0.99999828 -0.00141062 -0.20302148] [-0.00227584 0.00140788 0.99999642 0.55616023] [ 0. 0. 0. 1. ]] SLAMing on 67.652557844 meters 0.2929571047540464 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.55 [[ 0.9999826 -0.00314532 0.00499054 -0.062204 ] [ 0.00313456 0.99999275 0.00216168 -0.20327577] [-0.0049973 -0.002146 0.99998521 0.55383414] [ 0. 0. 0. 1. ]] SLAMing on 67.682557844 meters 0.28978783701074584 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.21, Z:0.56 [[ 0.99999174 -0.00370929 0.00166291 -0.10560026] [ 0.00370338 0.99998687 0.00354293 -0.20613138] [-0.00167603 -0.00353675 0.99999234 0.55604648] [ 0. 0. 0. 1. ]] SLAMing on 67.712557844 meters 0.2916927370613005 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.55 [[ 0.99997895 0.00441 0.00475998 -0.08580146] [-0.00441582 0.99998951 0.00121262 -0.20350354] [-0.00475459 -0.00123362 0.99998794 0.55482383] [ 0. 0. 0. 1. ]] SLAMing on 67.742557844 meters 0.2920402087343368 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.55 [[ 9.99979716e-01 4.18860784e-03 4.79822542e-03 -8.56874627e-02] [-4.19136900e-03 9.99991056e-01 5.65543728e-04 -2.00860974e-01] [-4.79581367e-03 -5.85643390e-04 9.99988329e-01 5.54309355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.772557844 meters 0.2912700965760486 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.55 [[ 9.99980255e-01 4.05850716e-03 4.79774768e-03 -8.56702882e-02] [-4.05964916e-03 9.99991734e-01 2.28312914e-04 -1.99427632e-01] [-4.79678141e-03 -2.47785579e-04 9.99988465e-01 5.54260169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802557844 meters 0.2927306124903957 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.9999787 -0.00336395 0.0055937 -0.06672336] [ 0.00335687 0.99999355 0.00127426 -0.1936916 ] [-0.00559795 -0.00125546 0.99998354 0.55575475] [ 0. 0. 0. 1. ]] SLAMing on 67.832557844 meters 0.2925963703168 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.99997825 -0.00342919 0.00563369 -0.0668354 ] [ 0.00342301 0.99999353 0.0011051 -0.19296541] [-0.00563744 -0.00108579 0.99998352 0.5557568 ] [ 0. 0. 0. 1. ]] SLAMing on 67.862557844 meters 0.2916308679995027 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 0.9999778 -0.00343814 0.00570745 -0.06715605] [ 0.00343206 0.99999353 0.00107487 -0.19281209] [-0.00571111 -0.00105525 0.99998313 0.55605654] [ 0. 0. 0. 1. ]] SLAMing on 67.892557844 meters 0.28969338028272207 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99999233 0.00114475 0.00374637 -0.09112518] [-0.0011352 0.9999961 -0.00255105 -0.19268143] [-0.00374928 0.00254678 0.99998973 0.55832564] [ 0. 0. 0. 1. ]] SLAMing on 67.922557844 meters 0.28998604353574087 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99999246 0.00115605 0.00370785 -0.090972 ] [-0.00114671 0.99999617 -0.00252018 -0.19282953] [-0.00371074 0.00251591 0.99998995 0.55820225] [ 0. 0. 0. 1. ]] SLAMing on 67.952557844 meters 0.2929868329831024 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.19, Z:0.56 [[ 0.99998535 0.0027694 0.0046517 -0.04763775] [-0.00275536 0.99999164 -0.00302112 -0.18945741] [-0.00466003 0.00300825 0.99998462 0.557282 ] [ 0. 0. 0. 1. ]] SLAMing on 67.982557844 meters 0.28942795395848137 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 9.99999158e-01 1.29383312e-03 1.03432170e-04 -9.12339588e-02] [-1.29356339e-03 9.99995870e-01 -2.56662831e-03 -1.92731341e-01] [-1.06752532e-04 2.56649235e-03 9.99996701e-01 5.59988304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012557844 meters 0.2916021761031945 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.56 [[ 9.99989301e-01 -4.06772743e-03 2.20266599e-03 -6.73776915e-02] [ 4.06660002e-03 9.99991598e-01 5.16072515e-04 -1.93395938e-01] [-2.20474672e-03 -5.07109632e-04 9.99997441e-01 5.57108438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042557844 meters 0.29023245911179446 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.56 [[ 0.99999727 0.00199174 -0.00121999 -0.08742727] [-0.00199386 0.99999651 -0.00173608 -0.19486452] [ 0.00121653 0.00173851 0.99999775 0.55844413] [ 0. 0. 0. 1. ]] SLAMing on 68.072557844 meters 0.29184497346139676 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99999503 -0.00269958 0.00162912 -0.06450039] [ 0.0026966 0.9999947 0.00182551 -0.19603013] [-0.00163404 -0.00182111 0.99999701 0.55618183] [ 0. 0. 0. 1. ]] SLAMing on 68.102557844 meters 0.2909407272779394 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99999517 -0.00264865 0.00162677 -0.06450411] [ 0.00264547 0.99999459 0.00195489 -0.1965803 ] [-0.00163194 -0.00195058 0.99999677 0.55620648] [ 0. 0. 0. 1. ]] SLAMing on 68.132557844 meters 0.2910148881750984 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99999583 -0.00249349 0.00145844 -0.06408078] [ 0.00248999 0.99999402 0.00240047 -0.19845854] [-0.00146442 -0.00239683 0.99999606 0.55628691] [ 0. 0. 0. 1. ]] SLAMing on 68.162557844 meters 0.2915018579890073 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.20, Z:0.56 [[ 0.99999622 -0.00237892 0.00137688 -0.06386566] [ 0.00237517 0.99999349 0.00271533 -0.19978559] [-0.00138333 -0.00271205 0.99999537 0.55630296] [ 0. 0. 0. 1. ]] SLAMing on 68.192557844 meters 0.2906356336698787 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 9.99997580e-01 2.13755742e-03 -5.19711098e-04 -8.71362975e-02] [-2.13801335e-03 9.99997329e-01 -8.78299407e-04 -2.01374701e-01] [ 5.17832295e-04 8.79408431e-04 9.99999479e-01 5.57998525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222557844 meters 0.28974176127704604 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 9.99997367e-01 2.24098388e-03 -4.93437677e-04 -8.72051950e-02] [-2.24128412e-03 9.99997303e-01 -6.08762215e-04 -2.02513478e-01] [ 4.92072119e-04 6.09866546e-04 9.99999693e-01 5.58009042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252557844 meters 0.29154278478549484 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.56 [[ 0.99999344 -0.00244715 0.00266982 -0.06469639] [ 0.00243884 0.99999218 0.00311236 -0.20625925] [-0.00267742 -0.00310582 0.99999159 0.5560489 ] [ 0. 0. 0. 1. ]] SLAMing on 68.282557844 meters 0.2913968877738694 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.21, Z:0.56 [[ 0.99999387 -0.00237229 0.00257654 -0.06449914] [ 0.00236377 0.99999175 0.00330245 -0.207066 ] [-0.00258436 -0.00329634 0.99999123 0.55617036] [ 0. 0. 0. 1. ]] SLAMing on 68.312557844 meters 0.2894040467358546 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99996859e-01 2.36518463e-03 -8.29794483e-04 -8.62149637e-02] [-2.36524921e-03 9.99997200e-01 -7.68543341e-05 -2.06610671e-01] [ 8.29610385e-04 7.88167634e-05 9.99999653e-01 5.58119371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342557844 meters 0.2900761098584602 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99996885e-01 2.33218953e-03 -8.89586522e-04 -8.59438804e-02] [-2.33233151e-03 9.99997268e-01 -1.58599689e-04 -2.06284681e-01] [ 8.89214207e-04 1.60674006e-04 9.99999592e-01 5.57841802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.372557844 meters 0.2926370638785821 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.20, Z:0.56 [[ 0.99999177 0.00378388 -0.00146276 -0.04722336] [-0.00378568 0.99999208 -0.00122419 -0.2022743 ] [ 0.00145812 0.00122972 0.99999818 0.56051647] [ 0. 0. 0. 1. ]] SLAMing on 68.402557844 meters 0.29044239099578584 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99979198e-01 -6.45007514e-03 2.04232973e-05 -7.12562290e-02] [ 6.45008874e-03 9.99978912e-01 -7.56112930e-04 -1.99312509e-01] [-1.55458814e-05 7.56228933e-04 9.99999714e-01 5.61585336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432557844 meters 0.29047894255330353 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.20, Z:0.56 [[ 9.99979349e-01 -6.42618058e-03 7.18394713e-05 -7.15865382e-02] [ 6.42622904e-03 9.99979109e-01 -6.96036032e-04 -1.99525432e-01] [-6.73651173e-05 6.96483316e-04 9.99999755e-01 5.62054338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462557844 meters 0.289827651353003 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 9.99999375e-01 9.41725270e-04 -6.02933787e-04 -9.10670353e-02] [-9.42842340e-04 9.99997835e-01 -1.85512908e-03 -2.04060479e-01] [ 6.01185459e-04 1.85569639e-03 9.99998097e-01 5.60723440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492557844 meters 0.2903124622546543 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 9.99999352e-01 9.34389008e-04 -6.50005808e-04 -9.07977588e-02] [-9.35604303e-04 9.99997810e-01 -1.87188232e-03 -2.04021939e-01] [ 6.48255318e-04 1.87248925e-03 9.99998037e-01 5.60381221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522557844 meters 0.2902496999844529 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.56 [[ 9.99999297e-01 9.73168039e-04 -6.78133952e-04 -9.05676265e-02] [-9.74367097e-04 9.99997959e-01 -1.77009130e-03 -2.04491664e-01] [ 6.76409971e-04 1.77075080e-03 9.99998203e-01 5.60011692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552557844 meters 0.2911217273714056 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99999233e-01 1.03600805e-03 -6.79136311e-04 -9.06764566e-02] [-1.03709811e-03 9.99998171e-01 -1.60668151e-03 -2.05163792e-01] [ 6.77470534e-04 1.60738460e-03 9.99998479e-01 5.60271887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582557844 meters 0.29305543588909866 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 0.99998806 -0.00372241 0.00316545 -0.06974513] [ 0.00371642 0.9999913 0.00189621 -0.20751032] [-0.00317249 -0.00188443 0.99999319 0.55867296] [ 0. 0. 0. 1. ]] SLAMing on 68.612557844 meters 0.28996702069343255 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99997608e-01 9.77450311e-04 1.95670194e-03 -9.42889331e-02] [-9.74613512e-04 9.99998474e-01 -1.45021478e-03 -2.09459128e-01] [-1.95811646e-03 1.44830429e-03 9.99997034e-01 5.61200762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642557844 meters 0.29096745888627873 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 0.99999747 0.00110338 0.00195979 -0.09437665] [-0.00110123 0.99999879 -0.00109731 -0.21091172] [-0.001961 0.00109515 0.99999748 0.56139719] [ 0. 0. 0. 1. ]] SLAMing on 68.672557844 meters 0.2900678681584962 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99997402e-01 1.15658201e-03 1.96413432e-03 -9.43563458e-02] [-1.15469674e-03 9.99998872e-01 -9.60713707e-04 -2.11496518e-01] [-1.96524325e-03 9.58443232e-04 9.99997610e-01 5.61328791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702557844 meters 0.2904741585135779 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99997345e-01 1.23485309e-03 1.94578395e-03 -9.43547677e-02] [-1.23338097e-03 9.99998952e-01 -7.57583941e-04 -2.12349069e-01] [-1.94671742e-03 7.55182037e-04 9.99997820e-01 5.61433885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.732557844 meters 0.2915262193783545 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 0.99998244 -0.00311013 0.00504516 -0.07092342] [ 0.00309594 0.99999123 0.00281908 -0.21446878] [-0.00505388 -0.00280341 0.9999833 0.55875738] [ 0. 0. 0. 1. ]] SLAMing on 68.762557844 meters 0.289314743230764 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99996770e-01 1.53078105e-03 2.02881789e-03 -9.25925500e-02] [-1.52910302e-03 9.99998488e-01 -8.28390772e-04 -2.14173885e-01] [-2.03008290e-03 8.25285825e-04 9.99997599e-01 5.60231643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.792557844 meters 0.2898502746592328 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.21, Z:0.56 [[ 9.99996936e-01 1.51021723e-03 1.96152646e-03 -9.21823113e-02] [-1.50849212e-03 9.99998474e-01 -8.80652815e-04 -2.14006036e-01] [-1.96285345e-03 8.77691169e-04 9.99997688e-01 5.59643239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822557844 meters 0.29137650369304496 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.56 [[ 9.99995165e-01 -3.07336650e-03 -4.73395762e-04 -6.61723650e-02] [ 3.07458868e-03 9.99991886e-01 2.60299838e-03 -2.09602975e-01] [ 4.65391953e-04 -2.60444129e-03 9.99996500e-01 5.58054768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.852557844 meters 0.29341783815621464 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 0.9999969 -0.00131057 -0.00211733 -0.02605883] [ 0.00131336 0.99999827 0.00131819 -0.20374848] [ 0.0021156 -0.00132097 0.99999689 0.56033721] [ 0. 0. 0. 1. ]] SLAMing on 68.882557844 meters 0.2923168499443848 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 9.99996944e-01 -1.48483338e-03 -1.97663249e-03 -2.64293344e-02] [ 1.48640510e-03 9.99998580e-01 7.93916131e-04 -2.01559533e-01] [ 1.97545085e-03 -7.96851781e-04 9.99997731e-01 5.60299628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.912557844 meters 0.29302410927812583 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 9.99996938e-01 -1.60823592e-03 -1.88063124e-03 -2.66242490e-02] [ 1.60911835e-03 9.99998596e-01 4.67799360e-04 -2.00185266e-01] [ 1.87987627e-03 -4.70824086e-04 9.99998122e-01 5.60152085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942557844 meters 0.292943081646479 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 9.99996750e-01 -1.76081851e-03 -1.84353214e-03 -2.66200327e-02] [ 1.76095911e-03 9.99998447e-01 7.46468108e-05 -1.98541423e-01] [ 1.84339784e-03 -7.78929529e-05 9.99998298e-01 5.59904832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972557844 meters 0.29223395713628303 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 9.99996543e-01 -1.91760045e-03 -1.79885652e-03 -2.65982667e-02] [ 1.91699878e-03 9.99998106e-01 -3.36136547e-04 -1.96831834e-01] [ 1.79949769e-03 3.32686980e-04 9.99998326e-01 5.59574098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002557844 meters 0.29215491604787597 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.56 [[ 9.99996283e-01 -2.05883510e-03 -1.78752930e-03 -2.65370742e-02] [ 2.05758296e-03 9.99997637e-01 -7.02042066e-04 -1.95303547e-01] [ 1.78897046e-03 6.98361466e-04 9.99998156e-01 5.59357627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032557844 meters 0.29220221255406637 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.56 [[ 0.99999603 -0.00221001 -0.00174675 -0.02659852] [ 0.00220812 0.99999697 -0.00108644 -0.19367592] [ 0.00174915 0.00108258 0.99999788 0.55923638] [ 0. 0. 0. 1. ]] SLAMing on 69.062557844 meters 0.29394793683226333 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:0.56 [[ 9.99976465e-01 -6.80469582e-03 -8.75493230e-04 -2.94327856e-03] [ 6.80666275e-03 9.99974272e-01 2.26363210e-03 -1.87848429e-01] [ 8.60067378e-04 -2.26953801e-03 9.99997055e-01 5.58089484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092557844 meters 0.29154319938960926 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.56 [[ 9.99988425e-01 -1.91685753e-03 -4.41310517e-03 -2.56969187e-02] [ 1.91262315e-03 9.99997707e-01 -9.63522159e-04 -1.84942501e-01] [ 4.41494198e-03 9.55070399e-04 9.99989798e-01 5.60921911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122557844 meters 0.29132922514542053 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.56 [[ 0.99998801 -0.00208514 -0.00443185 -0.02562372] [ 0.00207908 0.9999969 -0.00137153 -0.18322227] [ 0.0044347 0.0013623 0.99998924 0.56084306] [ 0. 0. 0. 1. ]] SLAMing on 69.152557844 meters 0.29177957586928127 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.56 [[ 0.99998743 -0.00224095 -0.0044845 -0.02549478] [ 0.00223314 0.99999598 -0.00174766 -0.18162797] [ 0.0044884 0.00173763 0.99998842 0.56083606] [ 0. 0. 0. 1. ]] SLAMing on 69.182557844 meters 0.2897783947182898 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99989968e-01 -3.03343909e-03 -3.29585795e-03 -6.67677053e-02] [ 3.03116255e-03 9.99995164e-01 -6.95502972e-04 -1.81719298e-01] [ 3.29795178e-03 6.85505713e-04 9.99994327e-01 5.59668759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.212557844 meters 0.28983426628128284 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99989824e-01 -3.13139295e-03 -3.24739040e-03 -6.70990846e-02] [ 3.12832541e-03 9.99994656e-01 -9.49268249e-04 -1.80583247e-01] [ 3.25034558e-03 9.39099695e-04 9.99994277e-01 5.60128492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242557844 meters 0.2908015226738448 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998992 -0.00320894 -0.00314195 -0.06750218] [ 0.00320535 0.9999942 -0.00114722 -0.17970209] [ 0.00314561 0.00113714 0.99999441 0.56040948] [ 0. 0. 0. 1. ]] SLAMing on 69.272557844 meters 0.29068500992367846 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998983 -0.00327167 -0.0031031 -0.06774271] [ 0.00326763 0.99999381 -0.00130602 -0.17899772] [ 0.00310736 0.00129587 0.99999433 0.56070282] [ 0. 0. 0. 1. ]] SLAMing on 69.302557844 meters 0.29033552207320845 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998965 -0.00332487 -0.00310479 -0.06768481] [ 0.0033204 0.99999344 -0.0014448 -0.17842131] [ 0.00310958 0.00143447 0.99999414 0.56057432] [ 0. 0. 0. 1. ]] SLAMing on 69.33255784400001 meters 0.29099791833978567 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998944 -0.0033775 -0.00311692 -0.067552 ] [ 0.00337255 0.99999305 -0.00159033 -0.17783793] [ 0.00312227 0.0015798 0.99999388 0.56033366] [ 0. 0. 0. 1. ]] SLAMing on 69.362557844 meters 0.29099791833978567 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998944 -0.0033775 -0.00311692 -0.067552 ] [ 0.00337255 0.99999305 -0.00159033 -0.17783793] [ 0.00312227 0.0015798 0.99999388 0.56033366] [ 0. 0. 0. 1. ]] SLAMing on 69.392557844 meters 0.29156736619565454 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99998961 -0.00335128 -0.00309084 -0.06773992] [ 0.00334657 0.99999323 -0.00152686 -0.1780875 ] [ 0.00309594 0.0015165 0.99999406 0.56059769] [ 0. 0. 0. 1. ]] SLAMing on 69.422557844 meters 0.2915421808472021 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.56 [[ 0.99998396 0.00448503 -0.00346004 -0.08767828] [-0.00449348 0.99998694 -0.00243634 -0.18247931] [ 0.00344907 0.00245185 0.99999105 0.55986338] [ 0. 0. 0. 1. ]] SLAMing on 69.452557844 meters 0.28933247973963894 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.56 [[ 9.99980043e-01 -2.69111591e-03 -5.71594464e-03 -1.09138917e-01] [ 2.69547496e-03 9.99996082e-01 7.55045114e-04 -1.83868115e-01] [ 5.71389033e-03 -7.70437231e-04 9.99983379e-01 5.61617419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482557844 meters 0.2918139830412712 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 9.99993712e-01 -1.08286717e-03 -3.37700839e-03 -6.71105765e-02] [ 1.08445357e-03 9.99999302e-01 4.67970439e-04 -1.82145132e-01] [ 3.37649929e-03 -4.71629705e-04 9.99994188e-01 5.61376289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.512557844 meters 0.2894600186215797 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.19, Z:0.56 [[ 0.99999382 -0.00215337 -0.00277992 -0.10557688] [ 0.00215704 0.9999968 0.00131886 -0.18595809] [ 0.00277707 -0.00132485 0.99999527 0.55810271] [ 0. 0. 0. 1. ]] SLAMing on 69.542557844 meters 0.29083549549192084 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.56 [[ 9.99988310e-01 4.82815862e-03 2.62244332e-04 -8.45153928e-02] [-4.82766025e-03 9.99986600e-01 -1.86891115e-03 -1.83762288e-01] [-2.71264217e-04 1.86762327e-03 9.99998219e-01 5.56092599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.572557844 meters 0.29105053680343684 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.56 [[ 9.99988541e-01 4.77907097e-03 2.78294906e-04 -8.44929453e-02] [-4.77850643e-03 9.99986593e-01 -1.99506490e-03 -1.83235832e-01] [-2.87825732e-04 1.99371220e-03 9.99997971e-01 5.55942969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602557844 meters 0.29072342043761074 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.56 [[ 9.99988926e-01 4.69465958e-03 3.27519671e-04 -8.44498088e-02] [-4.69391143e-03 9.99986455e-01 -2.24884601e-03 -1.82208840e-01] [-3.38072801e-04 2.24728376e-03 9.99997418e-01 5.55523132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.632557844 meters 0.29126553097812813 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.56 [[ 9.99989401e-01 4.59840282e-03 2.27507070e-04 -8.40207220e-02] [-4.59781869e-03 9.99986293e-01 -2.50469179e-03 -1.81155404e-01] [-2.39021534e-04 2.50361921e-03 9.99996837e-01 5.55113710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662557844 meters 0.29178892910419335 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.55 [[ 9.99989826e-01 4.51056628e-03 6.06732177e-05 -8.33957164e-02] [-4.51038280e-03 9.99986063e-01 -2.74426435e-03 -1.80181572e-01] [-7.30505583e-05 2.74396277e-03 9.99996233e-01 5.54621377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.692557844 meters 0.29217796530685813 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.55 [[ 9.99990511e-01 4.35589613e-03 -7.01566570e-05 -8.28063933e-02] [-4.35609765e-03 9.99985431e-01 -3.18773870e-03 -1.78371188e-01] [ 5.62701763e-05 3.18801406e-03 9.99994917e-01 5.53991070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722557844 meters 0.29152746490299514 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.18, Z:0.55 [[ 9.99990813e-01 4.28637603e-03 -4.15627967e-05 -8.27863503e-02] [-4.28649175e-03 9.99985135e-01 -3.36981964e-03 -1.77613673e-01] [ 2.71178647e-05 3.36996684e-03 9.99994321e-01 5.53773029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752557844 meters 0.29134703301321174 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.55 [[ 9.99988330e-01 -4.83054284e-03 -7.24527149e-05 -1.02932603e-01] [ 4.83039442e-03 9.99986481e-01 -1.92509691e-03 -1.74538211e-01] [ 8.17509985e-05 1.92472447e-03 9.99998144e-01 5.52637676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782557844 meters 0.2906141550897433 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.55 [[ 9.99988393e-01 -4.81794080e-03 -2.57663179e-05 -1.03100848e-01] [ 4.81788332e-03 9.99986598e-01 -1.89511251e-03 -1.74657193e-01] [ 3.48965124e-05 1.89496637e-03 9.99998204e-01 5.52743772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812557844 meters 0.2915733376650911 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.55 [[ 9.99988597e-01 -4.77330730e-03 -1.47805651e-04 -1.02709862e-01] [ 4.77303763e-03 9.99987035e-01 -1.77399091e-03 -1.75212995e-01] [ 1.56271538e-04 1.77326520e-03 9.99998416e-01 5.52580486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842557844 meters 0.2919433225674092 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.55 [[ 9.99988724e-01 -4.74362090e-03 -2.23752944e-04 -1.02476814e-01] [ 4.74323458e-03 9.99987312e-01 -1.69659419e-03 -1.75559065e-01] [ 2.31798104e-04 1.69551374e-03 9.99998536e-01 5.52513106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.872557844 meters 0.29101706356962814 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.18, Z:0.55 [[ 0.99999346 0.00345206 -0.00107564 -0.12307574] [-0.00345435 0.99999176 -0.00213463 -0.18004375] [ 0.00106826 0.00213833 0.99999714 0.5525799 ] [ 0. 0. 0. 1. ]] SLAMing on 69.902557844 meters 0.2915803624892243 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.56 [[ 9.99992192e-01 -2.16350220e-03 -3.30687897e-03 -1.06983601e-01] [ 2.16451835e-03 9.99997611e-01 3.03735397e-04 -1.78486353e-01] [ 3.30621394e-03 -3.10890825e-04 9.99994486e-01 5.58469426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.932557844 meters 0.29225142508871227 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.56 [[ 9.99991982e-01 -2.19529301e-03 -3.34913884e-03 -1.06720591e-01] [ 2.19605789e-03 9.99997563e-01 2.24719596e-04 -1.78178692e-01] [ 3.34863736e-03 -2.32072697e-04 9.99994366e-01 5.58133918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962557844 meters 0.29177011367240413 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.18, Z:0.56 [[ 9.99991424e-01 -2.39347871e-03 -3.37986835e-03 -1.06336659e-01] [ 2.39243719e-03 9.99997089e-01 -3.12163561e-04 -1.75935499e-01] [ 3.38060567e-03 3.04074762e-04 9.99994240e-01 5.57370598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.992557844 meters 0.2913806090950154 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.18, Z:0.56 [[ 0.99997575 0.00525724 -0.00456745 -0.12662427] [-0.00526398 0.99998507 -0.00146537 -0.17804965] [ 0.00455968 0.00148937 0.9999885 0.55641742] [ 0. 0. 0. 1. ]] SLAMing on 70.022557844 meters 0.29271671286225515 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.55 [[ 9.99996162e-01 4.94621902e-04 -2.72605305e-03 -1.02815556e-01] [-4.89639665e-04 9.99998209e-01 1.82800208e-03 -1.75816506e-01] [ 2.72695234e-03 -1.82666028e-03 9.99994614e-01 5.54678667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052557844 meters 0.29249449597076244 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.55 [[ 9.99996298e-01 3.28124673e-04 -2.70132643e-03 -1.02999328e-01] [-3.24292939e-04 9.99998941e-01 1.41877960e-03 -1.74016786e-01] [ 2.70178911e-03 -1.41789833e-03 9.99995345e-01 5.54906099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08255784400001 meters 0.2927361728775564 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.55 [[ 9.99996326e-01 2.98097372e-04 -2.69430350e-03 -1.02967229e-01] [-2.94485129e-04 9.99999058e-01 1.34099371e-03 -1.73694812e-01] [ 2.69470070e-03 -1.34019535e-03 9.99995471e-01 5.54790269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112557844 meters 0.2939073955378001 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.55 [[ 9.99996744e-01 2.87604460e-04 -2.53566320e-03 -1.03429587e-01] [-2.84284383e-04 9.99999102e-01 1.30961576e-03 -1.73520855e-01] [ 2.53603758e-03 -1.30889065e-03 9.99995928e-01 5.54932393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142557844 meters 0.29219391453862253 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.56 [[ 0.99998071 0.00495653 -0.00374418 -0.12757724] [-0.00496572 0.99998467 -0.0024479 -0.17417455] [ 0.00373199 0.00246645 0.99998999 0.55696142] [ 0. 0. 0. 1. ]] SLAMing on 70.172557844 meters 0.29239995300509825 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:0.56 [[ 0.99999408 -0.0024914 -0.00237195 -0.10775253] [ 0.00248856 0.99999618 -0.00120009 -0.17126096] [ 0.00237493 0.00119418 0.99999647 0.55843029] [ 0. 0. 0. 1. ]] SLAMing on 70.202557844 meters 0.29216791375051177 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.17, Z:0.56 [[ 0.99999415 -0.00250817 -0.0023259 -0.10799988] [ 0.00250527 0.99999608 -0.00124709 -0.17104594] [ 0.00232902 0.00124125 0.99999652 0.55873441] [ 0. 0. 0. 1. ]] SLAMing on 70.232557844 meters 0.2913175783581142 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:0.56 [[ 9.99994778e-01 -2.95725520e-03 -1.30326551e-03 -1.47256845e-01] [ 2.95775901e-03 9.99995552e-01 3.84820397e-04 -1.74378547e-01] [ 1.30212170e-03 -3.88673133e-04 9.99999077e-01 5.55581831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262557844 meters 0.2910992527916433 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:0.56 [[ 9.99994542e-01 -3.02635742e-03 -1.32537772e-03 -1.47157076e-01] [ 3.02664118e-03 9.99995397e-01 2.12141343e-04 -1.73644847e-01] [ 1.32472961e-03 -2.16151628e-04 9.99999099e-01 5.55477029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.292557844 meters 0.29194663261148013 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:0.56 [[ 9.99994362e-01 -3.10524000e-03 -1.27845094e-03 -1.47262376e-01] [ 3.10525581e-03 9.99995179e-01 1.03875955e-05 -1.72780702e-01] [ 1.27841252e-03 -1.43574541e-05 9.99999183e-01 5.55425098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322557844 meters 0.29295165744749097 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:0.56 [[ 9.99994449e-01 -3.07718079e-03 -1.27820168e-03 -1.47328386e-01] [ 3.07728529e-03 9.99995262e-01 7.97960573e-05 -1.73072982e-01] [ 1.27795008e-03 -8.37290055e-05 9.99999180e-01 5.55571503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.352557844 meters 0.29193787419693795 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.18, Z:0.55 [[ 0.99998864 0.00426805 -0.00212137 -0.16594903] [-0.00427103 0.99998989 -0.00140401 -0.17787387] [ 0.00211536 0.00141305 0.99999676 0.55397723] [ 0. 0. 0. 1. ]] SLAMing on 70.382557844 meters 0.29328905836625135 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.55 [[ 9.99993189e-01 -3.52791528e-03 -1.08400059e-03 -1.44718713e-01] [ 3.52737858e-03 9.99993655e-01 -4.96624771e-04 -1.75342479e-01] [ 1.08574576e-03 4.92797708e-04 9.99999289e-01 5.54617852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.412557844 meters 0.28979824604665055 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.18, Z:0.55 [[ 9.99999581e-01 -2.34086217e-04 -8.84901126e-04 -2.03790678e-01] [ 2.33081562e-04 9.99999328e-01 -1.13526325e-03 -1.80710919e-01] [ 8.85166281e-04 1.13505652e-03 9.99998964e-01 5.53124032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442557844 meters 0.2928507141875326 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.18, Z:0.55 [[ 9.99997882e-01 7.60162244e-04 1.91243106e-03 -1.58226458e-01] [-7.57225257e-04 9.99998534e-01 -1.53599046e-03 -1.81148164e-01] [-1.91359586e-03 1.53453906e-03 9.99996992e-01 5.50012385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472557844 meters 0.2902598842980817 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.19, Z:0.55 [[ 9.99997326e-01 -2.31651944e-04 2.30089882e-03 -1.96301658e-01] [ 2.32568463e-04 9.99999894e-01 -3.98071308e-04 -1.85603416e-01] [-2.30080637e-03 3.98605360e-04 9.99997274e-01 5.46851365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502557844 meters 0.29170970504304033 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.19, Z:0.55 [[ 0.99997583 -0.00557794 0.00415015 -0.17367248] [ 0.00556499 0.99997964 0.00312365 -0.18653158] [-0.00416749 -0.00310048 0.99998651 0.54505457] [ 0. 0. 0. 1. ]] SLAMing on 70.532557844 meters 0.2914022260269307 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 0.99999764 0.00149861 0.00157564 -0.19118834] [-0.00150117 0.99999756 0.00162124 -0.19104626] [-0.00157321 -0.0016236 0.99999744 0.54280814] [ 0. 0. 0. 1. ]] SLAMing on 70.562557844 meters 0.29232433728948687 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 0.99999766 0.00153315 0.00152424 -0.19099637] [-0.00153576 0.99999736 0.00171102 -0.19143837] [-0.00152161 -0.00171336 0.99999737 0.54268776] [ 0. 0. 0. 1. ]] SLAMing on 70.592557844 meters 0.29267666619492405 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 0.99999743 0.00164529 0.00156146 -0.19130617] [-0.0016484 0.99999666 0.00199105 -0.19261507] [-0.00155817 -0.00199362 0.9999968 0.54318568] [ 0. 0. 0. 1. ]] SLAMing on 70.622557844 meters 0.2926664714984515 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 0.99999745 0.00168636 0.00149936 -0.19122559] [-0.0016895 0.99999637 0.00209717 -0.1930634 ] [-0.00149582 -0.0020997 0.99999668 0.54337872] [ 0. 0. 0. 1. ]] SLAMing on 70.652557844 meters 0.2926171455770263 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 0.99999748 0.00170745 0.00145767 -0.19110802] [-0.00171059 0.99999622 0.00215287 -0.19330262] [-0.00145399 -0.00215536 0.99999662 0.54336755] [ 0. 0. 0. 1. ]] SLAMing on 70.682557844 meters 0.2918352598498634 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999713 0.00188207 0.00148528 -0.19120454] [-0.0018859 0.99999488 0.00258369 -0.19513731] [-0.00148041 -0.00258649 0.99999556 0.54343065] [ 0. 0. 0. 1. ]] SLAMing on 70.712557844 meters 0.29348575800778703 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999695 0.00197119 0.00149058 -0.19122123] [-0.00197537 0.99999411 0.002807 -0.19609162] [-0.00148503 -0.00280994 0.99999495 0.5434441 ] [ 0. 0. 0. 1. ]] SLAMing on 70.742557844 meters 0.29311940167694495 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999682 0.00203524 0.001492 -0.19124885] [-0.00203966 0.99999351 0.00296976 -0.19678568] [-0.00148594 -0.0029728 0.99999448 0.54350273] [ 0. 0. 0. 1. ]] SLAMing on 70.772557844 meters 0.2931128124225896 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999669 0.00203773 0.00156994 -0.1914805 ] [-0.0020424 0.99999348 0.00297929 -0.19679872] [-0.00156385 -0.00298248 0.99999433 0.54357368] [ 0. 0. 0. 1. ]] SLAMing on 70.802557844 meters 0.29294310367827275 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999677 0.00201266 0.00155504 -0.19139654] [-0.00201719 0.99999371 0.00291614 -0.19653504] [-0.00154916 -0.00291927 0.99999454 0.54346988] [ 0. 0. 0. 1. ]] SLAMing on 70.83255784400001 meters 0.2947704889950924 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999659 0.0020587 0.00160419 -0.19161074] [-0.00206355 0.99999329 0.00302838 -0.19700083] [-0.00159794 -0.00303168 0.99999413 0.54365872] [ 0. 0. 0. 1. ]] SLAMing on 70.862557844 meters 0.29268524148363556 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999636 0.00212434 0.00166069 -0.19188796] [-0.00212964 0.99999263 0.00319526 -0.19769003] [-0.00165389 -0.00319879 0.99999352 0.54395331] [ 0. 0. 0. 1. ]] SLAMing on 70.892557844 meters 0.29241142446741814 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999614 0.00220231 0.00169253 -0.19209523] [-0.00220805 0.99999179 0.00339757 -0.19852673] [-0.00168503 -0.00340129 0.9999928 0.54425242] [ 0. 0. 0. 1. ]] SLAMing on 70.922557844 meters 0.2922478968304259 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999609 0.00220953 0.00171195 -0.19208965] [-0.00221536 0.99999171 0.00341626 -0.19861428] [-0.00170439 -0.00342004 0.9999927 0.54412498] [ 0. 0. 0. 1. ]] SLAMing on 70.952557844 meters 0.2929275554169533 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999615 0.00221148 0.00167418 -0.19191664] [-0.0022172 0.99999168 0.00342336 -0.19865971] [-0.0016666 -0.00342706 0.99999274 0.54395906] [ 0. 0. 0. 1. ]] SLAMing on 70.982557844 meters 0.29299422627548877 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999626 0.00218457 0.00164245 -0.19157596] [-0.00219007 0.99999198 0.00335457 -0.19841454] [-0.00163511 -0.00335815 0.99999302 0.54336116] [ 0. 0. 0. 1. ]] SLAMing on 71.012557844 meters 0.29317913633578835 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.9999963 0.00217423 0.00163333 -0.19156408] [-0.00217966 0.99999209 0.00332834 -0.1983008 ] [-0.00162608 -0.00333189 0.99999313 0.54338708] [ 0. 0. 0. 1. ]] SLAMing on 71.042557844 meters 0.2939508318300152 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 0.99999626 0.00216304 0.001676 -0.19172402] [-0.00216856 0.99999221 0.00329765 -0.19815551] [-0.00166885 -0.00330128 0.99999316 0.54349207] [ 0. 0. 0. 1. ]] SLAMing on 71.072557844 meters 0.2917243221670878 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:0.54 [[ 9.99997442e-01 -5.19966347e-06 2.26171514e-03 -2.31129636e-01] [-2.05574381e-06 9.99994855e-01 3.20790852e-03 -1.99472996e-01] [-2.26172018e-03 -3.20790496e-03 9.99992297e-01 5.41022285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102557844 meters 0.29199700893815494 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:0.54 [[ 9.99997143e-01 -6.19528837e-05 2.38959616e-03 -2.31371821e-01] [ 5.46492662e-05 9.99995328e-01 3.05636757e-03 -1.98837152e-01] [-2.38977435e-03 -3.05622824e-03 9.99992474e-01 5.40805277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132557844 meters 0.2917389411217042 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:0.54 [[ 9.99997020e-01 -7.52005940e-05 2.44027938e-03 -2.31534343e-01] [ 6.78363924e-05 9.99995444e-01 3.01771234e-03 -1.98661545e-01] [-2.44049520e-03 -3.01753781e-03 9.99992469e-01 5.40877818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162557844 meters 0.29363552700136575 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99997284e-01 7.13346079e-04 2.21885140e-03 -1.94038969e-01] [-7.17024162e-04 9.99998370e-01 1.65729810e-03 -1.94230221e-01] [-2.21766555e-03 -1.65888457e-03 9.99996165e-01 5.44523258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.192557844 meters 0.2930817584692899 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99997355e-01 5.76061320e-04 2.22651070e-03 -1.93991063e-01] [-5.78961013e-04 9.99998985e-01 1.30192322e-03 -1.92723459e-01] [-2.22575845e-03 -1.30320884e-03 9.99996674e-01 5.44350839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222557844 meters 0.2930817584692899 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99997355e-01 5.76061320e-04 2.22651070e-03 -1.93991063e-01] [-5.78961013e-04 9.99998985e-01 1.30192322e-03 -1.92723459e-01] [-2.22575845e-03 -1.30320884e-03 9.99996674e-01 5.44350839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252557844 meters 0.29198711111683906 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.55 [[ 0.99998563 0.00524369 -0.00111836 -0.21532439] [-0.00524636 0.99998336 -0.00239891 -0.19099643] [ 0.00110577 0.00240474 0.9999965 0.54559668] [ 0. 0. 0. 1. ]] SLAMing on 71.282557844 meters 0.2927284150277481 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.55 [[ 0.9999858 0.00519496 -0.00118946 -0.21508024] [-0.00519794 0.99998331 -0.0025221 -0.19048235] [ 0.00117634 0.00252825 0.99999611 0.54545545] [ 0. 0. 0. 1. ]] SLAMing on 71.312557844 meters 0.2923075795896408 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.55 [[ 0.99998577 0.00520625 -0.00116479 -0.21512402] [-0.00520915 0.99998332 -0.00249436 -0.19060301] [ 0.00115178 0.00250039 0.99999621 0.54540955] [ 0. 0. 0. 1. ]] SLAMing on 71.342557844 meters 0.291643646823304 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.55 [[ 0.99998572 0.00521249 -0.00118223 -0.21503257] [-0.0052154 0.99998333 -0.00247731 -0.1906844 ] [ 0.0011693 0.00248344 0.99999623 0.54530299] [ 0. 0. 0. 1. ]] SLAMing on 71.372557844 meters 0.29336013714488934 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999032e-01 -5.84891181e-04 1.26269143e-03 -1.94014107e-01] [ 5.84357794e-04 9.99999740e-01 4.22748209e-04 -1.90295023e-01] [-1.26293836e-03 -4.22009936e-04 9.99999113e-01 5.44268176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402557844 meters 0.2925478248579002 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999099e-01 -4.52458152e-04 1.26421638e-03 -1.94130891e-01] [ 4.51479147e-04 9.99999598e-01 7.74574452e-04 -1.91773033e-01] [-1.26456633e-03 -7.74002987e-04 9.99998901e-01 5.44526482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.432557844 meters 0.2929687432941476 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999191e-01 -4.07870111e-04 1.20495575e-03 -1.94028483e-01] [ 4.06791805e-04 9.99999517e-01 8.95001587e-04 -1.92279434e-01] [-1.20532021e-03 -8.94510697e-04 9.99998874e-01 5.44653476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462557844 meters 0.2939271468855466 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.19, Z:0.55 [[ 9.99998068e-01 1.63838640e-03 -1.08577002e-03 -1.51231733e-01] [-1.63765780e-03 9.99998434e-01 6.71597882e-04 -1.88878226e-01] [ 1.08686866e-03 -6.69818465e-04 9.99999185e-01 5.45784410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.492557844 meters 0.2933061284458604 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999492e-01 4.07235615e-04 -9.22062489e-04 -1.88448038e-01] [-4.05974877e-04 9.99998983e-01 1.36707645e-03 -1.91112617e-01] [ 9.22618273e-04 -1.36670142e-03 9.99998640e-01 5.41883792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522557844 meters 0.29480445694917234 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999534e-01 3.96268694e-04 -8.80470371e-04 -1.88540322e-01] [-3.95090776e-04 9.99999027e-01 1.33760032e-03 -1.90986848e-01] [ 8.80999564e-04 -1.33725184e-03 9.99998718e-01 5.41845125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.552557844 meters 0.2955559309525437 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.54 [[ 9.99999575e-01 3.86142321e-04 -8.37198844e-04 -1.88882825e-01] [-3.85044261e-04 9.99999066e-01 1.31135219e-03 -1.90819204e-01] [ 8.37704431e-04 -1.31102927e-03 9.99998790e-01 5.42378686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58255784400001 meters 0.29189521301776883 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.54 [[ 9.99993198e-01 -9.95858211e-04 -3.55148781e-03 -2.32542515e-01] [ 1.00265312e-03 9.99997669e-01 1.91199111e-03 -1.94702437e-01] [ 3.54957547e-03 -1.91553901e-03 9.99991866e-01 5.44347761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612557844 meters 0.2935768924257777 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:0.55 [[ 9.99991043e-01 -2.39686080e-04 -4.22579510e-03 -1.93547198e-01] [ 2.44258933e-04 9.99999385e-01 1.08164560e-03 -1.93942522e-01] [ 4.22553325e-03 -1.08266810e-03 9.99990486e-01 5.47386693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642557844 meters 0.29225866545332474 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:0.54 [[ 0.99999117 -0.00189296 -0.0037516 -0.23107918] [ 0.00189941 0.99999673 0.00171469 -0.1995105 ] [ 0.00374834 -0.0017218 0.99999149 0.54366867] [ 0. 0. 0. 1. ]] SLAMing on 71.672557844 meters 0.2949567671243971 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 9.99993020e-01 -1.47680324e-03 -3.43210754e-03 -1.89930597e-01] [ 1.47820700e-03 9.99998825e-01 4.06505599e-04 -1.99626372e-01] [ 3.43150318e-03 -4.11576127e-04 9.99994028e-01 5.44637175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702557844 meters 0.29442943093099055 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:0.54 [[ 9.99993147e-01 -1.47009850e-03 -3.39762523e-03 -1.89976182e-01] [ 1.47154297e-03 9.99998828e-01 4.22681565e-04 -1.99702047e-01] [ 3.39699987e-03 -4.27678421e-04 9.99994139e-01 5.44537850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.732557844 meters 0.2936453020771407 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.20, Z:0.55 [[ 0.99997283 0.00382854 -0.00629977 -0.21244443] [-0.00384548 0.99998902 -0.00267893 -0.19828815] [ 0.00628945 0.00270308 0.99997657 0.5466183 ] [ 0. 0. 0. 1. ]] SLAMing on 71.762557844 meters 0.2937043626540358 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.20, Z:0.55 [[ 0.99997317 0.00369765 -0.00632372 -0.21223591] [-0.00371717 0.99998836 -0.00307773 -0.19668247] [ 0.00631227 0.00310115 0.99997527 0.54623072] [ 0. 0. 0. 1. ]] SLAMing on 71.792557844 meters 0.29308623012589674 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.55 [[ 0.99994653 -0.00549576 -0.00875965 -0.23005913] [ 0.00547795 0.99998288 -0.00205513 -0.19293767] [ 0.0087708 0.00200703 0.99995952 0.54523219] [ 0. 0. 0. 1. ]] SLAMing on 71.822557844 meters 0.2933171771118349 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.54 [[ 0.99994528 -0.00561029 -0.00883014 -0.22973966] [ 0.00558959 0.99998158 -0.00236694 -0.19164956] [ 0.00884326 0.00231746 0.99995821 0.54489179] [ 0. 0. 0. 1. ]] SLAMing on 71.852557844 meters 0.2927349346722144 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.54 [[ 0.99994505 -0.00562992 -0.00884352 -0.22975341] [ 0.00560875 0.99998135 -0.00241691 -0.19142742] [ 0.00885697 0.00236718 0.99995797 0.54499999] [ 0. 0. 0. 1. ]] SLAMing on 71.882557844 meters 0.29474277146772715 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.55 [[ 0.99997367 0.00341893 -0.00640108 -0.21094846] [-0.00344278 0.99998716 -0.00371822 -0.19269748] [ 0.00638828 0.00374016 0.9999726 0.54557707] [ 0. 0. 0. 1. ]] SLAMing on 71.912557844 meters 0.2946451164756254 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.55 [[ 0.99997387 0.00340806 -0.00637542 -0.21105244] [-0.003432 0.99998708 -0.00374863 -0.19256104] [ 0.00636257 0.00377042 0.99997265 0.54565875] [ 0. 0. 0. 1. ]] SLAMing on 71.942557844 meters 0.2947195756540228 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.55 [[ 0.99997432 0.0033743 -0.0063227 -0.21119461] [-0.00339863 0.99998684 -0.00384182 -0.19217195] [ 0.00630965 0.0038632 0.99997263 0.54567398] [ 0. 0. 0. 1. ]] SLAMing on 71.972557844 meters 0.2930822363189854 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.55 [[ 9.99948902e-01 -3.79324395e-03 -9.37040645e-03 -2.31866123e-01] [ 3.78537950e-03 9.99992468e-01 -8.56878892e-04 -1.93836844e-01] [ 9.37358622e-03 8.21364563e-04 9.99955730e-01 5.47121027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002557844 meters 0.29482699223698366 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.20, Z:0.55 [[ 0.9999463 0.00634622 -0.00819284 -0.21149227] [-0.00635604 0.99997911 -0.00117245 -0.19699309] [ 0.00818523 0.00122446 0.99996575 0.54731369] [ 0. 0. 0. 1. ]] SLAMing on 72.032557844 meters 0.2935148740150772 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.55 [[ 9.99946047e-01 -2.78868931e-03 -1.00063048e-02 -2.30539883e-01] [ 2.78985974e-03 9.99996103e-01 1.03013090e-04 -1.94931059e-01] [ 1.00059785e-02 -1.30923719e-04 9.99949930e-01 5.46412224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062557844 meters 0.2951469048321056 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.20, Z:0.55 [[ 9.99945386e-01 6.56670330e-03 -8.13037488e-03 -2.11059943e-01] [-6.57489779e-03 9.99977903e-01 -9.81567554e-04 -1.96537007e-01] [ 8.12374956e-03 1.03497033e-03 9.99966466e-01 5.46748445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092557844 meters 0.2941416939400763 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.55 [[ 0.9999468 0.00641693 -0.00807576 -0.21132172] [-0.00642818 0.9999784 -0.00136805 -0.19484679] [ 0.00806681 0.00141989 0.99996645 0.54702796] [ 0. 0. 0. 1. ]] SLAMing on 72.122557844 meters 0.293273134114033 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.55 [[ 9.99956610e-01 -3.03324827e-03 -8.80780587e-03 -2.31020041e-01] [ 3.02916580e-03 9.99995298e-01 -4.76808673e-04 -1.90601708e-01] [ 8.80921074e-03 4.50107680e-04 9.99961097e-01 5.46115422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.152557844 meters 0.295357652242434 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:0.54 [[ 0.99997973 0.00400777 -0.00494804 -0.210641 ] [-0.00402466 0.99998609 -0.00340916 -0.18693965] [ 0.0049343 0.003429 0.99998195 0.54410585] [ 0. 0. 0. 1. ]] SLAMing on 72.182557844 meters 0.29361231003621113 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.55 [[ 9.99970307e-01 -3.45365689e-03 -6.88889543e-03 -2.31823889e-01] [ 3.44830545e-03 9.99993744e-01 -7.88548654e-04 -1.84950124e-01] [ 6.89157571e-03 7.64770224e-04 9.99975960e-01 5.45120127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.212557844 meters 0.2938397643781345 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 9.99970195e-01 -3.53020738e-03 -6.86627665e-03 -2.31795600e-01] [ 3.52351531e-03 9.99993306e-01 -9.86481086e-04 -1.84126285e-01] [ 6.86971316e-03 9.62258254e-04 9.99975940e-01 5.44919899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242557844 meters 0.294772814572203 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 0.99997007 -0.00364288 -0.00682498 -0.23172327] [ 0.00363425 0.99999258 -0.00127657 -0.18292011] [ 0.00682958 0.00125173 0.99997589 0.54450752] [ 0. 0. 0. 1. ]] SLAMing on 72.272557844 meters 0.2945334632731107 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 0.99997013 -0.00367947 -0.00679666 -0.23173207] [ 0.00367023 0.99999232 -0.00137174 -0.18252942] [ 0.00680166 0.00134676 0.99997596 0.54436154] [ 0. 0. 0. 1. ]] SLAMing on 72.302557844 meters 0.2947218101070156 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 0.9999698 -0.00372593 -0.006821 -0.23164243] [ 0.00371586 0.99999199 -0.00148883 -0.18203775] [ 0.0068265 0.00146344 0.99997563 0.54429899] [ 0. 0. 0. 1. ]] SLAMing on 72.33255784400001 meters 0.29476572283895286 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 0.99996929 -0.00390151 -0.00679738 -0.23154944] [ 0.00388799 0.99999044 -0.0020017 -0.17994547] [ 0.00680512 0.00197521 0.99997489 0.54389469] [ 0. 0. 0. 1. ]] SLAMing on 72.362557844 meters 0.29397154038741613 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 0.99996894 -0.00402279 -0.00677784 -0.23156451] [ 0.00400703 0.99998924 -0.00233623 -0.17855728] [ 0.00678717 0.002309 0.9999743 0.54380228] [ 0. 0. 0. 1. ]] SLAMing on 72.392557844 meters 0.2952332337741706 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.54 [[ 0.99998497 0.00431298 -0.00338559 -0.21246102] [-0.00432776 0.99998109 -0.00436975 -0.17442592] [ 0.00336668 0.00438434 0.99998472 0.54362459] [ 0. 0. 0. 1. ]] SLAMing on 72.422557844 meters 0.29501386557987164 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.54 [[ 0.9999855 0.00424536 -0.00331186 -0.21275852] [-0.0042604 0.99998057 -0.00454967 -0.17363444] [ 0.00329248 0.00456371 0.99998417 0.54386985] [ 0. 0. 0. 1. ]] SLAMing on 72.452557844 meters 0.2958725882100284 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.54 [[ 0.99998611 0.00419371 -0.00319213 -0.21318918] [-0.00420866 0.99998014 -0.00469065 -0.17300541] [ 0.00317239 0.00470402 0.9999839 0.54414009] [ 0. 0. 0. 1. ]] SLAMing on 72.482557844 meters 0.2934551169141831 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.54 [[ 0.99999338 0.00303439 -0.00200982 -0.25425384] [-0.00304279 0.99998661 -0.00418594 -0.1737041 ] [ 0.00199709 0.00419203 0.99998922 0.54199462] [ 0. 0. 0. 1. ]] SLAMing on 72.512557844 meters 0.2959146369939008 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.54 [[ 9.99999341e-01 1.99687034e-04 1.13019069e-03 -2.28897428e-01] [-2.00695211e-04 9.99999582e-01 8.91999002e-04 -1.75099461e-01] [-1.13001210e-03 -8.92225238e-04 9.99998964e-01 5.37119715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542557844 meters 0.29450321529451895 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998724e-01 -7.54808191e-04 1.40788537e-03 -2.66536006e-01] [ 7.53013124e-04 9.99998904e-01 1.27510351e-03 -1.74459337e-01] [-1.40884629e-03 -1.27404172e-03 9.99998196e-01 5.33360997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572557844 meters 0.2945666049015559 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998582e-01 -8.62226172e-04 1.44628473e-03 -2.66651488e-01] [ 8.60790620e-04 9.99999137e-01 9.92907691e-04 -1.73256531e-01] [-1.44713959e-03 -9.91661335e-04 9.99998461e-01 5.33380319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602557844 meters 0.29521772737543023 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998451e-01 -9.62010116e-04 1.47387640e-03 -2.66760983e-01] [ 9.60928373e-04 9.99999269e-01 7.34476680e-04 -1.72148245e-01] [-1.47458190e-03 -7.33059253e-04 9.99998644e-01 5.33454582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632557844 meters 0.29489872662941996 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998293e-01 -1.12585140e-03 1.46506437e-03 -2.66702262e-01] [ 1.12539391e-03 9.99999318e-01 3.13057349e-04 -1.70353904e-01] [-1.46541583e-03 -3.11408040e-04 9.99998878e-01 5.33354550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662557844 meters 0.29461410048961373 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998330e-01 -1.15979615e-03 1.41215311e-03 -2.66432815e-01] [ 1.15947589e-03 9.99999302e-01 2.27586493e-04 -1.70018865e-01] [-1.41241608e-03 -2.25948755e-04 9.99998977e-01 5.33056453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692557844 meters 0.2947776412533233 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998288e-01 -1.21466761e-03 1.39590733e-03 -2.66145528e-01] [ 1.21454961e-03 9.99999259e-01 8.53753005e-05 -1.69465980e-01] [-1.39601000e-03 -8.36797556e-05 9.99999022e-01 5.32481625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722557844 meters 0.2955785517556121 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998296e-01 -1.22698514e-03 1.37917618e-03 -2.66048696e-01] [ 1.22691281e-03 9.99999246e-01 5.32893257e-05 -1.69340299e-01] [-1.37924053e-03 -5.15971060e-05 9.99999048e-01 5.32358515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752557844 meters 0.2952077690324439 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998264e-01 -1.27632588e-03 1.35780996e-03 -2.66045152e-01] [ 1.27642845e-03 9.99999183e-01 -7.46755091e-05 -1.68787576e-01] [-1.35771354e-03 7.64085267e-05 9.99999075e-01 5.32470440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782557844 meters 0.2939939635065769 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998296e-01 -1.31810130e-03 1.29266415e-03 -2.65872474e-01] [ 1.31833636e-03 9.99999115e-01 -1.81005658e-04 -1.68343405e-01] [-1.29242442e-03 1.82709516e-04 9.99999148e-01 5.32455410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812557844 meters 0.2957866837030893 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 0.99996586 0.00784578 0.00259151 -0.24602498] [-0.00784181 0.99996807 -0.00153556 -0.16900783] [-0.00260347 0.00151519 0.99999546 0.53296113] [ 0. 0. 0. 1. ]] SLAMing on 72.842557844 meters 0.2969809312923275 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 0.99996662 0.00775511 0.00257078 -0.24595728] [-0.00775058 0.9999684 -0.00177107 -0.16801339] [-0.00258443 0.00175109 0.99999513 0.53292925] [ 0. 0. 0. 1. ]] SLAMing on 72.872557844 meters 0.2951031433143138 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 0.99999187 -0.00204701 0.00347435 -0.2683706 ] [ 0.002052 0.99999686 -0.00143557 -0.16242208] [-0.0034714 0.00144268 0.99999293 0.53301263] [ 0. 0. 0. 1. ]] SLAMing on 72.902557844 meters 0.2953749075756522 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 0.99999156 -0.00211744 0.00352145 -0.26850689] [ 0.00212317 0.99999643 -0.00162214 -0.1616226 ] [-0.00351801 0.0016296 0.99999248 0.53303502] [ 0. 0. 0. 1. ]] SLAMing on 72.932557844 meters 0.2942362128248393 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.53 [[ 0.99998382 0.00552537 0.00135156 -0.28803139] [-0.00552139 0.99998046 -0.00293195 -0.16282229] [-0.00136773 0.00292444 0.99999479 0.532332 ] [ 0. 0. 0. 1. ]] SLAMing on 72.962557844 meters 0.2952141640938026 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99991466e-01 -2.26979242e-04 4.12504233e-03 -2.66824775e-01] [ 2.27420149e-04 9.99999968e-01 -1.06416875e-04 -1.61561863e-01] [-4.12501805e-03 1.07354085e-04 9.99991486e-01 5.31032293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.992557844 meters 0.29473512190837886 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99991305e-01 -2.18225109e-04 4.16434601e-03 -2.67068136e-01] [ 2.18586439e-04 9.99999972e-01 -8.63125140e-05 -1.61623818e-01] [-4.16432706e-03 8.72220331e-05 9.99991325e-01 5.31361528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022557844 meters 0.29353976332430204 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99991794e-01 -1.34231109e-04 4.04900276e-03 -2.66852197e-01] [ 1.33533836e-04 9.99999976e-01 1.72478481e-04 -1.62683585e-01] [-4.04902581e-03 -1.71936387e-04 9.99991788e-01 5.31561272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.052557844 meters 0.29471960298571803 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99992132e-01 -6.51402649e-05 3.96631469e-03 -2.66575418e-01] [ 6.36746317e-05 9.99999930e-01 3.69645311e-04 -1.63528262e-01] [-3.96633849e-03 -3.69389849e-04 9.99992066e-01 5.31410166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08255784400001 meters 0.29496299145765514 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99992335e-01 2.03609930e-05 3.91537285e-03 -2.66384518e-01] [-2.27368499e-05 9.99999816e-01 6.06758656e-04 -1.64538141e-01] [-3.91535977e-03 -6.06843028e-04 9.99992151e-01 5.31268304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112557844 meters 0.29416537735232917 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99992330e-01 1.43591371e-04 3.91398797e-03 -2.66476837e-01] [-1.47261560e-04 9.99999550e-01 9.37438877e-04 -1.65931038e-01] [-3.91385160e-03 -9.38008067e-04 9.99991901e-01 5.31483430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142557844 meters 0.29416537735232917 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99992330e-01 1.43591371e-04 3.91398797e-03 -2.66476837e-01] [-1.47261560e-04 9.99999550e-01 9.37438877e-04 -1.65931038e-01] [-3.91385160e-03 -9.38008067e-04 9.99991901e-01 5.31483430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172557844 meters 0.2936763499293735 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99992240e-01 1.40614042e-04 3.93708838e-03 -2.66549956e-01] [-1.44273515e-04 9.99999558e-01 9.29218597e-04 -1.65892345e-01] [-3.93695598e-03 -9.29779404e-04 9.99991818e-01 5.31513490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202557844 meters 0.2947679986585198 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99992205e-01 1.04825010e-04 3.94707276e-03 -2.66430010e-01] [-1.08094641e-04 9.99999651e-01 8.28164271e-04 -1.65504054e-01] [-3.94698457e-03 -8.28584473e-04 9.99991867e-01 5.31148946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.232557844 meters 0.2945155883145444 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99992301e-01 8.80250434e-06 3.92397377e-03 -2.66259383e-01] [-1.10158699e-05 9.99999841e-01 5.64041008e-04 -1.64419436e-01] [-3.92396818e-03 -5.64079892e-04 9.99992142e-01 5.30861455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262557844 meters 0.29637396181525255 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.53 [[ 9.99992562e-01 -1.23123512e-04 3.85494810e-03 -2.65935477e-01] [ 1.22415196e-04 9.99999976e-01 1.83977562e-04 -1.62870376e-01] [-3.85497065e-03 -1.83504290e-04 9.99992553e-01 5.30470964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.292557844 meters 0.29386565179825913 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.53 [[ 9.99992835e-01 3.48752055e-04 3.76926850e-03 -3.04597939e-01] [-3.54568884e-04 9.99998747e-01 1.54266681e-03 -1.60825222e-01] [-3.76872577e-03 -1.54399223e-03 9.99991706e-01 5.27808729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322557844 meters 0.2960096830527358 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99994953e-01 1.16771094e-03 2.95478786e-03 -2.65802408e-01] [-1.16811724e-03 9.99999309e-01 1.35780912e-04 -1.54547108e-01] [-2.95462727e-03 -1.39231765e-04 9.99995625e-01 5.31011070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352557844 meters 0.29530051658715784 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99994885e-01 1.12665916e-03 2.99358189e-03 -2.65995676e-01] [-1.12674238e-03 9.99999365e-01 2.61150580e-05 -1.54061220e-01] [-2.99355057e-03 -2.94879200e-05 9.99995519e-01 5.31218977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382557844 meters 0.29505615586026035 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99994830e-01 1.11717280e-03 3.01524079e-03 -2.66077895e-01] [-1.11716882e-03 9.99999376e-01 -3.00475703e-06 -1.53930936e-01] [-3.01524226e-03 -3.63791491e-07 9.99995454e-01 5.31282114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412557844 meters 0.2943952754734379 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99994843e-01 1.06501350e-03 3.02989873e-03 -2.66099952e-01] [-1.06460539e-03 9.99999424e-01 -1.36305051e-04 -1.53362320e-01] [-3.03004215e-03 1.33078702e-04 9.99995401e-01 5.31236634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442557844 meters 0.29655452052965425 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99997997 -0.00410395 0.00481843 -0.24298239] [ 0.00408801 0.99998615 0.00331416 -0.15189476] [-0.00483196 -0.00329439 0.9999829 0.52952116] [ 0. 0. 0. 1. ]] SLAMing on 73.472557844 meters 0.2941628325612871 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99998648e-01 1.67655929e-04 1.63577302e-03 -2.66007714e-01] [-1.66637921e-04 9.99999792e-01 -6.22457493e-04 -1.49956428e-01] [-1.63587704e-03 6.22184070e-04 9.99998468e-01 5.31695721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502557844 meters 0.29394034336573954 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.53 [[ 9.99998759e-01 1.46534121e-04 1.56833245e-03 -2.65795311e-01] [-1.45474219e-04 9.99999761e-01 -6.75907737e-04 -1.49740873e-01] [-1.56843112e-03 6.75678747e-04 9.99998542e-01 5.31602515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532557844 meters 0.2953619223838325 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998151 -0.00477757 0.00376343 -0.24327383] [ 0.00476651 0.99998431 0.00294166 -0.14898779] [-0.00377742 -0.00292367 0.99998859 0.5301708 ] [ 0. 0. 0. 1. ]] SLAMing on 73.562557844 meters 0.2951736771390284 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998067 -0.0049475 0.00376718 -0.24339197] [ 0.00493814 0.99998471 0.00248977 -0.14703785] [-0.00377944 -0.00247112 0.9999898 0.53036402] [ 0. 0. 0. 1. ]] SLAMing on 73.592557844 meters 0.2938125747039776 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:0.53 [[ 9.99995593e-01 2.37476582e-03 1.78180149e-03 -2.62026006e-01] [-2.37636360e-03 9.99996776e-01 8.95141200e-04 -1.50665747e-01] [-1.77966999e-03 -8.99371463e-04 9.99998012e-01 5.29260287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622557844 meters 0.29546660108721107 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998636 -0.00338081 0.00398084 -0.23915532] [ 0.00336615 0.99998756 0.00368183 -0.14938754] [-0.00399324 -0.00366838 0.9999853 0.52725886] [ 0. 0. 0. 1. ]] SLAMing on 73.652557844 meters 0.29526107412087105 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998573 -0.0035403 0.00400134 -0.23922977] [ 0.00352723 0.99998843 0.00326961 -0.14762249] [-0.00401286 -0.00325545 0.99998665 0.52727466] [ 0. 0. 0. 1. ]] SLAMing on 73.682557844 meters 0.2951382991767271 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998506 -0.00364342 0.00407526 -0.23956849] [ 0.0036312 0.9999889 0.00300362 -0.14644762] [-0.00408616 -0.00298878 0.99998719 0.52756448] [ 0. 0. 0. 1. ]] SLAMing on 73.712557844 meters 0.29496598941871766 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998468 -0.00366454 0.00414876 -0.2399989 ] [ 0.00365234 0.999989 0.00294396 -0.14615029] [-0.0041595 -0.00292877 0.99998706 0.52813869] [ 0. 0. 0. 1. ]] SLAMing on 73.742557844 meters 0.29520910630184843 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.15, Z:0.53 [[ 0.99998455 -0.00368837 0.0041599 -0.24004774] [ 0.0036764 0.99998909 0.00288243 -0.14588287] [-0.00417049 -0.00286709 0.99998719 0.52817863] [ 0. 0. 0. 1. ]] SLAMing on 73.772557844 meters 0.29345446826248833 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.15, Z:0.53 [[ 9.99997561e-01 1.96383556e-03 1.01093438e-03 -2.60386296e-01] [-1.96350051e-03 9.99998017e-01 -3.32315471e-04 -1.45207973e-01] [-1.01158498e-03 3.30329690e-04 9.99999434e-01 5.29200528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802557844 meters 0.29355842655157727 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 9.99998076e-01 1.70493297e-03 9.70324557e-04 -2.59967257e-01] [-1.70380065e-03 9.99997868e-01 -1.16657865e-03 -1.41782262e-01] [-9.72311427e-04 1.16492317e-03 9.99998849e-01 5.28406561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83255784400001 meters 0.2960310073422615 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.53 [[ 0.99999317 0.00354947 0.00102993 -0.21899229] [-0.00354815 0.99999289 -0.00127811 -0.13532828] [-0.00103446 0.00127445 0.99999865 0.52969044] [ 0. 0. 0. 1. ]] SLAMing on 73.862557844 meters 0.295743295817329 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.53 [[ 9.99993898e-01 3.35205795e-03 9.83206532e-04 -2.18797994e-01] [-3.35025928e-03 9.99992722e-01 -1.82536586e-03 -1.33051207e-01] [-9.89318109e-04 1.82206073e-03 9.99997851e-01 5.29492365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892557844 meters 0.2962055515901763 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.53 [[ 0.99999488 0.00301271 0.00107491 -0.21876031] [-0.00300958 0.99999126 -0.00290298 -0.12868932] [-0.00108364 0.00289973 0.99999521 0.52883809] [ 0. 0. 0. 1. ]] SLAMing on 73.922557844 meters 0.29496732489800287 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99993058e-01 -3.60457409e-03 -9.43552184e-04 -2.41112206e-01] [ 3.60475559e-03 9.99993485e-01 1.90729680e-04 -1.27760098e-01] [ 9.42858537e-04 -1.94129631e-04 9.99999537e-01 5.30203396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952557844 meters 0.29460471811494965 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99992449e-01 -3.78966244e-03 -8.60862951e-04 -2.41390095e-01] [ 3.78942171e-03 9.99992781e-01 -2.81096545e-04 -1.25739608e-01] [ 8.61921997e-04 2.77832250e-04 9.99999590e-01 5.30286904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.982557844 meters 0.2960841995230795 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.53 [[ 9.99996731e-01 -2.49758332e-03 -5.47601944e-04 -2.05513635e-01] [ 2.49727211e-03 9.99996720e-01 -5.68260242e-04 -1.19272615e-01] [ 5.49019425e-04 5.66890874e-04 9.99999689e-01 5.34995280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.012557844 meters 0.2948628445775517 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.53 [[ 0.99998182 0.00551532 -0.00243549 -0.22450899] [-0.00551936 0.9999834 -0.00165592 -0.12291539] [ 0.00242632 0.00166933 0.99999566 0.53443629] [ 0. 0. 0. 1. ]] SLAMing on 74.042557844 meters 0.29603521185914594 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 0.9999895 -0.00330912 -0.00317022 -0.20065365] [ 0.00330335 0.99999288 -0.00182462 -0.1170313 ] [ 0.00317623 0.00181412 0.99999331 0.53397238] [ 0. 0. 0. 1. ]] SLAMing on 74.072557844 meters 0.2946458787591576 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.53 [[ 0.99997369 0.00447639 -0.00570875 -0.21877502] [-0.00449358 0.9999854 -0.00300143 -0.12147898] [ 0.00569523 0.003027 0.9999792 0.53313169] [ 0. 0. 0. 1. ]] SLAMing on 74.102557844 meters 0.29508428117970165 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.53 [[ 0.9999729 0.00449902 -0.00582766 -0.21837439] [-0.00451617 0.9999855 -0.00293252 -0.1217907 ] [ 0.00581438 0.00295876 0.99997872 0.53288758] [ 0. 0. 0. 1. ]] SLAMing on 74.132557844 meters 0.2939285256800374 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.53 [[ 0.9999725 0.00452911 -0.0058728 -0.21840052] [-0.00454589 0.99998561 -0.00284794 -0.12213224] [ 0.00585981 0.00287456 0.9999787 0.53323643] [ 0. 0. 0. 1. ]] SLAMing on 74.162557844 meters 0.29383386345172685 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.53 [[ 0.99997264 0.00457157 -0.005815 -0.21871759] [-0.00458754 0.99998573 -0.00273626 -0.12258236] [ 0.00580241 0.00276286 0.99997935 0.5336487 ] [ 0. 0. 0. 1. ]] SLAMing on 74.192557844 meters 0.2942306198576482 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99996929e-01 -1.18256420e-03 -2.17801585e-03 -1.99061155e-01] [ 1.18321166e-03 9.99999256e-01 2.96005821e-04 -1.23320226e-01] [ 2.17766418e-03 -2.98581965e-04 9.99997584e-01 5.33111333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222557844 meters 0.295399681870489 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99997038e-01 -1.14233828e-03 -2.14902068e-03 -1.99122839e-01] [ 1.14319343e-03 9.99999268e-01 3.96740082e-04 -1.23750998e-01] [ 2.14856590e-03 -3.99195653e-04 9.99997612e-01 5.33082342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252557844 meters 0.29442857944548323 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99996849e-01 -1.14178277e-03 -2.23567948e-03 -1.98585140e-01] [ 1.14269121e-03 9.99999265e-01 4.05100915e-04 -1.23829690e-01] [ 2.23521530e-03 -4.07654329e-04 9.99997419e-01 5.32293484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282557844 meters 0.2959982868053845 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99996539e-01 -1.20417498e-03 -2.33929725e-03 -1.98155202e-01] [ 1.20474140e-03 9.99999245e-01 2.40735286e-04 -1.23155556e-01] [ 2.33900560e-03 -2.43552701e-04 9.99997235e-01 5.31899117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312557844 meters 0.2945367491612773 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.13, Z:0.53 [[ 0.99997173 0.00649338 -0.0037918 -0.21795347] [-0.0064977 0.99997825 -0.00112917 -0.12569617] [ 0.00378438 0.00115377 0.99999217 0.53050917] [ 0. 0. 0. 1. ]] SLAMing on 74.342557844 meters 0.2957683374509522 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99995205e-01 -2.01536359e-03 -2.35104535e-03 -1.99446379e-01] [ 2.01381040e-03 9.99997753e-01 -6.62820021e-04 -1.19183902e-01] [ 2.35237589e-03 6.58082284e-04 9.99997017e-01 5.31631189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372557844 meters 0.2959594364070594 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99995460e-01 -2.04845596e-03 -2.20997629e-03 -1.99839030e-01] [ 2.04679221e-03 9.99997620e-01 -7.54834213e-04 -1.18782825e-01] [ 2.21151728e-03 7.50307423e-04 9.99997273e-01 5.31693654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402557844 meters 0.29438176306630615 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99995563e-01 -2.05609691e-03 -2.15577523e-03 -1.99945220e-01] [ 2.05442836e-03 9.99997589e-01 -7.75921021e-04 -1.18695562e-01] [ 2.15736540e-03 7.71488692e-04 9.99997375e-01 5.31612948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432557844 meters 0.29533232159107203 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99995545e-01 -1.98229848e-03 -2.23180098e-03 -1.99660233e-01] [ 1.98100291e-03 9.99997868e-01 -5.82565637e-04 -1.19545232e-01] [ 2.23295104e-03 5.78141837e-04 9.99997340e-01 5.31428264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462557844 meters 0.2953035562899511 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99995572e-01 -1.89349406e-03 -2.29576761e-03 -1.99516367e-01] [ 1.89269652e-03 9.99998148e-01 -3.49518020e-04 -1.20534071e-01] [ 2.29642517e-03 3.45171281e-04 9.99997304e-01 5.31492438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492557844 meters 0.2948614044652207 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:0.53 [[ 9.99996148e-01 -1.71873543e-03 -2.17962817e-03 -2.00117260e-01] [ 1.71910708e-03 9.99998508e-01 1.68650529e-04 -1.22656828e-01] [ 2.17933506e-03 -1.72396894e-04 9.99997610e-01 5.32286714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522557844 meters 0.29611026791140255 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.53 [[ 0.99998923 0.00442304 0.00140512 -0.17822509] [-0.00441898 0.99998611 -0.00287326 -0.12128977] [-0.00141781 0.00286702 0.99999488 0.53008644] [ 0. 0. 0. 1. ]] SLAMing on 74.552557844 meters 0.29507486502273156 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:0.53 [[ 0.99998867 0.00453414 0.00144647 -0.17829291] [-0.00453039 0.9999864 -0.00258225 -0.12252185] [-0.00145816 0.00257567 0.99999562 0.5300023 ] [ 0. 0. 0. 1. ]] SLAMing on 74.58255784400001 meters 0.29518829686063375 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 0.99998796 0.00476535 0.00116711 -0.17731245] [-0.00476316 0.99998692 -0.00186534 -0.12564967] [-0.00117599 0.00185976 0.99999758 0.52944728] [ 0. 0. 0. 1. ]] SLAMing on 74.612557844 meters 0.29341211299064834 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.53 [[ 9.99993779e-01 -2.06674208e-03 -2.85841332e-03 -1.98087487e-01] [ 2.06943665e-03 9.99997417e-01 9.40042479e-04 -1.30198205e-01] [ 2.85646311e-03 -9.45951937e-04 9.99995473e-01 5.31841031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters 0.2938012854633637 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99973101e-01 7.29537528e-03 -7.58339683e-04 -1.77567998e-01] [-7.29487717e-03 9.99973176e-01 6.57543665e-04 -1.33126862e-01] [ 7.63116369e-04 -6.51993982e-04 9.99999496e-01 5.31835117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672557844 meters 0.2948340434166169 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.53 [[ 9.99999791e-01 -2.58177505e-04 5.93051544e-04 -1.58871137e-01] [ 2.56880872e-04 9.99997579e-01 2.18541173e-03 -1.29202597e-01] [-5.93614332e-04 -2.18525893e-03 9.99997436e-01 5.33334419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702557844 meters 0.2934567763351914 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.54 [[ 0.99998779 0.00466615 -0.0016274 -0.18191883] [-0.00466852 0.99998804 -0.00145546 -0.12940644] [ 0.00162059 0.00146304 0.99999762 0.53520433] [ 0. 0. 0. 1. ]] SLAMing on 74.732557844 meters 0.295138572415177 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.53 [[ 9.99998188e-01 -8.36654341e-04 1.71014771e-03 -1.59090210e-01] [ 8.34165986e-04 9.99998593e-01 1.45524812e-03 -1.30992164e-01] [-1.71136284e-03 -1.45381893e-03 9.99997479e-01 5.32264703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762557844 meters 0.29372940526788094 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991360e-01 4.14857192e-03 -2.64964740e-04 -1.81457342e-01] [-4.14916098e-03 9.99988832e-01 -2.26269623e-03 -1.32372235e-01] [ 2.55574822e-04 2.26377606e-03 9.99997405e-01 5.33344649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792557844 meters 0.29385227756565735 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991374e-01 4.14388297e-03 -2.84087033e-04 -1.81353415e-01] [-4.14451806e-03 9.99988829e-01 -2.27265993e-03 -1.32340496e-01] [ 2.74666222e-04 2.27381772e-03 9.99997377e-01 5.33219978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822557844 meters 0.2939912270663391 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991472e-01 4.11368240e-03 -3.64678795e-04 -1.81083342e-01] [-4.11452686e-03 9.99988784e-01 -2.34593003e-03 -1.32042151e-01] [ 3.55024294e-04 2.34741051e-03 9.99997182e-01 5.33083596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852557844 meters 0.29445400878426153 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991484e-01 4.10705737e-03 -4.06005001e-04 -1.80929917e-01] [-4.10800493e-03 9.99988774e-01 -2.36124774e-03 -1.31981903e-01] [ 3.96302663e-04 2.36289550e-03 9.99997130e-01 5.32983796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882557844 meters 0.29358581941341644 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991843e-01 4.02593823e-03 -3.26157454e-04 -1.80975220e-01] [-4.02676017e-03 9.99988616e-01 -2.55988828e-03 -1.31140930e-01] [ 3.15847789e-04 2.56118075e-03 9.99996670e-01 5.32625205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912557844 meters 0.29456051246215303 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991879e-01 4.01734665e-03 -3.20773152e-04 -1.80836342e-01] [-4.01816150e-03 9.99988595e-01 -2.58136768e-03 -1.31064840e-01] [ 3.10399245e-04 2.58263564e-03 9.99996617e-01 5.32284935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942557844 meters 0.2957922701151413 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.53 [[ 9.99991541e-01 4.09005604e-03 -4.34864852e-04 -1.80441078e-01] [-4.09108249e-03 9.99988784e-01 -2.38629970e-03 -1.31925090e-01] [ 4.25099875e-04 2.38805858e-03 9.99997058e-01 5.32090934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972557844 meters 0.29372314749458633 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99984224e-01 -3.06564288e-03 -4.70671108e-03 -2.00563705e-01] [ 3.06581434e-03 9.99995300e-01 2.92145070e-05 -1.35782275e-01] [ 4.70659939e-03 -4.36439485e-05 9.99988923e-01 5.34186103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002557844 meters 0.29469798403196634 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99984436e-01 -2.97402623e-03 -4.72049561e-03 -2.00605797e-01] [ 2.97533363e-03 9.99995537e-01 2.69965106e-04 -1.36794035e-01] [ 4.71967166e-03 -2.84005953e-04 9.99988822e-01 5.34372506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032557844 meters 0.29469798403196634 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99984436e-01 -2.97402623e-03 -4.72049561e-03 -2.00605797e-01] [ 2.97533363e-03 9.99995537e-01 2.69965106e-04 -1.36794035e-01] [ 4.71967166e-03 -2.84005953e-04 9.99988822e-01 5.34372506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062557844 meters 0.2939953623022063 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99984571e-01 -3.02113174e-03 -4.66168905e-03 -2.00895338e-01] [ 3.02188346e-03 9.99995422e-01 1.54220283e-04 -1.36259425e-01] [ 4.66120179e-03 -1.68304984e-04 9.99989122e-01 5.34637686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092557844 meters 0.29257037504765093 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99988015e-01 -3.70391710e-03 -3.20183562e-03 -2.41980145e-01] [ 3.70707935e-03 9.99992646e-01 9.82266523e-04 -1.40044274e-01] [ 3.19817384e-03 -9.94124209e-04 9.99994392e-01 5.32565671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122557844 meters 0.2938692702524942 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 0.99998798 -0.00364986 -0.00327537 -0.24160407] [ 0.00365353 0.9999927 0.00111516 -0.14065147] [ 0.00327127 -0.00112711 0.99999401 0.53218014] [ 0. 0. 0. 1. ]] SLAMing on 75.152557844 meters 0.2940162333027117 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 0.99998776 -0.00364051 -0.00334913 -0.24118056] [ 0.00364434 0.99999271 0.00113916 -0.14079035] [ 0.00334496 -0.00115135 0.99999374 0.53165416] [ 0. 0. 0. 1. ]] SLAMing on 75.182557844 meters 0.2947027413670675 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987478e-01 -3.76244453e-03 -3.29980284e-03 -2.41102951e-01] [ 3.76513884e-03 9.99992583e-01 8.10674019e-04 -1.39420536e-01] [ 3.29672825e-03 -8.23088083e-04 9.99994227e-01 5.31183385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.212557844 meters 0.29456500949255365 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987295e-01 -3.84447452e-03 -3.26022392e-03 -2.41279354e-01] [ 3.84646515e-03 9.99992420e-01 6.04530868e-04 -1.38524556e-01] [ 3.25787510e-03 -6.17063525e-04 9.99994503e-01 5.31320024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242557844 meters 0.29472086022034555 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987382e-01 -3.85096059e-03 -3.22577117e-03 -2.41480450e-01] [ 3.85287525e-03 9.99992405e-01 5.87547227e-04 -1.38437226e-01] [ 3.22348405e-03 -5.99968308e-04 9.99994625e-01 5.31563185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.272557844 meters 0.293768277970872 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987450e-01 -3.83125610e-03 -3.22806329e-03 -2.41506673e-01] [ 3.83332951e-03 9.99992450e-01 6.36363967e-04 -1.38642038e-01] [ 3.22560085e-03 -6.48730211e-04 9.99994587e-01 5.31635949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302557844 meters 0.2936947573211116 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987644e-01 -3.78404126e-03 -3.22370576e-03 -2.41487100e-01] [ 3.78648908e-03 9.99992547e-01 7.53552655e-04 -1.39150814e-01] [ 3.22083026e-03 -7.65749871e-04 9.99994520e-01 5.31573943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33255784400001 meters 0.2938447352416137 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987917e-01 -3.80522944e-03 -3.11222457e-03 -2.41831270e-01] [ 3.80740795e-03 9.99992511e-01 6.94359987e-04 -1.38877325e-01] [ 3.10955906e-03 -7.06201106e-04 9.99994916e-01 5.31676949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362557844 meters 0.29317772459733904 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99988070e-01 -3.87361736e-03 -2.97578117e-03 -2.42215059e-01] [ 3.87512260e-03 9.99992367e-01 5.00228767e-04 -1.38047144e-01] [ 2.97382076e-03 -5.11754316e-04 9.99995447e-01 5.31730063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392557844 meters 0.29333694298398355 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.53 [[ 9.99987785e-01 -3.91212037e-03 -3.02063443e-03 -2.42045750e-01] [ 3.91335046e-03 9.99992262e-01 4.01425847e-04 -1.37641012e-01] [ 3.01904063e-03 -4.13241744e-04 9.99995357e-01 5.31602351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422557844 meters 0.29186366607607456 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99998114 0.00175105 -0.00588637 -0.26410957] [-0.0017667 0.99999492 -0.00265357 -0.13700713] [ 0.00588169 0.00266392 0.99997915 0.5333527 ] [ 0. 0. 0. 1. ]] SLAMing on 75.452557844 meters 0.29388442905935924 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99985308e-01 -3.11473347e-03 -4.43641702e-03 -2.40417701e-01] [ 3.11781230e-03 9.99994903e-01 6.87244300e-04 -1.32639919e-01] [ 4.43425382e-03 -7.01066119e-04 9.99989923e-01 5.31544721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.482557844 meters 0.2923847048250778 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 9.99977496e-01 4.65001360e-03 -4.83578863e-03 -2.60635867e-01] [-4.65293834e-03 9.99988999e-01 -5.93737327e-04 -1.35793950e-01] [ 4.83297454e-03 6.16224592e-04 9.99988131e-01 5.30339516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.512557844 meters 0.29287243263421514 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 9.99978159e-01 4.49743604e-03 -4.84294115e-03 -2.60710647e-01] [-4.50230265e-03 9.99989370e-01 -9.94454641e-04 -1.34085741e-01] [ 4.83841717e-03 1.01623731e-03 9.99987778e-01 5.30524610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542557844 meters 0.29315058678256517 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99983619e-01 -3.02388841e-03 -4.85987786e-03 -2.41957964e-01] [ 3.02527135e-03 9.99995385e-01 2.77236397e-04 -1.27857278e-01] [ 4.85901710e-03 -2.91934305e-04 9.99988152e-01 5.32425096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572557844 meters 0.2929579720394529 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99983404e-01 -3.13636577e-03 -4.83265082e-03 -2.41881976e-01] [ 3.13635108e-03 9.99995082e-01 -1.06192365e-05 -1.26661325e-01] [ 4.83266035e-03 -4.53782934e-06 9.99988323e-01 5.32081050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602557844 meters 0.2928431918889717 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99983619e-01 -3.22743151e-03 -4.72703153e-03 -2.42097512e-01] [ 3.22628790e-03 9.99994764e-01 -2.49534242e-04 -1.25655555e-01] [ 4.72781214e-03 2.34279389e-04 9.99988796e-01 5.31921708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632557844 meters 0.29332466824423814 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.53 [[ 9.99983634e-01 -3.30983403e-03 -4.66664178e-03 -2.42345775e-01] [ 3.30768715e-03 9.99994420e-01 -4.67691260e-04 -1.24725542e-01] [ 4.66816372e-03 4.52247815e-04 9.99989002e-01 5.32104461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662557844 meters 0.29309081026789235 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.53 [[ 9.99983391e-01 -3.32733958e-03 -4.70608595e-03 -2.42314929e-01] [ 3.32496031e-03 9.99994341e-01 -5.13306529e-04 -1.24529816e-01] [ 4.70776726e-03 4.97650454e-04 9.99988795e-01 5.32262325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692557844 meters 0.2939338604152289 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99983485e-01 -3.27026772e-03 -4.72596630e-03 -2.42359620e-01] [ 3.26859580e-03 9.99994593e-01 -3.61453099e-04 -1.25144692e-01] [ 4.72712279e-03 3.45999856e-04 9.99988767e-01 5.32505437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722557844 meters 0.29074365530166846 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.53 [[ 9.99961379e-01 -4.50692834e-03 -7.54511167e-03 -2.86093087e-01] [ 4.50410657e-03 9.99989780e-01 -3.90936831e-04 -1.29370337e-01] [ 7.54679649e-03 3.56937745e-04 9.99971459e-01 5.34056189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752557844 meters 0.2903452257617997 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.53 [[ 9.99961388e-01 -4.44674357e-03 -7.57945049e-03 -2.86019536e-01] [ 4.44516310e-03 9.99990095e-01 -2.25353510e-04 -1.30058044e-01] [ 7.58037750e-03 1.91652915e-04 9.99971250e-01 5.34099574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782557844 meters 0.29291361424235374 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99998177 0.00255735 -0.00547059 -0.26358414] [-0.00257403 0.99999205 -0.00304427 -0.12934716] [ 0.00546276 0.0030583 0.9999804 0.53244271] [ 0. 0. 0. 1. ]] SLAMing on 75.812557844 meters 0.2928274173469717 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99998067 0.00266294 -0.00561921 -0.26312718] [-0.00267837 0.99999266 -0.00274058 -0.13063355] [ 0.00561188 0.00275557 0.99998046 0.53227128] [ 0. 0. 0. 1. ]] SLAMing on 75.842557844 meters 0.2934958754455652 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.9999803 0.00272087 -0.00565675 -0.26302102] [-0.00273555 0.99999291 -0.00258957 -0.13127293] [ 0.00564967 0.00260499 0.99998065 0.53226223] [ 0. 0. 0. 1. ]] SLAMing on 75.872557844 meters 0.2927738608101202 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99998027 0.00278435 -0.00563134 -0.26307173] [-0.00279807 0.99999313 -0.00243056 -0.13194479] [ 0.00562453 0.00244627 0.99998119 0.53223436] [ 0. 0. 0. 1. ]] SLAMing on 75.902557844 meters 0.2918202492519852 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99997984 0.00295398 -0.0056217 -0.26289928] [-0.0029653 0.99999359 -0.00200625 -0.13378958] [ 0.00561574 0.00202287 0.99998219 0.53181321] [ 0. 0. 0. 1. ]] SLAMing on 75.932557844 meters 0.2935193876206853 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99975040e-01 -5.05764106e-03 -4.93347743e-03 -2.42843449e-01] [ 5.05342683e-03 9.99986856e-01 -8.66303947e-04 -1.30729143e-01] [ 4.93779404e-03 8.41351357e-04 9.99987455e-01 5.32982277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962557844 meters 0.293663102612453 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99974177e-01 -4.96310666e-03 -5.19736686e-03 -2.42191036e-01] [ 4.95996846e-03 9.99987509e-01 -6.16521057e-04 -1.31792480e-01] [ 5.20036180e-03 5.90726361e-04 9.99986304e-01 5.33050204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992557844 meters 0.29343123814631655 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99974214e-01 -4.89738694e-03 -5.25234967e-03 -2.42031143e-01] [ 4.89514885e-03 9.99987922e-01 -4.38882742e-04 -1.32534704e-01] [ 5.25443561e-03 4.13160392e-04 9.99986110e-01 5.33023808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022557844 meters 0.2925361721871408 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997853 0.00257729 -0.00602465 -0.26115936] [-0.00258808 0.99999506 -0.00178423 -0.13766503] [ 0.00602002 0.00179979 0.99998026 0.53094242] [ 0. 0. 0. 1. ]] SLAMing on 76.052557844 meters 0.2913056154264637 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 0.99994294 -0.00709703 -0.00798475 -0.28134428] [ 0.00708706 0.99997407 -0.00127642 -0.13761805] [ 0.00799361 0.00121976 0.99996731 0.53066469] [ 0. 0. 0. 1. ]] SLAMing on 76.08255784400001 meters 0.2922383561393236 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997714 0.00210213 -0.00642698 -0.26128296] [-0.00211583 0.9999955 -0.00212621 -0.14025029] [ 0.00642248 0.00213976 0.99997709 0.53113324] [ 0. 0. 0. 1. ]] SLAMing on 76.112557844 meters 0.29345833961656775 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997683 0.00211753 -0.00646974 -0.26115164] [-0.00213105 0.99999556 -0.00208376 -0.14043297] [ 0.0064653 0.0020975 0.9999769 0.53108808] [ 0. 0. 0. 1. ]] SLAMing on 76.142557844 meters 0.29406306226920126 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997627 0.00215054 -0.00654444 -0.26101537] [-0.00216364 0.99999567 -0.00199564 -0.14079996] [ 0.00654012 0.00200976 0.99997659 0.53122973] [ 0. 0. 0. 1. ]] SLAMing on 76.172557844 meters 0.29331609992945584 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997527 0.00223544 -0.00666809 -0.2608532 ] [-0.00224727 0.99999592 -0.0017662 -0.14175162] [ 0.00666411 0.00178114 0.99997621 0.53161022] [ 0. 0. 0. 1. ]] SLAMing on 76.202557844 meters 0.291946737141877 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997523 0.00223827 -0.00667376 -0.26087454] [-0.00225006 0.99999592 -0.00175899 -0.14177726] [ 0.0066698 0.00177396 0.99997618 0.53169291] [ 0. 0. 0. 1. ]] SLAMing on 76.232557844 meters 0.29345999211834484 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997551 0.00222095 -0.00663693 -0.26103275] [-0.00223297 0.99999588 -0.00180511 -0.14156733] [ 0.0066329 0.00181989 0.99997635 0.53183354] [ 0. 0. 0. 1. ]] SLAMing on 76.262557844 meters 0.29363235852187325 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.14, Z:0.53 [[ 0.99997666 0.00215021 -0.00648453 -0.26159446] [-0.00216328 0.99999564 -0.00200827 -0.14066172] [ 0.00648018 0.00202225 0.99997696 0.53226996] [ 0. 0. 0. 1. ]] SLAMing on 76.292557844 meters 0.29204497485615744 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 0.99994978 -0.00456466 -0.00892207 -0.28424428] [ 0.00457442 0.99998896 0.0010745 -0.14228614] [ 0.00891707 -0.00111526 0.99995962 0.53453513] [ 0. 0. 0. 1. ]] SLAMing on 76.322557844 meters 0.2913884363356536 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 9.99949833e-01 -4.60394200e-03 -8.89578788e-03 -2.84341233e-01] [ 4.61279082e-03 9.99988886e-01 9.74459501e-04 -1.41857420e-01] [ 8.89120266e-03 -1.01544502e-03 9.99959957e-01 5.34588658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352557844 meters 0.2916520908005285 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 9.99949537e-01 -4.61644211e-03 -8.92255550e-03 -2.84289917e-01] [ 4.62504471e-03 9.99988859e-01 9.43747028e-04 -1.41728204e-01] [ 8.91809934e-03 -9.84966622e-04 9.99959748e-01 5.34625364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382557844 meters 0.2927134706674469 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 0.99995031 -0.00451898 -0.0088854 -0.2844628 ] [ 0.0045298 0.99998902 0.00119819 -0.14278777] [ 0.00887989 -0.00123838 0.99995981 0.53482537] [ 0. 0. 0. 1. ]] SLAMing on 76.412557844 meters 0.2914841452694649 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 0.99995069 -0.00443519 -0.0088854 -0.28449311] [ 0.0044479 0.99998911 0.00141055 -0.1436797 ] [ 0.00887905 -0.00145 0.99995953 0.53490788] [ 0. 0. 0. 1. ]] SLAMing on 76.442557844 meters 0.29186631504962884 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 0.99995106 -0.00440443 -0.00885921 -0.28457647] [ 0.00441778 0.99998913 0.0014886 -0.14400294] [ 0.00885255 -0.00152766 0.99995965 0.53494979] [ 0. 0. 0. 1. ]] SLAMing on 76.47255784400001 meters 0.2903730501613584 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.53 [[ 9.99946177e-01 3.28178630e-03 -9.84241597e-03 -3.03456535e-01] [-3.27917526e-03 9.99994584e-01 2.81411465e-04 -1.48839516e-01] [ 9.84328619e-03 -2.49121311e-04 9.99951523e-01 5.33195175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502557844 meters 0.2930895756031398 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.53 [[ 0.99997289 -0.0018913 -0.00711632 -0.27932119] [ 0.00191515 0.99999257 0.00334644 -0.14995363] [ 0.00710994 -0.00335998 0.99996908 0.53027247] [ 0. 0. 0. 1. ]] SLAMing on 76.532557844 meters 0.2911196892242688 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.53 [[ 9.99943181e-01 3.34009623e-03 -1.01231281e-02 -3.01549804e-01] [-3.33999634e-03 9.99994422e-01 2.67735234e-05 -1.49092503e-01] [ 1.01231611e-02 7.03920870e-06 9.99948759e-01 5.31969106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562557844 meters 0.2920238142759869 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.53 [[ 9.99943112e-01 3.24936154e-03 -1.01594591e-02 -3.01185057e-01] [-3.25176233e-03 9.99994689e-01 -2.19800803e-04 -1.48093263e-01] [ 1.01586909e-02 2.52824445e-04 9.99948367e-01 5.31304771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592557844 meters 0.2928868062631764 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 9.99943064e-01 -4.74699039e-03 -9.55688642e-03 -2.81018876e-01] [ 4.75270048e-03 9.99988541e-01 5.74862485e-04 -1.41562390e-01] [ 9.55404804e-03 -6.20250773e-04 9.99954167e-01 5.31313053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622557844 meters 0.2922677375246769 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 9.99915324e-01 3.81230951e-03 -1.24422938e-02 -3.00110464e-01] [-3.81451445e-03 9.99992713e-01 -1.53485803e-04 -1.40767277e-01] [ 1.24416180e-02 2.00934116e-04 9.99922580e-01 5.30152302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.652557844 meters 0.2950946889126814 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 9.99945392e-01 4.89627352e-03 -9.23252877e-03 -2.56560401e-01] [-4.90235303e-03 9.99987781e-01 -6.35971469e-04 -1.33278106e-01] [ 9.22930207e-03 6.81197855e-04 9.99957177e-01 5.28874046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682557844 meters 0.29337661982925256 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 9.99944901e-01 -4.67530867e-03 -9.39870070e-03 -2.77726471e-01] [ 4.67443620e-03 9.99989068e-01 -1.14794577e-04 -1.28432808e-01] [ 9.39913465e-03 7.08546249e-05 9.99955825e-01 5.28523796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.712557844 meters 0.29342516369153926 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 9.99945536e-01 -4.79577827e-03 -9.26959898e-03 -2.78165273e-01] [ 4.79193299e-03 9.99988423e-01 -4.36992905e-04 -1.27059510e-01] [ 9.27158739e-03 3.92549808e-04 9.99956941e-01 5.28717890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742557844 meters 0.2924852216161934 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 9.99945994e-01 -4.97492687e-03 -9.12459528e-03 -2.78593420e-01] [ 4.96696009e-03 9.99987264e-01 -8.95565098e-04 -1.25112090e-01] [ 9.12893444e-03 8.50195232e-04 9.99957969e-01 5.28770509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.772557844 meters 0.2920977582559449 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.53 [[ 9.99945872e-01 -5.00100575e-03 -9.12377557e-03 -2.78634662e-01] [ 4.99242492e-03 9.99987074e-01 -9.63025385e-04 -1.24822721e-01] [ 9.12847374e-03 9.17423494e-04 9.99957914e-01 5.28849415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802557844 meters 0.2925154163423085 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.12, Z:0.53 [[ 9.99945342e-01 -5.00930811e-03 -9.17716353e-03 -2.78570356e-01] [ 5.00049538e-03 9.99987014e-01 -9.82983957e-04 -1.24732352e-01] [ 9.18196843e-03 9.37039865e-04 9.99957406e-01 5.29015213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83255784400001 meters 0.29162666692071365 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 9.99944875e-01 -4.98528330e-03 -9.24091094e-03 -2.78431787e-01] [ 4.97699699e-03 9.99987192e-01 -9.19478254e-04 -1.25000635e-01] [ 9.24537644e-03 8.73435581e-04 9.99956879e-01 5.29082457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862557844 meters 0.29238926268545234 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 9.99942612e-01 -4.98454294e-03 -9.48293949e-03 -2.77697162e-01] [ 4.97615201e-03 9.99987206e-01 -9.08234332e-04 -1.25110783e-01] [ 9.48734530e-03 8.60993662e-04 9.99954623e-01 5.28759172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892557844 meters 0.29336078979051766 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.9999556 0.00424644 -0.00841256 -0.25732303] [-0.00426273 0.99998907 -0.00191975 -0.12727722] [ 0.00840431 0.00195553 0.99996277 0.52919885] [ 0. 0. 0. 1. ]] SLAMing on 76.922557844 meters 0.29387488705083015 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99995546 0.00425064 -0.00842722 -0.25739231] [-0.00426687 0.99998907 -0.00190932 -0.12730431] [ 0.00841901 0.00194519 0.99996267 0.52943893] [ 0. 0. 0. 1. ]] SLAMing on 76.952557844 meters 0.29387488705083015 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99995546 0.00425064 -0.00842722 -0.25739231] [-0.00426687 0.99998907 -0.00190932 -0.12730431] [ 0.00841901 0.00194519 0.99996267 0.52943893] [ 0. 0. 0. 1. ]] SLAMing on 76.982557844 meters 0.29192870328641823 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99995716 0.00433952 -0.00817571 -0.25842897] [-0.00435325 0.99998914 -0.00166258 -0.12822873] [ 0.00816841 0.0016981 0.9999652 0.53055271] [ 0. 0. 0. 1. ]] SLAMing on 77.012557844 meters 0.29262264234039403 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99971669e-01 -3.26495629e-03 -6.78246315e-03 -2.38885120e-01] [ 3.26368278e-03 9.99994654e-01 -1.98825053e-04 -1.26301238e-01] [ 6.78307605e-03 1.76683612e-04 9.99976979e-01 5.32477850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042557844 meters 0.29240620171604437 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99970991e-01 -3.16357779e-03 -6.92888591e-03 -2.38576192e-01] [ 3.16421767e-03 9.99994991e-01 8.13899655e-05 -1.27461168e-01] [ 6.92859372e-03 -1.03312108e-04 9.99975992e-01 5.32662698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.072557844 meters 0.2909277680427957 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99995598 0.00161061 -0.00924409 -0.26143147] [-0.00164283 0.9999926 -0.00347898 -0.12916289] [ 0.00923841 0.00349402 0.99995122 0.53394383] [ 0. 0. 0. 1. ]] SLAMing on 77.102557844 meters 0.2922061182180987 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 0.99997849 -0.00137404 -0.00641282 -0.23509534] [ 0.00138618 0.99999726 0.00188828 -0.13302974] [ 0.00641021 -0.00189713 0.99997765 0.52843852] [ 0. 0. 0. 1. ]] SLAMing on 77.132557844 meters 0.293025637556864 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 0.99997899 -0.00141174 -0.00632601 -0.2353368 ] [ 0.00142308 0.99999739 0.00178876 -0.13259846] [ 0.00632347 -0.00179773 0.99997839 0.52845695] [ 0. 0. 0. 1. ]] SLAMing on 77.162557844 meters 0.29179884577243137 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 0.99997966 -0.00145897 -0.0062097 -0.23577765] [ 0.00146929 0.99999755 0.00165852 -0.13201294] [ 0.00620726 -0.00166761 0.99997934 0.52877247] [ 0. 0. 0. 1. ]] SLAMing on 77.192557844 meters 0.29309633837195664 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 0.99997981 -0.00152564 -0.0061685 -0.23601778] [ 0.0015348 0.99999773 0.00148048 -0.13124809] [ 0.00616622 -0.00148992 0.99997988 0.52906292] [ 0. 0. 0. 1. ]] SLAMing on 77.22255784400001 meters 0.2926181022449941 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 0.99997946 -0.00167065 -0.00618728 -0.23598245] [ 0.00167727 0.99999803 0.00106407 -0.12953776] [ 0.00618549 -0.00107442 0.99998029 0.5290531 ] [ 0. 0. 0. 1. ]] SLAMing on 77.252557844 meters 0.2925261532636813 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99979533e-01 -1.76126740e-03 -6.15072905e-03 -2.35869878e-01] [ 1.76632486e-03 9.99998106e-01 8.16919041e-04 -1.28537025e-01] [ 6.14927859e-03 -8.27766507e-04 9.99980750e-01 5.28549600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282557844 meters 0.2921020114559374 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99979780e-01 -1.87257502e-03 -6.07718331e-03 -2.35839187e-01] [ 1.87574632e-03 9.99998108e-01 5.16178550e-04 -1.27303865e-01] [ 6.07620522e-03 -5.27567368e-04 9.99981401e-01 5.28016124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312557844 meters 0.29141984426219336 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99979949e-01 -2.02795046e-03 -5.99915814e-03 -2.36040260e-01] [ 2.02855654e-03 9.99997938e-01 9.49428579e-05 -1.25542701e-01] [ 5.99895323e-03 -1.07110586e-04 9.99982000e-01 5.27977004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342557844 meters 0.29214491412452964 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.53 [[ 9.99979676e-01 -2.07005878e-03 -6.03013228e-03 -2.36070750e-01] [ 2.07002335e-03 9.99997857e-01 -1.21163601e-05 -1.25073336e-01] [ 6.03014444e-03 -3.66400762e-07 9.99981819e-01 5.28219304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372557844 meters 0.29083455803826935 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.53 [[ 9.99979577e-01 -2.10561656e-03 -6.03430535e-03 -2.36149483e-01] [ 2.10502434e-03 9.99997779e-01 -1.04490702e-04 -1.24676434e-01] [ 6.03451197e-03 9.17862083e-05 9.99981788e-01 5.28413742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402557844 meters 0.29265325240924966 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.53 [[ 0.99998726 0.00427561 -0.00268431 -0.21395795] [-0.00428455 0.99998527 -0.00333125 -0.12046443] [ 0.00267003 0.00334271 0.99999085 0.5258813 ] [ 0. 0. 0. 1. ]] SLAMing on 77.432557844 meters 0.2911875991134967 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.53 [[ 9.99982700e-01 -2.54382259e-03 -5.30362376e-03 -2.35303640e-01] [ 2.54212220e-03 9.99996715e-01 -3.27325358e-04 -1.21367050e-01] [ 5.30443900e-03 3.13837236e-04 9.99985882e-01 5.26983095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462557844 meters 0.2920338620416136 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.53 [[ 9.99982627e-01 -2.56877668e-03 -5.30547504e-03 -2.35243918e-01] [ 2.56673525e-03 9.99996629e-01 -3.91550827e-04 -1.21105271e-01] [ 5.30646296e-03 3.77926274e-04 9.99985849e-01 5.26852672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492557844 meters 0.2905136471948015 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 0.9999666 0.00536046 -0.00616964 -0.25462676] [-0.00537009 0.99998439 -0.0015451 -0.12530696] [ 0.00616127 0.00157818 0.99997977 0.52586952] [ 0. 0. 0. 1. ]] SLAMing on 77.522557844 meters 0.2917070373362818 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.53 [[ 9.99983306e-01 -2.48067815e-03 -5.21868022e-03 -2.34562786e-01] [ 2.47768078e-03 9.99996762e-01 -5.80740275e-04 -1.21185925e-01] [ 5.22010395e-03 5.67800356e-04 9.99986214e-01 5.27601398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552557844 meters 0.2907206160272896 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 0.99996398 0.0052333 -0.00668222 -0.25371037] [-0.0052458 0.99998452 -0.00185316 -0.12572732] [ 0.00667242 0.00188814 0.99997596 0.5267425 ] [ 0. 0. 0. 1. ]] SLAMing on 77.58255784400001 meters 0.2915865965892081 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.53 [[ 9.99992017e-01 -1.17062625e-03 -3.82042366e-03 -2.33034855e-01] [ 1.17241272e-03 9.99999204e-01 4.65405664e-04 -1.23513266e-01] [ 3.81987581e-03 -4.69881062e-04 9.99992594e-01 5.25442708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612557844 meters 0.2922600572902744 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.53 [[ 9.99992131e-01 -1.19204674e-03 -3.78372782e-03 -2.33019310e-01] [ 1.19360425e-03 9.99999204e-01 4.09402528e-04 -1.23288198e-01] [ 3.78323678e-03 -4.13915580e-04 9.99992758e-01 5.25189951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642557844 meters 0.29075675355053004 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.12, Z:0.53 [[ 0.9999755 0.00393547 -0.00578831 -0.25672781] [-0.0039531 0.99998757 -0.00303751 -0.12350087] [ 0.00577628 0.00306032 0.99997863 0.5272764 ] [ 0. 0. 0. 1. ]] SLAMing on 77.672557844 meters 0.29144611585770736 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.12, Z:0.53 [[ 0.99997514 0.00396647 -0.00582944 -0.25659664] [-0.00398375 0.9999877 -0.00295564 -0.12384904] [ 0.00581765 0.00297879 0.99997864 0.52722472] [ 0. 0. 0. 1. ]] SLAMing on 77.702557844 meters 0.2919032295920441 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.13, Z:0.53 [[ 0.99997359 0.00412299 -0.00598572 -0.25623258] [-0.00413812 0.99998827 -0.00251646 -0.12568072] [ 0.00597528 0.00254117 0.99997892 0.52734125] [ 0. 0. 0. 1. ]] SLAMing on 77.732557844 meters 0.2932566750509385 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.52 [[ 9.99995256e-01 -1.33371284e-03 -2.77638702e-03 -2.33394549e-01] [ 1.33541055e-03 9.99998922e-01 6.09718706e-04 -1.27904269e-01] [ 2.77557084e-03 -6.13423431e-04 9.99995960e-01 5.24547334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762557844 meters 0.2914607646971453 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999605 -0.00221617 -0.00173141 -0.27247975] [ 0.00221861 0.99999654 0.00141152 -0.13325685] [ 0.00172827 -0.00141535 0.9999975 0.52122716] [ 0. 0. 0. 1. ]] SLAMing on 77.792557844 meters 0.29113398446932803 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999645 -0.00211942 -0.00161703 -0.27282637] [ 0.00212211 0.99999636 0.00166446 -0.13430825] [ 0.00161349 -0.00166789 0.99999731 0.52136944] [ 0. 0. 0. 1. ]] SLAMing on 77.822557844 meters 0.2919488727124407 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.52 [[ 0.99999655 -0.00203539 -0.00166048 -0.27282579] [ 0.00203852 0.99999615 0.00188195 -0.1352103 ] [ 0.00165664 -0.00188533 0.99999685 0.52164622] [ 0. 0. 0. 1. ]] SLAMing on 77.852557844 meters 0.2917879342653161 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.52 [[ 0.99999633 -0.00203334 -0.00178778 -0.2723365 ] [ 0.00203673 0.99999613 0.00189402 -0.13528357] [ 0.00178393 -0.00189765 0.99999661 0.52124465] [ 0. 0. 0. 1. ]] SLAMing on 77.882557844 meters 0.2915298546862158 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999611 -0.00207092 -0.00186722 -0.27203113] [ 0.00207428 0.99999623 0.00179694 -0.13488512] [ 0.00186349 -0.0018008 0.99999664 0.52099458] [ 0. 0. 0. 1. ]] SLAMing on 77.912557844 meters 0.2929047639703715 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.9999959 -0.00211256 -0.00193375 -0.27172357] [ 0.0021158 0.99999636 0.00167538 -0.13439992] [ 0.0019302 -0.00167947 0.99999673 0.52060749] [ 0. 0. 0. 1. ]] SLAMing on 77.942557844 meters 0.2929853888972265 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999588 -0.00211932 -0.00193356 -0.27168027] [ 0.00212253 0.99999637 0.00165825 -0.13433399] [ 0.00193004 -0.00166235 0.99999676 0.52050642] [ 0. 0. 0. 1. ]] SLAMing on 77.97255784400001 meters 0.2930781402102455 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999586 -0.00211407 -0.00195375 -0.27166574] [ 0.00211734 0.99999636 0.00167237 -0.13438998] [ 0.00195021 -0.0016765 0.99999669 0.52059371] [ 0. 0. 0. 1. ]] SLAMing on 78.002557844 meters 0.2928493353228263 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999585 -0.00211796 -0.00195134 -0.27169488] [ 0.0021212 0.99999637 0.00166095 -0.13433889] [ 0.00194782 -0.00166508 0.99999672 0.52064493] [ 0. 0. 0. 1. ]] SLAMing on 78.032557844 meters 0.293002482133148 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 0.99999584 -0.00206313 -0.00201526 -0.27173225] [ 0.0020668 0.9999962 0.00182298 -0.13495758] [ 0.00201149 -0.00182714 0.99999631 0.52114865] [ 0. 0. 0. 1. ]] SLAMing on 78.062557844 meters 0.2931407945316791 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.52 [[ 0.99999595 -0.0020069 -0.00201834 -0.27183151] [ 0.0020109 0.99999602 0.00198078 -0.1355911 ] [ 0.00201435 -0.00198484 0.999996 0.52142538] [ 0. 0. 0. 1. ]] SLAMing on 78.092557844 meters 0.2934133820536582 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.52 [[ 0.99999621 -0.00193871 -0.00195644 -0.2721858 ] [ 0.00194296 0.99999576 0.00217107 -0.13635881] [ 0.00195222 -0.00217487 0.99999573 0.5219155 ] [ 0. 0. 0. 1. ]] SLAMing on 78.122557844 meters 0.29162299891740817 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.52 [[ 0.99999143 0.00323331 -0.00258723 -0.29648354] [-0.00323697 0.99999377 -0.00140957 -0.13781257] [ 0.00258266 0.00141794 0.99999566 0.5237717 ] [ 0. 0. 0. 1. ]] SLAMing on 78.152557844 meters 0.29157322670311764 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.52 [[ 0.99999151 0.00319639 -0.00260118 -0.29652971] [-0.00320031 0.99999375 -0.00150522 -0.13739663] [ 0.00259635 0.00151353 0.99999548 0.52395695] [ 0. 0. 0. 1. ]] SLAMing on 78.182557844 meters 0.2914267032457074 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:0.52 [[ 9.99975556e-01 -5.45390340e-03 -4.37526332e-03 -3.15133375e-01] [ 5.45325229e-03 9.99985118e-01 -1.60732967e-04 -1.34014785e-01] [ 4.37607483e-03 1.36869624e-04 9.99990416e-01 5.22373740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212557844 meters 0.29333332139611756 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99983122e-01 4.24249912e-03 -3.96946685e-03 -2.92856583e-01] [-4.24541075e-03 9.99990725e-01 -7.25369222e-04 -1.35206548e-01] [ 3.96635265e-03 7.42208997e-04 9.99991859e-01 5.21868850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242557844 meters 0.292795315542856 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998371 0.00410125 -0.00396859 -0.2928317 ] [-0.00410558 0.99999098 -0.00108485 -0.13369068] [ 0.00396411 0.00110112 0.99999154 0.52178767] [ 0. 0. 0. 1. ]] SLAMing on 78.272557844 meters 0.2911873603693235 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.52 [[ 9.99976404e-01 -5.24907481e-03 -4.43151382e-03 -3.13939950e-01] [ 5.24740745e-03 9.99986157e-01 -3.87793837e-04 -1.30224415e-01] [ 4.43348803e-03 3.64530728e-04 9.99990106e-01 5.21554914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302557844 meters 0.2920528831909796 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.52 [[ 9.99976314e-01 -5.27865965e-03 -4.41675983e-03 -3.14207087e-01] [ 5.27665916e-03 9.99985970e-01 -4.64462110e-04 -1.29862000e-01] [ 4.41914960e-03 4.41145372e-04 9.99990138e-01 5.22064943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33255784400001 meters 0.29193260080501193 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999129 0.00357789 -0.00215064 -0.29526751] [-0.00358131 0.99999233 -0.00158844 -0.13134132] [ 0.00214494 0.00159613 0.99999643 0.52311018] [ 0. 0. 0. 1. ]] SLAMing on 78.362557844 meters 0.29291474036923865 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999118 0.00361857 -0.00213407 -0.29542712] [-0.00362175 0.99999233 -0.00148786 -0.13175727] [ 0.00212867 0.00149558 0.99999662 0.52336772] [ 0. 0. 0. 1. ]] SLAMing on 78.392557844 meters 0.2924186756753232 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999096 0.00366726 -0.00215023 -0.29531043] [-0.0036702 0.99999233 -0.00136587 -0.13228257] [ 0.0021452 0.00137375 0.99999676 0.52320922] [ 0. 0. 0. 1. ]] SLAMing on 78.422557844 meters 0.2911247047594533 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999106 0.00365461 -0.00212737 -0.29522922] [-0.0036576 0.99999233 -0.00139949 -0.13215675] [ 0.00212224 0.00140726 0.99999676 0.52289113] [ 0. 0. 0. 1. ]] SLAMing on 78.452557844 meters 0.2924722616000666 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.9999914 0.00358512 -0.00208366 -0.29518411] [-0.00358842 0.99999231 -0.00158383 -0.13140399] [ 0.00207796 0.00159129 0.99999657 0.52252494] [ 0. 0. 0. 1. ]] SLAMing on 78.482557844 meters 0.2922468640348168 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999155 0.00351057 -0.0021379 -0.29507512] [-0.00351441 0.99999222 -0.00179341 -0.13053953] [ 0.00213158 0.00180091 0.99999611 0.52259704] [ 0. 0. 0. 1. ]] SLAMing on 78.512557844 meters 0.2919810406875025 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99999141 0.0035012 -0.00221995 -0.29490329] [-0.00350523 0.99999221 -0.00181419 -0.13045056] [ 0.00221358 0.00182196 0.99999589 0.52268886] [ 0. 0. 0. 1. ]] SLAMing on 78.542557844 meters 0.29369092610598396 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99989520e-01 -4.35490111e-03 -1.41261074e-03 -2.75779216e-01] [ 4.35410043e-03 9.99990359e-01 -5.69383290e-04 -1.25991584e-01] [ 1.41507673e-03 5.63226674e-04 9.99998840e-01 5.24143466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572557844 meters 0.29353351468523914 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99989981e-01 -4.28882645e-03 -1.28175306e-03 -2.76191851e-01] [ 4.28831611e-03 9.99990725e-01 -4.00641336e-04 -1.26682143e-01] [ 1.28345945e-03 3.95140760e-04 9.99999098e-01 5.24336416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602557844 meters 0.2937753785840173 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99990335e-01 -4.22121355e-03 -1.22956355e-03 -2.76333900e-01] [ 4.22093713e-03 9.99991066e-01 -2.27319226e-04 -1.27408006e-01] [ 1.23051212e-03 2.22127118e-04 9.99999218e-01 5.24363591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632557844 meters 0.29336496133070133 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99990676e-01 -4.15333204e-03 -1.18249081e-03 -2.76438088e-01] [ 4.15327218e-03 9.99991374e-01 -5.30772803e-05 -1.28137870e-01] [ 1.18270105e-03 4.81655792e-05 9.99999299e-01 5.24332181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662557844 meters 0.2930568712481785 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99990840e-01 -4.10452590e-03 -1.21364984e-03 -2.76346976e-01] [ 4.10461798e-03 9.99991573e-01 7.33948278e-05 -1.28672123e-01] [ 1.21333836e-03 -7.83757244e-05 9.99999261e-01 5.24322480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692557844 meters 0.29363269919372553 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99990621e-01 -4.12137674e-03 -1.33101938e-03 -2.76029655e-01] [ 4.12143088e-03 9.99991506e-01 3.79383775e-05 -1.28525077e-01] [ 1.33085172e-03 -4.34237261e-05 9.99999113e-01 5.24294695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72255784400001 meters 0.293345952915775 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.52 [[ 9.99990563e-01 -4.14320312e-03 -1.30646392e-03 -2.76062973e-01] [ 4.14318189e-03 9.99991417e-01 -1.89507124e-05 -1.28288232e-01] [ 1.30653123e-03 1.35376159e-05 9.99999146e-01 5.24220895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752557844 meters 0.2921454666206876 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.52 [[ 0.99999037 0.00356642 -0.00255795 -0.29543407] [-0.00356937 0.99999297 -0.00114807 -0.13330455] [ 0.00255384 0.00115719 0.99999607 0.52315532] [ 0. 0. 0. 1. ]] SLAMing on 78.782557844 meters 0.2930998573375305 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 9.99985672e-01 -5.17371989e-03 -1.37418780e-03 -2.73015961e-01] [ 5.17240197e-03 9.99986161e-01 -9.60883286e-04 -1.31774965e-01] [ 1.37914012e-03 9.53761666e-04 9.99998594e-01 5.22522671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812557844 meters 0.29354683014469374 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 9.99985976e-01 -5.10185563e-03 -1.42061975e-03 -2.72907719e-01] [ 5.10076540e-03 9.99986695e-01 -7.70006331e-04 -1.32577791e-01] [ 1.42452931e-03 7.62749285e-04 9.99998694e-01 5.22573329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842557844 meters 0.29354683014469374 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.13, Z:0.52 [[ 9.99985976e-01 -5.10185563e-03 -1.42061975e-03 -2.72907719e-01] [ 5.10076540e-03 9.99986695e-01 -7.70006331e-04 -1.32577791e-01] [ 1.42452931e-03 7.62749285e-04 9.99998694e-01 5.22573329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872557844 meters 0.29199284188263386 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 0.99999149 0.00303048 -0.00280053 -0.29255891] [-0.0030345 0.99999437 -0.00143036 -0.13762815] [ 0.00279618 0.00143884 0.99999506 0.52208854] [ 0. 0. 0. 1. ]] SLAMing on 78.902557844 meters 0.2932777365310461 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 0.99999092 0.00309052 -0.00293564 -0.29213803] [-0.00309424 0.99999441 -0.00126402 -0.13834955] [ 0.00293172 0.00127309 0.99999489 0.52191564] [ 0. 0. 0. 1. ]] SLAMing on 78.932557844 meters 0.2927389127650239 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 0.99999074 0.00314884 -0.0029342 -0.29216148] [-0.00315213 0.99999441 -0.00111757 -0.13896828] [ 0.00293066 0.00112681 0.99999507 0.52196397] [ 0. 0. 0. 1. ]] SLAMing on 78.962557844 meters 0.29283030830662093 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 0.99999094 0.00312552 -0.00289148 -0.29233643] [-0.00312894 0.99999441 -0.00117895 -0.13869825] [ 0.00288778 0.00118799 0.99999512 0.5221117 ] [ 0. 0. 0. 1. ]] SLAMing on 78.992557844 meters 0.29302362321823694 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 0.99999136 0.00303163 -0.00284247 -0.29245765] [-0.0030357 0.99999437 -0.00142853 -0.13765617] [ 0.00283812 0.00143715 0.99999494 0.52208175] [ 0. 0. 0. 1. ]] SLAMing on 79.022557844 meters 0.29242021988513106 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.52 [[ 0.99997789 -0.00282906 -0.0060181 -0.31333261] [ 0.00283907 0.9999946 0.00165499 -0.13484931] [ 0.00601338 -0.00167204 0.99998052 0.52278664] [ 0. 0. 0. 1. ]] SLAMing on 79.052557844 meters 0.2927861070873866 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998685 0.00440189 -0.00263082 -0.29274052] [-0.00440469 0.99998974 -0.00106112 -0.13062439] [ 0.00262612 0.00107269 0.99999598 0.52107221] [ 0. 0. 0. 1. ]] SLAMing on 79.08255784400001 meters 0.2923252290009879 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998755 0.00428126 -0.00256163 -0.29288902] [-0.00428482 0.99998986 -0.00138527 -0.129266 ] [ 0.00255567 0.00139623 0.99999576 0.52098592] [ 0. 0. 0. 1. ]] SLAMing on 79.112557844 meters 0.29245365197040313 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998853 0.00411395 -0.00245382 -0.29320371] [-0.00411837 0.9999899 -0.00179871 -0.12750968] [ 0.0024464 0.0018088 0.99999537 0.52102803] [ 0. 0. 0. 1. ]] SLAMing on 79.142557844 meters 0.29315410003647063 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998844 0.00409144 -0.0025246 -0.29300283] [-0.00409614 0.99998989 -0.00185771 -0.12727236] [ 0.00251698 0.00186803 0.99999509 0.52097537] [ 0. 0. 0. 1. ]] SLAMing on 79.172557844 meters 0.29433741540493424 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.12, Z:0.52 [[ 0.99998933 -0.00431038 -0.00166274 -0.27114762] [ 0.00430787 0.99998958 -0.00151311 -0.12373115] [ 0.00166924 0.00150593 0.99999747 0.52137756] [ 0. 0. 0. 1. ]] SLAMing on 79.202557844 meters 0.2932129629682964 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.52 [[ 0.99998631 0.0049179 -0.00178852 -0.29323496] [-0.0049205 0.99998684 -0.00145315 -0.12798526] [ 0.00178135 0.00146193 0.99999734 0.52288983] [ 0. 0. 0. 1. ]] SLAMing on 79.232557844 meters 0.2903633299999408 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.13, Z:0.52 [[ 0.99999043 -0.00216481 -0.00380049 -0.31490897] [ 0.00217092 0.99999636 0.0016053 -0.12961515] [ 0.003797 -0.00161354 0.99999149 0.52427283] [ 0. 0. 0. 1. ]] SLAMing on 79.262557844 meters 0.2924154404395589 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:0.53 [[ 0.99999129 -0.00161106 -0.00385107 -0.27715351] [ 0.00161659 0.99999767 0.00143371 -0.12821982] [ 0.00384875 -0.00143992 0.99999156 0.52779055] [ 0. 0. 0. 1. ]] SLAMing on 79.292557844 meters 0.2923076010257522 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:0.53 [[ 0.99998568 0.00390816 -0.00365686 -0.30025249] [-0.00391471 0.99999074 -0.00178551 -0.1332976 ] [ 0.00364985 0.0017998 0.99999172 0.52809447] [ 0. 0. 0. 1. ]] SLAMing on 79.322557844 meters 0.2936571039185532 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.14, Z:0.53 [[ 9.99997302e-01 -2.15383163e-03 -8.70552505e-04 -2.77100559e-01] [ 2.15460562e-03 9.99997284e-01 8.89123644e-04 -1.35255673e-01] [ 8.68635117e-04 -8.90996942e-04 9.99999226e-01 5.25451365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352557844 meters 0.2922282207378094 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99998947 0.00287779 -0.00357576 -0.29986802] [-0.00288648 0.99999288 -0.002429 -0.13524191] [ 0.00356874 0.0024393 0.99999066 0.52726081] [ 0. 0. 0. 1. ]] SLAMing on 79.382557844 meters 0.29241372436275215 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99998885 0.00295789 -0.00368035 -0.29958244] [-0.00296603 0.99999317 -0.00220723 -0.13616511] [ 0.00367379 0.00221813 0.99999079 0.52721336] [ 0. 0. 0. 1. ]] SLAMing on 79.412557844 meters 0.29296546322405526 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99998799 0.00317271 -0.0037351 -0.29977649] [-0.00317833 0.99999382 -0.00150058 -0.13896374] [ 0.00373032 0.00151244 0.9999919 0.52800571] [ 0. 0. 0. 1. ]] SLAMing on 79.442557844 meters 0.29266225541513746 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 9.99987444e-01 3.34673282e-03 -3.72964921e-03 -2.99997801e-01] [-3.35048248e-03 9.99993888e-01 -9.99571285e-04 -1.41003972e-01] [ 3.72628112e-03 1.01205486e-03 9.99992545e-01 5.28489444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47255784400001 meters 0.29158045058132104 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:0.53 [[ 9.99971504e-01 -5.79244841e-03 -4.84143447e-03 -3.20812180e-01] [ 5.79339034e-03 9.99983202e-01 1.80555432e-04 -1.40929305e-01] [ 4.84030729e-03 -2.08598606e-04 9.99988264e-01 5.28351366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502557844 meters 0.2907474800663701 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:0.53 [[ 9.99972025e-01 -5.68955544e-03 -4.85582628e-03 -3.20766294e-01] [ 5.69182435e-03 9.99983699e-01 4.53563119e-04 -1.42072836e-01] [ 4.85316655e-03 -4.81188941e-04 9.99988108e-01 5.28342196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532557844 meters 0.29328784546005376 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99999375 0.00152165 -0.00318985 -0.2971112 ] [-0.00152761 0.99999709 -0.00186939 -0.14416978] [ 0.00318699 0.00187425 0.99999317 0.52581236] [ 0. 0. 0. 1. ]] SLAMing on 79.562557844 meters 0.2936666641025552 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99999392 0.0015611 -0.00311739 -0.29734043] [-0.00156662 0.99999721 -0.00176994 -0.14458587] [ 0.00311461 0.00177481 0.99999357 0.5258978 ] [ 0. 0. 0. 1. ]] SLAMing on 79.592557844 meters 0.2927453701589732 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99999417 0.00158 -0.00302858 -0.29770305] [-0.00158522 0.99999726 -0.00172132 -0.14476886] [ 0.00302585 0.00172611 0.99999393 0.52621222] [ 0. 0. 0. 1. ]] SLAMing on 79.622557844 meters 0.29265828200970717 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:0.53 [[ 0.99999486 0.00157217 -0.00279438 -0.29845855] [-0.00157707 0.99999722 -0.00175445 -0.1445809 ] [ 0.00279161 0.00175885 0.99999456 0.52667442] [ 0. 0. 0. 1. ]] SLAMing on 79.652557844 meters 0.2933868067480401 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 9.99994023e-01 -3.41558207e-03 -5.37020393e-04 -2.74965129e-01] [ 3.41654100e-03 9.99992553e-01 1.79498287e-03 -1.45780763e-01] [ 5.30885482e-04 -1.79680689e-03 9.99998245e-01 5.24647298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682557844 meters 0.2930561363387162 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99999255 0.00205869 -0.00326634 -0.29526644] [-0.00206379 0.99999665 -0.00156026 -0.14684134] [ 0.00326312 0.00156699 0.99999345 0.52493463] [ 0. 0. 0. 1. ]] SLAMing on 79.712557844 meters 0.2933178747309074 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99999224 0.00214035 -0.0033083 -0.29502522] [-0.00214483 0.99999679 -0.00135197 -0.14772866] [ 0.00330539 0.00135906 0.99999361 0.52464748] [ 0. 0. 0. 1. ]] SLAMing on 79.742557844 meters 0.2932572428191961 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 9.99992146e-01 2.27713515e-03 -3.24384019e-03 -2.95279007e-01] [-2.28035095e-03 9.99996912e-01 -9.88002965e-04 -1.49231665e-01] [ 3.24158035e-03 9.95392300e-04 9.99994251e-01 5.24852648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772557844 meters 0.2924766960948468 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 9.99992134e-01 2.34886289e-03 -3.19617607e-03 -2.95449581e-01] [-2.35143758e-03 9.99996914e-01 -8.02033579e-04 -1.50001352e-01] [ 3.19428234e-03 8.09542878e-04 9.99994571e-01 5.24959427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802557844 meters 0.29400014327938495 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 9.99995459e-01 -3.01133071e-03 -1.13779271e-04 -2.73200628e-01] [ 3.01159895e-03 9.99992498e-01 2.43591598e-03 -1.51964748e-01] [ 1.06443069e-04 -2.43624757e-03 9.99997027e-01 5.23034409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83255784400001 meters 0.2929554845441483 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.99998704 0.00466592 -0.0020347 -0.29221866] [-0.00466311 0.99998817 0.00138334 -0.15673063] [ 0.00204113 -0.00137383 0.99999697 0.52191374] [ 0. 0. 0. 1. ]] SLAMing on 79.862557844 meters 0.2935759990953391 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.99998672 0.00468842 -0.00213945 -0.29163162] [-0.00468533 0.99998797 0.0014499 -0.15703659] [ 0.00214622 -0.00143985 0.99999666 0.52114413] [ 0. 0. 0. 1. ]] SLAMing on 79.892557844 meters 0.29332661758203443 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.99998668 0.00467816 -0.00217858 -0.29137642] [-0.00467507 0.99998806 0.00142549 -0.15695218] [ 0.00218522 -0.00141529 0.99999661 0.52077734] [ 0. 0. 0. 1. ]] SLAMing on 79.922557844 meters 0.29268033805821386 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.99998665 0.0046643 -0.00222333 -0.29123158] [-0.00466121 0.99998817 0.00139181 -0.15681608] [ 0.0022298 -0.00138143 0.99999656 0.52070462] [ 0. 0. 0. 1. ]] SLAMing on 79.952557844 meters 0.2929897349228545 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.9999866 0.00465272 -0.00226854 -0.29116821] [-0.00464963 0.99998826 0.0013647 -0.15669335] [ 0.00227487 -0.00135413 0.9999965 0.52082907] [ 0. 0. 0. 1. ]] SLAMing on 79.982557844 meters 0.29306794058564944 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 0.99998663 0.00463185 -0.00230041 -0.29105919] [-0.00462884 0.99998843 0.00131256 -0.15647796] [ 0.00230646 -0.00130189 0.99999649 0.52076353] [ 0. 0. 0. 1. ]] SLAMing on 80.012557844 meters 0.29382481904300034 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 9.99999378e-01 -1.11563806e-03 7.91352321e-06 -2.67341509e-01] [ 1.11559715e-03 9.99991270e-01 4.02685029e-03 -1.56699087e-01] [-1.24059616e-05 -4.02683896e-03 9.99991892e-01 5.18039129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042557844 meters 0.2933250401934966 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 9.99988048e-01 3.97536899e-03 -2.84618234e-03 -2.89226016e-01] [-3.97405675e-03 9.99991995e-01 4.66559440e-04 -1.55676098e-01] [ 2.84801430e-03 -4.55242974e-04 9.99995841e-01 5.19296150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072557844 meters 0.2936816322905581 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.52 [[ 9.99988322e-01 3.90220458e-03 -2.85120624e-03 -2.89125892e-01] [-3.90145259e-03 9.99992353e-01 2.69258999e-04 -1.54871525e-01] [ 2.85223514e-03 -2.58132008e-04 9.99995899e-01 5.19091909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102557844 meters 0.29329884221855873 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:0.52 [[ 0.99998323 -0.00520475 -0.00254007 -0.30955663] [ 0.00520812 0.99998556 0.00132124 -0.14975535] [ 0.00253316 -0.00133445 0.9999959 0.51812679] [ 0. 0. 0. 1. ]] SLAMing on 80.132557844 meters 0.29432900592379685 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.52 [[ 9.99998074e-01 1.77995650e-03 8.26765657e-04 -2.88955450e-01] [-1.77872458e-03 9.99997310e-01 -1.48839444e-03 -1.47590091e-01] [-8.29412710e-04 1.48692098e-03 9.99998551e-01 5.16695022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162557844 meters 0.2929265526900859 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:0.52 [[ 0.99998496 -0.00503128 -0.00218117 -0.3103335 ] [ 0.00503447 0.99998626 0.00145886 -0.14926926] [ 0.0021738 -0.00146982 0.99999656 0.51860599] [ 0. 0. 0. 1. ]] SLAMing on 80.192557844 meters 0.2938665765387641 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.52 [[ 9.99989923e-01 4.17109736e-03 -1.65980180e-03 -2.89622184e-01] [-4.17041312e-03 9.99991217e-01 4.15494949e-04 -1.51707527e-01] [ 1.66152029e-03 -4.08568703e-04 9.99998536e-01 5.19297686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22255784400001 meters 0.2950355184610653 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 9.99993700e-01 -3.54546555e-03 -1.72813877e-04 -2.70108845e-01] [ 3.54572793e-03 9.99992524e-01 1.54238199e-03 -1.47469681e-01] [ 1.67344123e-04 -1.54298502e-03 9.99998796e-01 5.20250748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252557844 meters 0.29433998784920573 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 9.99993807e-01 -3.51348354e-03 -2.05167532e-04 -2.70104507e-01] [ 3.51381264e-03 9.99992504e-01 1.62639036e-03 -1.47809117e-01] [ 1.99451699e-04 -1.62710121e-03 9.99998656e-01 5.20436393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282557844 meters 0.29396898244691116 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 9.99994014e-01 -3.45304758e-03 -2.21655973e-04 -2.70181165e-01] [ 3.45343781e-03 9.99992444e-01 1.78495270e-03 -1.48454138e-01] [ 2.15490772e-04 -1.78570749e-03 9.99998382e-01 5.20718928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312557844 meters 0.29422723327198336 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.52 [[ 0.99998187 0.00541194 0.00264176 -0.2516076 ] [-0.0054148 0.99998476 0.00107603 -0.15252506] [-0.00263589 -0.00109031 0.99999593 0.52144592] [ 0. 0. 0. 1. ]] SLAMing on 80.342557844 meters 0.29399252899121064 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.52 [[ 0.99998108 0.00551348 0.00272848 -0.2520222 ] [-0.00551717 0.99998387 0.00134674 -0.15362637] [-0.00272101 -0.00136177 0.99999537 0.52190226] [ 0. 0. 0. 1. ]] SLAMing on 80.372557844 meters 0.29232235423899894 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.15, Z:0.52 [[ 0.99999068 -0.00394246 0.00176225 -0.27331687] [ 0.00393842 0.99998963 0.00228824 -0.15352728] [-0.00177126 -0.00228128 0.99999583 0.52198724] [ 0. 0. 0. 1. ]] SLAMing on 80.402557844 meters 0.29230408034009614 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999172 -0.00376427 0.00154582 -0.27271995] [ 0.00375989 0.99998895 0.00282282 -0.15574727] [-0.00155643 -0.00281698 0.99999482 0.52190492] [ 0. 0. 0. 1. ]] SLAMing on 80.432557844 meters 0.29277573669322493 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999222 -0.00367673 0.00142863 -0.27232287] [ 0.00367234 0.99998856 0.00306441 -0.1567772 ] [-0.00143988 -0.00305914 0.99999428 0.52169034] [ 0. 0. 0. 1. ]] SLAMing on 80.462557844 meters 0.2932237225282143 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999256 -0.00360619 0.00137163 -0.27211579] [ 0.00360171 0.99998823 0.00325112 -0.1575698 ] [-0.00138334 -0.00324616 0.99999377 0.5215628 ] [ 0. 0. 0. 1. ]] SLAMing on 80.492557844 meters 0.2930241955126867 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999335 -0.00336394 0.00141116 -0.272367 ] [ 0.00335846 0.99998687 0.00387007 -0.16012562] [-0.00142416 -0.00386531 0.99999152 0.52189915] [ 0. 0. 0. 1. ]] SLAMing on 80.522557844 meters 0.2930423693512462 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999389 -0.00322623 0.00134259 -0.2723021 ] [ 0.00322055 0.99998596 0.00420816 -0.16152948] [-0.00135614 -0.00420381 0.99999024 0.52215982] [ 0. 0. 0. 1. ]] SLAMing on 80.552557844 meters 0.2932487720034475 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999429 -0.00314402 0.0012424 -0.27206154] [ 0.0031385 0.99998533 0.00441581 -0.16239716] [-0.00125626 -0.00441188 0.99998948 0.52222443] [ 0. 0. 0. 1. ]] SLAMing on 80.58255784400001 meters 0.2943214043997621 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.52 [[ 0.9999741 0.00698424 0.00173829 -0.24933076] [-0.006992 0.99996545 0.00449543 -0.16492029] [-0.00170683 -0.00450747 0.99998838 0.52129151] [ 0. 0. 0. 1. ]] SLAMing on 80.612557844 meters 0.2930990754142381 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 9.99996119e-01 -2.69864758e-03 6.92519687e-04 -2.70047444e-01] [ 2.69497866e-03 9.99982612e-01 5.24526599e-03 -1.63037900e-01] [-7.06662769e-04 -5.24337930e-03 9.99986004e-01 5.21073538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642557844 meters 0.29484879090400506 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.52 [[ 0.99998327 0.00440589 0.00374754 -0.24885647] [-0.00441522 0.99998717 0.00248465 -0.16167603] [-0.00373654 -0.00250116 0.99998989 0.51937756] [ 0. 0. 0. 1. ]] SLAMing on 80.672557844 meters 0.29378740045177065 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.52 [[ 0.99998339 0.00443764 0.00367767 -0.2488276 ] [-0.00444709 0.99998682 0.00256543 -0.16199502] [-0.00366624 -0.00258174 0.99998995 0.51971833] [ 0. 0. 0. 1. ]] SLAMing on 80.702557844 meters 0.2937897505162405 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.53 [[ 9.99996267e-01 -3.34703632e-04 -2.71182113e-03 -2.56398044e-01] [ 3.34075887e-04 9.99999917e-01 -2.31934264e-04 -1.56787003e-01] [ 2.71189853e-03 2.31027444e-04 9.99996296e-01 5.27194160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.732557844 meters 0.2930204589394748 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.53 [[ 9.99996088e-01 -3.30979156e-04 -2.77731959e-03 -2.56183563e-01] [ 3.30374946e-04 9.99999922e-01 -2.18007487e-04 -1.56853211e-01] [ 2.77739153e-03 2.17089077e-04 9.99996119e-01 5.27088364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762557844 meters 0.2930204589394748 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.53 [[ 9.99996088e-01 -3.30979156e-04 -2.77731959e-03 -2.56183563e-01] [ 3.30374946e-04 9.99999922e-01 -2.18007487e-04 -1.56853211e-01] [ 2.77739153e-03 2.17089077e-04 9.99996119e-01 5.27088364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.792557844 meters 0.2934745755124337 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.53 [[ 9.99996078e-01 -2.86886649e-04 -2.78597740e-03 -2.56089605e-01] [ 2.86605628e-04 9.99999954e-01 -1.01268468e-04 -1.57345725e-01] [ 2.78600632e-03 1.00469594e-04 9.99996114e-01 5.26929823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822557844 meters 0.2946029194258924 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.52 [[ 9.99985103e-01 -5.44248868e-03 4.15064684e-04 -2.34144036e-01] [ 5.44110620e-03 9.99979876e-01 3.26217190e-03 -1.59138784e-01] [-4.32810665e-04 -3.25986490e-03 9.99994593e-01 5.24780452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852557844 meters 0.2939162479848765 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.52 [[ 9.99998004e-01 1.97871905e-03 -2.78153238e-04 -2.52789339e-01] [-1.97814549e-03 9.99995948e-01 2.04739757e-03 -1.65976387e-01] [ 2.82203335e-04 -2.04684325e-03 9.99997865e-01 5.23104171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882557844 meters 0.2928727273686014 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.52 [[ 9.99997683e-01 2.14321854e-03 -2.00326484e-04 -2.53175792e-01] [-2.14271143e-03 9.99994584e-01 2.49826859e-03 -1.67816804e-01] [ 2.05679735e-04 -2.49783356e-03 9.99996859e-01 5.23555952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912557844 meters 0.29175432526164746 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.52 [[ 9.99997668e-01 2.15280919e-03 -1.69067153e-04 -2.53331138e-01] [-2.15237587e-03 9.99994502e-01 2.52266503e-03 -1.67901329e-01] [ 1.74497040e-04 -2.52229525e-03 9.99996804e-01 5.23735074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942557844 meters 0.2941104255765131 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99995010e-01 3.10663401e-03 -5.74243479e-04 -2.14414023e-01] [-3.10557438e-03 9.99993490e-01 1.83704581e-03 -1.64695590e-01] [ 5.79946769e-04 -1.83525329e-03 9.99998148e-01 5.26770266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97255784400001 meters 0.2937962803785345 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99994971e-01 3.10078655e-03 -6.65645283e-04 -2.14048216e-01] [-3.09956596e-03 9.99993527e-01 1.82697081e-03 -1.64679876e-01] [ 6.71306021e-04 -1.82489841e-03 9.99998110e-01 5.26490904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters 0.2933445429175732 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99995098e-01 3.05259777e-03 -6.96534692e-04 -2.13792441e-01] [-3.05140895e-03 9.99993897e-01 1.70148239e-03 -1.64189779e-01] [ 7.01724382e-04 -1.69934864e-03 9.99998310e-01 5.26080083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032557844 meters 0.29453885520983225 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:0.53 [[ 9.99988137e-01 -4.86907928e-03 1.34162043e-04 -1.93515228e-01] [ 4.86873249e-03 9.99985087e-01 2.47418111e-03 -1.59255429e-01] [-1.46207026e-04 -2.47349856e-03 9.99996930e-01 5.26264936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062557844 meters 0.29172238155966607 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.52 [[ 9.99998909e-01 -1.18563745e-03 8.81261976e-04 -2.52838714e-01] [ 1.18376343e-03 9.99997044e-01 2.12401311e-03 -1.64028190e-01] [-8.83777680e-04 -2.12296758e-03 9.99997356e-01 5.24945604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092557844 meters 0.2940393679211172 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.52 [[ 9.99993845e-01 7.36499426e-04 3.43024782e-03 -2.09266595e-01] [-7.44731029e-04 9.99996845e-01 2.39905210e-03 -1.59421052e-01] [-3.42847010e-03 -2.40159194e-03 9.99991239e-01 5.23568185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122557844 meters 0.2930161456295254 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.53 [[ 9.99984321e-01 5.57954560e-03 4.76863244e-04 -2.31760387e-01] [-5.57899328e-03 9.99983774e-01 -1.15181301e-03 -1.58172683e-01] [-4.83282099e-04 1.14913453e-03 9.99999223e-01 5.25667012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152557844 meters 0.2938227090040574 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.53 [[ 9.99995821e-01 -2.08736087e-03 2.00036239e-03 -2.12200847e-01] [ 2.08791453e-03 9.99997783e-01 -2.74727155e-04 -1.52847570e-01] [-1.99978450e-03 2.78902592e-04 9.99997962e-01 5.26191428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182557844 meters 0.2940229664641897 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.53 [[ 9.99995526e-01 -2.11558377e-03 2.11466345e-03 -2.12481774e-01] [ 2.11633682e-03 9.99997698e-01 -3.53934712e-04 -1.52513055e-01] [-2.11390980e-03 3.58408469e-04 9.99997701e-01 5.26152038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212557844 meters 0.29334622741017996 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.53 [[ 0.99998114 0.00569914 0.00229105 -0.23346463] [-0.00569564 0.99998261 -0.00152948 -0.15551328] [-0.00229973 0.0015164 0.99999621 0.52530835] [ 0. 0. 0. 1. ]] SLAMing on 81.242557844 meters 0.2925699690002791 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.15, Z:0.53 [[ 0.99998171 0.00557721 0.00234114 -0.23357585] [-0.00557286 0.99998274 -0.00186198 -0.15413444] [-0.00235149 0.0018489 0.99999553 0.52525884] [ 0. 0. 0. 1. ]] SLAMing on 81.272557844 meters 0.29505751161203053 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.52 [[ 9.99995071e-01 5.10460820e-04 3.09803582e-03 -2.09083147e-01] [-5.13986700e-04 9.99999221e-01 1.13741230e-03 -1.49100335e-01] [-3.09745280e-03 -1.13899904e-03 9.99994554e-01 5.23165251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302557844 meters 0.29287980740773845 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.15, Z:0.52 [[ 9.99984631e-01 5.52895304e-03 -4.09550722e-04 -2.30564179e-01] [-5.52991740e-03 9.99981848e-01 -2.39222113e-03 -1.46052737e-01] [ 3.96316810e-04 2.39444914e-03 9.99997055e-01 5.24955587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33255784400001 meters 0.2927454819852809 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.52 [[ 9.99985427e-01 5.38793239e-03 -3.41276525e-04 -2.30615664e-01] [-5.38885693e-03 9.99981647e-01 -2.76869233e-03 -1.44509701e-01] [ 3.26352734e-04 2.77049108e-03 9.99996109e-01 5.24659435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362557844 meters 0.29342620784207873 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.52 [[ 9.99986000e-01 5.27658140e-03 -3.95689493e-04 -2.30404694e-01] [-5.27776930e-03 9.99981379e-01 -3.06369063e-03 -1.43296055e-01] [ 3.79516312e-04 3.06573610e-03 9.99995229e-01 5.24488463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392557844 meters 0.2940943451204573 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 9.99996713e-01 -6.38895573e-04 -2.48295021e-03 -2.14320466e-01] [ 6.36135900e-04 9.99999179e-01 -1.11208016e-03 -1.39444835e-01] [ 2.48365868e-03 1.11049701e-03 9.99996299e-01 5.29377044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters 0.29282829624384216 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 9.99996727e-01 -7.69148252e-04 -2.44030295e-03 -2.14646112e-01] [ 7.65609320e-04 9.99998655e-01 -1.45080466e-03 -1.37990797e-01] [ 2.44141555e-03 1.44893159e-03 9.99995970e-01 5.29856067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452557844 meters 0.29330680013901717 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 9.99996836e-01 -8.19170376e-04 -2.37849042e-03 -2.14946543e-01] [ 8.15391776e-04 9.99998405e-01 -1.58918993e-03 -1.37376878e-01] [ 2.37978844e-03 1.58724550e-03 9.99995909e-01 5.30182543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters 0.293151125883957 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.53 [[ 9.99996953e-01 -8.40389404e-04 -2.32108423e-03 -2.15185926e-01] [ 8.36565953e-04 9.99998293e-01 -1.64774941e-03 -1.37114509e-01] [ 2.32246502e-03 1.64580265e-03 9.99995949e-01 5.30385300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512557844 meters 0.29300886345059246 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 9.99996860e-01 -8.33571720e-04 -2.36317270e-03 -2.14941590e-01] [ 8.29720760e-04 9.99998327e-01 -1.63008419e-03 -1.37221163e-01] [ 2.36452754e-03 1.62811830e-03 9.99995879e-01 5.30060748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542557844 meters 0.2906241730407183 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.53 [[ 9.99997331e-01 -1.53357363e-03 -1.72803884e-03 -2.52506356e-01] [ 1.53228226e-03 9.99998546e-01 -7.48377582e-04 -1.40610186e-01] [ 1.72918402e-03 7.45727742e-04 9.99998227e-01 5.25786343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572557844 meters 0.2941476325476868 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 9.99997853e-01 3.05373797e-04 -2.04970059e-03 -2.11883333e-01] [-3.06458224e-04 9.99999813e-01 -5.28772571e-04 -1.37807884e-01] [ 2.04953873e-03 5.29399583e-04 9.99997760e-01 5.27556534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602557844 meters 0.29222972284300375 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.53 [[ 0.99996874 -0.00648055 -0.00453017 -0.23367267] [ 0.00649238 0.99997554 0.00260131 -0.13871804] [ 0.00451321 -0.00263064 0.99998636 0.52925566] [ 0. 0. 0. 1. ]] SLAMing on 81.632557844 meters 0.2930656282577247 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 0.9999928 0.00229102 -0.00302581 -0.2141278 ] [-0.00228776 0.9999968 0.00107913 -0.13960365] [ 0.00302827 -0.0010722 0.99999484 0.53048114] [ 0. 0. 0. 1. ]] SLAMing on 81.662557844 meters 0.29155990144904775 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.53 [[ 9.99996564e-01 6.92584791e-04 -2.52830797e-03 -2.52618265e-01] [-6.90753945e-04 9.99999499e-01 7.24939974e-04 -1.40553572e-01] [ 2.52880878e-03 -7.23191044e-04 9.99996541e-01 5.27274732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692557844 meters 0.2915632431599862 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.53 [[ 9.99996131e-01 5.04822015e-04 -2.73569153e-03 -2.51750522e-01] [-5.04499588e-04 9.99999866e-01 1.18548507e-04 -1.38182072e-01] [ 2.73575101e-03 -1.17167893e-04 9.99996251e-01 5.26194829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72255784400001 meters 0.29454143161977925 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99993594e-01 2.56736374e-03 -2.49393078e-03 -2.09776516e-01] [-2.56637513e-03 9.99996627e-01 3.99525814e-04 -1.32811353e-01] [ 2.49494810e-03 -3.93122893e-04 9.99996810e-01 5.26709782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752557844 meters 0.2931069327166285 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.53 [[ 0.9999801 -0.00458888 -0.00432956 -0.23161821] [ 0.00460266 0.99998436 0.00317668 -0.13200452] [ 0.00431492 -0.00319654 0.99998558 0.52770323] [ 0. 0. 0. 1. ]] SLAMing on 81.782557844 meters 0.29394713672851525 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.53 [[ 0.99998001 -0.00468995 -0.00424084 -0.23186249] [ 0.00470229 0.99998473 0.00290482 -0.13086102] [ 0.00422715 -0.0029247 0.99998679 0.52771079] [ 0. 0. 0. 1. ]] SLAMing on 81.812557844 meters 0.29370555276871124 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.53 [[ 0.99998019 -0.00475831 -0.00411956 -0.23228674] [ 0.00476953 0.99998493 0.00271761 -0.13004614] [ 0.00410657 -0.00273721 0.99998782 0.52793862] [ 0. 0. 0. 1. ]] SLAMing on 81.842557844 meters 0.29359775291300944 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.53 [[ 0.99997998 -0.00485773 -0.00405469 -0.2325734 ] [ 0.0048677 0.99998514 0.00245281 -0.12891053] [ 0.00404271 -0.0024725 0.99998877 0.52817988] [ 0. 0. 0. 1. ]] SLAMing on 81.872557844 meters 0.2930418722877538 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.53 [[ 0.99997899 -0.00509138 -0.00401227 -0.23279693] [ 0.00509902 0.9999852 0.00189689 -0.12656123] [ 0.00400256 -0.00191731 0.99999015 0.52834382] [ 0. 0. 0. 1. ]] SLAMing on 81.902557844 meters 0.2951341029915538 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 0.99998364 0.00485075 -0.00303304 -0.21084283] [-0.00484618 0.99998711 0.00151212 -0.12678215] [ 0.00304034 -0.0014974 0.99999426 0.52769871] [ 0. 0. 0. 1. ]] SLAMing on 81.932557844 meters 0.2928933910415832 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99991213e-01 2.85543917e-03 -3.06932471e-03 -2.48389800e-01] [-2.85293998e-03 9.99995596e-01 8.18318006e-04 -1.26999905e-01] [ 3.07164784e-03 -8.09554216e-04 9.99994955e-01 5.23880752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962557844 meters 0.2937359000559655 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99991099e-01 2.77192021e-03 -3.18079933e-03 -2.47947973e-01] [-2.77001848e-03 9.99995982e-01 6.02127309e-04 -1.26139674e-01] [ 3.18245560e-03 -5.93311076e-04 9.99994760e-01 5.23501833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992557844 meters 0.2945308103548772 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99991080e-01 2.70004871e-03 -3.24794567e-03 -2.47733955e-01] [-2.69871638e-03 9.99996273e-01 4.14517943e-04 -1.25377431e-01] [ 3.24905278e-03 -4.05748961e-04 9.99994639e-01 5.23390693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022557844 meters 0.2934265864801481 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99992104e-01 2.72139303e-03 -2.89601589e-03 -2.49013014e-01] [-2.72006973e-03 9.99996194e-01 4.60779212e-04 -1.25422778e-01] [ 2.89725883e-03 -4.52898208e-04 9.99995700e-01 5.24547188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052557844 meters 0.2943332381024306 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99992281e-01 2.77361240e-03 -2.78307130e-03 -2.49465652e-01] [-2.77194241e-03 9.99995976e-01 6.03731925e-04 -1.25981628e-01] [ 2.78473462e-03 -5.96012751e-04 9.99995945e-01 5.24979973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08255784400001 meters 0.2924001481253334 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99991890e-01 2.86071968e-03 -2.83498069e-03 -2.49393923e-01] [-2.85830195e-03 9.99995548e-01 8.56504775e-04 -1.27009767e-01] [ 2.83741829e-03 -8.48394598e-04 9.99995615e-01 5.25131539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112557844 meters 0.2935851021180929 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.13, Z:0.52 [[ 0.99997885 -0.00590493 -0.00272747 -0.22626781] [ 0.00590787 0.99998197 0.00107222 -0.12514805] [ 0.00272109 -0.00108831 0.99999571 0.52469343] [ 0. 0. 0. 1. ]] SLAMing on 82.142557844 meters 0.292669493188229 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987349e-01 -8.63198086e-04 -4.95542354e-03 -2.48645331e-01] [ 8.51712199e-04 9.99996947e-01 -2.31948421e-03 -1.27229058e-01] [ 4.95741059e-03 2.31523428e-03 9.99985032e-01 5.25875562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172557844 meters 0.29310355521975734 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987138e-01 -7.59678325e-04 -5.01455422e-03 -2.48438872e-01] [ 7.49458052e-04 9.99997639e-01 -2.03968642e-03 -1.28404500e-01] [ 5.01609188e-03 2.03590199e-03 9.99985347e-01 5.25756727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202557844 meters 0.2921360030612941 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987295e-01 -6.05092950e-04 -5.00431269e-03 -2.48822083e-01] [ 5.96966498e-04 9.99998501e-01 -1.62522419e-03 -1.30127564e-01] [ 5.00528860e-03 1.62221613e-03 9.99986158e-01 5.26631785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.232557844 meters 0.29231878553766943 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987598e-01 -5.06008926e-04 -4.95453733e-03 -2.49129763e-01] [ 4.99234727e-04 9.99998939e-01 -1.36841295e-03 -1.31181542e-01] [ 4.95522450e-03 1.36592250e-03 9.99986790e-01 5.27067203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262557844 meters 0.29320271667176034 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987860e-01 -3.90388511e-04 -4.91192869e-03 -2.49321801e-01] [ 3.85131977e-04 9.99999352e-01 -1.07105723e-03 -1.32417298e-01] [ 4.91234364e-03 1.06915249e-03 9.99987363e-01 5.27270473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292557844 meters 0.29322572252405893 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99987779e-01 -3.15446096e-04 -4.93383423e-03 -2.49228518e-01] [ 3.11130322e-04 9.99999568e-01 -8.75473329e-04 -1.33234931e-01] [ 4.93410827e-03 8.73927564e-04 9.99987445e-01 5.27205372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322557844 meters 0.2915362187317082 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99988877e-01 -6.94731298e-04 -4.66502365e-03 -2.86940799e-01] [ 6.95636901e-04 9.99999740e-01 1.92506440e-04 -1.37538133e-01] [ 4.66488869e-03 -1.95749461e-04 9.99989100e-01 5.23653630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352557844 meters 0.2927709730839317 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99988291e-01 -6.62433297e-04 -4.79356663e-03 -2.86492873e-01] [ 6.63804830e-04 9.99999739e-01 2.84534301e-04 -1.37935103e-01] [ 4.79337689e-03 -2.87712962e-04 9.99988470e-01 5.23356872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382557844 meters 0.29394057643108085 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99987898e-01 -6.47777784e-04 -4.87698186e-03 -2.86182516e-01] [ 6.49396141e-04 9.99999735e-01 3.30259553e-04 -1.38145267e-01] [ 4.87676663e-03 -3.33422649e-04 9.99988053e-01 5.23129707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412557844 meters 0.29223870424622433 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99987885e-01 -6.31389212e-04 -4.88162912e-03 -2.86128401e-01] [ 6.33237605e-04 9.99999728e-01 3.77106128e-04 -1.38345416e-01] [ 4.88138970e-03 -3.80192790e-04 9.99988014e-01 5.23030619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442557844 meters 0.2923029419295393 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99988108e-01 -6.15525487e-04 -4.83789441e-03 -2.86168292e-01] [ 6.17570366e-04 9.99999721e-01 4.21197018e-04 -1.38535365e-01] [ 4.83763380e-03 -4.24179749e-04 9.99988209e-01 5.22864309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47255784400001 meters 0.2928002812290482 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99989088e-01 -5.66708090e-04 -4.63700243e-03 -2.86779677e-01] [ 5.69289696e-04 9.99999684e-01 5.55439338e-04 -1.39045333e-01] [ 4.63668619e-03 -5.58073075e-04 9.99989095e-01 5.23171506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502557844 meters 0.29294389470176635 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99989352e-01 -5.47393602e-04 -4.58205856e-03 -2.86939893e-01] [ 5.50168294e-04 9.99999666e-01 6.04317187e-04 -1.39240311e-01] [ 4.58172623e-03 -6.06831656e-04 9.99989320e-01 5.23215563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532557844 meters 0.29360675011688375 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99989332e-01 -5.12901914e-04 -4.59041758e-03 -2.86924474e-01] [ 5.16082705e-04 9.99999628e-01 6.91761882e-04 -1.39608248e-01] [ 4.59006106e-03 -6.94123538e-04 9.99989225e-01 5.23237882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562557844 meters 0.2936080077360113 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99989037e-01 -4.46861745e-04 -4.66116025e-03 -2.86702436e-01] [ 4.50894277e-04 9.99999525e-01 8.64119925e-04 -1.40342124e-01] [ 4.66077189e-03 -8.66212142e-04 9.99988763e-01 5.23176171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592557844 meters 0.2924578071395248 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.52 [[ 0.99996733 0.00462242 -0.00663151 -0.30935344] [-0.00463964 0.9999859 -0.00258267 -0.14175921] [ 0.00661948 0.00261335 0.99997468 0.52451525] [ 0. 0. 0. 1. ]] SLAMing on 82.622557844 meters 0.2941309917604309 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992369e-01 -6.44357273e-04 -3.85311049e-03 -2.87219489e-01] [ 6.46859369e-04 9.99999581e-01 6.48159480e-04 -1.41678442e-01] [ 3.85269123e-03 -6.50646955e-04 9.99992367e-01 5.22753563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652557844 meters 0.2941309917604309 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992369e-01 -6.44357273e-04 -3.85311049e-03 -2.87219489e-01] [ 6.46859369e-04 9.99999581e-01 6.48159480e-04 -1.41678442e-01] [ 3.85269123e-03 -6.50646955e-04 9.99992367e-01 5.22753563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682557844 meters 0.29243489744199685 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992873e-01 -6.32366282e-04 -3.72204166e-03 -2.87842477e-01] [ 6.34889721e-04 9.99999569e-01 6.76829022e-04 -1.41730932e-01] [ 3.72161205e-03 -6.79187285e-04 9.99992844e-01 5.23437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712557844 meters 0.2924907790715785 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992812e-01 -6.13627849e-04 -3.74153557e-03 -2.87860185e-01] [ 6.16351716e-04 9.99999546e-01 7.26898080e-04 -1.41929683e-01] [ 3.74108782e-03 -7.29198957e-04 9.99992736e-01 5.23599363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742557844 meters 0.29208080948325105 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992757e-01 -5.87294412e-04 -3.76039822e-03 -2.87775238e-01] [ 5.90293440e-04 9.99999509e-01 7.96469156e-04 -1.42228198e-01] [ 3.75992861e-03 -7.98683126e-04 9.99992612e-01 5.23524823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772557844 meters 0.29384256854018476 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:0.52 [[ 9.99980115e-01 6.22547597e-03 -1.00637492e-03 -2.65506656e-01] [-6.22763479e-03 9.99978283e-01 -2.15643750e-03 -1.40575727e-01] [ 9.92928217e-04 2.16266195e-03 9.99997168e-01 5.21268876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802557844 meters 0.29199418267156724 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992557e-01 -2.84704333e-03 -2.60388202e-03 -2.85502132e-01] [ 2.84461110e-03 9.99995515e-01 -9.37304381e-04 -1.39927442e-01] [ 2.60653889e-03 9.29890373e-04 9.99996171e-01 5.20606845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83255784400001 meters 0.2912309206895378 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99992912e-01 -2.70659100e-03 -2.61742360e-03 -2.85639484e-01] [ 2.70518354e-03 9.99996195e-01 -5.41116885e-04 -1.41548262e-01] [ 2.61887822e-03 5.34032438e-04 9.99996428e-01 5.21049087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862557844 meters 0.2935364730194867 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.52 [[ 9.99992239e-01 -1.28332452e-03 -3.72493275e-03 -2.45921091e-01] [ 1.28110618e-03 9.99999001e-01 -5.97861759e-04 -1.40451396e-01] [ 3.72569628e-03 5.93085085e-04 9.99992884e-01 5.24150028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892557844 meters 0.29039362837211846 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989394e-01 -2.37663951e-03 -3.94513081e-03 -2.83520098e-01] [ 2.37691609e-03 9.99997173e-01 6.54202094e-05 -1.45824893e-01] [ 3.94496418e-03 -7.47967605e-05 9.99992216e-01 5.20829953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922557844 meters 0.29214934685478644 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989297e-01 -2.26710791e-03 -4.03306386e-03 -2.83262612e-01] [ 2.26858614e-03 9.99997361e-01 3.61991007e-04 -1.47087102e-01] [ 4.03223254e-03 -3.71136486e-04 9.99991802e-01 5.20784812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952557844 meters 0.29117490691288184 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989349e-01 -2.18402645e-03 -4.06584112e-03 -2.83164190e-01] [ 2.18640668e-03 9.99997441e-01 5.81068039e-04 -1.48009321e-01] [ 4.06456165e-03 -5.89951433e-04 9.99991566e-01 5.20765801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters 0.2918830043352875 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989454e-01 -2.10343796e-03 -4.08249418e-03 -2.83074518e-01] [ 2.10668438e-03 9.99997468e-01 7.91066357e-04 -1.48905212e-01] [ 4.08081988e-03 -7.99658542e-04 9.99991354e-01 5.20675537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012557844 meters 0.29246771956420325 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989310e-01 -2.09792258e-03 -4.12049857e-03 -2.82794084e-01] [ 2.10126865e-03 9.99997466e-01 8.07893794e-04 -1.49008585e-01] [ 4.11879323e-03 -8.16543432e-04 9.99991184e-01 5.20237936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042557844 meters 0.2931896531848729 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989141e-01 -2.13712440e-03 -4.14126381e-03 -2.82690578e-01] [ 2.14007332e-03 9.99997460e-01 7.07781521e-04 -1.48594218e-01] [ 4.13974067e-03 -7.16636443e-04 9.99991174e-01 5.20115273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072557844 meters 0.29284311903797317 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99988897e-01 -2.14517400e-03 -4.19567047e-03 -2.82549063e-01] [ 2.14808887e-03 9.99997455e-01 6.90348520e-04 -1.48522326e-01] [ 4.19417887e-03 -6.99353528e-04 9.99990960e-01 5.20116716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102557844 meters 0.2926254261418371 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99988803e-01 -2.12139412e-03 -4.23008572e-03 -2.82511678e-01] [ 2.12459613e-03 9.99997460e-01 7.52612344e-04 -1.48779272e-01] [ 4.22847839e-03 -7.61591140e-04 9.99990770e-01 5.20240153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132557844 meters 0.29303707137983304 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99988976e-01 -2.03164544e-03 -4.23324934e-03 -2.82577114e-01] [ 2.03580357e-03 9.99997449e-01 9.78176972e-04 -1.49725886e-01] [ 4.23125123e-03 -9.86784253e-04 9.99990561e-01 5.20421698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162557844 meters 0.2931246654763067 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998931 -0.00194452 -0.00419489 -0.2827512 ] [ 0.00194958 0.99999738 0.00120132 -0.15065575] [ 0.00419254 -0.00120949 0.99999048 0.52059918] [ 0. 0. 0. 1. ]] SLAMing on 83.192557844 meters 0.29237915930175856 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998975 -0.00180715 -0.00415097 -0.28290868] [ 0.00181364 0.99999714 0.00155868 -0.15215463] [ 0.00414814 -0.00156619 0.99999017 0.52071309] [ 0. 0. 0. 1. ]] SLAMing on 83.22255784400001 meters 0.2930116743434925 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.9999896 -0.00177767 -0.00420054 -0.28272672] [ 0.00178456 0.99999707 0.00163741 -0.1525005 ] [ 0.00419762 -0.00164489 0.99998984 0.52060202] [ 0. 0. 0. 1. ]] SLAMing on 83.252557844 meters 0.2927100617046316 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998917 -0.00172935 -0.0043197 -0.28237941] [ 0.00173701 0.99999692 0.00177019 -0.15307879] [ 0.00431663 -0.00177768 0.9999891 0.52053281] [ 0. 0. 0. 1. ]] SLAMing on 83.282557844 meters 0.292919496548468 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998886 -0.00167399 -0.00441431 -0.28205011] [ 0.00168249 0.99999674 0.00192222 -0.15374811] [ 0.00441108 -0.00192963 0.99998841 0.52034743] [ 0. 0. 0. 1. ]] SLAMing on 83.312557844 meters 0.293395411324511 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.52 [[ 0.9999619 0.00799908 -0.00349556 -0.26116743] [-0.00799427 0.99996708 0.00138965 -0.15664208] [ 0.00350656 -0.00136165 0.99999292 0.5204721 ] [ 0. 0. 0. 1. ]] SLAMing on 83.342557844 meters 0.29292150398675887 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998852 -0.00158622 -0.00452178 -0.28171105] [ 0.00159657 0.99999611 0.00228604 -0.15499974] [ 0.00451814 -0.00229323 0.99998716 0.51997434] [ 0. 0. 0. 1. ]] SLAMing on 83.372557844 meters 0.29321232431175887 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.52 [[ 0.99998886 -0.00153902 -0.00446263 -0.28180129] [ 0.00154977 0.99999591 0.00240577 -0.15551661] [ 0.0044589 -0.00241266 0.99998715 0.519841 ] [ 0. 0. 0. 1. ]] SLAMing on 83.402557844 meters 0.2909843081281525 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 0.99996496 0.00595552 -0.00588313 -0.30109078] [-0.00594838 0.99998155 0.00123059 -0.15996434] [ 0.00589035 -0.00119555 0.99998194 0.51869719] [ 0. 0. 0. 1. ]] SLAMing on 83.432557844 meters 0.2928240819589135 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.52 [[ 0.99999022 -0.00195383 -0.00396697 -0.28121604] [ 0.00196135 0.99999629 0.00189181 -0.15537562] [ 0.00396326 -0.00189957 0.99999034 0.51905263] [ 0. 0. 0. 1. ]] SLAMing on 83.462557844 meters 0.29330676954090884 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.52 [[ 0.99999024 -0.00195717 -0.00396121 -0.28124948] [ 0.00196465 0.99999629 0.00188432 -0.15533776] [ 0.00395751 -0.00189208 0.99999038 0.51909403] [ 0. 0. 0. 1. ]] SLAMing on 83.492557844 meters 0.2934081648072372 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99999028 -0.00198957 -0.00393589 -0.28125256] [ 0.00199666 0.99999639 0.00179991 -0.1549902 ] [ 0.0039323 -0.00180775 0.99999063 0.51894724] [ 0. 0. 0. 1. ]] SLAMing on 83.522557844 meters 0.29409905878762443 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99999034 -0.0020164 -0.00390542 -0.28130844] [ 0.00202317 0.99999646 0.00172973 -0.15469427] [ 0.00390191 -0.00173761 0.99999088 0.51888733] [ 0. 0. 0. 1. ]] SLAMing on 83.552557844 meters 0.2935357033109615 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99999002 -0.00212246 -0.00393045 -0.28116205] [ 0.00212818 0.99999668 0.00145132 -0.15353141] [ 0.00392735 -0.00145967 0.99999122 0.51867932] [ 0. 0. 0. 1. ]] SLAMing on 83.58255784400001 meters 0.2933781937520372 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998987 -0.00217187 -0.00394272 -0.28109957] [ 0.00217711 0.99999675 0.00132466 -0.15300317] [ 0.00393983 -0.00133323 0.99999135 0.51860399] [ 0. 0. 0. 1. ]] SLAMing on 83.61255784400001 meters 0.2944004163023498 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 0.99998943 -0.00224871 -0.00400962 -0.28078527] [ 0.00225326 0.99999682 0.00113115 -0.15221636] [ 0.00400706 -0.00114017 0.99999132 0.51827815] [ 0. 0. 0. 1. ]] SLAMing on 83.642557844 meters 0.2938690129770838 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989089e-01 -2.30638754e-03 -4.06244108e-03 -2.80570754e-01] [ 2.31041227e-03 9.99996845e-01 9.86301966e-04 -1.51623386e-01] [ 4.06015347e-03 -9.95677117e-04 9.99991262e-01 5.18100186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672557844 meters 0.29393878614531965 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989089e-01 -2.39432743e-03 -4.01108159e-03 -2.80748465e-01] [ 2.39738291e-03 9.99996840e-01 7.57124562e-04 -1.50642715e-01] [ 4.00925611e-03 -7.66732400e-04 9.99991669e-01 5.18176586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702557844 meters 0.29356503966592 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.52 [[ 9.99989247e-01 -2.48791406e-03 -3.91367314e-03 -2.81115664e-01] [ 2.48993910e-03 9.99996769e-01 5.12639716e-04 -1.49580325e-01] [ 3.91238509e-03 -5.22379011e-04 9.99992210e-01 5.18411763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.732557844 meters 0.2903331804979968 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.15, Z:0.52 [[ 0.99999459 -0.00268567 -0.00189982 -0.32564489] [ 0.00268832 0.99999542 0.00139218 -0.14874758] [ 0.00189607 -0.00139728 0.99999723 0.51864663] [ 0. 0. 0. 1. ]] SLAMing on 83.762557844 meters 0.29304728630072235 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:0.52 [[ 9.99981281e-01 6.11825976e-03 6.82491130e-05 -3.06427761e-01] [-6.11824420e-03 9.99981258e-01 -2.25983113e-04 -1.48298648e-01] [-6.96304572e-05 2.25561318e-04 9.99999972e-01 5.19513185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792557844 meters 0.2923192461441864 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.15, Z:0.52 [[ 9.99981969e-01 6.00501842e-03 4.06141494e-05 -3.06371872e-01] [-6.00499640e-03 9.99981833e-01 -5.22232152e-04 -1.47047087e-01] [-4.37494253e-05 5.21978848e-04 9.99999863e-01 5.19539408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822557844 meters 0.29285730098395246 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.14, Z:0.52 [[ 9.99998233e-01 -1.48518388e-03 1.15268798e-03 -2.87579915e-01] [ 1.48448142e-03 9.99998712e-01 6.10031218e-04 -1.41037753e-01] [-1.15359250e-03 -6.08318996e-04 9.99999150e-01 5.21126313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852557844 meters 0.29201125961098817 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:0.52 [[ 9.99994216e-01 3.31575460e-03 -7.57628329e-04 -3.12041123e-01] [-3.31807084e-03 9.99989762e-01 -3.07669849e-03 -1.38720361e-01] [ 7.47418996e-04 3.07919456e-03 9.99994980e-01 5.23652141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882557844 meters 0.2921586643875871 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.53 [[ 9.99991189e-01 -4.12443957e-03 7.81592905e-04 -2.93185912e-01] [ 4.12592239e-03 9.99989674e-01 -1.90515936e-03 -1.33001454e-01] [-7.73727119e-04 1.90836737e-03 9.99997880e-01 5.25298005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912557844 meters 0.29236835475984607 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.13, Z:0.53 [[ 9.99999939e-01 -1.54947575e-04 3.14382893e-04 -2.92100910e-01] [ 1.54468621e-04 9.99998828e-01 1.52292688e-03 -1.30223082e-01] [-3.14618499e-04 -1.52287822e-03 9.99998791e-01 5.25312678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942557844 meters 0.2936750398490108 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.53 [[ 9.99999331e-01 5.58182687e-04 -1.01335206e-03 -2.51929011e-01] [-5.57663615e-04 9.99999713e-01 5.12443225e-04 -1.25758300e-01] [ 1.01363781e-03 -5.11877772e-04 9.99999355e-01 5.27872166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97255784400001 meters 0.29295055552070776 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.53 [[ 9.99999310e-01 4.86465387e-04 -1.06890270e-03 -2.51774332e-01] [-4.86118331e-04 9.99999829e-01 3.24919764e-04 -1.24975710e-01] [ 1.06906058e-03 -3.24399927e-04 9.99999376e-01 5.27838956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002557844 meters 0.2944131582972661 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.12, Z:0.53 [[ 0.99998735 -0.00474633 0.00166367 -0.2293179 ] [ 0.00474038 0.99998243 0.00355884 -0.12496516] [-0.00168054 -0.00355091 0.99999228 0.52606462] [ 0. 0. 0. 1. ]] SLAMing on 84.032557844 meters 0.29341649531447817 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.52 [[ 9.99989677e-01 5.05126650e-04 4.51570443e-03 -2.44860842e-01] [-5.10103091e-04 9.99999264e-01 1.10094614e-03 -1.25659966e-01] [-4.51514499e-03 -1.10323825e-03 9.99989198e-01 5.21016699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062557844 meters 0.2928634524367942 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.52 [[ 9.99989161e-01 3.86084795e-04 4.64002258e-03 -2.45313709e-01] [-3.89521135e-04 9.99999651e-01 7.39705942e-04 -1.24116334e-01] [-4.63973537e-03 -7.41505311e-04 9.99988961e-01 5.21315371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092557844 meters 0.2928634524367942 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.52 [[ 9.99989161e-01 3.86084795e-04 4.64002258e-03 -2.45313709e-01] [-3.89521135e-04 9.99999651e-01 7.39705942e-04 -1.24116334e-01] [-4.63973537e-03 -7.41505311e-04 9.99988961e-01 5.21315371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122557844 meters 0.2933441225079886 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.12, Z:0.52 [[ 9.99990030e-01 2.53824734e-04 4.45829152e-03 -2.44539834e-01] [-2.55121241e-04 9.99999925e-01 2.90241777e-04 -1.22319441e-01] [-4.45821751e-03 -2.91376288e-04 9.99990020e-01 5.20391063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.152557844 meters 0.2905005310692789 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.52 [[ 9.99993400e-01 -7.17783336e-04 3.56146168e-03 -2.85137441e-01] [ 7.16277137e-04 9.99999654e-01 4.24173610e-04 -1.23831423e-01] [-3.56176491e-03 -4.21619817e-04 9.99993568e-01 5.19175018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182557844 meters 0.2929225124046748 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.52 [[ 9.99995837e-01 2.04554730e-04 2.87822063e-03 -2.46440311e-01] [-2.03303718e-04 9.99999885e-01 -4.34933497e-04 -1.19951450e-01] [-2.87830927e-03 4.34346534e-04 9.99995763e-01 5.22196063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212557844 meters 0.2899135341057898 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.52 [[ 9.99991488e-01 -4.37918006e-04 4.10280350e-03 -2.86447021e-01] [ 4.35882831e-04 9.99999782e-01 4.96925814e-04 -1.23650085e-01] [-4.10302022e-03 -4.95133242e-04 9.99991460e-01 5.20048345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242557844 meters 0.2917004292347546 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.52 [[ 9.99991466e-01 -4.11530489e-04 4.11083596e-03 -2.86524715e-01] [ 4.09194327e-04 9.99999754e-01 5.69118551e-04 -1.23938482e-01] [-4.11106916e-03 -5.67431563e-04 9.99991389e-01 5.20192274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.272557844 meters 0.29076534903508583 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.12, Z:0.52 [[ 9.99991639e-01 -3.59088004e-04 4.07343899e-03 -2.86440561e-01] [ 3.56179615e-04 9.99999681e-01 7.14691533e-04 -1.24546882e-01] [-4.07369433e-03 -7.13234681e-04 9.99991448e-01 5.20231357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302557844 meters 0.2922365806509689 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.12, Z:0.52 [[ 9.99994120e-01 3.42741230e-04 3.41212235e-03 -2.47409343e-01] [-3.44235960e-04 9.99999845e-01 4.37487025e-04 -1.24506909e-01] [-3.41197188e-03 -4.38659027e-04 9.99994083e-01 5.23286177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33255784400001 meters 0.29299614430034804 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99994033e-01 4.50089244e-04 3.42497367e-03 -2.47480865e-01] [-4.52537019e-04 9.99999643e-01 7.13942701e-04 -1.25655704e-01] [-3.42465111e-03 -7.15488369e-04 9.99993880e-01 5.23381913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36255784400001 meters 0.29100771149119226 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99994024e-01 5.42906751e-04 3.41414118e-03 -2.47527130e-01] [-5.46186742e-04 9.99999390e-01 9.59848550e-04 -1.26669576e-01] [-3.41361798e-03 -9.61707573e-04 9.99993711e-01 5.23565965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392557844 meters 0.29350290222903874 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.53 [[ 9.99995052e-01 1.21994918e-03 2.89958256e-03 -2.08447271e-01] [-1.22011723e-03 9.99999254e-01 5.61881870e-05 -1.23926733e-01] [-2.89951185e-03 -5.97257396e-05 9.99995795e-01 5.26298344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422557844 meters 0.2919624482266074 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99994172e-01 1.53187676e-04 3.41052304e-03 -2.46960600e-01] [-1.55319803e-04 9.99999793e-01 6.24905234e-04 -1.28231664e-01] [-3.41042661e-03 -6.25431314e-04 9.99993989e-01 5.23361259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452557844 meters 0.2924408638600176 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.52 [[ 9.99994243e-01 1.62659617e-04 3.38931597e-03 -2.46897853e-01] [-1.64872856e-04 9.99999773e-01 6.52735553e-04 -1.28350200e-01] [-3.38920903e-03 -6.53290601e-04 9.99994043e-01 5.23345183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482557844 meters 0.2944673456658445 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.53 [[ 9.99996909e-01 1.13827677e-03 2.21053251e-03 -2.07090580e-01] [-1.13784552e-03 9.99999333e-01 -1.96335259e-04 -1.24842889e-01] [-2.21075452e-03 1.93819408e-04 9.99997537e-01 5.26077927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.512557844 meters 0.2945198146182002 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.12, Z:0.53 [[ 9.99996968e-01 1.12698392e-03 2.18945683e-03 -2.06942979e-01] [-1.12649515e-03 9.99999340e-01 -2.24458293e-04 -1.24743339e-01] [-2.18970835e-03 2.21991200e-04 9.99997578e-01 5.25865214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542557844 meters 0.29356687567487516 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997139e-01 1.15421487e-03 2.09529656e-03 -2.06599302e-01] [-1.15390750e-03 9.99999323e-01 -1.47898227e-04 -1.25095624e-01] [-2.09546585e-03 1.45480026e-04 9.99997794e-01 5.25640801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.572557844 meters 0.29356687567487516 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997139e-01 1.15421487e-03 2.09529656e-03 -2.06599302e-01] [-1.15390750e-03 9.99999323e-01 -1.47898227e-04 -1.25095624e-01] [-2.09546585e-03 1.45480026e-04 9.99997794e-01 5.25640801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602557844 meters 0.293846935190818 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997274e-01 1.16148550e-03 2.02535537e-03 -2.06327510e-01] [-1.16123540e-03 9.99999318e-01 -1.24657776e-04 -1.25219180e-01] [-2.02549877e-03 1.22305522e-04 9.99997941e-01 5.25431364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.632557844 meters 0.2934134796412037 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997512e-01 1.20373868e-03 1.87812525e-03 -2.05992288e-01] [-1.20373818e-03 9.99999276e-01 -1.39872871e-06 -1.25736531e-01] [-1.87812557e-03 -8.62045830e-07 9.99998236e-01 5.25553489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662557844 meters 0.2942451751818991 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997453e-01 1.27328945e-03 1.86362974e-03 -2.06053770e-01] [-1.27365705e-03 9.99999170e-01 1.96074881e-04 -1.26540907e-01] [-1.86337853e-03 -1.98448007e-04 9.99998244e-01 5.25803606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.692557844 meters 0.29358564592177133 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99997201e-01 1.36682823e-03 1.93148476e-03 -2.06380105e-01] [-1.36772738e-03 9.99998957e-01 4.64278587e-04 -1.27625370e-01] [-1.93084815e-03 -4.66919032e-04 9.99998027e-01 5.26210828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72255784400001 meters 0.29307933117631607 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 9.99996912e-01 1.49222191e-03 1.98750282e-03 -2.06706257e-01] [-1.49388200e-03 9.99998536e-01 8.34044941e-04 -1.29108318e-01] [-1.98625533e-03 -8.37011460e-04 9.99997677e-01 5.26709803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752557844 meters 0.29355183888249864 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 0.99999686 0.00163389 0.00189988 -0.20649643] [-0.00163628 0.99999787 0.00125561 -0.13084098] [-0.00189782 -0.00125871 0.99999741 0.52675996] [ 0. 0. 0. 1. ]] SLAMing on 84.782557844 meters 0.2934555126294616 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 0.99999488 -0.00255344 0.00193046 -0.20623199] [ 0.00255866 0.99999306 -0.00270927 -0.13242687] [-0.00192352 0.00271419 0.99999447 0.52597197] [ 0. 0. 0. 1. ]] SLAMing on 84.812557844 meters 0.2939553267870488 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 0.99999545 -0.00244915 0.00176365 -0.20569598] [ 0.00245341 0.99999408 -0.00241409 -0.13370384] [-0.00175772 0.00241841 0.99999553 0.52571377] [ 0. 0. 0. 1. ]] SLAMing on 84.842557844 meters 0.2931293540169084 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.13, Z:0.53 [[ 0.99999579 -0.00235166 0.00169908 -0.20555127] [ 0.0023553 0.99999492 -0.00214712 -0.13482563] [-0.00169402 0.00215111 0.99999625 0.5257787 ] [ 0. 0. 0. 1. ]] SLAMing on 84.872557844 meters 0.29412058367275534 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:0.53 [[ 0.99997264 0.00661326 0.00331319 -0.18667557] [-0.00660227 0.99997271 -0.00331528 -0.13782727] [-0.00333502 0.00329332 0.99998902 0.52703241] [ 0. 0. 0. 1. ]] SLAMing on 84.902557844 meters 0.29285712017528276 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 0.99998312 -0.00324899 0.00481636 -0.20987231] [ 0.00326121 0.99999148 -0.00253125 -0.13643518] [-0.0048081 0.00254691 0.9999852 0.52746543] [ 0. 0. 0. 1. ]] SLAMing on 84.932557844 meters 0.29274653550310664 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.53 [[ 0.99998306 -0.00323559 0.00483903 -0.20990176] [ 0.00324769 0.99999162 -0.00249438 -0.13659071] [-0.00483092 0.00251006 0.99998518 0.52739992] [ 0. 0. 0. 1. ]] SLAMing on 84.962557844 meters 0.2948011839764566 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.13, Z:0.53 [[ 9.99995866e-01 -9.99451111e-04 2.69613279e-03 -1.67921008e-01] [ 1.00586334e-03 9.99996667e-01 -2.37800099e-03 -1.33774605e-01] [-2.69374711e-03 2.38070310e-03 9.99993538e-01 5.29004336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992557844 meters 0.2935443631113408 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 0.99999616 -0.00138262 0.00240339 -0.20429289] [ 0.00138602 0.99999804 -0.00141662 -0.13655934] [-0.00240143 0.00141994 0.99999611 0.52484268] [ 0. 0. 0. 1. ]] SLAMing on 85.022557844 meters 0.2947729711362336 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.13, Z:0.52 [[ 0.9999791 -0.00638238 0.001032 -0.17912774] [ 0.00638066 0.99997826 0.00166193 -0.12906904] [-0.00104258 -0.00165531 0.99999809 0.5232852 ] [ 0. 0. 0. 1. ]] SLAMing on 85.052557844 meters 0.2940235929044882 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99998437e-01 1.72076151e-03 4.05439457e-04 -2.00079711e-01] [-1.72107220e-03 9.99998225e-01 7.67198427e-04 -1.31293955e-01] [-4.04118571e-04 -7.67895018e-04 9.99999624e-01 5.22985983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08255784400001 meters 0.29431672643747275 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99998575e-01 1.60969020e-03 5.09399410e-04 -2.00512121e-01] [-1.60992681e-03 9.99998596e-01 4.64423670e-04 -1.29950107e-01] [-5.08651117e-04 -4.65243104e-04 9.99999762e-01 5.23354985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11255784400001 meters 0.29496593015085004 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99998591e-01 1.55874734e-03 6.23857106e-04 -2.00975730e-01] [-1.55894674e-03 9.99998734e-01 3.19274415e-04 -1.29297862e-01] [-6.23358648e-04 -3.20246525e-04 9.99999754e-01 5.23775326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142557844 meters 0.29171718463853424 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.52 [[ 9.99998252e-01 -4.74811229e-04 1.80838665e-03 -2.41843883e-01] [ 4.74785409e-04 9.99999887e-01 1.47071019e-05 -1.31445077e-01] [-1.80839343e-03 -1.38484806e-05 9.99998365e-01 5.21825199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172557844 meters 0.29285957264414547 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.52 [[ 9.99998456e-01 -4.90930482e-04 1.68719916e-03 -2.41539026e-01] [ 4.90975824e-04 9.99999879e-01 -2.64599686e-05 -1.31287748e-01] [-1.68718597e-03 2.72883017e-05 9.99998576e-01 5.21803541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202557844 meters 0.29194702547463885 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.13, Z:0.52 [[ 9.99998971e-01 -4.32959888e-04 1.36759882e-03 -2.40520987e-01] [ 4.32661259e-04 9.99999882e-01 2.18647893e-04 -1.32318287e-01] [-1.36769333e-03 -2.18055961e-04 9.99999041e-01 5.21099952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232557844 meters 0.29414276450738963 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999854e-01 2.28753369e-05 5.39819500e-04 -2.01557211e-01] [-2.26368179e-05 9.99999902e-01 -4.41851446e-04 -1.31344789e-01] [-5.39829555e-04 4.41839162e-04 9.99999757e-01 5.24154531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262557844 meters 0.2931015967988227 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999813e-01 1.37855504e-04 5.96041225e-04 -2.01945573e-01] [-1.37803243e-04 9.99999987e-01 -8.77206977e-05 -1.32753756e-01] [-5.96053310e-04 8.76385448e-05 9.99999819e-01 5.24791365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.292557844 meters 0.29157269249892803 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.53 [[ 9.99991137e-01 -4.15055237e-03 7.06528426e-04 -2.02312895e-01] [ 4.15355539e-03 9.99982114e-01 -4.30335213e-03 -1.33232571e-01] [-6.88654501e-04 4.30624859e-03 9.99990491e-01 5.25060218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322557844 meters 0.2927821300491829 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.53 [[ 9.99991663e-01 -4.01668609e-03 7.35324153e-04 -2.02481923e-01] [ 4.01953857e-03 9.99984239e-01 -3.91973247e-03 -1.34805224e-01] [-7.19568229e-04 3.92265545e-03 9.99992047e-01 5.25287846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.352557844 meters 0.2925154890451079 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99992018e-01 -3.92745971e-03 7.34611434e-04 -2.02494599e-01] [ 3.93013514e-03 9.99985518e-01 -3.67668449e-03 -1.35819116e-01] [-7.20160765e-04 3.67954226e-03 9.99992971e-01 5.25321476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382557844 meters 0.29231725926445784 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99992165e-01 -3.89191535e-03 7.22762765e-04 -2.02373830e-01] [ 3.89446839e-03 9.99986061e-01 -3.56517386e-03 -1.36290437e-01] [-7.08877336e-04 3.56796070e-03 9.99993384e-01 5.25081659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412557844 meters 0.2931228400446903 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99992044e-01 -3.93389138e-03 6.60356090e-04 -2.02182675e-01] [ 3.93629566e-03 9.99985482e-01 -3.67994058e-03 -1.35831132e-01] [-6.45870016e-04 3.68251066e-03 9.99993011e-01 5.24987333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442557844 meters 0.29308728816869833 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.53 [[ 9.99991941e-01 -3.97348063e-03 5.74598176e-04 -2.02006227e-01] [ 3.97563092e-03 9.99984912e-01 -3.79082888e-03 -1.35385058e-01] [-5.59526721e-04 3.79308272e-03 9.99992650e-01 5.25070988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47255784400001 meters 0.2939563284287729 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99991901e-01 -3.99821754e-03 4.60194182e-04 -2.01690403e-01] [ 3.99996495e-03 9.99984546e-01 -3.86096886e-03 -1.35114085e-01] [-4.44750077e-04 3.86277835e-03 9.99992441e-01 5.24979022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502557844 meters 0.2928964999864379 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.14, Z:0.52 [[ 9.99990248e-01 4.37801813e-03 -5.80383363e-04 -2.23755247e-01] [-4.38036774e-03 9.99981956e-01 -4.11087543e-03 -1.38654018e-01] [ 5.62375404e-04 4.11337763e-03 9.99991382e-01 5.24961160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532557844 meters 0.29395689887144566 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999196e-01 -9.94523868e-04 -7.86458965e-04 -1.99886947e-01] [ 9.93934804e-04 9.99999226e-01 -7.49044404e-04 -1.36130626e-01] [ 7.87203299e-04 7.48262113e-04 9.99999410e-01 5.24064142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562557844 meters 0.29473160226968775 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999174e-01 -1.03438264e-03 -7.62600121e-04 -1.99845483e-01] [ 1.03372045e-03 9.99999089e-01 -8.68212305e-04 -1.35652105e-01] [ 7.63497489e-04 8.67423273e-04 9.99999332e-01 5.23800443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592557844 meters 0.29447260507621853 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999254e-01 -1.08163787e-03 -5.68038462e-04 -2.00426342e-01] [ 1.08106197e-03 9.99998902e-01 -1.01316726e-03 -1.35010788e-01] [ 5.69133719e-04 1.01255241e-03 9.99999325e-01 5.23985128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622557844 meters 0.2949830266931516 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999261e-01 -1.14717415e-03 -4.02919785e-04 -2.00895017e-01] [ 1.14668970e-03 9.99998622e-01 -1.20053181e-03 -1.34198743e-01] [ 4.04296449e-04 1.20006890e-03 9.99999198e-01 5.24075273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652557844 meters 0.29372220931566967 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999231e-01 -1.20410287e-03 -2.97689600e-04 -2.01132624e-01] [ 1.20369721e-03 9.99998352e-01 -1.35913085e-03 -1.33539824e-01] [ 2.99325643e-04 1.35877147e-03 9.99999032e-01 5.23982761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682557844 meters 0.29412613691799205 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999174e-01 -1.26361674e-03 -2.34400352e-04 -2.01242813e-01] [ 1.26325813e-03 9.99998041e-01 -1.52377344e-03 -1.32863954e-01] [ 2.36325358e-04 1.52347608e-03 9.99998812e-01 5.23850641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712557844 meters 0.2931967891191526 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.13, Z:0.52 [[ 9.99999145e-01 -1.28663474e-03 -2.35356592e-04 -2.01386070e-01] [ 1.28625961e-03 9.99997913e-01 -1.58712201e-03 -1.32571245e-01] [ 2.37398147e-04 1.58681792e-03 9.99998713e-01 5.24195564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742557844 meters 0.2925682437078375 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.53 [[ 9.99992436e-01 3.88886580e-03 7.20949364e-05 -2.25748781e-01] [-3.88845513e-03 9.99979852e-01 -5.01743889e-03 -1.35653105e-01] [-9.16056303e-05 5.01712060e-03 9.99987410e-01 5.25671358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772557844 meters 0.2936508748849119 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 0.99999448 -0.00135751 0.00303318 -0.20431298] [ 0.00136246 0.99999774 -0.00163125 -0.13674022] [-0.00303096 0.00163538 0.99999407 0.52453931] [ 0. 0. 0. 1. ]] SLAMing on 85.802557844 meters 0.2939774426628149 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 0.99999462 -0.00128757 0.00301807 -0.20425915] [ 0.00129189 0.99999814 -0.00143099 -0.13756368] [-0.00301622 0.00143488 0.99999442 0.52451328] [ 0. 0. 0. 1. ]] SLAMing on 85.83255784400001 meters 0.2928995972798959 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 0.99999489 -0.00120354 0.00296017 -0.20407918] [ 0.00120705 0.99999857 -0.00118562 -0.13857733] [-0.00295874 0.00118919 0.99999492 0.52444884] [ 0. 0. 0. 1. ]] SLAMing on 85.86255784400001 meters 0.29360562749472296 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995498e-01 -1.14028196e-03 2.77569732e-03 -2.03554275e-01] [ 1.14300876e-03 9.99998866e-01 -9.80995644e-04 -1.39431451e-01] [-2.77457556e-03 9.84163873e-04 9.99995667e-01 5.24276190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892557844 meters 0.2936172967147895 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995868e-01 -1.04621250e-03 2.67762779e-03 -2.03328260e-01] [ 1.04810545e-03 9.99999202e-01 -7.05643444e-04 -1.40561699e-01] [-2.67688740e-03 7.08446964e-04 9.99996166e-01 5.24335911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922557844 meters 0.29350075041946294 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995989e-01 -9.32353627e-04 2.67440219e-03 -2.03519481e-01] [ 9.33391133e-04 9.99999490e-01 -3.86717783e-04 -1.41865104e-01] [-2.67404027e-03 3.89212496e-04 9.99996349e-01 5.24837892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952557844 meters 0.2938170919796418 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995892e-01 -8.78134086e-04 2.72843882e-03 -2.03709425e-01] [ 8.78792306e-04 9.99999585e-01 -2.40054688e-04 -1.42464034e-01] [-2.72822688e-03 2.42451433e-04 9.99996249e-01 5.24970355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982557844 meters 0.2936654333846086 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995879e-01 -8.26729205e-04 2.74929149e-03 -2.03687515e-01] [ 8.27009931e-04 9.99999653e-01 -1.00973058e-04 -1.43053277e-01] [-2.74920706e-03 1.03246334e-04 9.99996216e-01 5.24797577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.012557844 meters 0.29445071224529124 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996064e-01 -8.13063637e-04 2.68523967e-03 -2.03353764e-01] [ 8.13232639e-04 9.99999667e-01 -6.18461020e-05 -1.43247257e-01] [-2.68518849e-03 6.40295831e-05 9.99996393e-01 5.24393672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042557844 meters 0.29323801350693424 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996039e-01 -8.07347069e-04 2.69646810e-03 -2.03245190e-01] [ 8.07469313e-04 9.99999673e-01 -4.42464302e-05 -1.43338328e-01] [-2.69643150e-03 4.64235701e-05 9.99996364e-01 5.24061424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.072557844 meters 0.29435167950855734 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996053e-01 -8.18070396e-04 2.68803361e-03 -2.03208897e-01] [ 8.18268409e-04 9.99999663e-01 -7.25655994e-05 -1.43224551e-01] [-2.68797334e-03 7.47648459e-05 9.99996385e-01 5.24020580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102557844 meters 0.29437734627410195 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996011e-01 -8.20073800e-04 2.70268562e-03 -2.03235061e-01] [ 8.20287028e-04 9.99999661e-01 -7.77873240e-05 -1.43205783e-01] [-2.70262091e-03 8.00039917e-05 9.99996345e-01 5.23994052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.132557844 meters 0.29438070611703243 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996033e-01 -7.96735306e-04 2.70172020e-03 -2.03242129e-01] [ 7.96761703e-04 9.99999683e-01 -8.69417808e-06 -1.43483045e-01] [-2.70171241e-03 1.08467708e-05 9.99996350e-01 5.24021848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162557844 meters 0.294594017581169 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99996078e-01 -7.56394365e-04 2.69680626e-03 -2.03075862e-01] [ 7.56138173e-04 9.99999710e-01 9.60164630e-05 -1.43947126e-01] [-2.69687811e-03 -9.39769282e-05 9.99996359e-01 5.23677465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.192557844 meters 0.29415988911526697 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995927e-01 -7.18896096e-04 2.76203884e-03 -2.03166238e-01] [ 7.18363622e-04 9.99999723e-01 1.93769929e-04 -1.44368320e-01] [-2.76217737e-03 -1.91784992e-04 9.99996167e-01 5.23502454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22255784400001 meters 0.29420813582398175 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995846e-01 -6.80003061e-04 2.80082190e-03 -2.03216600e-01] [ 6.79172660e-04 9.99999725e-01 2.97424993e-04 -1.44809463e-01] [-2.80102338e-03 -2.95521516e-04 9.99996033e-01 5.23393419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252557844 meters 0.29445487846196183 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.52 [[ 9.99995935e-01 -6.46173361e-04 2.77723499e-03 -2.03111133e-01] [ 6.45087986e-04 9.99999715e-01 3.91689278e-04 -1.45212612e-01] [-2.77748730e-03 -3.89896125e-04 9.99996067e-01 5.23296224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282557844 meters 0.295338560674928 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:0.52 [[ 9.99956637e-01 8.61260718e-03 3.54215093e-03 -1.83171232e-01] [-8.60994209e-03 9.99962640e-01 -7.66954998e-04 -1.47667176e-01] [-3.54862407e-03 7.36424027e-04 9.99993432e-01 5.24192918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312557844 meters 0.2944428916722503 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.52 [[ 9.99998973e-01 -5.49263746e-04 1.32361462e-03 -2.02095927e-01] [ 5.48855031e-04 9.99999802e-01 3.09130554e-04 -1.45456809e-01] [-1.32378416e-03 -3.08403764e-04 9.99999076e-01 5.23777904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342557844 meters 0.29452398010547 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.52 [[ 9.99999063e-01 -5.51579652e-04 1.25260815e-03 -2.01805905e-01] [ 5.51196453e-04 9.99999801e-01 3.06245941e-04 -1.45473608e-01] [-1.25277682e-03 -3.05555221e-04 9.99999169e-01 5.23498003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.372557844 meters 0.2948100781086757 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.52 [[ 9.99999015e-01 -5.69384996e-04 1.28268489e-03 -2.01903529e-01] [ 5.69061010e-04 9.99999806e-01 2.52934660e-04 -1.45246720e-01] [-1.28282865e-03 -2.52204485e-04 9.99999145e-01 5.23546200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402557844 meters 0.2943970344130055 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.15, Z:0.52 [[ 9.99999021e-01 -5.85325588e-04 1.27116854e-03 -2.01888169e-01] [ 5.85061949e-04 9.99999807e-01 2.07760857e-04 -1.45060216e-01] [-1.27128991e-03 -2.07016941e-04 9.99999170e-01 5.23575004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.432557844 meters 0.29456086543379556 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999083e-01 -6.57470931e-04 1.18378085e-03 -2.01586571e-01] [ 6.57441971e-04 9.99999784e-01 2.48534067e-05 -1.44330700e-01] [-1.18379694e-03 -2.40751167e-05 9.99999299e-01 5.23382466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462557844 meters 0.29456086543379556 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999083e-01 -6.57470931e-04 1.18378085e-03 -2.01586571e-01] [ 6.57441971e-04 9.99999784e-01 2.48534067e-05 -1.44330700e-01] [-1.18379694e-03 -2.40751167e-05 9.99999299e-01 5.23382466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.492557844 meters 0.2951623530735158 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99999141e-01 -7.24254459e-04 1.09209026e-03 -2.01282243e-01] [ 7.24417297e-04 9.99999727e-01 -1.48717919e-04 -1.43629960e-01] [-1.09198226e-03 1.49508921e-04 9.99999393e-01 5.23213889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522557844 meters 0.29369991438833026 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.53 [[ 9.99991979e-01 3.89678903e-03 -9.26201568e-04 -2.25177326e-01] [-3.90032386e-03 9.99984998e-01 -3.84582295e-03 -1.42734042e-01] [ 9.11201313e-04 3.84940458e-03 9.99992176e-01 5.25060672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552557844 meters 0.29365398695595807 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.14, Z:0.53 [[ 9.99992173e-01 3.86307546e-03 -8.55065930e-04 -2.25434580e-01] [-3.86641889e-03 9.99984749e-01 -3.94364941e-03 -1.42316447e-01] [ 8.39818274e-04 3.94692458e-03 9.99991858e-01 5.25245628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58255784400001 meters 0.2942313015600901 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.14, Z:0.52 [[ 9.99995372e-01 -1.54946926e-03 2.61830868e-03 -2.04791243e-01] [ 1.55192970e-03 9.99998356e-01 -9.37935251e-04 -1.42081813e-01] [-2.61685108e-03 9.41994341e-04 9.99996132e-01 5.23961024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61255784400001 meters 0.2920204930265625 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.14, Z:0.52 [[ 9.99995152e-01 -1.53749504e-03 2.70768222e-03 -2.05193149e-01] [ 1.53996326e-03 9.99998400e-01 -9.09713742e-04 -1.42159975e-01] [-2.70627921e-03 9.13879063e-04 9.99995920e-01 5.24436840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642557844 meters 0.294312738468233 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998431e-01 1.44839886e-04 1.76574817e-03 -1.65601683e-01] [-1.43533056e-04 9.99999716e-01 -7.40204515e-04 -1.39863105e-01] [-1.76585488e-03 7.39949910e-04 9.99998167e-01 5.27171172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672557844 meters 0.29412839841195915 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998544e-01 1.69651259e-04 1.69781041e-03 -1.65339134e-01] [-1.68512177e-04 9.99999761e-01 -6.71033033e-04 -1.40162548e-01] [-1.69792385e-03 6.70745955e-04 9.99998334e-01 5.26966017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702557844 meters 0.29367217792741723 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.53 [[ 9.99998790e-01 2.20389616e-04 1.54023831e-03 -1.64876727e-01] [-2.19593013e-04 9.99999842e-01 -5.17345136e-04 -1.40816148e-01] [-1.54035208e-03 5.17006284e-04 9.99998680e-01 5.26817954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.732557844 meters 0.2936702264749764 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.53 [[ 9.99998878e-01 2.84796741e-04 1.47046833e-03 -1.64747320e-01] [-2.84319626e-04 9.99999907e-01 -3.24663975e-04 -1.41594382e-01] [-1.47056066e-03 3.24245527e-04 9.99998866e-01 5.26940754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762557844 meters 0.2933063611795221 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998735e-01 3.57292469e-04 1.54983804e-03 -1.65119563e-01] [-3.57120616e-04 9.99999930e-01 -1.11159990e-04 -1.42440557e-01] [-1.54987764e-03 1.10606370e-04 9.99998793e-01 5.27388533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.792557844 meters 0.29228944064092 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998503e-01 5.10120584e-04 1.65337905e-03 -1.65721260e-01] [-5.10677883e-04 9.99999813e-01 3.36662489e-04 -1.44228349e-01] [-1.65320700e-03 -3.37506329e-04 9.99998576e-01 5.28294029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822557844 meters 0.29327190128120606 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998569e-01 5.09346027e-04 1.61294393e-03 -1.65631038e-01] [-5.09890119e-04 9.99999813e-01 3.36935653e-04 -1.44228112e-01] [-1.61277201e-03 -3.37757595e-04 9.99998642e-01 5.28325146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.852557844 meters 0.2925170121489523 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998642e-01 5.33541266e-04 1.55906957e-03 -1.65472549e-01] [-5.34173878e-04 9.99999775e-01 4.05374223e-04 -1.44517633e-01] [-1.55885294e-03 -4.06206487e-04 9.99998702e-01 5.28279480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882557844 meters 0.29242721405139277 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998712e-01 4.97284033e-04 1.52584251e-03 -1.65338991e-01] [-4.97762012e-04 9.99999827e-01 3.12892142e-04 -1.44145562e-01] [-1.52568665e-03 -3.13651245e-04 9.99998787e-01 5.28161940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.912557844 meters 0.29232254013476056 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998760e-01 5.00173123e-04 1.49307554e-03 -1.65272664e-01] [-5.00656739e-04 9.99999822e-01 3.23549894e-04 -1.44186664e-01] [-1.49291344e-03 -3.24297011e-04 9.99998833e-01 5.28202131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942557844 meters 0.29128997003744367 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998694e-01 4.87016673e-04 1.54118940e-03 -1.65427840e-01] [-4.87461148e-04 9.99999840e-01 2.88035364e-04 -1.44032742e-01] [-1.54104887e-03 -2.88786258e-04 9.99998771e-01 5.28281801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97255784400001 meters 0.2924968620139486 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998669e-01 5.24751645e-04 1.54465282e-03 -1.65535499e-01] [-5.25354326e-04 9.99999786e-01 3.89792575e-04 -1.44440294e-01] [-1.54444794e-03 -3.90603546e-04 9.99998731e-01 5.28522118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002557844 meters 0.29209242943618324 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99998852e-01 5.43600585e-04 1.41417855e-03 -1.65209702e-01] [-5.44223127e-04 9.99999755e-01 4.39867169e-04 -1.44654636e-01] [-1.41393909e-03 -4.40636293e-04 9.99998903e-01 5.28549651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032557844 meters 0.2929305722043392 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.53 [[ 9.99999015e-01 5.27968808e-04 1.30052839e-03 -1.64835233e-01] [-5.28493514e-04 9.99999779e-01 4.03145672e-04 -1.44522639e-01] [-1.30031525e-03 -4.03832596e-04 9.99999073e-01 5.28364038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062557844 meters 0.2920118902186594 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:0.53 [[ 0.99998386 0.0053646 -0.00187252 -0.18680697] [-0.00537021 0.99998106 -0.00300551 -0.14373311] [ 0.00185636 0.00301551 0.99999373 0.5298035 ] [ 0. 0. 0. 1. ]] SLAMing on 87.092557844 meters 0.2918384478279404 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:0.53 [[ 0.9999837 0.00538712 -0.00189088 -0.18665305] [-0.00539267 0.99998113 -0.00294174 -0.14400658] [ 0.001875 0.00295188 0.99999389 0.52954827] [ 0. 0. 0. 1. ]] SLAMing on 87.122557844 meters 0.29321665991803814 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:0.53 [[ 0.9999836 0.00542473 -0.00183702 -0.1868274 ] [-0.00542994 0.99998122 -0.00284194 -0.14440884] [ 0.00182157 0.00285187 0.99999427 0.52963783] [ 0. 0. 0. 1. ]] SLAMing on 87.152557844 meters 0.29167671664096545 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:0.53 [[ 0.999983 0.00554383 -0.00180436 -0.18686414] [-0.00554843 0.99998136 -0.00254999 -0.14563491] [ 0.00179019 0.00255996 0.99999512 0.52954475] [ 0. 0. 0. 1. ]] SLAMing on 87.182557844 meters 0.2925208035024429 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 0.99999647 -0.00209239 -0.00163634 -0.16711793] [ 0.0020902 0.99999692 -0.00133684 -0.14216022] [ 0.00163914 0.00133342 0.99999777 0.53102722] [ 0. 0. 0. 1. ]] SLAMing on 87.212557844 meters 0.2927076779231119 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 0.99999647 -0.00203939 -0.00170121 -0.16696132] [ 0.00203736 0.99999721 -0.00119652 -0.14274887] [ 0.00170365 0.00119305 0.99999784 0.53105946] [ 0. 0. 0. 1. ]] SLAMing on 87.242557844 meters 0.2935566789095701 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 0.99999658 -0.00199162 -0.00169272 -0.16706991] [ 0.0019898 0.99999744 -0.00107474 -0.14323838] [ 0.00169485 0.00107136 0.99999799 0.5312587 ] [ 0. 0. 0. 1. ]] SLAMing on 87.272557844 meters 0.2926815705610555 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:0.53 [[ 9.99996759e-01 -1.89919075e-03 -1.69570489e-03 -1.67245208e-01] [ 1.89777423e-03 9.99997849e-01 -8.36577076e-04 -1.44199409e-01] [ 1.69729006e-03 8.33356300e-04 9.99998212e-01 5.31680408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302557844 meters 0.2925943401820012 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.53 [[ 9.99996924e-01 -1.79029661e-03 -1.71666756e-03 -1.67281933e-01] [ 1.78935505e-03 9.99998248e-01 -5.49862264e-04 -1.45376076e-01] [ 1.71764897e-03 5.46788845e-04 9.99998375e-01 5.31900949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33255784400001 meters 0.2933042734085558 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.53 [[ 9.99997108e-01 -1.62667107e-03 -1.77170105e-03 -1.67114717e-01] [ 1.62646162e-03 9.99998670e-01 -1.19653796e-04 -1.47174243e-01] [ 1.77189333e-03 1.16771846e-04 9.99998423e-01 5.31864701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36255784400001 meters 0.2918911964863668 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.15, Z:0.53 [[ 9.99984375e-01 -2.72443660e-03 -4.88135204e-03 -2.09878709e-01] [ 2.72840499e-03 9.99995953e-01 8.06494401e-04 -1.54673722e-01] [ 4.87913504e-03 -8.19800105e-04 9.99987761e-01 5.32906077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392557844 meters 0.29258026992235786 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:0.53 [[ 9.99964758e-01 7.46774092e-03 -3.83605192e-03 -1.88539683e-01] [-7.46452393e-03 9.99971777e-01 8.52252508e-04 -1.58063604e-01] [ 3.84230806e-03 -8.23588172e-04 9.99992279e-01 5.32523842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422557844 meters 0.29344243414854504 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.53 [[ 9.99993909e-01 -2.31939304e-04 -3.48253140e-03 -1.68371373e-01] [ 2.38907399e-04 9.99997970e-01 2.00058805e-03 -1.54129630e-01] [ 3.48206031e-03 -2.00140786e-03 9.99991935e-01 5.33486033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452557844 meters 0.2930711414080949 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.53 [[ 9.99993553e-01 -1.72326247e-04 -3.58655794e-03 -1.68120725e-01] [ 1.80061824e-04 9.99997658e-01 2.15661370e-03 -1.54779671e-01] [ 3.58617790e-03 -2.15724560e-03 9.99991243e-01 5.33543522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482557844 meters 0.29375741592860266 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:0.53 [[ 9.99993339e-01 -7.60934329e-05 -3.64914703e-03 -1.68118466e-01] [ 8.48299140e-05 9.99997131e-01 2.39402093e-03 -1.55753864e-01] [ 3.64895439e-03 -2.39431454e-03 9.99990476e-01 5.33908796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512557844 meters 0.2920053272109281 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.99999596 -0.00207179 -0.00194798 -0.21019874] [ 0.00207676 0.99999458 0.00255318 -0.1598992 ] [ 0.00194268 -0.00255722 0.99999484 0.53303782] [ 0. 0. 0. 1. ]] SLAMing on 87.542557844 meters 0.29291710958297024 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.99999616 -0.00203642 -0.0018782 -0.21036189] [ 0.00204137 0.99999443 0.0026415 -0.16026466] [ 0.00187281 -0.00264532 0.99999475 0.53300775] [ 0. 0. 0. 1. ]] SLAMing on 87.572557844 meters 0.29278623104790863 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.99999629 -0.00204608 -0.00179803 -0.21048457] [ 0.00205078 0.99999448 0.00261394 -0.16015819] [ 0.00179267 -0.00261762 0.99999497 0.53281679] [ 0. 0. 0. 1. ]] SLAMing on 87.602557844 meters 0.29232566216347444 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.9999961 -0.00210364 -0.00183833 -0.21039201] [ 0.00210817 0.99999474 0.00246568 -0.1595394 ] [ 0.00183313 -0.00246955 0.99999527 0.5328282 ] [ 0. 0. 0. 1. ]] SLAMing on 87.632557844 meters 0.29199717112581897 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.9999963 -0.00208171 -0.00175163 -0.21069546] [ 0.00208612 0.99999465 0.00251878 -0.15974335] [ 0.00174637 -0.00252243 0.99999529 0.53302573] [ 0. 0. 0. 1. ]] SLAMing on 87.662557844 meters 0.29432256962816744 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:0.53 [[ 9.99988917e-01 4.34543629e-03 1.81179553e-03 -1.89309370e-01] [-4.34427991e-03 9.99990358e-01 -6.41701578e-04 -1.57844570e-01] [-1.81456654e-03 6.33823519e-04 9.99998153e-01 5.30877746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.692557844 meters 0.2927024369686747 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99994406e-01 -3.30269102e-03 -5.29607568e-04 -2.10247096e-01] [ 3.30381181e-03 9.99992275e-01 2.12955750e-03 -1.59720526e-01] [ 5.22570206e-04 -2.13129531e-03 9.99997592e-01 5.32233406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72255784400001 meters 0.29255269193047995 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99994654e-01 -3.21549751e-03 -5.93945127e-04 -2.10074300e-01] [ 3.21690943e-03 9.99991966e-01 2.39173694e-03 -1.60787048e-01] [ 5.86249731e-04 -2.39363482e-03 9.99996963e-01 5.32221782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752557844 meters 0.29329430744058793 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 0.99999256 -0.00332951 -0.00194754 -0.20651201] [ 0.00333471 0.99999088 0.0026693 -0.16247157] [ 0.00193864 -0.00267577 0.99999454 0.53123483] [ 0. 0. 0. 1. ]] SLAMing on 87.782557844 meters 0.29234499345350295 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99991971e-01 1.23803090e-03 -3.81111122e-03 -2.29936154e-01] [-1.24034234e-03 9.99999048e-01 -6.04197267e-04 -1.65846885e-01] [ 3.81035958e-03 6.08919498e-04 9.99992555e-01 5.32926096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812557844 meters 0.29353469832945145 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:0.53 [[ 9.99992344e-01 -3.90969094e-03 -1.59006342e-04 -2.07926264e-01] [ 3.91009719e-03 9.99988870e-01 2.64031949e-03 -1.70138352e-01] [ 1.48681739e-04 -2.64092101e-03 9.99996502e-01 5.30863703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842557844 meters 0.2921928042028787 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99992411e-01 3.78491504e-03 9.23087865e-04 -2.28054208e-01] [-3.78670183e-03 9.99990945e-01 1.94165707e-03 -1.76662856e-01] [-9.15730500e-04 -1.94513780e-03 9.99997689e-01 5.29658774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872557844 meters 0.2931508458763124 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:0.53 [[ 0.99998899 -0.00362042 0.00298598 -0.20846026] [ 0.00361053 0.99998799 0.00331393 -0.17577156] [-0.00299794 -0.00330311 0.99999005 0.53077722] [ 0. 0. 0. 1. ]] SLAMing on 87.902557844 meters 0.2928300855822539 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:0.53 [[ 0.99998922 -0.00349058 0.00306233 -0.20874242] [ 0.00347938 0.99998726 0.00365665 -0.17718197] [-0.00307505 -0.00364596 0.99998863 0.53097446] [ 0. 0. 0. 1. ]] SLAMing on 87.932557844 meters 0.2938051889716213 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:0.53 [[ 0.99998975 -0.00335709 0.00303684 -0.20862518] [ 0.00334491 0.99998638 0.00400684 -0.17865161] [-0.00305025 -0.00399664 0.99998736 0.53087408] [ 0. 0. 0. 1. ]] SLAMing on 87.962557844 meters 0.2926691501494603 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998867e-01 1.34227987e-03 -6.81601145e-04 -2.28290132e-01] [-1.34171623e-03 9.99998758e-01 8.26713143e-04 -1.81913441e-01] [ 6.82709979e-04 -8.25797690e-04 9.99999426e-01 5.31196613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992557844 meters 0.2927757237863976 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998658e-01 1.39716637e-03 -8.55070453e-04 -2.27818598e-01] [-1.39633434e-03 9.99998552e-01 9.72879062e-04 -1.82527993e-01] [ 8.56428488e-04 -9.71683792e-04 9.99999161e-01 5.31146312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022557844 meters 0.2937549728248005 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999846 0.00142095 -0.00102579 -0.22744334] [-0.00141989 0.99999845 0.00104061 -0.18280558] [ 0.00102726 -0.00103915 0.99999893 0.53129625] [ 0. 0. 0. 1. ]] SLAMing on 88.052557844 meters 0.2934206703866397 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999838 0.00140971 -0.00112264 -0.22719448] [-0.00140857 0.99999849 0.00101646 -0.18270882] [ 0.00112408 -0.00101488 0.99999885 0.531305 ] [ 0. 0. 0. 1. ]] SLAMing on 88.08255784400001 meters 0.2945842557082825 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998478e-01 1.43686854e-03 -9.90109923e-04 -2.27566334e-01] [-1.43578898e-03 9.99998375e-01 1.09019181e-03 -1.82991244e-01] [ 9.91674777e-04 -1.08876856e-03 9.99998916e-01 5.31393511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11255784400001 meters 0.29474502390333773 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998524e-01 1.47518170e-03 -8.80776989e-04 -2.27945661e-01] [-1.47413793e-03 9.99998212e-01 1.18452992e-03 -1.83359789e-01] [ 8.82522811e-04 -1.18322978e-03 9.99998911e-01 5.31611240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142557844 meters 0.2931509460106828 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998506e-01 1.53937639e-03 -7.85899131e-04 -2.28311301e-01] [-1.53832079e-03 9.99997916e-01 1.34201588e-03 -1.83995691e-01] [ 7.87963361e-04 -1.34080491e-03 9.99998791e-01 5.31864887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172557844 meters 0.29274605334968506 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 9.99998365e-01 1.60904617e-03 -8.24814977e-04 -2.28253012e-01] [-1.60778662e-03 9.99997544e-01 1.52545594e-03 -1.84746746e-01] [ 8.27267480e-04 -1.52412732e-03 9.99998496e-01 5.31966982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202557844 meters 0.2926761737043204 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.53 [[ 9.99998043e-01 1.71511910e-03 -9.85942713e-04 -2.27830765e-01] [-1.71331755e-03 9.99996867e-01 1.82517942e-03 -1.85998944e-01] [ 9.89070024e-04 -1.82348662e-03 9.99997848e-01 5.31965146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232557844 meters 0.2924902871788381 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.53 [[ 0.99999767 0.00183562 -0.00113807 -0.22737487] [-0.00183316 0.99999598 0.00216496 -0.18743129] [ 0.00114204 -0.00216287 0.99999701 0.5318098 ] [ 0. 0. 0. 1. ]] SLAMing on 88.262557844 meters 0.2935722680002183 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:0.53 [[ 0.999997 0.00205412 -0.00133308 -0.22694075] [-0.00205035 0.9999939 0.00282597 -0.19011714] [ 0.00133888 -0.00282323 0.99999512 0.53195504] [ 0. 0. 0. 1. ]] SLAMing on 88.292557844 meters 0.29283757090973667 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 9.99999766e-01 -3.82064691e-04 -5.67506584e-04 -2.66062563e-01] [ 3.83671695e-04 9.99995910e-01 2.83428634e-03 -1.93461615e-01] [ 5.66421382e-04 -2.83450341e-03 9.99995822e-01 5.29591966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322557844 meters 0.2929371615783766 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 9.99999756e-01 -3.05285130e-04 -6.28711373e-04 -2.65937443e-01] [ 3.07193663e-04 9.99995339e-01 3.03776968e-03 -1.94302797e-01] [ 6.27781056e-04 -3.03796207e-03 9.99995188e-01 5.29666757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352557844 meters 0.2936030745493964 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.20, Z:0.53 [[ 9.99999739e-01 -2.37638652e-04 -6.82011029e-04 -2.65807636e-01] [ 2.39832931e-04 9.99994790e-01 3.21908992e-03 -1.95057084e-01] [ 6.81242496e-04 -3.21925265e-03 9.99994586e-01 5.29686268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382557844 meters 0.29461638164023923 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.53 [[ 9.99970655e-01 7.44242215e-03 1.81652821e-03 -2.44773405e-01] [-7.44390073e-03 9.99971967e-01 8.08558560e-04 -1.95664238e-01] [-1.81045966e-03 -8.22056889e-04 9.99998023e-01 5.28148304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.412557844 meters 0.29461638164023923 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.53 [[ 9.99970655e-01 7.44242215e-03 1.81652821e-03 -2.44773405e-01] [-7.44390073e-03 9.99971967e-01 8.08558560e-04 -1.95664238e-01] [-1.81045966e-03 -8.22056889e-04 9.99998023e-01 5.28148304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442557844 meters 0.2938917075571365 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999709 -0.0021789 0.00103985 -0.26414721] [ 0.00217684 0.99999566 0.00198338 -0.19337415] [-0.00104417 -0.00198111 0.99999749 0.52787637] [ 0. 0. 0. 1. ]] SLAMing on 88.47255784400001 meters 0.29437909643959315 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999721 -0.00207474 0.00112673 -0.26480119] [ 0.0020722 0.99999532 0.00224859 -0.19441724] [-0.00113139 -0.00224625 0.99999684 0.52890498] [ 0. 0. 0. 1. ]] SLAMing on 88.502557844 meters 0.29311196340992784 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 0.99999727 -0.00203199 0.00115045 -0.26501448] [ 0.00202927 0.99999516 0.00235887 -0.19484723] [-0.00115524 -0.00235653 0.99999656 0.5292467 ] [ 0. 0. 0. 1. ]] SLAMing on 88.532557844 meters 0.2927837088979744 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.20, Z:0.53 [[ 0.99999735 -0.0019936 0.00115263 -0.26501399] [ 0.00199076 0.99999499 0.00246194 -0.19527441] [-0.00115754 -0.00245964 0.99999631 0.52923905] [ 0. 0. 0. 1. ]] SLAMing on 88.562557844 meters 0.2934148335621041 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:0.53 [[ 0.99999745 -0.00195999 0.00112569 -0.26486197] [ 0.00195711 0.99999482 0.00255347 -0.19567015] [-0.00113069 -0.00255126 0.99999611 0.52904843] [ 0. 0. 0. 1. ]] SLAMing on 88.592557844 meters 0.2930583639540261 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:0.53 [[ 0.99999751 -0.00192678 0.00112962 -0.26485595] [ 0.00192379 0.99999466 0.00264146 -0.19603839] [-0.0011347 -0.00263928 0.99999587 0.52901641] [ 0. 0. 0. 1. ]] SLAMing on 88.622557844 meters 0.2946971789155649 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:0.53 [[ 0.99999764 -0.00188766 0.00107962 -0.26476399] [ 0.00188469 0.99999445 0.00274616 -0.19646789] [-0.0010848 -0.00274412 0.99999565 0.52910146] [ 0. 0. 0. 1. ]] SLAMing on 88.652557844 meters 0.29305497037483236 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.53 [[ 9.99995491e-01 2.92655264e-03 -6.73586340e-04 -2.87974373e-01] [-2.92693963e-03 9.99995552e-01 -5.74257611e-04 -1.97813973e-01] [ 6.71902749e-04 5.76226568e-04 9.99999608e-01 5.30801732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682557844 meters 0.2935188079532825 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.53 [[ 9.99995352e-01 2.97326544e-03 -6.74695942e-04 -2.87935784e-01] [-2.97356859e-03 9.99995478e-01 -4.48756688e-04 -1.98344757e-01] [ 6.73358618e-04 4.50760857e-04 9.99999672e-01 5.30717792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712557844 meters 0.29411486317144503 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.53 [[ 9.99995339e-01 2.98902032e-03 -6.22867527e-04 -2.87965444e-01] [-2.98927625e-03 9.99995448e-01 -4.10366536e-04 -1.98526590e-01] [ 6.21638098e-04 4.12226547e-04 9.99999722e-01 5.30478518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742557844 meters 0.293852293857936 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.53 [[ 9.99995370e-01 2.98408603e-03 -5.96339472e-04 -2.88037426e-01] [-2.98433968e-03 9.99995457e-01 -4.24906954e-04 -1.98464478e-01] [ 5.95068803e-04 4.26684666e-04 9.99999732e-01 5.30484719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772557844 meters 0.2938030030759847 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:0.53 [[ 9.99995425e-01 2.96116183e-03 -6.17637601e-04 -2.87936459e-01] [-2.96146098e-03 9.99995498e-01 -4.83992201e-04 -1.98229587e-01] [ 6.16201641e-04 4.85819097e-04 9.99999692e-01 5.30380070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802557844 meters 0.2951955142742038 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:0.53 [[ 9.99998264e-01 -1.86356206e-03 3.71141267e-06 -2.63027762e-01] [ 1.86354409e-03 9.99994256e-01 2.83095053e-03 -1.96718287e-01] [-8.98704336e-06 -2.83093870e-03 9.99995993e-01 5.28211150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83255784400001 meters 0.2952216512470489 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:0.53 [[ 9.99998115e-01 -1.94157232e-03 -1.18507892e-05 -2.62913415e-01] [ 1.94159672e-03 9.99994676e-01 2.62255964e-03 -1.95867593e-01] [ 6.75883695e-06 -2.62257771e-03 9.99996561e-01 5.28040913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86255784400001 meters 0.29451944643821876 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:0.53 [[ 9.99982399e-01 5.91180976e-03 -5.02373643e-04 -2.84354958e-01] [-5.91081925e-03 9.99980628e-01 1.95077640e-03 -1.98448866e-01] [ 5.13896530e-04 -1.94777262e-03 9.99997971e-01 5.27769446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892557844 meters 0.2951944818459147 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 9.99998599e-01 -1.43394676e-03 8.63704998e-04 -2.65761773e-01] [ 1.43135323e-03 9.99994488e-01 2.99595853e-03 -1.92935757e-01] [-8.67996282e-04 -2.99471806e-03 9.99995139e-01 5.29196786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922557844 meters 0.2945640651160027 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 9.99993270e-01 3.15174153e-03 -1.87777216e-03 -2.88313821e-01] [-3.15293907e-03 9.99994828e-01 -6.35125655e-04 -1.91277823e-01] [ 1.87576070e-03 6.41041882e-04 9.99998035e-01 5.31131756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952557844 meters 0.2947639326753294 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 9.99989704e-01 -4.35969012e-03 -1.25868857e-03 -2.68500119e-01] [ 4.36005412e-03 9.99990454e-01 2.86590132e-04 -1.86822414e-01] [ 1.25742711e-03 -2.92075131e-04 9.99999167e-01 5.32172753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982557844 meters 0.29577785247753957 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:0.53 [[ 9.99989280e-01 -4.41062192e-03 -1.40961185e-03 -2.67849018e-01] [ 4.41083894e-03 9.99990261e-01 1.50890089e-04 -1.86367416e-01] [ 1.40893260e-03 -1.57106043e-04 9.99998995e-01 5.31460753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012557844 meters 0.2947124646071911 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 0.99999163 0.00300946 -0.00277317 -0.2866097 ] [-0.00301235 0.99999492 -0.00103772 -0.1901877 ] [ 0.00277003 0.00104607 0.99999562 0.53014492] [ 0. 0. 0. 1. ]] SLAMing on 89.042557844 meters 0.29443242322173535 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 0.99999171 0.002962 -0.00279473 -0.28661252] [-0.00296525 0.99999493 -0.00116083 -0.18966079] [ 0.00279128 0.00116911 0.99999542 0.53027968] [ 0. 0. 0. 1. ]] SLAMing on 89.072557844 meters 0.29594921625855114 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 9.99998227e-01 -1.86255564e-03 2.76082830e-04 -2.64382690e-01] [ 1.86199846e-03 9.99996257e-01 2.00488398e-03 -1.90048585e-01] [-2.79816004e-04 -2.00436636e-03 9.99997952e-01 5.28630242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102557844 meters 0.2949399138443999 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 9.99989987e-01 3.83990081e-03 -2.29817456e-03 -2.85072875e-01] [-3.84166991e-03 9.99992327e-01 -7.65869891e-04 -1.91458193e-01] [ 2.29521607e-03 7.74691051e-04 9.99997066e-01 5.29785290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132557844 meters 0.29506658831282506 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 9.99990145e-01 3.82425961e-03 -2.25508923e-03 -2.85117180e-01] [-3.82609389e-03 9.99992353e-01 -8.09645616e-04 -1.91286756e-01] [ 2.25197569e-03 8.18265820e-04 9.99997130e-01 5.29631453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162557844 meters 0.29467549815529204 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 9.99990287e-01 3.79780203e-03 -2.23659287e-03 -2.85162031e-01] [-3.79977817e-03 9.99992394e-01 -8.79960526e-04 -1.90993155e-01] [ 2.23323394e-03 8.88450536e-04 9.99997112e-01 5.29624557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192557844 meters 0.29458736825993825 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:0.53 [[ 9.99990562e-01 3.77790760e-03 -2.14541514e-03 -2.85387162e-01] [-3.77992487e-03 9.99992417e-01 -9.36998599e-04 -1.90753461e-01] [ 2.14185897e-03 9.45099264e-04 9.99997260e-01 5.29603332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22255784400001 meters 0.29622575659608175 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999792 -0.00177668 0.00100538 -0.26438234] [ 0.00177497 0.99999698 0.00169949 -0.19056217] [-0.0010084 -0.0016977 0.99999805 0.5281929 ] [ 0. 0. 0. 1. ]] SLAMing on 89.252557844 meters 0.29520786373378727 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999793 -0.00173362 0.00106848 -0.26460209] [ 0.00173168 0.99999686 0.00180929 -0.19100397] [-0.00107161 -0.00180744 0.99999779 0.52832588] [ 0. 0. 0. 1. ]] SLAMing on 89.282557844 meters 0.2962020120437247 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999812 -0.00163871 0.00103299 -0.26446827] [ 0.00163659 0.99999655 0.00205291 -0.19203887] [-0.00103635 -0.00205122 0.99999736 0.52824265] [ 0. 0. 0. 1. ]] SLAMing on 89.312557844 meters 0.2953092789003661 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 9.99998283e-01 -1.58825460e-03 9.54224861e-04 -2.64133466e-01] [ 1.58616071e-03 9.99996342e-01 2.19109812e-03 -1.92659362e-01] [-9.57701392e-04 -2.18958080e-03 9.99997144e-01 5.27935571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342557844 meters 0.2962824038654861 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.53 [[ 9.99977953e-01 6.10554582e-03 2.61071464e-03 -2.42933824e-01] [-6.10415463e-03 9.99981223e-01 -5.40513983e-04 -1.93683124e-01] [-2.61396576e-03 5.24565860e-04 9.99996446e-01 5.26663239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372557844 meters 0.2962156069293645 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.53 [[ 9.99977418e-01 6.18629216e-03 2.62561402e-03 -2.43010821e-01] [-6.18544562e-03 9.99980815e-01 -3.30411635e-04 -1.94552925e-01] [-2.62760767e-03 3.14163581e-04 9.99996498e-01 5.26746974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402557844 meters 0.29536894912757644 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.53 [[ 9.99976387e-01 6.32387012e-03 2.68950149e-03 -2.43455871e-01] [-6.32402098e-03 9.99980002e-01 4.75934064e-05 -1.96077089e-01] [-2.68914673e-03 -6.46007465e-05 9.99996382e-01 5.27443490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432557844 meters 0.2960273293489114 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:0.53 [[ 9.99976168e-01 6.36402039e-03 2.67636031e-03 -2.43507552e-01] [-6.36445494e-03 9.99979735e-01 1.53880697e-04 -1.96501944e-01] [-2.67532677e-03 -1.70910604e-04 9.99996407e-01 5.27636041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462557844 meters 0.2944128606332151 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999448 -0.00296758 0.00149482 -0.26216585] [ 0.00296526 0.9999944 0.00154937 -0.1943287 ] [-0.00149941 -0.00154493 0.99999768 0.5265048 ] [ 0. 0. 0. 1. ]] SLAMing on 89.492557844 meters 0.29556436158363597 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 0.99999464 -0.00294076 0.00144074 -0.26198312] [ 0.00293842 0.99999436 0.00162396 -0.19465076] [-0.00144551 -0.00161972 0.99999764 0.52640121] [ 0. 0. 0. 1. ]] SLAMing on 89.522557844 meters 0.29634696113763265 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.53 [[ 0.99998047 0.00465827 0.0041668 -0.24185466] [-0.00465359 0.99998853 -0.00113135 -0.19377174] [-0.00417203 0.00111194 0.99999068 0.52535712] [ 0. 0. 0. 1. ]] SLAMing on 89.552557844 meters 0.2953232116632909 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.52 [[ 9.99985582e-01 -4.83018651e-03 2.34610909e-03 -2.60238483e-01] [ 4.83048905e-03 9.99988326e-01 -1.23302023e-04 -1.90668721e-01] [-2.34548613e-03 1.34633100e-04 9.99997240e-01 5.24720449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58255784400001 meters 0.2945015624128847 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:0.52 [[ 9.99996266e-01 2.70126963e-03 4.14334418e-04 -2.80308410e-01] [-2.70088146e-03 9.99995916e-01 -9.34570861e-04 -1.93556354e-01] [-4.16857254e-04 9.33448303e-04 9.99999477e-01 5.24287191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61255784400001 meters 0.2978205381149663 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.53 [[ 9.99991760e-01 3.98742336e-03 -7.61300792e-04 -2.41029066e-01] [-3.98920291e-03 9.99989281e-01 -2.35047759e-03 -1.88826305e-01] [ 7.51920282e-04 2.35349521e-03 9.99996948e-01 5.26873308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642557844 meters 0.2962418085644569 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.53 [[ 9.99992077e-01 3.91665602e-03 -7.11459408e-04 -2.41089202e-01] [-3.91845428e-03 9.99989087e-01 -2.54400134e-03 -1.88034427e-01] [ 7.01487665e-04 2.54676901e-03 9.99996511e-01 5.26714962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672557844 meters 0.2973138784497261 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:0.53 [[ 9.99997972e-01 -1.13486276e-03 1.66355248e-03 -2.19364931e-01] [ 1.13383192e-03 9.99999165e-01 6.20469500e-04 -1.86434085e-01] [-1.66425524e-03 -6.18582053e-04 9.99998424e-01 5.25442449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702557844 meters 0.29623208542377716 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.52 [[ 9.99989802e-01 -3.38521499e-03 2.98948918e-03 -2.60760855e-01] [ 3.38378224e-03 9.99994158e-01 4.84190206e-04 -1.88088735e-01] [-2.99111081e-03 -4.74069487e-04 9.99995414e-01 5.24377259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732557844 meters 0.2980621048826454 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.53 [[ 9.99997366e-01 -1.43497981e-03 1.79116347e-03 -2.21758275e-01] [ 1.43560668e-03 9.99998909e-01 -3.48744251e-04 -1.83604945e-01] [-1.79066107e-03 3.51314738e-04 9.99998335e-01 5.27062468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762557844 meters 0.29736184356016115 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.53 [[ 9.99997250e-01 -1.54105338e-03 1.76787991e-03 -2.21499397e-01] [ 1.54214950e-03 9.99998619e-01 -6.18821862e-04 -1.82514203e-01] [-1.76692384e-03 6.21546495e-04 9.99998246e-01 5.26621162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792557844 meters 0.29596427316780904 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.52 [[ 0.99999483 -0.00204257 0.00248415 -0.26015075] [ 0.00203982 0.9999973 0.00110905 -0.18446639] [-0.00248641 -0.00110398 0.9999963 0.52387282] [ 0. 0. 0. 1. ]] SLAMing on 89.822557844 meters 0.296434405497435 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:0.52 [[ 9.99963947e-01 7.34262554e-03 4.26514909e-03 -2.41977761e-01] [-7.34115111e-03 9.99972988e-01 -3.61246052e-04 -1.85043022e-01] [-4.26768637e-03 3.29921924e-04 9.99990839e-01 5.24969329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852557844 meters 0.29703290264883025 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.18, Z:0.53 [[ 9.99964083e-01 7.33394865e-03 4.24804635e-03 -2.42016095e-01] [-7.33237392e-03 9.99973043e-01 -3.86149614e-04 -1.84924089e-01] [-4.25076384e-03 3.54987480e-04 9.99990902e-01 5.25166754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882557844 meters 0.2947510523310559 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:0.53 [[ 9.99998316e-01 -6.26996929e-04 1.72459280e-03 -2.63381030e-01] [ 6.23644523e-04 9.99997916e-01 1.94373375e-03 -1.86083849e-01] [-1.72580793e-03 -1.94265495e-03 9.99996624e-01 5.27136335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912557844 meters 0.2976316762201606 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.53 [[ 9.99997827e-01 7.15263632e-04 1.95835822e-03 -2.23932774e-01] [-7.17622893e-04 9.99999017e-01 1.20427594e-03 -1.82247190e-01] [-1.95749492e-03 -1.20567869e-03 9.99997357e-01 5.28652818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942557844 meters 0.2972547364637509 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.53 [[ 9.99997719e-01 7.16676574e-04 2.01200633e-03 -2.24039546e-01] [-7.19103469e-04 9.99999015e-01 1.20574203e-03 -1.82255419e-01] [-2.01114022e-03 -1.20718612e-03 9.99997249e-01 5.28580854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97255784400001 meters 0.2962902985754682 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.18, Z:0.53 [[ 9.99997886e-01 7.27588149e-04 1.92316197e-03 -2.23774747e-01] [-7.29973853e-04 9.99998965e-01 1.24010058e-03 -1.82413425e-01] [-1.92225770e-03 -1.24150181e-03 9.99997382e-01 5.28488977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002557844 meters 0.2957519165089554 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:0.53 [[ 9.99986791e-01 5.09368897e-03 6.87055269e-04 -2.47090039e-01] [-5.09196666e-03 9.99983947e-01 -2.48567627e-03 -1.85160037e-01] [-6.99705501e-04 2.48214497e-03 9.99996675e-01 5.29802734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032557844 meters 0.2966282523336512 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999595 -0.00216961 0.0018421 -0.22810682] [ 0.00217178 0.99999695 -0.00117593 -0.18168375] [-0.00183954 0.00117992 0.99999761 0.53169744] [ 0. 0. 0. 1. ]] SLAMing on 90.062557844 meters 0.29698606731485405 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999593 -0.00217316 0.00184615 -0.22816775] [ 0.00217535 0.99999693 -0.00118393 -0.18163677] [-0.00184357 0.00118794 0.9999976 0.53181397] [ 0. 0. 0. 1. ]] SLAMing on 90.092557844 meters 0.29712162592354363 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999587 -0.00220004 0.00185164 -0.22815431] [ 0.00220237 0.99999679 -0.00125514 -0.18134259] [-0.00184887 0.00125922 0.9999975 0.53174611] [ 0. 0. 0. 1. ]] SLAMing on 90.122557844 meters 0.29746236798397097 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999585 -0.00223199 0.00182134 -0.2279682 ] [ 0.00223443 0.99999661 -0.00133908 -0.18101548] [-0.00181834 0.00134314 0.99999744 0.531487 ] [ 0. 0. 0. 1. ]] SLAMing on 90.152557844 meters 0.2974389340499042 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999576 -0.00228402 0.00180455 -0.2278283 ] [ 0.00228668 0.9999963 -0.00147541 -0.18046786] [-0.00180118 0.00147953 0.99999728 0.53125564] [ 0. 0. 0. 1. ]] SLAMing on 90.182557844 meters 0.29785370226677077 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999526 -0.00247282 0.00183503 -0.22774168] [ 0.00247655 0.99999487 -0.00203366 -0.17821932] [-0.00182999 0.0020382 0.99999625 0.53081199] [ 0. 0. 0. 1. ]] SLAMing on 90.212557844 meters 0.29762440350482877 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999488 -0.00259462 0.0018749 -0.22782127] [ 0.00259906 0.99999381 -0.00236964 -0.17683467] [-0.00186874 0.0023745 0.99999543 0.5307403 ] [ 0. 0. 0. 1. ]] SLAMing on 90.242557844 meters 0.29786895024158944 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:0.53 [[ 0.99999435 -0.00270229 0.00199971 -0.2281826 ] [ 0.00270764 0.99999274 -0.00267981 -0.17554025] [-0.00199246 0.00268521 0.99999441 0.53083249] [ 0. 0. 0. 1. ]] SLAMing on 90.272557844 meters 0.29594488127574925 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 0.99999394 -0.00281292 0.0020533 -0.22841938] [ 0.00281906 0.99999155 -0.00299262 -0.17421873] [-0.00204487 0.00299839 0.99999341 0.53106944] [ 0. 0. 0. 1. ]] SLAMing on 90.302557844 meters 0.29594488127574925 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 0.99999394 -0.00281292 0.0020533 -0.22841938] [ 0.00281906 0.99999155 -0.00299262 -0.17421873] [-0.00204487 0.00299839 0.99999341 0.53106944] [ 0. 0. 0. 1. ]] SLAMing on 90.33255784400001 meters 0.29635109773570445 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 0.99999349 -0.00295324 0.00207324 -0.2284946 ] [ 0.00296023 0.99998991 -0.00337802 -0.17261405] [-0.00206324 0.00338413 0.99999215 0.5311117 ] [ 0. 0. 0. 1. ]] SLAMing on 90.36255784400001 meters 0.29670571005459717 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997393e-01 1.12584137e-03 1.98650747e-03 -2.28135482e-01] [-1.12641348e-03 9.99999324e-01 2.86902322e-04 -1.69939705e-01] [-1.98618312e-03 -2.89139203e-04 9.99997986e-01 5.30706978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392557844 meters 0.2974450701788016 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997376e-01 9.48254201e-04 2.08517018e-03 -2.28312294e-01] [-9.47897875e-04 9.99999536e-01 -1.71867384e-04 -1.68025978e-01] [-2.08533219e-03 1.69890405e-04 9.99997811e-01 5.30504184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422557844 meters 0.2964692397433515 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997221e-01 8.55509596e-04 2.19675933e-03 -2.28647606e-01] [-8.54592974e-04 9.99999547e-01 -4.18165538e-04 -1.66983770e-01] [-2.19711608e-03 4.16287041e-04 9.99997500e-01 5.30612102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452557844 meters 0.29623047258468144 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997065e-01 7.85526833e-04 2.29192888e-03 -2.29005409e-01] [-7.84143259e-04 9.99999510e-01 -6.04508633e-04 -1.66176595e-01] [-2.29240261e-03 6.02709658e-04 9.99997191e-01 5.30882238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482557844 meters 0.29728811770479013 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997100e-01 7.33931148e-04 2.29394740e-03 -2.29037606e-01] [-7.32224147e-04 9.99999454e-01 -7.44884075e-04 -1.65592922e-01] [-2.29449285e-03 7.43202231e-04 9.99997091e-01 5.30940248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512557844 meters 0.29652666512315395 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 9.99977819e-01 -6.61880772e-03 -7.43426166e-04 -2.49522732e-01] [ 6.62022433e-03 9.99976244e-01 1.91949377e-03 -1.66423503e-01] [ 7.30703745e-04 -1.92437284e-03 9.99997881e-01 5.32302014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542557844 meters 0.29525959250818906 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 0.99999415 0.00153126 -0.00305896 -0.26917001] [-0.001527 0.99999786 0.00139359 -0.16926069] [ 0.00306109 -0.00138892 0.99999435 0.53252085] [ 0. 0. 0. 1. ]] SLAMing on 90.572557844 meters 0.2956956390724961 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 9.99993545e-01 -3.58278539e-03 2.70455238e-04 -2.47540764e-01] [ 3.58155416e-03 9.99983803e-01 4.42335099e-03 -1.69799997e-01] [-2.86298775e-04 -4.42235379e-03 9.99990180e-01 5.30961874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602557844 meters 0.29702533556488997 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 9.99993391e-01 -3.61961982e-03 3.41775855e-04 -2.47891596e-01] [ 3.61810933e-03 9.99984118e-01 4.32128570e-03 -1.69330912e-01] [-3.57411839e-04 -4.32002056e-03 9.99990605e-01 5.31363360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632557844 meters 0.29720130882297585 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 9.99993171e-01 -3.68144480e-03 3.24147708e-04 -2.47911603e-01] [ 3.68006574e-03 9.99984588e-01 4.15691595e-03 -1.68632115e-01] [-3.39446169e-04 -4.15569468e-03 9.99991307e-01 5.31505754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662557844 meters 0.2968483452797773 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99985192e-01 5.39830020e-03 6.88609965e-04 -2.27733224e-01] [-5.39996122e-03 9.99982459e-01 2.43351977e-03 -1.68424461e-01] [-6.75461016e-04 -2.43720220e-03 9.99996802e-01 5.32375215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692557844 meters 0.2987888701242763 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99997354e-01 -2.22913610e-03 5.68175831e-04 -2.07993661e-01] [ 2.22721068e-03 9.99991851e-01 3.36718508e-03 -1.63151077e-01] [-5.75677115e-04 -3.36591072e-03 9.99994170e-01 5.33721662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72255784400001 meters 0.2961659873024984 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.54 [[ 9.99993114e-01 2.53598408e-03 -2.70922221e-03 -2.29925054e-01] [-2.53631033e-03 9.99996777e-01 -1.16994944e-04 -1.61243360e-01] [ 2.70891678e-03 1.23865567e-04 9.99996323e-01 5.35453455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75255784400001 meters 0.2991473946642426 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.16, Z:0.53 [[ 9.99996688e-01 -2.40121648e-03 -9.26266147e-04 -2.05657641e-01] [ 2.40411466e-03 9.99992179e-01 3.14056525e-03 -1.61118832e-01] [ 9.18717725e-04 -3.14278169e-03 9.99994639e-01 5.33167632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782557844 meters 0.2972109226304937 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.99998336 0.00503177 -0.00282209 -0.2249897 ] [-0.00502577 0.9999851 0.00213026 -0.16539673] [ 0.00283277 -0.00211604 0.99999375 0.53219927] [ 0. 0. 0. 1. ]] SLAMing on 90.812557844 meters 0.29908629805654613 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:0.53 [[ 0.9999929 -0.00293929 -0.00235933 -0.2040228 ] [ 0.00294583 0.99999181 0.00277531 -0.16125137] [ 0.00235115 -0.00278224 0.99999337 0.53255331] [ 0. 0. 0. 1. ]] SLAMing on 90.842557844 meters 0.29811604079906034 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.99998331 0.00436985 -0.00377961 -0.22253192] [-0.00436421 0.99998935 0.0014986 -0.16630071] [ 0.00378612 -0.00148208 0.99999173 0.53103394] [ 0. 0. 0. 1. ]] SLAMing on 90.872557844 meters 0.29612195723728557 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 0.99999458 0.00185166 -0.00272158 -0.26199495] [-0.0018485 0.99999761 0.00116365 -0.16843032] [ 0.00272373 -0.00115862 0.99999562 0.5283265 ] [ 0. 0. 0. 1. ]] SLAMing on 90.902557844 meters 0.2983015273574048 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99991081e-01 2.62536111e-03 -3.30828918e-03 -2.23324671e-01] [-2.62533208e-03 9.99996554e-01 1.31162853e-05 -1.66099812e-01] [ 3.30831221e-03 -4.43081058e-06 9.99994528e-01 5.31381730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.932557844 meters 0.29698385734999927 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.53 [[ 9.99968764e-01 -7.26700528e-03 -3.10835808e-03 -2.44993978e-01] [ 7.26952684e-03 9.99973256e-01 8.00691774e-04 -1.64325548e-01] [ 3.10245632e-03 -8.23263056e-04 9.99994848e-01 5.31313151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962557844 meters 0.29955751376495815 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 9.99997041e-01 2.14657704e-03 -1.14450452e-03 -2.25312792e-01] [-2.14657875e-03 9.99997696e-01 -2.70834226e-07 -1.66111730e-01] [ 1.14450130e-03 2.72760251e-06 9.99999345e-01 5.31562831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.992557844 meters 0.2974387475434692 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 0.99998086 -0.00518599 -0.00337394 -0.24686529] [ 0.00519576 0.99998232 0.0028936 -0.16703393] [ 0.00335887 -0.00291108 0.99999012 0.53325054] [ 0. 0. 0. 1. ]] SLAMing on 91.022557844 meters 0.2976903134147235 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 0.99998084 -0.00515222 -0.0034319 -0.24668154] [ 0.00516247 0.99998222 0.00298427 -0.16742515] [ 0.00341647 -0.00300193 0.99998966 0.53317567] [ 0. 0. 0. 1. ]] SLAMing on 91.052557844 meters 0.29720154156508805 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.53 [[ 0.99998112 -0.00510588 -0.00341857 -0.24670636] [ 0.0051165 0.99998209 0.00310495 -0.16792643] [ 0.00340265 -0.00312238 0.99998934 0.53316467] [ 0. 0. 0. 1. ]] SLAMing on 91.08255784400001 meters 0.2978013493706191 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 0.9999914 0.00394734 -0.00127231 -0.22839627] [-0.00394497 0.99999049 0.00186097 -0.17048584] [ 0.00127964 -0.00185593 0.99999746 0.53418403] [ 0. 0. 0. 1. ]] SLAMing on 91.11255784400001 meters 0.29695442967125674 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.53 [[ 0.99999148 0.00396226 -0.00115393 -0.2288972 ] [-0.00396007 0.99999036 0.00189619 -0.17056047] [ 0.00116144 -0.00189161 0.99999754 0.53469207] [ 0. 0. 0. 1. ]] SLAMing on 91.142557844 meters 0.2971529234505805 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.54 [[ 0.99999144 0.00400521 -0.00103492 -0.22938025] [-0.00400312 0.99998998 0.00200549 -0.17098021] [ 0.00104295 -0.00200133 0.99999745 0.53513521] [ 0. 0. 0. 1. ]] SLAMing on 91.172557844 meters 0.29823048543602215 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.54 [[ 9.99991243e-01 4.06382420e-03 -9.99431364e-04 -2.29585487e-01] [-4.06165804e-03 9.99989419e-01 2.15995646e-03 -1.71597109e-01] [ 1.00819847e-03 -2.15587820e-03 9.99997168e-01 5.35403781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202557844 meters 0.29886903225232664 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.17, Z:0.54 [[ 9.99999432e-01 -2.79978546e-04 -1.02796602e-03 -2.29402322e-01] [ 2.77751242e-04 9.99997615e-01 -2.16621343e-03 -1.71630318e-01] [ 1.02857006e-03 2.16592668e-03 9.99997125e-01 5.35098128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232557844 meters 0.2977661015381544 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.18, Z:0.53 [[ 9.99998812e-01 -1.36627379e-03 -7.13246987e-04 -2.66593645e-01] [ 1.36539359e-03 9.99998308e-01 -1.23310515e-03 -1.75000345e-01] [ 7.14930539e-04 1.23212982e-03 9.99998985e-01 5.31337819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262557844 meters 0.2969240451588962 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998766e-01 -1.39119197e-03 -7.29764874e-04 -2.66398448e-01] [ 1.39024247e-03 9.99998189e-01 -1.30000271e-03 -1.74752384e-01] [ 7.31572105e-04 1.29898655e-03 9.99998889e-01 5.30962099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.292557844 meters 0.29749379563321954 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998746e-01 -1.42048846e-03 -7.00052855e-04 -2.66400905e-01] [ 1.41951857e-03 9.99998035e-01 -1.38400479e-03 -1.74421483e-01] [ 7.02017442e-04 1.38300932e-03 9.99998797e-01 5.30784441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322557844 meters 0.29851060903540766 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998689e-01 -1.48175701e-03 -6.52926393e-04 -2.66460920e-01] [ 1.48073549e-03 9.99997683e-01 -1.56224205e-03 -1.73703237e-01] [ 6.55239743e-04 1.56127319e-03 9.99998567e-01 5.30638637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.352557844 meters 0.29754645805820884 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998599e-01 -1.53252906e-03 -6.72647346e-04 -2.66405898e-01] [ 1.53138610e-03 9.99997388e-01 -1.69643859e-03 -1.73147862e-01] [ 6.75245431e-04 1.69540613e-03 9.99998335e-01 5.30623807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382557844 meters 0.2979410078355562 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.17, Z:0.53 [[ 9.99998483e-01 -1.57542413e-03 -7.42517992e-04 -2.66156119e-01] [ 1.57408002e-03 9.99997128e-01 -1.80732883e-03 -1.72701913e-01] [ 7.45363169e-04 1.80615731e-03 9.99998091e-01 5.30456021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.412557844 meters 0.29929472642583865 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 0.99998095 -0.00600128 0.00144264 -0.24224768] [ 0.00599872 0.99998043 0.00177457 -0.17273145] [-0.00145326 -0.00176588 0.99999738 0.52835625] [ 0. 0. 0. 1. ]] SLAMing on 91.442557844 meters 0.29814462711332895 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998536e-01 -7.91233654e-04 -1.51708136e-03 -2.64292149e-01] [ 7.89357665e-04 9.99998924e-01 -1.23677812e-03 -1.72605474e-01] [ 1.51805831e-03 1.23557879e-03 9.99998084e-01 5.30171270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47255784400001 meters 0.29820780438831224 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998396e-01 -7.99855466e-04 -1.60274956e-03 -2.63961619e-01] [ 7.97844140e-04 9.99998894e-01 -1.25516918e-03 -1.72551941e-01] [ 1.60375174e-03 1.25388842e-03 9.99997928e-01 5.29902729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50255784400001 meters 0.2989746681158402 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998404e-01 -8.21109463e-04 -1.58652434e-03 -2.63926054e-01] [ 8.19027364e-04 9.99998803e-01 -1.31256921e-03 -1.72326614e-01] [ 1.58760020e-03 1.31126771e-03 9.99997880e-01 5.29718790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532557844 meters 0.29796159066321715 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998450e-01 -8.20705416e-04 -1.55758529e-03 -2.63874064e-01] [ 8.18662246e-04 9.99998804e-01 -1.31193905e-03 -1.72346868e-01] [ 1.55866014e-03 1.31066188e-03 9.99997926e-01 5.29428035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562557844 meters 0.297945211834276 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998551e-01 -8.02683993e-04 -1.50120801e-03 -2.63942194e-01] [ 8.00782510e-04 9.99998877e-01 -1.26680814e-03 -1.72543009e-01] [ 1.50222317e-03 1.26560416e-03 9.99998071e-01 5.29253879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592557844 meters 0.2987479398467478 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998643e-01 -7.40903751e-04 -1.47110811e-03 -2.64031058e-01] [ 7.39276261e-04 9.99999115e-01 -1.10653771e-03 -1.73208411e-01] [ 1.47192664e-03 1.10544865e-03 9.99998306e-01 5.29282256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622557844 meters 0.2975354270512629 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99998695e-01 -6.67904358e-04 -1.47087140e-03 -2.64130856e-01] [ 6.66562723e-04 9.99999362e-01 -9.12437267e-04 -1.74004712e-01] [ 1.47147988e-03 9.11455648e-04 9.99998502e-01 5.29515307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.652557844 meters 0.2999830567444614 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99998932e-01 9.49397118e-04 -1.11149950e-03 -2.23927307e-01] [-9.50835202e-04 9.99998711e-01 -1.29401119e-03 -1.72689789e-01] [ 1.11026953e-03 1.29506666e-03 9.99998545e-01 5.31298480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682557844 meters 0.2985940805874938 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99999069e-01 9.47372334e-04 -9.82485051e-04 -2.24293409e-01] [-9.48656748e-04 9.99998695e-01 -1.30767093e-03 -1.72615685e-01] [ 9.81244918e-04 1.30860176e-03 9.99998662e-01 5.31357579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.712557844 meters 0.29754807689417906 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99962520e-01 -8.39170150e-03 -2.13023871e-03 -2.43598924e-01] [ 8.39140148e-03 9.99964780e-01 -1.49736257e-04 -1.70048931e-01] [ 2.13142022e-03 1.31854957e-04 9.99997720e-01 5.30273061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742557844 meters 0.2970189364970328 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99996442e-01 -7.78520308e-04 -2.55150545e-03 -2.63608618e-01] [ 7.75623731e-04 9.99999054e-01 -1.13603518e-03 -1.74124528e-01] [ 2.55238746e-03 1.13405213e-03 9.99996100e-01 5.29089223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.772557844 meters 0.2980216232014752 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.53 [[ 9.99996446e-01 -8.22446295e-04 -2.53611777e-03 -2.63568168e-01] [ 8.19267838e-04 9.99998878e-01 -1.25406067e-03 -1.73649569e-01] [ 2.53714632e-03 1.25197845e-03 9.99995998e-01 5.28902546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802557844 meters 0.300029694517665 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99985106e-01 -5.40144023e-03 -7.81904875e-04 -2.39943217e-01] [ 5.40318808e-03 9.99982870e-01 2.25079289e-03 -1.72514969e-01] [ 7.69733957e-04 -2.25498414e-03 9.99997161e-01 5.27381750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83255784400001 meters 0.2990198362573379 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99984211e-01 -5.57074608e-03 -7.37508818e-04 -2.39962015e-01] [ 5.57206791e-03 9.99982851e-01 1.80252285e-03 -1.70660255e-01] [ 7.27454774e-04 -1.80660384e-03 9.99998103e-01 5.27144698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86255784400001 meters 0.299181650685739 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99983864e-01 -5.63339774e-03 -7.32126675e-04 -2.39974994e-01] [ 5.63459044e-03 9.99982785e-01 1.63736572e-03 -1.69973518e-01] [ 7.22890139e-04 -1.64146453e-03 9.99998392e-01 5.27133385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892557844 meters 0.2989165616272438 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99983576e-01 -5.68872645e-03 -6.96864480e-04 -2.40103481e-01] [ 5.68975923e-03 9.99982704e-01 1.48913567e-03 -1.69348245e-01] [ 6.88381142e-04 -1.49307620e-03 9.99998648e-01 5.27209280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922557844 meters 0.298281307367649 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99983144e-01 -5.76710392e-03 -6.73110048e-04 -2.40123885e-01] [ 5.76796214e-03 9.99982546e-01 1.28010814e-03 -1.68487644e-01] [ 6.65715783e-04 -1.28396903e-03 9.99998954e-01 5.27103891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952557844 meters 0.2989881723535198 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99989710e-01 4.47017101e-03 -7.72890688e-04 -2.17953761e-01] [-4.46968841e-03 9.99989816e-01 6.25009309e-04 -1.68071506e-01] [ 7.75676715e-04 -6.21548297e-04 9.99999506e-01 5.26775953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982557844 meters 0.2987680006214734 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99989922e-01 4.42312338e-03 -7.69218081e-04 -2.18000492e-01] [-4.42273839e-03 9.99990094e-01 5.01480544e-04 -1.67548025e-01] [ 7.71428571e-04 -4.98073440e-04 9.99999578e-01 5.26859381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.012557844 meters 0.29818175394409363 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99990110e-01 4.39328933e-03 -6.91793878e-04 -2.18348607e-01] [-4.39300064e-03 9.99990263e-01 4.18271706e-04 -1.67158706e-01] [ 6.93624731e-04 -4.15228519e-04 9.99999673e-01 5.27207692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042557844 meters 0.29774260361891025 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99990184e-01 4.38627544e-03 -6.27127479e-04 -2.18639863e-01] [-4.38602744e-03 9.99990303e-01 3.96284572e-04 -1.67034828e-01] [ 6.28859611e-04 -3.93530083e-04 9.99999725e-01 5.27514046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.072557844 meters 0.29815188705079465 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 9.99990137e-01 4.40311731e-03 -5.82459060e-04 -2.18868968e-01] [-4.40286235e-03 9.99990211e-01 4.38298899e-04 -1.67187720e-01] [ 5.84383240e-04 -4.35730089e-04 9.99999734e-01 5.27788213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102557844 meters 0.2962351667943959 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.17, Z:0.53 [[ 9.99983089e-01 -5.67815132e-03 -1.25719777e-03 -2.40036425e-01] [ 5.67924589e-03 9.99983496e-01 8.68791062e-04 -1.65949343e-01] [ 1.25224390e-03 -8.75916305e-04 9.99998832e-01 5.27694043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.132557844 meters 0.29781174664507204 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.99999766 0.00176527 0.00124769 -0.21833155] [-0.00176316 0.99999702 -0.00168824 -0.16566701] [-0.00125067 0.00168603 0.9999978 0.52543811] [ 0. 0. 0. 1. ]] SLAMing on 92.162557844 meters 0.2970589709686161 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.9999976 0.00174869 0.00131802 -0.21851449] [-0.0017464 0.99999697 -0.00173579 -0.16546601] [-0.00132106 0.00173348 0.99999762 0.52544025] [ 0. 0. 0. 1. ]] SLAMing on 92.192557844 meters 0.2976855497778869 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.99999761 0.00174752 0.00131314 -0.21841601] [-0.00174523 0.99999697 -0.00173768 -0.16547369] [-0.00131617 0.00173538 0.99999763 0.52524566] [ 0. 0. 0. 1. ]] SLAMing on 92.22255784400001 meters 0.2976855497778869 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.17, Z:0.53 [[ 0.99999761 0.00174752 0.00131314 -0.21841601] [-0.00174523 0.99999697 -0.00173768 -0.16547369] [-0.00131617 0.00173538 0.99999763 0.52524566] [ 0. 0. 0. 1. ]] SLAMing on 92.25255784400001 meters 0.2976353531766359 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.52 [[ 0.99999797 0.00169547 0.00109024 -0.21772512] [-0.00169343 0.99999682 -0.001871 -0.16495964] [-0.00109341 0.00186915 0.99999766 0.52488979] [ 0. 0. 0. 1. ]] SLAMing on 92.282557844 meters 0.298441003418534 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.52 [[ 9.99998172e-01 1.63518746e-03 9.91467148e-04 -2.17212014e-01] [-1.63317104e-03 9.99996604e-01 -2.03117894e-03 -1.64340038e-01] [-9.94785139e-04 2.02955599e-03 9.99997446e-01 5.24242204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312557844 meters 0.299220112141873 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.16, Z:0.52 [[ 9.99998308e-01 1.56966263e-03 9.59611390e-04 -2.16903142e-01] [-1.56754091e-03 9.99996334e-01 -2.20778483e-03 -1.63644400e-01] [-9.63073350e-04 2.20627686e-03 9.99997102e-01 5.23706467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342557844 meters 0.29819238422675476 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.16, Z:0.52 [[ 9.99970806e-01 -7.63064152e-03 -4.00479163e-04 -2.35904167e-01] [ 7.63021694e-03 9.99970337e-01 -1.05119945e-03 -1.60346079e-01] [ 4.08488609e-04 1.04811302e-03 9.99999367e-01 5.22638372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.372557844 meters 0.29612133499889776 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.52 [[ 9.99999925e-01 3.79016165e-05 -3.84368169e-04 -2.56459136e-01] [-3.86850884e-05 9.99997921e-01 -2.03853457e-03 -1.63883304e-01] [ 3.84290107e-04 2.03854929e-03 9.99997848e-01 5.21427254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402557844 meters 0.29844996630439835 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.52 [[ 0.99998748 -0.00411793 0.00284235 -0.23360471] [ 0.00411377 0.99999046 0.00146576 -0.16396897] [-0.00284836 -0.00145405 0.99999489 0.51943492] [ 0. 0. 0. 1. ]] SLAMing on 92.432557844 meters 0.29683185255303146 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.52 [[ 9.99992249e-01 3.59802567e-03 1.59869460e-03 -2.53678465e-01] [-3.59885568e-03 9.99993391e-01 5.16601004e-04 -1.67118532e-01] [-1.59682529e-03 -5.22350471e-04 9.99998589e-01 5.18669275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462557844 meters 0.2984247247516984 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.52 [[ 0.99999493 -0.00159276 0.00275869 -0.23026794] [ 0.00158253 0.99999187 0.00370918 -0.16458585] [-0.00276458 -0.0037048 0.99998932 0.51695035] [ 0. 0. 0. 1. ]] SLAMing on 92.492557844 meters 0.29929870094544353 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.16, Z:0.52 [[ 0.99999478 -0.00167 0.00276641 -0.23005613] [ 0.00166028 0.99999245 0.00351273 -0.16379235] [-0.00277225 -0.00350811 0.99999 0.51642935] [ 0. 0. 0. 1. ]] SLAMing on 92.522557844 meters 0.29969479740949817 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.51 [[ 0.9999831 0.00570472 0.00111686 -0.24881672] [-0.00570715 0.99998133 0.00218378 -0.16764015] [-0.00110438 -0.00219012 0.99999699 0.5149237 ] [ 0. 0. 0. 1. ]] SLAMing on 92.552557844 meters 0.2981175224830655 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.17, Z:0.52 [[ 0.99998354 0.00563552 0.00107556 -0.24880008] [-0.00563767 0.99998209 0.00201039 -0.1669024 ] [-0.00106421 -0.00201642 0.9999974 0.51512369] [ 0. 0. 0. 1. ]] SLAMing on 92.58255784400001 meters 0.29713736487977394 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.51 [[ 9.99992617e-01 -3.84263294e-03 3.27705841e-05 -2.68350234e-01] [ 3.84252291e-03 9.99988489e-01 2.87341235e-03 -1.63251868e-01] [-4.38116758e-05 -2.87326521e-03 9.99995871e-01 5.14559995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61255784400001 meters 0.29627776821859075 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 9.99993652e-01 1.46168234e-03 -3.24946669e-03 -2.90078752e-01] [-1.46225098e-03 9.99998916e-01 -1.72624763e-04 -1.61362438e-01] [ 3.24921085e-03 1.77375203e-04 9.99994706e-01 5.16598072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642557844 meters 0.29760829133850353 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.9999933 -0.00331011 -0.00156341 -0.26698198] [ 0.00331507 0.99998946 0.00317642 -0.1584012 ] [ 0.00155287 -0.00318158 0.99999373 0.51550335] [ 0. 0. 0. 1. ]] SLAMing on 92.672557844 meters 0.2966786821144846 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999324 -0.00335244 -0.00151259 -0.26712006] [ 0.00335706 0.99998968 0.00305995 -0.15791129] [ 0.00150232 -0.00306501 0.99999417 0.51551749] [ 0. 0. 0. 1. ]] SLAMing on 92.702557844 meters 0.29693947243642466 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999315 -0.00340049 -0.0014584 -0.26724454] [ 0.00340475 0.99998992 0.00292729 -0.15735871] [ 0.00144843 -0.00293224 0.99999465 0.5154787 ] [ 0. 0. 0. 1. ]] SLAMing on 92.732557844 meters 0.29704402802544977 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999304 -0.00345669 -0.00140053 -0.26737494] [ 0.00346057 0.99999016 0.00277398 -0.15672102] [ 0.00139093 -0.0027788 0.99999517 0.51542764] [ 0. 0. 0. 1. ]] SLAMing on 92.762557844 meters 0.29785272298326354 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.99999286 -0.00350692 -0.00140987 -0.26726337] [ 0.00351064 0.99999035 0.0026428 -0.15619098] [ 0.00140059 -0.00264773 0.99999551 0.51522392] [ 0. 0. 0. 1. ]] SLAMing on 92.792557844 meters 0.297941661254483 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.51 [[ 0.99999272 -0.0035327 -0.00144088 -0.26701679] [ 0.0035364 0.99999042 0.00257778 -0.15595495] [ 0.00143176 -0.00258286 0.99999564 0.51484723] [ 0. 0. 0. 1. ]] SLAMing on 92.822557844 meters 0.2967172023891922 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 9.99990646e-01 1.94144297e-03 -3.86505058e-03 -2.87990678e-01] [-1.94372102e-03 9.99997939e-01 -5.85727972e-04 -1.56904749e-01] [ 3.86390546e-03 5.93235073e-04 9.99992359e-01 5.15569401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852557844 meters 0.29794128807458686 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.51 [[ 9.99993427e-01 -3.59276546e-03 -4.87997210e-04 -2.68283383e-01] [ 3.59388112e-03 9.99990886e-01 2.30489215e-03 -1.55634600e-01] [ 4.79711826e-04 -2.30663080e-03 9.99997225e-01 5.14934224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882557844 meters 0.294669501759112 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.52 [[ 0.99998901 -0.00428692 -0.00189668 -0.312747 ] [ 0.00429352 0.9999847 0.00348764 -0.15972762] [ 0.0018817 -0.00349574 0.99999212 0.51665918] [ 0. 0. 0. 1. ]] SLAMing on 92.912557844 meters 0.295082262295217 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.52 [[ 0.9999892 -0.0042745 -0.00182686 -0.31304372] [ 0.0042809 0.99998466 0.00351588 -0.15981478] [ 0.00181181 -0.00352366 0.99999215 0.51695139] [ 0. 0. 0. 1. ]] SLAMing on 92.942557844 meters 0.2973905079807112 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.16, Z:0.52 [[ 0.9999935 -0.00303591 -0.00194719 -0.2728551 ] [ 0.00304153 0.9999912 0.00289017 -0.15736496] [ 0.00193839 -0.00289608 0.99999393 0.51880909] [ 0. 0. 0. 1. ]] SLAMing on 92.97255784400001 meters 0.29528140291560007 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 9.99986215e-01 1.55028328e-03 -5.01661862e-03 -2.95743177e-01] [-1.55261917e-03 9.99998688e-01 -4.61769067e-04 -1.56693288e-01] [ 5.01589617e-03 4.69551600e-04 9.99987310e-01 5.20791021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00255784400001 meters 0.29591187410778474 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 9.99986059e-01 1.53267792e-03 -5.05291536e-03 -2.95480664e-01] [-1.53524554e-03 9.99998694e-01 -5.04306891e-04 -1.56547587e-01] [ 5.05213582e-03 5.12057327e-04 9.99987107e-01 5.20398941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032557844 meters 0.29625893826906297 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 9.99985891e-01 1.50243999e-03 -5.09520569e-03 -2.95277299e-01] [-1.50541853e-03 9.99998698e-01 -5.80791689e-04 -1.56247018e-01] [ 5.09432645e-03 5.88453911e-04 9.99986851e-01 5.20178450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062557844 meters 0.2973740471806832 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 9.99985754e-01 1.45545549e-03 -5.13557337e-03 -2.95196939e-01] [-1.45906945e-03 9.99998691e-01 -7.00034557e-04 -1.55749717e-01] [ 5.13454777e-03 7.07517743e-04 9.99986568e-01 5.20229573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092557844 meters 0.2963797002552439 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.16, Z:0.52 [[ 9.99986044e-01 1.40587985e-03 -5.09269662e-03 -2.95345126e-01] [-1.41013372e-03 9.99998660e-01 -8.31794722e-04 -1.55195341e-01] [ 5.09152040e-03 8.38964497e-04 9.99986686e-01 5.20314641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122557844 meters 0.2969544358824895 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99998621 0.00133737 -0.00507819 -0.29534805] [-0.00134253 0.99999859 -0.00101281 -0.15445148] [ 0.00507682 0.00101962 0.99998659 0.52023325] [ 0. 0. 0. 1. ]] SLAMing on 93.152557844 meters 0.2967313580575057 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99998673 0.00124662 -0.00499885 -0.29526666] [-0.00125286 0.99999844 -0.00124465 -0.15352508] [ 0.00499729 0.0012509 0.99998673 0.5195902 ] [ 0. 0. 0. 1. ]] SLAMing on 93.182557844 meters 0.2973441218880628 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99998649 0.00121281 -0.0050555 -0.29504844] [-0.00121955 0.99999837 -0.00133082 -0.15318677] [ 0.00505388 0.00133696 0.99998634 0.51941933] [ 0. 0. 0. 1. ]] SLAMing on 93.212557844 meters 0.29648993512256955 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.15, Z:0.52 [[ 0.99998649 0.00119837 -0.00505732 -0.29504975] [-0.00120533 0.99999833 -0.00137162 -0.15301893] [ 0.00505567 0.0013777 0.99998627 0.51943188] [ 0. 0. 0. 1. ]] SLAMing on 93.242557844 meters 0.29724779198622303 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.52 [[ 0.99998609 0.00119907 -0.0051368 -0.29480918] [-0.0012061 0.99999834 -0.00136556 -0.15305928] [ 0.00513515 0.00137173 0.99998587 0.51933668] [ 0. 0. 0. 1. ]] SLAMing on 93.272557844 meters 0.29720131837657243 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:0.52 [[ 0.9999855 0.00124332 -0.00524036 -0.29435232] [-0.00124979 0.99999846 -0.00123137 -0.15364512] [ 0.00523882 0.00123791 0.99998551 0.51883994] [ 0. 0. 0. 1. ]] SLAMing on 93.302557844 meters 0.29490433140289285 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99989419e-01 1.36383739e-04 -4.59827067e-03 -3.31863926e-01] [-1.37750038e-04 9.99999946e-01 -2.96817900e-04 -1.56872475e-01] [ 4.59822994e-03 2.97448171e-04 9.99989384e-01 5.14895680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33255784400001 meters 0.29648742320830196 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99989015e-01 1.24082476e-04 -4.68547098e-03 -3.31528473e-01] [-1.25609774e-04 9.99999939e-01 -3.25671942e-04 -1.56787057e-01] [ 4.68543028e-03 3.26256905e-04 9.99988970e-01 5.14610850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36255784400001 meters 0.2980194465774041 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.51 [[ 0.9999857 -0.00501129 -0.00186824 -0.309123 ] [ 0.00501657 0.99998341 0.00283057 -0.15690811] [ 0.00185403 -0.0028399 0.99999425 0.51280665] [ 0. 0. 0. 1. ]] SLAMing on 93.392557844 meters 0.29686986476974214 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999403 0.00270451 -0.00215226 -0.32867874] [-0.00270098 0.999995 0.00164254 -0.16053686] [ 0.00215669 -0.00163671 0.99999633 0.51149321] [ 0. 0. 0. 1. ]] SLAMing on 93.422557844 meters 0.2960958376086194 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.9999944 0.00264268 -0.00205542 -0.32905485] [-0.00263966 0.99999544 0.00147 -0.15977309] [ 0.0020593 -0.00146457 0.99999681 0.51179469] [ 0. 0. 0. 1. ]] SLAMing on 93.452557844 meters 0.29513495244973864 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999506 0.00252541 -0.00186955 -0.3297517 ] [-0.0025233 0.99999618 0.00112815 -0.15822654] [ 0.0018724 -0.00112342 0.99999762 0.51239947] [ 0. 0. 0. 1. ]] SLAMing on 93.482557844 meters 0.296492234711902 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99995282e-01 2.45904847e-03 -1.84080326e-03 -3.29826635e-01] [-2.45730337e-03 9.99996530e-01 9.49668807e-04 -1.57485603e-01] [ 1.84313215e-03 -9.45140915e-04 9.99997855e-01 5.12401972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512557844 meters 0.2970855125684345 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99995346e-01 2.40016126e-03 -1.88363326e-03 -3.29621256e-01] [-2.39866376e-03 9.99996806e-01 7.96862882e-04 -1.56872268e-01] [ 1.88553984e-03 -7.92340971e-04 9.99997908e-01 5.12175058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542557844 meters 0.29582216270119244 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99995359e-01 2.31061937e-03 -1.98585031e-03 -3.29187770e-01] [-2.30950311e-03 9.99997174e-01 5.64213018e-04 -1.55941936e-01] [ 1.98714838e-03 -5.59624072e-04 9.99997869e-01 5.11756977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572557844 meters 0.2968584435943485 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.15, Z:0.51 [[ 9.99995504e-01 2.21658825e-03 -2.01948376e-03 -3.28915000e-01] [-2.21595169e-03 9.99997494e-01 3.17391885e-04 -1.54942509e-01] [ 2.02018223e-03 -3.12915380e-04 9.99997910e-01 5.11315740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602557844 meters 0.2958510989072153 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99995531e-01 2.22429315e-03 -1.99741647e-03 -3.29066197e-01] [-2.22362692e-03 9.99997471e-01 3.35702081e-04 -1.55000850e-01] [ 1.99815812e-03 -3.31259072e-04 9.99997949e-01 5.11539060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632557844 meters 0.2978921757689697 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.51 [[ 0.99999364 -0.00337795 0.00114461 -0.30741027] [ 0.00337422 0.99998905 0.00324408 -0.15590806] [-0.00115555 -0.0032402 0.99999408 0.50984221] [ 0. 0. 0. 1. ]] SLAMing on 93.662557844 meters 0.2977696430958372 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.51 [[ 0.99999397 -0.00331255 0.0010449 -0.30713989] [ 0.00330895 0.99998864 0.00343045 -0.1566792 ] [-0.00105625 -0.00342697 0.99999357 0.50981879] [ 0. 0. 0. 1. ]] SLAMing on 93.692557844 meters 0.29759780405746156 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.51 [[ 9.99994722e-01 -3.12709800e-03 8.81816195e-04 -3.06727785e-01] [ 3.12354101e-03 9.99987095e-01 4.00663900e-03 -1.58997810e-01] [-8.94333968e-04 -4.00386347e-03 9.99991585e-01 5.09837713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72255784400001 meters 0.2975985502304145 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.16, Z:0.51 [[ 9.99995160e-01 -3.00273583e-03 8.14502512e-04 -3.06687102e-01] [ 2.99917841e-03 9.99986110e-01 4.33421427e-03 -1.60322817e-01] [-8.27505699e-04 -4.33175046e-03 9.99990276e-01 5.10144949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75255784400001 meters 0.2959297092882848 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99996757e-01 -1.03838428e-04 -2.54454830e-03 -3.31065150e-01] [ 1.02144388e-04 9.99999773e-01 -6.65873452e-04 -1.59209263e-01] [ 2.54461686e-03 6.65611381e-04 9.99996541e-01 5.14344683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782557844 meters 0.2969887569700676 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99996771e-01 3.90886325e-06 -2.54141516e-03 -3.31055506e-01] [-4.87718958e-06 9.99999927e-01 -3.81012466e-04 -1.60393455e-01] [ 2.54141349e-03 3.81023631e-04 9.99996698e-01 5.14321133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812557844 meters 0.2970377465182359 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99996645e-01 7.68941049e-05 -2.58927693e-03 -3.30886338e-01] [-7.73708153e-05 9.99999980e-01 -1.84009808e-04 -1.61215996e-01] [ 2.58926273e-03 1.84209525e-04 9.99996631e-01 5.14218118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842557844 meters 0.2967681169443686 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 9.99996628e-01 1.66414722e-04 -2.59157589e-03 -3.30687747e-01] [-1.66246584e-04 9.99999984e-01 6.50941577e-05 -1.62254956e-01] [ 2.59158668e-03 -6.46630976e-05 9.99996640e-01 5.13778132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872557844 meters 0.29534129560450256 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996671 0.0063956 -0.00506742 -0.35057263] [-0.00640773 0.99997664 -0.00238058 -0.16451192] [ 0.00505208 0.00241297 0.99998433 0.51369074] [ 0. 0. 0. 1. ]] SLAMing on 93.902557844 meters 0.29573822210832446 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996729 0.006364 -0.00499171 -0.35069158] [-0.00637639 0.99997662 -0.00247055 -0.16415235] [ 0.00497588 0.0025023 0.99998449 0.51351416] [ 0. 0. 0. 1. ]] SLAMing on 93.932557844 meters 0.2954698481897201 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996836 0.00634139 -0.00480335 -0.35112927] [-0.0063537 0.99997656 -0.00255237 -0.1638117 ] [ 0.00478705 0.00258281 0.99998521 0.51344405] [ 0. 0. 0. 1. ]] SLAMing on 93.962557844 meters 0.2959423664375668 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996929 0.00625922 -0.00471705 -0.35131826] [-0.00627247 0.99997641 -0.00279997 -0.16281088] [ 0.00469941 0.00282947 0.99998495 0.51337784] [ 0. 0. 0. 1. ]] SLAMing on 93.992557844 meters 0.29643053064634234 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99998894 -0.00190495 -0.00430007 -0.33224659] [ 0.00189415 0.99999505 -0.00251344 -0.15541687] [ 0.00430483 0.00250527 0.9999876 0.51466495] [ 0. 0. 0. 1. ]] SLAMing on 94.022557844 meters 0.2977090523003593 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.15, Z:0.51 [[ 0.99998869 -0.00196518 -0.00433203 -0.33204836] [ 0.00195365 0.99999454 -0.00266415 -0.15481077] [ 0.00433724 0.00265565 0.99998707 0.5144015 ] [ 0. 0. 0. 1. ]] SLAMing on 94.052557844 meters 0.295936493896566 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.9999643 0.00575044 -0.00619114 -0.35142701] [-0.0057724 0.99997709 -0.00353473 -0.1590735 ] [ 0.00617067 0.00357034 0.99997459 0.51351903] [ 0. 0. 0. 1. ]] SLAMing on 94.08255784400001 meters 0.29607384740522175 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996488 0.00579109 -0.00605835 -0.35181183] [-0.00581197 0.99997721 -0.00343556 -0.15946479] [ 0.00603832 0.00347065 0.99997575 0.51364211] [ 0. 0. 0. 1. ]] SLAMing on 94.11255784400001 meters 0.29607384740522175 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.16, Z:0.51 [[ 0.99996488 0.00579109 -0.00605835 -0.35181183] [-0.00581197 0.99997721 -0.00343556 -0.15946479] [ 0.00603832 0.00347065 0.99997575 0.51364211] [ 0. 0. 0. 1. ]] SLAMing on 94.142557844 meters 0.2963203978175655 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999187 -0.00294396 -0.00275456 -0.33351644] [ 0.00293542 0.99999089 -0.00309908 -0.15969764] [ 0.00276366 0.00309097 0.9999914 0.51520727] [ 0. 0. 0. 1. ]] SLAMing on 94.172557844 meters 0.29601529913108726 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999223 -0.00287369 -0.0026995 -0.33381312] [ 0.00286587 0.9999917 -0.0028972 -0.16049068] [ 0.0027078 0.00288944 0.99999216 0.51561209] [ 0. 0. 0. 1. ]] SLAMing on 94.202557844 meters 0.29601945326836576 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999219 -0.00279156 -0.00279884 -0.33353175] [ 0.00278408 0.99999256 -0.00267127 -0.16142362] [ 0.00280628 0.00266345 0.99999252 0.51555498] [ 0. 0. 0. 1. ]] SLAMing on 94.232557844 meters 0.2950359678811591 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999204 -0.00272736 -0.00291354 -0.33309016] [ 0.00272009 0.99999318 -0.00249631 -0.16218588] [ 0.00292033 0.00248836 0.99999264 0.51522112] [ 0. 0. 0. 1. ]] SLAMing on 94.262557844 meters 0.295433785294713 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.9999919 -0.00267593 -0.00300509 -0.33272501] [ 0.00266886 0.99999366 -0.00235728 -0.16279441] [ 0.00301138 0.00234924 0.99999271 0.51493357] [ 0. 0. 0. 1. ]] SLAMing on 94.292557844 meters 0.29615397632639595 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999171 -0.00266356 -0.00308001 -0.33235069] [ 0.0026564 0.99999377 -0.0023242 -0.16296647] [ 0.00308618 0.002316 0.99999256 0.51453497] [ 0. 0. 0. 1. ]] SLAMing on 94.322557844 meters 0.29511772788978624 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999135 -0.00270277 -0.00316016 -0.33208914] [ 0.00269512 0.99999343 -0.00242251 -0.16257004] [ 0.00316669 0.00241397 0.99999207 0.51440396] [ 0. 0. 0. 1. ]] SLAMing on 94.352557844 meters 0.29488198630207874 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999151 -0.00272473 -0.00308964 -0.33242107] [ 0.00271706 0.99999323 -0.00248239 -0.16229066] [ 0.00309639 0.00247397 0.99999215 0.51474666] [ 0. 0. 0. 1. ]] SLAMing on 94.382557844 meters 0.2939259223943436 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.9999918 -0.00273357 -0.00298939 -0.33291833] [ 0.00272607 0.99999313 -0.00251092 -0.16212208] [ 0.00299624 0.00250275 0.99999238 0.51531854] [ 0. 0. 0. 1. ]] SLAMing on 94.412557844 meters 0.29444473867812065 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999199 -0.00275615 -0.00290077 -0.33331107] [ 0.00274869 0.99999291 -0.00257356 -0.16182731] [ 0.00290784 0.00256557 0.99999248 0.51569959] [ 0. 0. 0. 1. ]] SLAMing on 94.442557844 meters 0.29365261895711964 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.9999921 -0.00279602 -0.00282441 -0.33354082] [ 0.00278846 0.99999252 -0.00267986 -0.1613745 ] [ 0.00283189 0.00267196 0.99999242 0.51576561] [ 0. 0. 0. 1. ]] SLAMing on 94.47255784400001 meters 0.2945706777136048 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.999992 -0.00283937 -0.00281853 -0.33342121] [ 0.0028315 0.99999209 -0.00279268 -0.16092786] [ 0.00282643 0.00278468 0.99999213 0.51545391] [ 0. 0. 0. 1. ]] SLAMing on 94.50255784400001 meters 0.29412809058768824 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999189 -0.00286754 -0.00282946 -0.33308584] [ 0.00285943 0.99999181 -0.00286546 -0.16066658] [ 0.00283765 0.00285734 0.99999189 0.51475125] [ 0. 0. 0. 1. ]] SLAMing on 94.532557844 meters 0.29501276128503273 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999194 -0.00284995 -0.00282881 -0.33302371] [ 0.00284197 0.99999198 -0.00282141 -0.16086028] [ 0.00283683 0.00281335 0.99999202 0.51461399] [ 0. 0. 0. 1. ]] SLAMing on 94.562557844 meters 0.2953731621832309 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999213 -0.00280463 -0.00280635 -0.33319866] [ 0.00279703 0.99999242 -0.00270853 -0.16131312] [ 0.00281392 0.00270065 0.99999239 0.51486951] [ 0. 0. 0. 1. ]] SLAMing on 94.592557844 meters 0.29467181518882335 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999238 -0.00275268 -0.00276961 -0.33342662] [ 0.00274554 0.9999929 -0.00257915 -0.16183488] [ 0.00277669 0.00257152 0.99999284 0.51516319] [ 0. 0. 0. 1. ]] SLAMing on 94.622557844 meters 0.2935781632704291 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.52 [[ 0.99999279 -0.00263446 -0.00273397 -0.33354484] [ 0.00262822 0.99999394 -0.00228178 -0.16307535] [ 0.00273997 0.00227457 0.99999366 0.51523477] [ 0. 0. 0. 1. ]] SLAMing on 94.652557844 meters 0.29331531082142454 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999284 -0.00259542 -0.0027529 -0.33335796] [ 0.00258942 0.99999427 -0.00218041 -0.16352047] [ 0.00275855 0.00217327 0.99999383 0.51493577] [ 0. 0. 0. 1. ]] SLAMing on 94.682557844 meters 0.29443160934271173 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999272 -0.0025867 -0.00280568 -0.33301999] [ 0.00258065 0.99999435 -0.00215596 -0.16365417] [ 0.00281124 0.00214871 0.99999374 0.51448331] [ 0. 0. 0. 1. ]] SLAMing on 94.712557844 meters 0.2955451606980615 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999231 -0.00262022 -0.00291752 -0.33254459] [ 0.00261369 0.99999407 -0.00224049 -0.16332839] [ 0.00292337 0.00223284 0.99999323 0.51404155] [ 0. 0. 0. 1. ]] SLAMing on 94.742557844 meters 0.29494876458360736 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999174 -0.00267924 -0.00305496 -0.33192769] [ 0.00267193 0.99999356 -0.00239564 -0.16270818] [ 0.00306136 0.00238745 0.99999246 0.51338769] [ 0. 0. 0. 1. ]] SLAMing on 94.772557844 meters 0.2946294866091746 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.16, Z:0.51 [[ 0.99999139 -0.00271551 -0.00313825 -0.33147454] [ 0.0027077 0.99999324 -0.00248953 -0.16234913] [ 0.00314499 0.00248101 0.99999198 0.51281822] [ 0. 0. 0. 1. ]] SLAMing on 94.802557844 meters 0.2960175738211968 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 9.99988151e-01 -4.05796983e-04 -4.85119450e-03 -2.90195101e-01] [ 3.94563102e-04 9.99997239e-01 -2.31642655e-03 -1.59796343e-01] [ 4.85212111e-03 2.31448500e-03 9.99985550e-01 5.15073637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83255784400001 meters 0.29573463070280537 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.51 [[ 9.99987833e-01 -3.71081928e-04 -4.91890847e-03 -2.89981165e-01] [ 3.60138223e-04 9.99997459e-01 -2.22552295e-03 -1.60186833e-01] [ 4.91972182e-03 2.22372439e-03 9.99985426e-01 5.14998184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86255784400001 meters 0.2943130884279956 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.51 [[ 9.99986899e-01 -2.79767492e-04 -5.11104978e-03 -2.89456315e-01] [ 2.69740261e-04 9.99998038e-01 -1.96245704e-03 -1.61309262e-01] [ 5.11158878e-03 1.96105268e-03 9.99985013e-01 5.14934878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892557844 meters 0.294867874744457 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.51 [[ 9.99986633e-01 -1.95047967e-04 -5.16672503e-03 -2.89296106e-01] [ 1.86078118e-04 9.99998475e-01 -1.73650404e-03 -1.62256308e-01] [ 5.16705585e-03 1.73551941e-03 9.99985145e-01 5.14911820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922557844 meters 0.2951240901221608 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.51 [[ 9.99987020e-01 -1.20884983e-04 -5.09372446e-03 -2.89517072e-01] [ 1.13005006e-04 9.99998797e-01 -1.54725645e-03 -1.63039578e-01] [ 5.09390537e-03 1.54666075e-03 9.99985830e-01 5.14988871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952557844 meters 0.2956595174345817 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.16, Z:0.52 [[ 9.99987328e-01 -4.43254060e-05 -5.03405409e-03 -2.89732753e-01] [ 3.75317217e-05 9.99999089e-01 -1.34963181e-03 -1.63851646e-01] [ 5.03410932e-03 1.34942577e-03 9.99986418e-01 5.15139094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982557844 meters 0.29548249073397925 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.52 [[ 9.99987631e-01 6.85018276e-05 -4.97320934e-03 -2.90093253e-01] [-7.37299112e-05 9.99999445e-01 -1.05107374e-03 -1.65065687e-01] [ 4.97313458e-03 1.05142741e-03 9.99987081e-01 5.15617539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012557844 meters 0.29580067576394375 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.52 [[ 9.99987420e-01 1.26982767e-04 -5.01436221e-03 -2.90029821e-01] [-1.31509135e-04 9.99999584e-01 -9.02361274e-04 -1.65684430e-01] [ 5.01424554e-03 9.03009357e-04 9.99987021e-01 5.15721827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042557844 meters 0.2959047114677083 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.52 [[ 9.99987109e-01 2.02419709e-04 -5.07345384e-03 -2.89980538e-01] [-2.06022788e-04 9.99999727e-01 -7.09670242e-04 -1.66479115e-01] [ 5.07330881e-03 7.10706341e-04 9.99986878e-01 5.15961878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072557844 meters 0.2948144667263124 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99992603e-01 -9.70192374e-04 -3.72193531e-03 -3.29683653e-01] [ 9.71451525e-04 9.99999472e-01 3.36512704e-04 -1.70848975e-01] [ 3.72160686e-03 -3.40125895e-04 9.99993017e-01 5.13399065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102557844 meters 0.2930727755389845 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99993012e-01 -8.10355090e-04 -3.64969384e-03 -3.30139681e-01] [ 8.13042035e-04 9.99999400e-01 7.34787423e-04 -1.72512480e-01] [ 3.64909621e-03 -7.37749642e-04 9.99993070e-01 5.14023248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132557844 meters 0.29296876753335577 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99993294e-01 -7.73809617e-04 -3.57965250e-03 -3.30338218e-01] [ 7.76775368e-04 9.99999356e-01 8.27186370e-04 -1.72887202e-01] [ 3.57901011e-03 -8.29961409e-04 9.99993251e-01 5.14069781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162557844 meters 0.2933874806688462 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99993563e-01 -7.37472367e-04 -3.51150412e-03 -3.30523581e-01] [ 7.40706637e-04 9.99999303e-01 9.19838323e-04 -1.73262892e-01] [ 3.51082332e-03 -9.22433396e-04 9.99993412e-01 5.14100333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192557844 meters 0.29334545069728507 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99993825e-01 -6.63400491e-04 -3.45108717e-03 -3.30747847e-01] [ 6.67237390e-04 9.99999161e-01 1.11076178e-03 -1.74044072e-01] [ 3.45034739e-03 -1.11305761e-03 9.99993428e-01 5.14268328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22255784400001 meters 0.29240171224015316 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99994034e-01 -5.82044740e-04 -3.40478165e-03 -3.31077610e-01] [ 5.86521837e-04 9.99998965e-01 1.31409332e-03 -1.74848380e-01] [ 3.40401326e-03 -1.31608246e-03 9.99993340e-01 5.14749136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25255784400001 meters 0.29430596186313945 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.17, Z:0.51 [[ 9.99977311e-01 6.71928000e-03 -4.79166150e-04 -3.09999074e-01] [-6.71997548e-03 9.99976348e-01 -1.46489517e-03 -1.73143532e-01] [ 4.69311776e-04 1.46808192e-03 9.99998812e-01 5.12947612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters 0.2935397967947587 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99995127e-01 -2.48651742e-03 -1.88752967e-03 -3.28073861e-01] [ 2.48641936e-03 9.99996907e-01 -5.42929869e-05 -1.70735547e-01] [ 1.88765883e-03 4.95995320e-05 9.99998217e-01 5.11279950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312557844 meters 0.29260636808560886 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.17, Z:0.51 [[ 0.99998248 0.00323415 -0.00495835 -0.34923767] [-0.00324766 0.99999103 -0.0027191 -0.1710232 ] [ 0.00494952 0.00273515 0.99998401 0.51230691] [ 0. 0. 0. 1. ]] SLAMing on 95.342557844 meters 0.29483295731817827 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99996920e-01 -1.35241825e-03 -2.08126906e-03 -3.25862711e-01] [ 1.35394848e-03 9.99998814e-01 7.34005074e-04 -1.72459268e-01] [ 2.08027391e-03 -7.36820744e-04 9.99997565e-01 5.09848658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372557844 meters 0.29433693663275906 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99996861e-01 -1.30848199e-03 -2.13680326e-03 -3.25704863e-01] [ 1.31029318e-03 9.99998783e-01 8.46436795e-04 -1.72934286e-01] [ 2.13569311e-03 -8.49233977e-04 9.99997359e-01 5.09837312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402557844 meters 0.2931565795807166 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99996895e-01 -1.25844044e-03 -2.15109962e-03 -3.25666506e-01] [ 1.26053753e-03 9.99998731e-01 9.73813291e-04 -1.73467405e-01] [ 2.14987141e-03 -9.76521809e-04 9.99997212e-01 5.09845725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432557844 meters 0.2933588488162754 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99996924e-01 -1.33080418e-03 -2.09319674e-03 -3.25808142e-01] [ 1.33247333e-03 9.99998795e-01 7.96223603e-04 -1.72708424e-01] [ 2.09213460e-03 -7.99010283e-04 9.99997492e-01 5.09796264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462557844 meters 0.2960852608902847 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.51 [[ 9.99996170e-01 1.62724696e-04 -2.76275257e-03 -2.86770230e-01] [-1.62871801e-04 9.99999985e-01 -5.30207315e-05 -1.67805839e-01] [ 2.76274390e-03 5.34705030e-05 9.99996182e-01 5.12497513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492557844 meters 0.29498872289751327 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.17, Z:0.51 [[ 9.99996404e-01 7.79624389e-05 -2.68066001e-03 -2.86890073e-01] [-7.86826798e-05 9.99999961e-01 -2.68576010e-04 -1.66910210e-01] [ 2.68063897e-03 2.68785966e-04 9.99996371e-01 5.12270006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522557844 meters 0.29206923341410584 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.17, Z:0.51 [[ 9.99997470e-01 -1.13912094e-03 -1.93962544e-03 -3.25302383e-01] [ 1.13986355e-03 9.99999277e-01 3.81801562e-04 -1.69481340e-01] [ 1.93918912e-03 -3.84011504e-04 9.99998046e-01 5.08880703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552557844 meters 0.2961039338962939 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.51 [[ 9.99999932e-01 2.98940223e-04 -2.14678482e-04 -2.82037514e-01] [-2.98999973e-04 9.99999917e-01 -2.78346195e-04 -1.64779816e-01] [ 2.14595255e-04 2.78410365e-04 9.99999938e-01 5.07937229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58255784400001 meters 0.2933397461162879 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.17, Z:0.50 [[ 9.99999250e-01 -1.11674165e-03 -5.03324206e-04 -3.19592694e-01] [ 1.11681692e-03 9.99999365e-01 1.49281334e-04 -1.66694738e-01] [ 5.03157178e-04 -1.49843343e-04 9.99999862e-01 5.04821379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61255784400001 meters 0.2949556153391982 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.51 [[ 9.99999312e-01 -9.86991973e-05 -1.16879205e-03 -2.81229985e-01] [ 9.79111515e-05 9.99999768e-01 -6.74277535e-04 -1.63407444e-01] [ 1.16885832e-03 6.74162633e-04 9.99999090e-01 5.08020991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642557844 meters 0.2965240549897456 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.16, Z:0.51 [[ 0.99998332 -0.00550848 0.00173781 -0.25910717] [ 0.00550434 0.99998203 0.00237707 -0.16414244] [-0.00175088 -0.00236746 0.99999566 0.5062407 ] [ 0. 0. 0. 1. ]] SLAMing on 95.672557844 meters 0.2935849512128869 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999374e-01 -9.51445671e-04 -5.88872486e-04 -2.82888627e-01] [ 9.50892505e-04 9.99999107e-01 -9.38932147e-04 -1.65282933e-01] [ 5.89765304e-04 9.38371605e-04 9.99999386e-01 5.08552361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702557844 meters 0.2944736709801457 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999027e-01 -8.78607852e-04 -1.08362415e-03 -2.81575937e-01] [ 8.77903007e-04 9.99999403e-01 -6.50756332e-04 -1.66544623e-01] [ 1.08419527e-03 6.49804382e-04 9.99999201e-01 5.08289588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.732557844 meters 0.29379229241776533 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998969e-01 -8.13035978e-04 -1.18340041e-03 -2.81330780e-01] [ 8.12481946e-04 9.99999560e-01 -4.68574894e-04 -1.67300956e-01] [ 1.18378086e-03 4.67612920e-04 9.99999190e-01 5.08324586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762557844 meters 0.2935346048267058 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998986e-01 -7.32072499e-04 -1.22146040e-03 -2.81250384e-01] [ 7.31762277e-04 9.99999700e-01 -2.54404267e-04 -1.68194442e-01] [ 1.22164628e-03 2.53510191e-04 9.99999222e-01 5.08370217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.792557844 meters 0.2940839728890972 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999028e-01 -6.49203092e-04 -1.23360153e-03 -2.81148537e-01] [ 6.49154440e-04 9.99999789e-01 -3.98390583e-05 -1.69110349e-01] [ 1.23362713e-03 3.90382217e-05 9.99999238e-01 5.08222483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822557844 meters 0.29427213072198183 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999022e-01 -6.43807258e-04 -1.24135356e-03 -2.81121398e-01] [ 6.43777773e-04 9.99999792e-01 -2.41523518e-05 -1.69177037e-01] [ 1.24136885e-03 2.33531723e-05 9.99999229e-01 5.08207775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.852557844 meters 0.2936339870208578 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.51 [[ 9.99973268e-01 6.98840065e-03 -2.15083886e-03 -3.01530549e-01] [-6.99049644e-03 9.99975097e-01 -9.68437515e-04 -1.72766877e-01] [ 2.14401747e-03 9.83447058e-04 9.99997218e-01 5.07272848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882557844 meters 0.2935888414108555 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.51 [[ 0.99997339 0.00696363 -0.00217318 -0.30151383] [-0.00696588 0.99997521 -0.00103187 -0.17249343] [ 0.00216594 0.00104698 0.99999711 0.50736826] [ 0. 0. 0. 1. ]] SLAMing on 95.912557844 meters 0.295230306071798 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999370e-01 -1.08149201e-03 -3.01967428e-04 -2.81628766e-01] [ 1.08134270e-03 9.99999293e-01 -4.94190391e-04 -1.67739925e-01] [ 3.02501677e-04 4.93863549e-04 9.99999832e-01 5.07067429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942557844 meters 0.2947634965306763 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999394e-01 -1.07708114e-03 -2.28219540e-04 -2.81765339e-01] [ 1.07697040e-03 9.99999303e-01 -4.84804891e-04 -1.67781925e-01] [ 2.28741555e-04 4.84558812e-04 9.99999856e-01 5.06941534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97255784400001 meters 0.29281636946514483 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.17, Z:0.50 [[ 9.99997633e-01 -2.00327930e-03 8.49448078e-04 -3.20709767e-01] [ 2.00269334e-03 9.99997756e-01 6.90108916e-04 -1.71831458e-01] [-8.50828653e-04 -6.88406098e-04 9.99999401e-01 5.04150051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00255784400001 meters 0.2968043770050289 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.50 [[ 9.99988610e-01 -4.47276185e-04 4.75186066e-03 -2.76234759e-01] [ 4.45070011e-04 9.99999793e-01 4.65323078e-04 -1.68933000e-01] [-4.75206780e-03 -4.63202867e-04 9.99988602e-01 5.01172888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032557844 meters 0.2968043770050289 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.50 [[ 9.99988610e-01 -4.47276185e-04 4.75186066e-03 -2.76234759e-01] [ 4.45070011e-04 9.99999793e-01 4.65323078e-04 -1.68933000e-01] [-4.75206780e-03 -4.63202867e-04 9.99988602e-01 5.01172888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062557844 meters 0.2947787181079425 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.50 [[ 0.99998461 0.00497581 0.00245381 -0.29830263] [-0.00496954 0.99998439 -0.00255597 -0.17047707] [-0.00246649 0.00254374 0.99999372 0.50331904] [ 0. 0. 0. 1. ]] SLAMing on 96.092557844 meters 0.2944933904312373 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.50 [[ 0.99998449 0.00501992 0.0024126 -0.29822003] [-0.00501402 0.99998445 -0.00244209 -0.17095277] [-0.00242482 0.00242996 0.99999411 0.50337903] [ 0. 0. 0. 1. ]] SLAMing on 96.122557844 meters 0.29402284610239504 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.50 [[ 0.99998423 0.00506946 0.00241628 -0.29825648] [-0.00506387 0.9999845 -0.00231482 -0.17148108] [-0.00242797 0.00230255 0.9999944 0.50344091] [ 0. 0. 0. 1. ]] SLAMing on 96.152557844 meters 0.29254042883841513 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.17, Z:0.50 [[ 9.99997112e-01 -2.40166368e-03 8.88548791e-05 -3.18957076e-01] [ 2.40160416e-03 9.99996896e-01 6.64030214e-04 -1.72736167e-01] [-9.04493805e-05 -6.63814902e-04 9.99999776e-01 5.04801114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182557844 meters 0.29426593431810755 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999601e-01 -8.80071580e-04 -1.54827462e-04 -2.81886318e-01] [ 8.80122923e-04 9.99999558e-01 3.31855083e-04 -1.71393226e-01] [ 1.54535337e-04 -3.31991218e-04 9.99999933e-01 5.09197843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212557844 meters 0.29466809711828984 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999609e-01 -8.48475334e-04 -2.49480593e-04 -2.81661345e-01] [ 8.48578203e-04 9.99999555e-01 4.12515136e-04 -1.71736709e-01] [ 2.49130473e-04 -4.12726678e-04 9.99999884e-01 5.09263814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242557844 meters 0.2936967667464548 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999631e-01 -7.91853137e-04 -3.34109988e-04 -2.81342588e-01] [ 7.92039874e-04 9.99999530e-01 5.59145641e-04 -1.72375809e-01] [ 3.33667070e-04 -5.59410063e-04 9.99999788e-01 5.09063082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272557844 meters 0.2957984013817124 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999656e-01 -7.43114508e-04 -3.69194498e-04 -2.81118601e-01] [ 7.43367446e-04 9.99999489e-01 6.85441207e-04 -1.72933776e-01] [ 3.68684948e-04 -6.85715418e-04 9.99999697e-01 5.08782138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302557844 meters 0.29569897068821527 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999680e-01 -7.34112726e-04 -3.19342787e-04 -2.81298453e-01] [ 7.34338351e-04 9.99999480e-01 7.06987657e-04 -1.73012849e-01] [ 3.18823612e-04 -7.07221937e-04 9.99999699e-01 5.08886823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33255784400001 meters 0.2944715106901967 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99999774e-01 -6.21298970e-04 -2.56485279e-04 -2.81640088e-01] [ 6.21549572e-04 9.99999328e-01 9.78144199e-04 -1.74133105e-01] [ 2.55877386e-04 -9.78303396e-04 9.99999489e-01 5.09264255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36255784400001 meters 0.29185749186212573 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:0.51 [[ 9.99997558e-01 -2.17327082e-03 4.01102633e-04 -3.20506597e-01] [ 2.17254784e-03 9.99996030e-01 1.79420010e-03 -1.79453487e-01] [-4.05000324e-04 -1.79332431e-03 9.99998310e-01 5.06872835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392557844 meters 0.29570591731920587 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99995886e-01 -7.92519129e-04 2.75667204e-03 -2.78311551e-01] [ 7.88423670e-04 9.99998584e-01 1.48642273e-03 -1.78603815e-01] [-2.75784615e-03 -1.48424319e-03 9.99995096e-01 5.06491731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters 0.29486445787468635 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99996108e-01 -6.80145673e-04 2.70574408e-03 -2.78120353e-01] [ 6.75328052e-04 9.99998186e-01 1.78103166e-03 -1.79852387e-01] [-2.70695053e-03 -1.77919746e-03 9.99994753e-01 5.06385386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452557844 meters 0.29476601137792824 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99996681e-01 -5.29916268e-04 2.52142977e-03 -2.77282584e-01] [ 5.24282098e-04 9.99997366e-01 2.23465017e-03 -1.81900992e-01] [-2.52260731e-03 -2.23332081e-03 9.99994324e-01 5.05484077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482557844 meters 0.2940264687561049 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99997034e-01 -4.52935490e-04 2.39303922e-03 -2.76770600e-01] [ 4.47083023e-04 9.99996910e-01 2.44559015e-03 -1.82860445e-01] [-2.39413952e-03 -2.44451301e-03 9.99994146e-01 5.05095384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.512557844 meters 0.2944295523621214 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.50 [[ 9.99997280e-01 -3.57682152e-04 2.30491171e-03 -2.76484145e-01] [ 3.51476940e-04 9.99996315e-01 2.69201199e-03 -1.83921066e-01] [-2.30586610e-03 -2.69119454e-03 9.99993720e-01 5.04991508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542557844 meters 0.29489406002609353 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99997637e-01 -2.73982497e-04 2.15664064e-03 -2.76161662e-01] [ 2.67711691e-04 9.99995738e-01 2.90742458e-03 -1.84832463e-01] [-2.15742803e-03 -2.90684035e-03 9.99993448e-01 5.05149784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.572557844 meters 0.2956438972952799 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99997780e-01 -2.88482132e-04 2.08731911e-03 -2.75977777e-01] [ 2.82480689e-04 9.99995828e-01 2.87491580e-03 -1.84694877e-01] [-2.08813976e-03 -2.87431979e-03 9.99993689e-01 5.05148218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602557844 meters 0.29499829198780875 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99988107e-01 4.75632836e-03 -1.07825141e-03 -2.97028748e-01] [-4.75677025e-03 9.99988603e-01 -4.07625834e-04 -1.84891476e-01] [ 1.07630032e-03 4.12749980e-04 9.99999336e-01 5.06702403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.632557844 meters 0.2955258860500317 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99988062e-01 4.75162034e-03 -1.13913191e-03 -2.96766638e-01] [-4.75209661e-03 9.99988622e-01 -4.15757153e-04 -1.84879394e-01] [ 1.13714343e-03 4.21165454e-04 9.99999265e-01 5.06481180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662557844 meters 0.29523456010479077 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99988209e-01 4.72025642e-03 -1.14069740e-03 -2.96828034e-01] [-4.72082064e-03 9.99988736e-01 -4.92438444e-04 -1.84541024e-01] [ 1.13836012e-03 4.97817666e-04 9.99999228e-01 5.06618265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.692557844 meters 0.2937925371769149 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99988736e-01 4.63965187e-03 -1.00077225e-03 -2.97276820e-01] [-4.64036592e-03 9.99988980e-01 -7.12361841e-04 -1.83574834e-01] [ 9.97456114e-04 7.16997766e-04 9.99999245e-01 5.06802260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72255784400001 meters 0.2940721818079762 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99989322e-01 4.52551996e-03 -9.35176895e-04 -2.97511911e-01] [-4.52647038e-03 9.99989239e-01 -1.01669296e-03 -1.82267175e-01] [ 9.30565767e-04 1.02091516e-03 9.99999046e-01 5.06927564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75255784400001 meters 0.2945258355365692 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 9.99990389e-01 4.30710213e-03 -8.19166718e-04 -2.97690909e-01] [-4.30843425e-03 9.99989388e-01 -1.63143144e-03 -1.79719145e-01] [ 8.12131283e-04 1.63494508e-03 9.99998334e-01 5.06636633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782557844 meters 0.29557054481245565 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99995113e-01 -3.11738978e-03 2.37969323e-04 -2.79086944e-01] [ 3.11753101e-03 9.99994963e-01 -5.95417587e-04 -1.73676683e-01] [-2.36111976e-04 5.96156554e-04 9.99999794e-01 5.08011545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812557844 meters 0.295259820891415 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994880e-01 -3.18664600e-03 2.91009059e-04 -2.79261890e-01] [ 3.18687187e-03 9.99994618e-01 -7.79022108e-04 -1.72892583e-01] [-2.88525025e-04 7.79945528e-04 9.99999654e-01 5.08084252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters 0.29440971025248963 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994747e-01 -3.22639913e-03 3.09465113e-04 -2.79362579e-01] [ 3.22667102e-03 9.99994405e-01 -8.82159483e-04 -1.72447969e-01] [-3.06617183e-04 8.83153391e-04 9.99999563e-01 5.08198000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872557844 meters 0.2949143573592184 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994480e-01 -3.29461103e-03 4.30235042e-04 -2.79654467e-01] [ 3.29506160e-03 9.99994019e-01 -1.05079424e-03 -1.71726451e-01] [-4.26770511e-04 1.05220609e-03 9.99999355e-01 5.08126115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902557844 meters 0.2945495141246962 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994492e-01 -3.28299970e-03 4.88170781e-04 -2.79772627e-01] [ 3.28349908e-03 9.99994083e-01 -1.02571491e-03 -1.71837347e-01] [-4.84800471e-04 1.02731217e-03 9.99999355e-01 5.08050246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932557844 meters 0.29448750974660914 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994622e-01 -3.22540910e-03 5.93726689e-04 -2.80091231e-01] [ 3.22593258e-03 9.99994407e-01 -8.82841071e-04 -1.72431049e-01] [-5.90875844e-04 8.84751645e-04 9.99999434e-01 5.08155320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962557844 meters 0.29332623192531193 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994665e-01 -3.18836433e-03 7.09824448e-04 -2.80431667e-01] [ 3.18892771e-03 9.99994600e-01 -7.93975261e-04 -1.72799458e-01] [-7.07289132e-04 7.96234604e-04 9.99999433e-01 5.08244964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992557844 meters 0.2926498333419171 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994690e-01 -3.18143747e-03 7.05644574e-04 -2.80238656e-01] [ 3.18198581e-03 9.99994635e-01 -7.77322809e-04 -1.72920854e-01] [-7.03167784e-04 7.79564033e-04 9.99999449e-01 5.07827858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022557844 meters 0.29416968697785484 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994802e-01 -3.17038895e-03 5.87406522e-04 -2.79780726e-01] [ 3.17082497e-03 9.99994697e-01 -7.42847401e-04 -1.73113004e-01] [-5.85048292e-04 7.44706103e-04 9.99999552e-01 5.07462803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052557844 meters 0.29438768175507307 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99994889e-01 -3.15690821e-03 5.05558987e-04 -2.79409866e-01] [ 3.15726327e-03 9.99994769e-01 -7.03059410e-04 -1.73328210e-01] [-5.03336848e-04 7.04652000e-04 9.99999625e-01 5.07096937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08255784400001 meters 0.2934370627307673 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99995048e-01 -3.11186903e-03 4.69650726e-04 -2.79297880e-01] [ 3.11214279e-03 9.99994987e-01 -5.83310297e-04 -1.73838979e-01] [-4.67833187e-04 5.84769029e-04 9.99999720e-01 5.07060491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11255784400001 meters 0.2948654079338561 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.51 [[ 0.99997746 0.00650264 0.00167314 -0.26001928] [-0.00650035 0.99997793 -0.00137044 -0.17809104] [-0.00168202 0.00135953 0.99999766 0.50771022] [ 0. 0. 0. 1. ]] SLAMing on 97.142557844 meters 0.2934497256859394 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99997598e-01 -1.30921846e-03 -1.75788064e-03 -2.79642040e-01] [ 1.31078248e-03 9.99998746e-01 8.88862561e-04 -1.79298434e-01] [ 1.75671472e-03 -8.91164625e-04 9.99998060e-01 5.08743330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172557844 meters 0.29380836916220726 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99997432e-01 -1.27414502e-03 -1.87395744e-03 -2.79262623e-01] [ 1.27599707e-03 9.99998698e-01 9.87447807e-04 -1.79743797e-01] [ 1.87269685e-03 -9.89836436e-04 9.99997757e-01 5.08561118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202557844 meters 0.2946775986387901 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999735 -0.00126218 -0.00192653 -0.27903339] [ 0.00126415 0.99999868 0.00102048 -0.17990725] [ 0.00192524 -0.00102292 0.99999762 0.50834851] [ 0. 0. 0. 1. ]] SLAMing on 97.232557844 meters 0.2950199940839639 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999718 -0.00121705 -0.00203693 -0.27862147] [ 0.00121938 0.9999986 0.00114338 -0.18046399] [ 0.00203553 -0.00114586 0.99999727 0.50806712] [ 0. 0. 0. 1. ]] SLAMing on 97.262557844 meters 0.29506450353318925 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999718 -0.00118983 -0.00205735 -0.27864172] [ 0.00119233 0.99999855 0.00121375 -0.18074815] [ 0.0020559 -0.0012162 0.99999715 0.50823224] [ 0. 0. 0. 1. ]] SLAMing on 97.292557844 meters 0.29478446898570143 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999725 -0.00119059 -0.00201989 -0.27880185] [ 0.00119303 0.99999856 0.00120984 -0.18071935] [ 0.00201844 -0.00121224 0.99999723 0.50837391] [ 0. 0. 0. 1. ]] SLAMing on 97.322557844 meters 0.29581713563691264 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.18, Z:0.51 [[ 9.99966259e-01 8.20823544e-03 -3.23791271e-04 -2.59320303e-01] [-8.20817951e-03 9.99966297e-01 1.73690037e-04 -1.82326752e-01] [ 3.25206047e-04 -1.71026439e-04 9.99999932e-01 5.08918701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.352557844 meters 0.2955150309920053 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998313e-01 -9.97992294e-04 -1.54216438e-03 -2.78017222e-01] [ 1.00029453e-03 9.99998385e-01 1.49280980e-03 -1.79337399e-01] [ 1.54067208e-03 -1.49434990e-03 9.99997697e-01 5.07526359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382557844 meters 0.2943760409124058 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999832 -0.00102002 -0.00152534 -0.27798515] [ 0.00102221 0.99999845 0.00143565 -0.1791043 ] [ 0.00152388 -0.00143721 0.99999781 0.50735125] [ 0. 0. 0. 1. ]] SLAMing on 97.412557844 meters 0.2938926522442006 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998403e-01 -9.97767121e-04 -1.48260857e-03 -2.78133578e-01] [ 9.99977371e-04 9.99998389e-01 1.49079155e-03 -1.79332131e-01] [ 1.48111872e-03 -1.49227175e-03 9.99997790e-01 5.07437494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442557844 meters 0.2934786089583874 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998564e-01 -9.76729316e-04 -1.38507268e-03 -2.78627836e-01] [ 9.78870489e-04 9.99998326e-01 1.54605830e-03 -1.79496755e-01] [ 1.38356028e-03 -1.54741189e-03 9.99997846e-01 5.08056913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47255784400001 meters 0.2934791354652548 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998603e-01 -9.67410579e-04 -1.36300910e-03 -2.78764574e-01] [ 9.69550039e-04 9.99998298e-01 1.56987372e-03 -1.79580074e-01] [ 1.36148807e-03 -1.57119303e-03 9.99997839e-01 5.08241539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50255784400001 meters 0.2930663743327785 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998519e-01 -9.96285939e-04 -1.40371303e-03 -2.78701520e-01] [ 9.98385823e-04 9.99998383e-01 1.49604361e-03 -1.79265242e-01] [ 1.40222027e-03 -1.49744284e-03 9.99997896e-01 5.08335506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532557844 meters 0.2925045243517138 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.9999984 -0.00106389 -0.00143661 -0.27856934] [ 0.00106578 0.99999856 0.00131822 -0.17852571] [ 0.0014352 -0.00131975 0.9999981 0.50822015] [ 0. 0. 0. 1. ]] SLAMing on 97.562557844 meters 0.2924960852625602 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 0.99999859 -0.00114548 -0.0012305 -0.27899043] [ 0.00114678 0.99999879 0.00105477 -0.17745939] [ 0.00122929 -0.00105618 0.99999869 0.50798928] [ 0. 0. 0. 1. ]] SLAMing on 97.592557844 meters 0.2935789967189584 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998676e-01 -1.20451028e-03 -1.09440637e-03 -2.79347145e-01] [ 1.20548009e-03 9.99998881e-01 8.85925726e-04 -1.76740132e-01] [ 1.09333804e-03 -8.87243838e-04 9.99999009e-01 5.08014903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622557844 meters 0.29375115672414165 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998644e-01 -1.27105400e-03 -1.04679502e-03 -2.79473945e-01] [ 1.27178816e-03 9.99998946e-01 7.00970593e-04 -1.75962506e-01] [ 1.04590295e-03 -7.02300944e-04 9.99999206e-01 5.08024545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652557844 meters 0.29395618224489223 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998576e-01 -1.32557129e-03 -1.04438030e-03 -2.79467740e-01] [ 1.32615300e-03 9.99998966e-01 5.56487365e-04 -1.75354189e-01] [ 1.04364156e-03 -5.57871581e-04 9.99999300e-01 5.07995410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682557844 meters 0.2939515457945846 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998485e-01 -1.36435785e-03 -1.08125411e-03 -2.79311672e-01] [ 1.36485260e-03 9.99998964e-01 4.56970159e-04 -1.74945552e-01] [ 1.08062952e-03 -4.58445219e-04 9.99999311e-01 5.07853919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712557844 meters 0.29373755329363704 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998459e-01 -1.35190218e-03 -1.12001666e-03 -2.79188533e-01] [ 1.35245244e-03 9.99998965e-01 4.90682728e-04 -1.75094551e-01] [ 1.11935215e-03 -4.92196741e-04 9.99999252e-01 5.07802954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742557844 meters 0.29462628657026885 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998454e-01 -1.34096217e-03 -1.13763274e-03 -2.79131770e-01] [ 1.34155311e-03 9.99998966e-01 5.18846702e-04 -1.75219148e-01] [ 1.13693581e-03 -5.20372094e-04 9.99999218e-01 5.07778480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772557844 meters 0.2938140549791385 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:0.51 [[ 9.99998549e-01 -1.33222151e-03 -1.06147453e-03 -2.79367257e-01] [ 1.33279192e-03 9.99998968e-01 5.36844160e-04 -1.75286000e-01] [ 1.06075824e-03 -5.38258106e-04 9.99999293e-01 5.07867421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802557844 meters 0.29384862916797927 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998633e-01 -1.36270166e-03 -9.36420482e-04 -2.79812780e-01] [ 1.36312202e-03 9.99998970e-01 4.48409045e-04 -1.74870650e-01] [ 9.35808470e-04 -4.49684888e-04 9.99999461e-01 5.08156381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83255784400001 meters 0.2933232803846694 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998663e-01 -1.40157000e-03 -8.42913849e-04 -2.80141668e-01] [ 1.40185583e-03 9.99998960e-01 3.38596442e-04 -1.74379842e-01] [ 8.42438406e-04 -3.39777633e-04 9.99999587e-01 5.08375254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86255784400001 meters 0.2949144755549422 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99998654e-01 -1.38720171e-03 -8.75712477e-04 -2.79951519e-01] [ 1.38753278e-03 9.99998966e-01 3.77561268e-04 -1.74569292e-01] [ 8.75187818e-04 -3.78775840e-04 9.99999545e-01 5.08142955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89255784400001 meters 0.29255287398009966 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.51 [[ 0.99998755 0.00339257 -0.00366057 -0.30218113] [-0.00340371 0.99998959 -0.0030402 -0.17456931] [ 0.00365022 0.00305263 0.99998868 0.50948604] [ 0. 0. 0. 1. ]] SLAMing on 97.922557844 meters 0.29255287398009966 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.51 [[ 0.99998755 0.00339257 -0.00366057 -0.30218113] [-0.00340371 0.99998959 -0.0030402 -0.17456931] [ 0.00365022 0.00305263 0.99998868 0.50948604] [ 0. 0. 0. 1. ]] SLAMing on 97.952557844 meters 0.2934607950102077 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:0.51 [[ 0.9999876 0.00340215 -0.00363685 -0.30214107] [-0.00341312 0.99998963 -0.00301562 -0.17468806] [ 0.00362655 0.00302799 0.99998884 0.50925705] [ 0. 0. 0. 1. ]] SLAMing on 97.982557844 meters 0.2930883443256621 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:0.51 [[ 9.99973062e-01 -3.52415667e-03 -6.43867848e-03 -3.22920312e-01] [ 3.52563596e-03 9.99993761e-01 2.18413518e-04 -1.76363969e-01] [ 6.43786859e-03 -2.41108071e-04 9.99979248e-01 5.10445026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.012557844 meters 0.2928507904822141 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.18, Z:0.51 [[ 9.99972770e-01 -3.52895942e-03 -6.48110857e-03 -3.22729690e-01] [ 3.53037693e-03 9.99993747e-01 2.07286390e-04 -1.76337641e-01] [ 6.48033654e-03 -2.30161502e-04 9.99978976e-01 5.10254857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042557844 meters 0.2957904553395646 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99967722e-01 -1.66660846e-03 -7.85991688e-03 -2.82714378e-01] [ 1.66314130e-03 9.99998517e-01 -4.47635432e-04 -1.73058192e-01] [ 7.86065126e-03 4.34548831e-04 9.99969010e-01 5.13014089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072557844 meters 0.2948467849725215 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99968317e-01 -1.65367817e-03 -7.78651381e-03 -2.82758927e-01] [ 1.65047246e-03 9.99998551e-01 -4.18108887e-04 -1.73206792e-01] [ 7.78719394e-03 4.05244214e-04 9.99969597e-01 5.12686304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102557844 meters 0.2942250314130426 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99968836e-01 -1.60779741e-03 -7.72926760e-03 -2.82898661e-01] [ 1.60547254e-03 9.99998664e-01 -3.06983488e-04 -1.73678319e-01] [ 7.72975084e-03 2.94564794e-04 9.99970082e-01 5.12667744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132557844 meters 0.29487860543242345 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99968998e-01 -1.56929598e-03 -7.71623544e-03 -2.82880871e-01] [ 1.56771637e-03 9.99998749e-01 -2.10757041e-04 -1.74095380e-01] [ 7.71655653e-03 1.98653638e-04 9.99970207e-01 5.12556764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162557844 meters 0.29418675130023203 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99968420e-01 -1.55623470e-03 -7.79334346e-03 -2.82591507e-01] [ 1.55492555e-03 9.99998776e-01 -1.74038536e-04 -1.74273702e-01] [ 7.79360476e-03 1.61914972e-04 9.99969616e-01 5.12359602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192557844 meters 0.29429981798043536 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99968143e-01 -1.54938880e-03 -7.83017957e-03 -2.82440510e-01] [ 1.54821965e-03 9.99998789e-01 -1.55373149e-04 -1.74370032e-01] [ 7.83041083e-03 1.43245361e-04 9.99969332e-01 5.12237652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22255784400001 meters 0.29228340253929325 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:0.51 [[ 0.99994471 0.00604332 -0.00860515 -0.3026914 ] [-0.00605386 0.99998096 -0.00119862 -0.17822691] [ 0.00859774 0.00125065 0.99996226 0.51135705] [ 0. 0. 0. 1. ]] SLAMing on 98.25255784400001 meters 0.2929467149436842 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.17, Z:0.51 [[ 9.99977420e-01 -1.19357166e-03 -6.61324030e-03 -2.84455242e-01] [ 1.19349095e-03 9.99999288e-01 -1.61508122e-05 -1.72860102e-01] [ 6.61325487e-03 8.25760503e-06 9.99978132e-01 5.13028465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282557844 meters 0.2948090303226463 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.51 [[ 0.99997935 0.00583159 -0.00269969 -0.26457208] [-0.00583961 0.99997853 -0.00297462 -0.16880452] [ 0.00268229 0.00299032 0.99999193 0.51154566] [ 0. 0. 0. 1. ]] SLAMing on 98.312557844 meters 0.29431132460077875 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.17, Z:0.51 [[ 0.99998122 0.00556909 -0.00255714 -0.26479195] [-0.00557862 0.99997746 -0.00373495 -0.16567014] [ 0.00253628 0.00374914 0.99998976 0.51117854] [ 0. 0. 0. 1. ]] SLAMing on 98.342557844 meters 0.2944237162693168 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.16, Z:0.51 [[ 0.99999491 -0.00186184 -0.00259203 -0.24577269] [ 0.00185443 0.99999419 -0.0028597 -0.15812986] [ 0.00259734 0.00285488 0.99999255 0.51281849] [ 0. 0. 0. 1. ]] SLAMing on 98.372557844 meters 0.2929442245484259 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.16, Z:0.51 [[ 0.99999454 -0.00250128 -0.00215919 -0.28402726] [ 0.00249736 0.99999523 -0.00181597 -0.15904387] [ 0.00216372 0.00181057 0.99999602 0.50943848] [ 0. 0. 0. 1. ]] SLAMing on 98.402557844 meters 0.2934947362765481 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.15, Z:0.51 [[ 0.99999351 -0.0029433 -0.0020783 -0.2840617 ] [ 0.00293711 0.99999125 -0.00297744 -0.15420152] [ 0.00208705 0.00297132 0.99999341 0.5090095 ] [ 0. 0. 0. 1. ]] SLAMing on 98.432557844 meters 0.2951604237470797 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.15, Z:0.51 [[ 9.99996782e-01 -2.89332446e-04 -2.52035626e-03 -2.45156269e-01] [ 2.81945293e-04 9.99995665e-01 -2.93085789e-03 -1.47767268e-01] [ 2.52119333e-03 2.93013786e-03 9.99992529e-01 5.11764445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462557844 meters 0.29433888069743847 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.51 [[ 9.99996892e-01 -5.44400103e-04 -2.43321127e-03 -2.45332681e-01] [ 5.35644321e-04 9.99993385e-01 -3.59765161e-03 -1.44968843e-01] [ 2.43515374e-03 3.59633709e-03 9.99990568e-01 5.11623319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492557844 meters 0.2937666108700584 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.14, Z:0.51 [[ 9.99996909e-01 -7.91135933e-04 -2.35721440e-03 -2.45424024e-01] [ 7.81127196e-04 9.99990690e-01 -4.24390161e-03 -1.42267608e-01] [ 2.36054995e-03 4.24204720e-03 9.99988216e-01 5.11373420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522557844 meters 0.29476998418327094 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.51 [[ 9.99991781e-01 3.19223751e-03 -2.49951458e-03 -2.44886866e-01] [-3.19436806e-03 9.99994538e-01 -8.48854630e-04 -1.38397836e-01] [ 2.49679118e-03 8.56832023e-04 9.99996516e-01 5.10864301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552557844 meters 0.2935821256199342 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.14, Z:0.51 [[ 0.99999246 0.00298863 -0.00248072 -0.24488633] [-0.00299202 0.99999459 -0.00136305 -0.13622092] [ 0.00247663 0.00137046 0.99999599 0.51073748] [ 0. 0. 0. 1. ]] SLAMing on 98.58255784400001 meters 0.2934621585407168 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.51 [[ 0.99999303 0.00282039 -0.00244771 -0.2450502 ] [-0.00282477 0.99999441 -0.00179039 -0.13438609] [ 0.00244265 0.00179729 0.9999954 0.51088533] [ 0. 0. 0. 1. ]] SLAMing on 98.61255784400001 meters 0.2939383498208349 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.51 [[ 0.99999369 0.00263277 -0.0023864 -0.24527191] [-0.00263817 0.99999396 -0.00226326 -0.13235382] [ 0.00238043 0.00226954 0.99999459 0.51099971] [ 0. 0. 0. 1. ]] SLAMing on 98.64255784400001 meters 0.2946061004990808 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.51 [[ 0.99999495 0.00225434 -0.00224021 -0.24576192] [-0.00226143 0.99999243 -0.00316707 -0.12841518] [ 0.00223305 0.00317212 0.99999248 0.51114557] [ 0. 0. 0. 1. ]] SLAMing on 98.672557844 meters 0.29359085978040417 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.13, Z:0.51 [[ 0.99999558 0.00206466 -0.00214059 -0.24601289] [-0.00207245 0.99999121 -0.00364541 -0.12638145] [ 0.00213305 0.00364983 0.99999106 0.51109911] [ 0. 0. 0. 1. ]] SLAMing on 98.702557844 meters 0.29396193344283666 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.51 [[ 9.99995632e-01 -2.95141913e-03 -1.60932149e-04 -2.23620126e-01] [ 2.95135302e-03 9.99995561e-01 -4.09514566e-04 -1.22729519e-01] [ 1.62140084e-04 4.09037810e-04 9.99999903e-01 5.09641067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732557844 meters 0.29300301026726344 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.51 [[ 9.99994988e-01 -3.16403837e-03 -1.12301809e-04 -2.23659213e-01] [ 3.16393121e-03 9.99994551e-01 -9.41917334e-04 -1.20484519e-01] [ 1.15281459e-04 9.41557298e-04 9.99999550e-01 5.09413705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762557844 meters 0.29436590774916 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.12, Z:0.51 [[ 9.99994357e-01 -3.35730748e-03 -1.20726673e-04 -2.23518123e-01] [ 3.35713049e-03 9.99993332e-01 -1.43749215e-03 -1.18405391e-01] [ 1.25551971e-04 1.43707874e-03 9.99998960e-01 5.09114877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792557844 meters 0.2936526146037109 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99992914e-01 -3.75568900e-03 -2.56924581e-04 -2.22970051e-01] [ 3.75504468e-03 9.99989914e-01 -2.46395115e-03 -1.14044342e-01] [ 2.66175824e-04 2.46296893e-03 9.99996931e-01 5.08617102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822557844 meters 0.2938102324101188 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99992199e-01 -3.93552081e-03 -3.37508723e-04 -2.22590834e-01] [ 3.93452020e-03 9.99988009e-01 -2.91580964e-03 -1.12148667e-01] [ 3.48979906e-04 2.91445896e-03 9.99995692e-01 5.08234186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.852557844 meters 0.2934944708326344 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99999720e-01 3.78668918e-04 -6.44945162e-04 -2.21832202e-01] [-3.77802291e-04 9.99999026e-01 1.34331375e-03 -1.11979677e-01] [ 6.45453205e-04 -1.34306971e-03 9.99998890e-01 5.08214688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882557844 meters 0.2940313883729214 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99999757e-01 2.03368405e-04 -6.67427420e-04 -2.21711952e-01] [-2.02764863e-04 9.99999571e-01 9.04224662e-04 -1.10116126e-01] [ 6.67611024e-04 -9.04089111e-04 9.99999368e-01 5.08051873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.912557844 meters 0.2939394901685821 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99999835e-01 -3.70285128e-05 -5.73490490e-04 -2.22024775e-01] [ 3.71946970e-05 9.99999957e-01 2.89768838e-04 -1.07474042e-01] [ 5.73479736e-04 -2.89790121e-04 9.99999794e-01 5.08143194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942557844 meters 0.29413868741077265 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99999880e-01 -1.15554582e-04 -4.75200798e-04 -2.22332767e-01] [ 1.15594292e-04 9.99999990e-01 8.35363631e-05 -1.06577174e-01] [ 4.75191140e-04 -8.35912837e-05 9.99999884e-01 5.08250598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97255784400001 meters 0.2935848806517036 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.11, Z:0.51 [[ 9.99999906e-01 -1.95926594e-04 -3.86418852e-04 -2.22616413e-01] [ 1.95879137e-04 9.99999973e-01 -1.22845303e-04 -1.05684189e-01] [ 3.86442910e-04 1.22769600e-04 9.99999918e-01 5.08356446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00255784400001 meters 0.2921814150578685 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.11, Z:0.51 [[ 9.99999236e-01 -9.12543753e-04 8.33921259e-04 -2.61803560e-01] [ 9.12087644e-04 9.99999434e-01 5.47162064e-04 -1.07052048e-01] [-8.34420096e-04 -5.46401037e-04 9.99999503e-01 5.05067835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032557844 meters 0.2915719998456638 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.10, Z:0.50 [[ 9.99999007e-01 -1.12416678e-03 8.49999542e-04 -2.61804391e-01] [ 1.12414119e-03 9.99999368e-01 3.05876995e-05 -1.04856691e-01] [-8.50033390e-04 -2.96321496e-05 9.99999638e-01 5.04920454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062557844 meters 0.29201220541421163 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.10, Z:0.50 [[ 9.99998876e-01 -1.23733010e-03 8.46321754e-04 -2.61736307e-01] [ 1.23755154e-03 9.99999200e-01 -2.61184597e-04 -1.03630497e-01] [-8.45997905e-04 2.62231670e-04 9.99999608e-01 5.04767456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092557844 meters 0.29360860768060165 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99999664e-01 1.61586388e-04 8.04276400e-04 -2.24406127e-01] [-1.61251617e-04 9.99999900e-01 -4.16286504e-04 -9.71479497e-02] [-8.04343586e-04 4.16156674e-04 9.99999590e-01 5.08528300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122557844 meters 0.29352111012631155 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99999600e-01 9.44082392e-05 8.89797596e-04 -2.24719824e-01] [-9.38813860e-05 9.99999820e-01 -5.92127772e-04 -9.63815297e-02] [-8.89853338e-04 5.92044000e-04 9.99999429e-01 5.08722121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.152557844 meters 0.29240600958971735 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99999616e-01 7.62932064e-05 8.73498235e-04 -2.24759246e-01] [-7.57351561e-05 9.99999793e-01 -6.38883567e-04 -9.61723405e-02] [-8.73546797e-04 6.38817167e-04 9.99999414e-01 5.08907172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182557844 meters 0.2938624152927131 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.51 [[ 0.9999778 -0.00506326 0.00433272 -0.20320186] [ 0.00505155 0.99998357 0.00270797 -0.09698649] [-0.00434636 -0.00268603 0.99998695 0.50701017] [ 0. 0. 0. 1. ]] SLAMing on 99.212557844 meters 0.29379393649842744 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.51 [[ 0.99997773 -0.005082 0.0043249 -0.20324421] [ 0.00507052 0.99998361 0.00266003 -0.09677236] [-0.00433835 -0.00263804 0.99998711 0.50714642] [ 0. 0. 0. 1. ]] SLAMing on 99.242557844 meters 0.29328835419738136 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.51 [[ 0.99997699 -0.00513909 0.00442931 -0.20352539] [ 0.00512797 0.99998369 0.00251634 -0.0961517 ] [-0.00444217 -0.00249357 0.99998702 0.50713951] [ 0. 0. 0. 1. ]] SLAMing on 99.272557844 meters 0.29339332295808634 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.51 [[ 0.99997686 -0.00514618 0.00444997 -0.20356002] [ 0.0051351 0.9999837 0.00249774 -0.09607458] [-0.00446275 -0.00247483 0.99998698 0.50709465] [ 0. 0. 0. 1. ]] SLAMing on 99.302557844 meters 0.2907862535009806 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.10, Z:0.51 [[ 9.99997868e-01 1.92249104e-05 2.06489668e-03 -2.26004188e-01] [-1.71404240e-05 9.99999490e-01 -1.00949998e-03 -9.61201520e-02] [-2.06491503e-03 1.00946244e-03 9.99997359e-01 5.08582696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33255784400001 meters 0.29393718557712717 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.51 [[ 9.99991682e-01 8.69846343e-04 3.98484093e-03 -1.82130190e-01] [-8.64432885e-04 9.99998702e-01 -1.36003377e-03 -9.41754838e-02] [-3.98601877e-03 1.35657783e-03 9.99991136e-01 5.07220578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36255784400001 meters 0.2916389468031044 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99999848e-01 3.99703099e-04 -3.80915123e-04 -2.21495167e-01] [-4.00033501e-04 9.99999544e-01 -8.67708186e-04 -9.80202585e-02] [ 3.80568123e-04 8.67860432e-04 9.99999551e-01 5.06346906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39255784400001 meters 0.29237453888971965 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99999816e-01 3.63728281e-04 -4.84936873e-04 -2.21037678e-01] [-3.64193373e-04 9.99999474e-01 -9.59334626e-04 -9.76491970e-02] [ 4.84587680e-04 9.59511061e-04 9.99999422e-01 5.05880525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422557844 meters 0.2955392888185838 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:0.51 [[ 9.99997094e-01 1.83442856e-03 -1.56426225e-03 -1.79819047e-01] [-1.83573680e-03 9.99997966e-01 -8.35310224e-04 -9.50971132e-02] [ 1.56272675e-03 8.38179370e-04 9.99998428e-01 5.07804883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452557844 meters 0.2926403293069526 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.50 [[ 9.99999406e-01 1.04280087e-03 -3.16309923e-04 -2.19195295e-01] [-1.04286498e-03 9.99999436e-01 -2.02566349e-04 -9.77601875e-02] [ 3.16098509e-04 2.02896097e-04 9.99999929e-01 5.04562480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482557844 meters 0.295398114108386 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.51 [[ 9.99997843e-01 1.74182752e-03 1.13172087e-03 -1.81369441e-01] [-1.74085298e-03 9.99998114e-01 -8.61526194e-04 -9.35691520e-02] [-1.13321937e-03 8.59554176e-04 9.99998988e-01 5.07141282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512557844 meters 0.29351680009249953 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99986073e-01 -5.18693501e-03 -9.74630165e-04 -2.03840799e-01] [ 5.18886543e-03 9.99984560e-01 1.98869218e-03 -9.41518077e-02] [ 9.64299900e-04 -1.99372171e-03 9.99997548e-01 5.08965337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542557844 meters 0.2933366689029903 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99985694e-01 -5.27138314e-03 -9.07911725e-04 -2.03930404e-01] [ 5.27298121e-03 9.99984537e-01 1.76685937e-03 -9.32276206e-02] [ 8.98583893e-04 -1.77162149e-03 9.99998027e-01 5.08756955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572557844 meters 0.2937029531301806 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99984654e-01 -5.46907496e-03 -8.83275093e-04 -2.03749784e-01] [ 5.47013139e-03 9.99984321e-01 1.19809042e-03 -9.09148388e-02] [ 8.76708798e-04 -1.20290366e-03 9.99998892e-01 5.08124323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602557844 meters 0.2925224716997095 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99993325e-01 2.28099414e-03 -2.85439156e-03 -2.23407261e-01] [-2.28093675e-03 9.99997398e-01 2.33607723e-05 -9.36576477e-02] [ 2.85443742e-03 -1.68499298e-05 9.99995926e-01 5.07313795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632557844 meters 0.29356379752679196 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99995089e-01 -3.10943320e-03 -3.92270864e-04 -2.00854780e-01] [ 3.11069253e-03 9.99989875e-01 3.25167290e-03 -9.31152340e-02] [ 3.82156032e-04 -3.25287716e-03 9.99994636e-01 5.05533660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662557844 meters 0.2932662702127446 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99995104e-01 -3.09893532e-03 -4.34749028e-04 -2.00774000e-01] [ 3.10034444e-03 9.99989818e-01 3.27890735e-03 -9.32297766e-02] [ 4.24583480e-04 -3.28023917e-03 9.99994530e-01 5.05603498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692557844 meters 0.2939497085401977 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99995069e-01 -3.02292298e-03 -8.50848210e-04 -1.99668313e-01] [ 3.02591638e-03 9.99989159e-01 3.53912485e-03 -9.43538577e-02] [ 8.40140484e-04 -3.54168200e-03 9.99993375e-01 5.05492299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72255784400001 meters 0.2926839081910403 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99994246e-01 1.60980388e-03 -2.98615149e-03 -2.21636051e-01] [-1.61119566e-03 9.99998595e-01 -4.63730693e-04 -9.56051487e-02] [ 2.98540078e-03 4.68539299e-04 9.99995434e-01 5.06129890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75255784400001 meters 0.2950108555101818 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99978849e-01 -6.23613202e-03 -1.84742244e-03 -2.01446298e-01] [ 6.23725399e-03 9.99980367e-01 6.02181015e-04 -9.18656110e-02] [ 1.84363089e-03 -6.13691121e-04 9.99998112e-01 5.06847751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782557844 meters 0.2932778621988064 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99978987e-01 -6.22217760e-03 -1.81939245e-03 -2.01526513e-01] [ 6.22334403e-03 9.99980432e-01 6.36149433e-04 -9.20068827e-02] [ 1.81539861e-03 -6.47458771e-04 9.99998143e-01 5.06864350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812557844 meters 0.2932778621988064 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99978987e-01 -6.22217760e-03 -1.81939245e-03 -2.01526513e-01] [ 6.22334403e-03 9.99980432e-01 6.36149433e-04 -9.20068827e-02] [ 1.81539861e-03 -6.47458771e-04 9.99998143e-01 5.06864350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842557844 meters 0.2933295905767921 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99997518e-01 2.19826461e-03 -3.62780850e-04 -2.23931413e-01] [-2.19818918e-03 9.99997562e-01 2.08185472e-04 -9.66007183e-02] [ 3.63237613e-04 -2.07387495e-04 9.99999913e-01 5.06432013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872557844 meters 0.2933740136960883 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.50 [[ 0.99999279 -0.00290296 0.00244771 -0.20148566] [ 0.00289408 0.99998925 0.00362373 -0.0967459 ] [-0.0024582 -0.00361662 0.99999044 0.50473364] [ 0. 0. 0. 1. ]] SLAMing on 99.902557844 meters 0.2936600296934662 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:0.50 [[ 0.99999265 -0.00292055 0.00248488 -0.20153319] [ 0.00291165 0.99998936 0.0035783 -0.09655833] [-0.00249531 -0.00357103 0.99999051 0.50461835] [ 0. 0. 0. 1. ]] SLAMing on 99.932557844 meters 0.2918915582114895 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.10, Z:0.51 [[ 9.99997469e-01 2.05614088e-03 -9.13738654e-04 -2.22787907e-01] [-2.05621015e-03 9.99997883e-01 -7.48686329e-05 -9.50934062e-02] [ 9.13582779e-04 7.67472821e-05 9.99999580e-01 5.05991107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962557844 meters 0.29436274367263326 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.50 [[ 0.99999271 -0.00358099 -0.00132879 -0.19690939] [ 0.00358468 0.99998971 0.00278095 -0.09097351] [ 0.00131882 -0.00278569 0.99999525 0.50322513] [ 0. 0. 0. 1. ]] SLAMing on 99.992557844 meters 0.29439963136979275 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.50 [[ 0.99999243 -0.00364192 -0.00136624 -0.19678799] [ 0.0036455 0.9999899 0.0026289 -0.09033493] [ 0.00135666 -0.00263386 0.99999561 0.50316319] [ 0. 0. 0. 1. ]] SLAMing on 100.022557844 meters 0.2926910342475896 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99993666e-01 1.53789635e-03 -3.20975442e-03 -2.20317800e-01] [-1.54105573e-03 9.99998330e-01 -9.82064678e-04 -8.98447134e-02] [ 3.20823875e-03 9.87004869e-04 9.99994366e-01 5.05188204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052557844 meters 0.2927306072718942 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 0.99999419 0.00135586 -0.00312646 -0.2207686 ] [-0.00136037 0.99999804 -0.00144061 -0.08779957] [ 0.0031245 0.00144485 0.99999407 0.5056863 ] [ 0. 0. 0. 1. ]] SLAMing on 100.08255784400001 meters 0.29173324169037146 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 0.99999449 0.00129313 -0.00305591 -0.22097376] [-0.00129804 0.99999787 -0.00160289 -0.08710642] [ 0.00305383 0.00160685 0.99999405 0.50571958] [ 0. 0. 0. 1. ]] SLAMing on 100.11255784400001 meters 0.2930909716351938 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.50 [[ 9.99989883e-01 -4.42960232e-03 -7.83149663e-04 -1.99652013e-01] [ 4.43081334e-03 9.99988980e-01 1.55143510e-03 -8.55711937e-02] [ 7.76268793e-04 -1.55488939e-03 9.99998490e-01 5.04638808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14255784400001 meters 0.29166096518251783 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995639e-01 5.38549326e-04 -2.90381680e-03 -2.22885738e-01] [-5.44528501e-04 9.99997733e-01 -2.05867721e-03 -8.57212829e-02] [ 2.90270152e-03 2.06024945e-03 9.99993665e-01 5.06139932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172557844 meters 0.29243705185989455 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995278e-01 5.70798914e-04 -3.01948658e-03 -2.22563551e-01] [-5.76746438e-04 9.99997895e-01 -1.96920989e-03 -8.61114712e-02] [ 3.01835620e-03 1.97094207e-03 9.99993502e-01 5.06087986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202557844 meters 0.2922891945783729 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995379e-01 6.17612092e-04 -2.97675718e-03 -2.22792083e-01] [-6.23114018e-04 9.99998099e-01 -1.84772197e-03 -8.66048510e-02] [ 2.97561034e-03 1.84956829e-03 9.99993862e-01 5.06366587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232557844 meters 0.2924069681192251 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995471e-01 7.58219772e-04 -2.91259618e-03 -2.23202836e-01] [-7.62416647e-04 9.99998672e-01 -1.44009961e-03 -8.82476445e-02] [ 2.91150041e-03 1.44231370e-03 9.99994721e-01 5.07024775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262557844 meters 0.29178321918812283 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995477e-01 8.81393539e-04 -2.87560855e-03 -2.23326174e-01] [-8.84576454e-04 9.99998997e-01 -1.10578277e-03 -8.96375163e-02] [ 2.87463104e-03 1.10832146e-03 9.99995254e-01 5.07081704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.292557844 meters 0.2920773466825362 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99995057e-01 1.01065301e-03 -2.97740123e-03 -2.22984693e-01] [-1.01287111e-03 9.99999211e-01 -7.43565564e-04 -9.11542679e-02] [ 2.97664739e-03 7.46577612e-04 9.99995291e-01 5.06912090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322557844 meters 0.2919255345977156 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99994546e-01 1.12888845e-03 -3.10365600e-03 -2.22547403e-01] [-1.13020949e-03 9.99999271e-01 -4.23919169e-04 -9.25258171e-02] [ 3.10317518e-03 4.27424639e-04 9.99995094e-01 5.06659540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352557844 meters 0.2921002710830577 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99993893e-01 1.27701851e-03 -3.25307203e-03 -2.21858188e-01] [-1.27709683e-03 9.99999184e-01 -2.19977519e-05 -9.43183202e-02] [ 3.25304128e-03 2.61521056e-05 9.99994709e-01 5.05893206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382557844 meters 0.2908710972866806 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.09, Z:0.51 [[ 9.99993540e-01 1.32449923e-03 -3.34141006e-03 -2.21634618e-01] [-1.32416378e-03 9.99999118e-01 1.02603031e-04 -9.48451252e-02] [ 3.34154301e-03 -9.81777943e-05 9.99994412e-01 5.05910460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412557844 meters 0.29295309698026556 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.51 [[ 9.99991625e-01 1.85555693e-03 -3.64793037e-03 -1.83121798e-01] [-1.85815734e-03 9.99998022e-01 -7.09583166e-04 -9.27532396e-02] [ 3.64660649e-03 7.16355652e-04 9.99993095e-01 5.09547312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442557844 meters 0.2916966737159805 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 9.99957728e-01 -7.60786811e-03 -5.16366124e-03 -2.02847405e-01] [ 7.60774201e-03 9.99971060e-01 -4.40637125e-05 -8.97643217e-02] [ 5.16384703e-03 4.77804736e-06 9.99986667e-01 5.09246688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47255784400001 meters 0.2926159755995748 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.09, Z:0.51 [[ 0.99998106 -0.00309994 -0.00531744 -0.20231673] [ 0.00312463 0.99998435 0.00464092 -0.091378 ] [ 0.00530297 -0.00465745 0.99997509 0.5089472 ] [ 0. 0. 0. 1. ]] SLAMing on 100.50255784400001 meters 0.2940313000736886 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.51 [[ 0.9999588 0.00788053 -0.00450398 -0.17781511] [-0.00785753 0.99995611 0.005102 -0.08762816] [ 0.00454399 -0.0050664 0.99997684 0.50610871] [ 0. 0. 0. 1. ]] SLAMing on 100.532557844 meters 0.29297253334170004 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.08, Z:0.51 [[ 0.99998331 -0.00195396 -0.00543666 -0.19805045] [ 0.0019824 0.99998435 0.00523128 -0.08261033] [ 0.00542636 -0.00524197 0.99997154 0.50542763] [ 0. 0. 0. 1. ]] SLAMing on 100.562557844 meters 0.29377158702920586 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.50 [[ 0.9999835 0.00526403 -0.002298 -0.17834536] [-0.00525855 0.99998333 0.00238557 -0.0799475 ] [ 0.00231052 -0.00237344 0.99999451 0.50496812] [ 0. 0. 0. 1. ]] SLAMing on 100.592557844 meters 0.2931850756470238 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.51 [[ 0.99998438 0.00512437 -0.0022296 -0.17867073] [-0.0051199 0.99998488 0.00200766 -0.07832775] [ 0.00223986 -0.00199622 0.9999955 0.50529016] [ 0. 0. 0. 1. ]] SLAMing on 100.622557844 meters 0.2939583061942991 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996794e-01 -2.42281443e-03 -7.36364155e-04 -1.60697643e-01] [ 2.42505186e-03 9.99992399e-01 3.05292830e-03 -6.94639860e-02] [ 7.28961879e-04 -3.05470424e-03 9.99995069e-01 5.07373681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652557844 meters 0.2929510431347951 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996571e-01 -2.52762377e-03 -6.84693721e-04 -1.60842290e-01] [ 2.52952238e-03 9.99992919e-01 2.78640875e-03 -6.83380269e-02] [ 6.77645880e-04 -2.78813115e-03 9.99995884e-01 5.07363369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682557844 meters 0.29351194733164765 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996462e-01 -2.56928927e-03 -6.88443202e-04 -1.60892773e-01] [ 2.57112320e-03 9.99993113e-01 2.67636880e-03 -6.78652803e-02] [ 6.81562095e-04 -2.67812941e-03 9.99996182e-01 5.07492273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712557844 meters 0.292975117863642 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996376e-01 -2.59830456e-03 -7.04673956e-04 -1.60946618e-01] [ 2.60012701e-03 9.99993245e-01 2.59776604e-03 -6.75232747e-02] [ 6.97919409e-04 -2.59958887e-03 9.99996378e-01 5.07711087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742557844 meters 0.29232924882889355 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996344e-01 -2.64069352e-03 -5.81323618e-04 -1.61414317e-01] [ 2.64212733e-03 9.99993435e-01 2.47965789e-03 -6.69982124e-02] [ 5.74771785e-04 -2.48118476e-03 9.99996757e-01 5.08066412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772557844 meters 0.2914584714245556 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996343e-01 -2.65011602e-03 -5.38400418e-04 -1.61557892e-01] [ 2.65142950e-03 9.99993475e-01 2.45369876e-03 -6.68815346e-02] [ 5.31894319e-04 -2.45511732e-03 9.99996845e-01 5.08135498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802557844 meters 0.2922652687465167 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996351e-01 -2.64413355e-03 -5.53006579e-04 -1.61508562e-01] [ 2.64549121e-03 9.99993453e-01 2.46889141e-03 -6.69489425e-02] [ 5.46474880e-04 -2.47034538e-03 9.99996799e-01 5.08110020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83255784400001 meters 0.29255267760553383 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.51 [[ 9.99996339e-01 -2.62791440e-03 -6.44588411e-04 -1.61206587e-01] [ 2.62952741e-03 9.99993382e-01 2.51444478e-03 -6.71574223e-02] [ 6.37976399e-04 -2.51613054e-03 9.99996631e-01 5.07966928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86255784400001 meters 0.2901685630231358 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.51 [[ 0.99998467 -0.00333354 -0.00442056 -0.20377399] [ 0.00334539 0.99999083 0.00267525 -0.06980095] [ 0.0044116 -0.00268999 0.99998665 0.50926227] [ 0. 0. 0. 1. ]] SLAMing on 100.89255784400001 meters 0.29245974329991165 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.51 [[ 9.99994122e-01 3.31753958e-03 -8.66537186e-04 -1.82741026e-01] [-3.31780264e-03 9.99994450e-01 -3.02316148e-04 -6.61272773e-02] [ 8.65529431e-04 3.05189370e-04 9.99999579e-01 5.07458528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922557844 meters 0.29066129858514983 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.07, Z:0.51 [[ 0.99998967 -0.00358858 -0.0027906 -0.20549661] [ 0.00359557 0.9999904 0.00250344 -0.06611258] [ 0.00278159 -0.00251345 0.99999297 0.50939629] [ 0. 0. 0. 1. ]] SLAMing on 100.952557844 meters 0.2917137463817694 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 0.99998634 0.00512618 0.00102124 -0.18758308] [-0.00512729 0.99998626 0.00109386 -0.06204602] [-0.00101562 -0.00109908 0.99999888 0.50961525] [ 0. 0. 0. 1. ]] SLAMing on 100.982557844 meters 0.2930817158540862 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.51 [[ 0.99999033 -0.00269717 0.00347383 -0.16916467] [ 0.00269049 0.99999452 0.00192737 -0.05583757] [-0.00347901 -0.00191801 0.99999211 0.51007054] [ 0. 0. 0. 1. ]] SLAMing on 101.012557844 meters 0.2928482311103999 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.51 [[ 0.99998975 -0.00280128 0.00355616 -0.1693673 ] [ 0.00279545 0.99999474 0.00164389 -0.05465181] [-0.00356074 -0.00163393 0.99999233 0.51001803] [ 0. 0. 0. 1. ]] SLAMing on 101.042557844 meters 0.2921223842175401 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99987420e-01 4.71286781e-03 1.71691911e-03 -1.88221059e-01] [-4.71274935e-03 9.99988892e-01 -7.30341385e-05 -5.65911838e-02] [-1.71724424e-03 6.49418103e-05 9.99998523e-01 5.08749724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072557844 meters 0.29236038516826146 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99989016e-01 4.40590004e-03 1.59902141e-03 -1.87549225e-01] [-4.40439226e-03 9.99989854e-01 -9.45237600e-04 -5.28256121e-02] [-1.60316981e-03 9.38184500e-04 9.99998275e-01 5.07784590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102557844 meters 0.2924405282574533 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 9.99991849e-01 -4.03328287e-03 -1.84707593e-04 -2.06154861e-01] [ 4.03334836e-03 9.99991803e-01 3.55619063e-04 -4.83511828e-02] [ 1.83271767e-04 -3.56361155e-04 9.99999920e-01 5.06218423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132557844 meters 0.29368283811472984 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.51 [[ 9.99997308e-01 -2.13199519e-03 -9.16042531e-04 -1.66830422e-01] [ 2.13287041e-03 9.99997269e-01 9.55522883e-04 -4.43842942e-02] [ 9.14002859e-04 -9.57474110e-04 9.99999124e-01 5.09219606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162557844 meters 0.2921453450952369 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.04, Z:0.51 [[ 0.99999245 0.00303689 -0.00242614 -0.19106062] [-0.00304343 0.99999173 -0.0026987 -0.04421936] [ 0.00241793 0.00270606 0.99999342 0.51153571] [ 0. 0. 0. 1. ]] SLAMing on 101.192557844 meters 0.29265500579764064 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.51 [[ 0.99998574 -0.00513815 -0.00145899 -0.17034136] [ 0.0051353 0.99998492 -0.00194704 -0.04049889] [ 0.00146897 0.00193952 0.99999704 0.51261121] [ 0. 0. 0. 1. ]] SLAMing on 101.22255784400001 meters 0.2926906770635109 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.51 [[ 0.99998612 -0.0050426 -0.00152471 -0.17039527] [ 0.00504012 0.99998598 -0.00162634 -0.04180916] [ 0.00153289 0.00161863 0.99999752 0.51318726] [ 0. 0. 0. 1. ]] SLAMing on 101.25255784400001 meters 0.2923034568338987 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.51 [[ 0.99998631 -0.00498526 -0.00158958 -0.17020907] [ 0.00498294 0.99998652 -0.0014609 -0.04250119] [ 0.00159684 0.00145296 0.99999767 0.51313609] [ 0. 0. 0. 1. ]] SLAMing on 101.282557844 meters 0.29273316325443566 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.51 [[ 0.99998667 -0.0048941 -0.00164576 -0.17000317] [ 0.0048921 0.9999873 -0.00121379 -0.04354408] [ 0.00165168 0.00120572 0.99999791 0.51301027] [ 0. 0. 0. 1. ]] SLAMing on 101.312557844 meters 0.2915677693863573 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 0.99998961 0.00339798 -0.00303758 -0.18964457] [-0.00340379 0.99999239 -0.00190804 -0.0486541 ] [ 0.00303107 0.00191836 0.99999357 0.51250546] [ 0. 0. 0. 1. ]] SLAMing on 101.342557844 meters 0.29190532790779455 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 0.99998885 0.00354077 -0.00312375 -0.18953373] [-0.00354549 0.99999258 -0.00150619 -0.05031921] [ 0.00311839 0.00151725 0.99999399 0.51276904] [ 0. 0. 0. 1. ]] SLAMing on 101.372557844 meters 0.29120403979336934 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 0.99998853 0.00361823 -0.00313937 -0.18949772] [-0.00362232 0.99999259 -0.00130014 -0.05118323] [ 0.00313465 0.0013115 0.99999423 0.51278233] [ 0. 0. 0. 1. ]] SLAMing on 101.402557844 meters 0.29163869947216225 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 0.99998824 0.00368668 -0.00315132 -0.18941849] [-0.00369022 0.99999257 -0.00111819 -0.0519514 ] [ 0.00314718 0.00112981 0.99999441 0.51267301] [ 0. 0. 0. 1. ]] SLAMing on 101.432557844 meters 0.29241058727752167 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99987923e-01 3.75294753e-03 -3.17330154e-03 -1.89435834e-01] [-3.75595922e-03 9.99992501e-01 -9.43646577e-04 -5.26739802e-02] [ 3.16973629e-03 9.55553971e-04 9.99994520e-01 5.12849573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462557844 meters 0.29250139135626013 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99987388e-01 3.83449775e-03 -3.24363146e-03 -1.89329513e-01] [-3.83693030e-03 9.99992362e-01 -7.44056313e-04 -5.35108267e-02] [ 3.24075360e-03 7.56492516e-04 9.99994463e-01 5.13028191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492557844 meters 0.29143569911525485 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 9.99971026e-01 -5.05390751e-03 -5.69261388e-03 -2.08171365e-01] [ 5.05514386e-03 9.99987202e-01 2.02816505e-04 -5.12664497e-02] [ 5.69151601e-03 -2.31587610e-04 9.99983776e-01 5.12373528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522557844 meters 0.2924426233223109 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99976552e-01 4.56487622e-03 -5.10468175e-03 -1.85746199e-01] [-4.56577510e-03 9.99989563e-01 -1.64450538e-04 -5.28133035e-02] [ 5.10387778e-03 1.87753511e-04 9.99986958e-01 5.12049480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552557844 meters 0.2931735018833956 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99976803e-01 4.52279405e-03 -5.09298653e-03 -1.85589217e-01] [-4.52428560e-03 9.99989726e-01 -2.81380016e-04 -5.23458927e-02] [ 5.09166158e-03 3.04415614e-04 9.99986991e-01 5.11588736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58255784400001 meters 0.29126650802276643 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.51 [[ 9.99984897e-01 3.51667384e-03 -4.22369664e-03 -2.25041506e-01] [-3.51753301e-03 9.99993794e-01 -1.96005711e-04 -5.40201458e-02] [ 4.22298114e-03 2.10859743e-04 9.99991061e-01 5.08548228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61255784400001 meters 0.29272610093683044 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 9.99988355e-01 -4.39006961e-03 -2.00451256e-03 -2.06170090e-01] [ 4.39178013e-03 9.99989995e-01 8.49733616e-04 -4.94604571e-02] [ 2.00076212e-03 -8.58527098e-04 9.99997630e-01 5.09234035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64255784400001 meters 0.29327330346756353 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998881 -0.0042876 -0.00199872 -0.2065023 ] [ 0.00428982 0.99999018 0.00111026 -0.05054131] [ 0.00199394 -0.00111882 0.99999739 0.50998055] [ 0. 0. 0. 1. ]] SLAMing on 101.672557844 meters 0.29221896413640575 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998915 -0.00422177 -0.00196709 -0.20667021] [ 0.0042243 0.99999026 0.00128252 -0.05125131] [ 0.00196165 -0.00129082 0.99999724 0.51019167] [ 0. 0. 0. 1. ]] SLAMing on 101.702557844 meters 0.29221896413640575 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998915 -0.00422177 -0.00196709 -0.20667021] [ 0.0042243 0.99999026 0.00128252 -0.05125131] [ 0.00196165 -0.00129082 0.99999724 0.51019167] [ 0. 0. 0. 1. ]] SLAMing on 101.732557844 meters 0.292289277897373 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998955 -0.00413205 -0.00195587 -0.20666205] [ 0.00413506 0.99999027 0.00153838 -0.05231515] [ 0.00194949 -0.00154645 0.9999969 0.51013069] [ 0. 0. 0. 1. ]] SLAMing on 101.762557844 meters 0.29308026424331474 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998988 -0.00404629 -0.00196676 -0.2065656 ] [ 0.00404977 0.99999024 0.00176784 -0.05328717] [ 0.00195959 -0.00177578 0.9999965 0.50998871] [ 0. 0. 0. 1. ]] SLAMing on 101.792557844 meters 0.29306373327336144 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99999004 -0.00396506 -0.00205114 -0.2063156 ] [ 0.00396914 0.99999014 0.0019926 -0.05423067] [ 0.00204322 -0.00200072 0.99999591 0.50993352] [ 0. 0. 0. 1. ]] SLAMing on 101.822557844 meters 0.29343033919539824 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99999002 -0.00392812 -0.00212669 -0.20611267] [ 0.00393258 0.99999007 0.002096 -0.05466562] [ 0.00211844 -0.00210434 0.99999554 0.50992171] [ 0. 0. 0. 1. ]] SLAMing on 101.852557844 meters 0.2926755182197748 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.06, Z:0.51 [[ 0.99998627 0.0039976 -0.00338828 -0.22496298] [-0.00399406 0.99999147 0.00105278 -0.05979417] [ 0.00339246 -0.00103923 0.99999371 0.5087386 ] [ 0. 0. 0. 1. ]] SLAMing on 101.882557844 meters 0.29346679244289947 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.51 [[ 0.99998881 -0.00361729 -0.0030504 -0.20564794] [ 0.00362525 0.99999003 0.00260728 -0.05582916] [ 0.00304094 -0.00261831 0.99999195 0.51060655] [ 0. 0. 0. 1. ]] SLAMing on 101.912557844 meters 0.2936392699976424 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.51 [[ 0.99998858 -0.00352975 -0.00322111 -0.20527061] [ 0.00353892 0.99998969 0.00284649 -0.05683472] [ 0.00321103 -0.00285785 0.99999076 0.510772 ] [ 0. 0. 0. 1. ]] SLAMing on 101.942557844 meters 0.2924765068138976 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.06, Z:0.51 [[ 9.99989169e-01 1.62647646e-03 -4.36076086e-03 -2.27984466e-01] [-1.63021710e-03 9.99998306e-01 -8.54378396e-04 -5.90585786e-02] [ 4.35936385e-03 8.61478129e-04 9.99990127e-01 5.11673973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97255784400001 meters 0.2912721126536896 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.06, Z:0.51 [[ 9.99988955e-01 1.69970198e-03 -4.38180976e-03 -2.27998777e-01] [-1.70259396e-03 9.99998335e-01 -6.56351592e-04 -5.98743738e-02] [ 4.38068686e-03 6.63804785e-04 9.99990184e-01 5.11842984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00255784400001 meters 0.2921586191760844 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.06, Z:0.51 [[ 9.99988710e-01 1.75494143e-03 -4.41594424e-03 -2.27869130e-01] [-1.75719584e-03 9.99998328e-01 -5.06687424e-04 -6.05064863e-02] [ 4.41504765e-03 5.14441382e-04 9.99990121e-01 5.11746245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032557844 meters 0.2918621879944995 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.06, Z:0.51 [[ 9.99988761e-01 1.80016052e-03 -4.38614175e-03 -2.27940499e-01] [-1.80187375e-03 9.99998302e-01 -3.86679843e-04 -6.10080656e-02] [ 4.38543822e-03 3.94578771e-04 9.99990306e-01 5.11736442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062557844 meters 0.2934147215756078 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.51 [[ 0.99999314 -0.00352219 -0.00114613 -0.20675738] [ 0.00352551 0.99998956 0.00290872 -0.06127462] [ 0.00113587 -0.00291274 0.99999511 0.51046493] [ 0. 0. 0. 1. ]] SLAMing on 102.092557844 meters 0.2937682181305935 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.51 [[ 0.99999304 -0.00355855 -0.00111657 -0.20689724] [ 0.00356167 0.99998971 0.00281119 -0.06085231] [ 0.00110656 -0.00281514 0.99999543 0.51060368] [ 0. 0. 0. 1. ]] SLAMing on 102.122557844 meters 0.29225026330372217 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.06, Z:0.51 [[ 9.99991761e-01 1.67788960e-03 -3.69641163e-03 -2.30259245e-01] [-1.68023434e-03 9.99998389e-01 -6.31316022e-04 -5.90732507e-02] [ 3.69534640e-03 6.37521658e-04 9.99992969e-01 5.13071402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152557844 meters 0.29332818116112014 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.06, Z:0.51 [[ 0.99999114 -0.0036485 -0.00210019 -0.20657608] [ 0.00365361 0.99999036 0.00243555 -0.05579279] [ 0.00209128 -0.0024432 0.99999483 0.51119091] [ 0. 0. 0. 1. ]] SLAMing on 102.182557844 meters 0.29385428661569224 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99999072 -0.00374488 -0.00212885 -0.20648615] [ 0.00374953 0.99999059 0.00218321 -0.0547372 ] [ 0.00212066 -0.00219117 0.99999535 0.51113828] [ 0. 0. 0. 1. ]] SLAMing on 102.212557844 meters 0.2928809772370258 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99999019 -0.0038558 -0.00217779 -0.20633663] [ 0.00385993 0.99999076 0.00189403 -0.05352753] [ 0.00217046 -0.00190242 0.99999583 0.51106073] [ 0. 0. 0. 1. ]] SLAMing on 102.242557844 meters 0.29339417200084883 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.99998967 -0.00396714 -0.00221751 -0.20618456] [ 0.0039707 0.99999083 0.00160434 -0.05232543] [ 0.00221112 -0.00161313 0.99999625 0.51093582] [ 0. 0. 0. 1. ]] SLAMing on 102.272557844 meters 0.2925037647660495 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.51 [[ 0.9999889 -0.0041615 -0.00220882 -0.20615151] [ 0.00416391 0.99999074 0.00108876 -0.05015812] [ 0.00220427 -0.00109795 0.99999697 0.51079784] [ 0. 0. 0. 1. ]] SLAMing on 102.302557844 meters 0.29349999340304944 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99988719e-01 4.70674856e-03 -6.39762485e-04 -1.86994705e-01] [-4.70680145e-03 9.99988920e-01 -8.12011968e-05 -5.29848172e-02] [ 6.39373203e-04 8.42115157e-05 9.99999792e-01 5.11811794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33255784400001 meters 0.29380837135354393 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99988396e-01 4.78085351e-03 -5.92269191e-04 -1.87232322e-01] [-4.78078410e-03 9.99988565e-01 1.18553047e-04 -5.37996496e-02] [ 5.92829204e-04 -1.15720161e-04 9.99999818e-01 5.12089499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36255784400001 meters 0.29324187291461695 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.51 [[ 9.99988047e-01 4.85785496e-03 -5.53513394e-04 -1.87444503e-01] [-4.85767199e-03 9.99988147e-01 3.31428135e-04 -5.46675403e-02] [ 5.55116863e-04 -3.28735387e-04 9.99999792e-01 5.12362992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39255784400001 meters 0.2922805533833945 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99987629e-01 4.94400949e-03 -5.47005085e-04 -1.87635972e-01] [-4.94369587e-03 9.99987616e-01 5.73205993e-04 -5.56473643e-02] [ 5.49832247e-04 -5.70494675e-04 9.99999686e-01 5.12795699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422557844 meters 0.2921735205138933 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99986865e-01 5.08870476e-03 -6.11810909e-04 -1.87581071e-01] [-5.08809948e-03 9.99986569e-01 9.86846405e-04 -5.73424273e-02] [ 6.16824461e-04 -9.83720489e-04 9.99999326e-01 5.13065124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452557844 meters 0.29161227603388473 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99986300e-01 5.18885755e-03 -6.90257940e-04 -1.87346656e-01] [-5.18798426e-03 9.99985747e-01 1.26099341e-03 -5.84948364e-02] [ 6.96791217e-04 -1.25739509e-03 9.99998967e-01 5.12996528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482557844 meters 0.29240906896067526 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99985720e-01 5.29342233e-03 -7.34055263e-04 -1.87179463e-01] [-5.29228479e-03 9.99984805e-01 1.54304439e-03 -5.96876909e-02] [ 7.42212095e-04 -1.53913753e-03 9.99998540e-01 5.12879516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512557844 meters 0.2932086715307624 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99985124e-01 5.39887231e-03 -7.77457293e-04 -1.87006563e-01] [-5.39744573e-03 9.99983767e-01 1.82547587e-03 -6.08843857e-02] [ 7.87300184e-04 -1.82125243e-03 9.99998032e-01 5.12750614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542557844 meters 0.29239801127991855 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99999051e-01 1.16554451e-03 -7.33977953e-04 -1.87130773e-01] [-1.16714637e-03 9.99996930e-01 -2.18580779e-03 -6.21807076e-02] [ 7.31428043e-04 2.18666237e-03 9.99997342e-01 5.12703518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.572557844 meters 0.29267330664069924 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99998846e-01 1.29423507e-03 -7.95451046e-04 -1.87110532e-01] [-1.29570750e-03 9.99997443e-01 -1.85334754e-03 -6.35638073e-02] [ 7.93050344e-04 1.85437608e-03 9.99997966e-01 5.13033306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602557844 meters 0.2924406439578191 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.06, Z:0.51 [[ 9.99998689e-01 1.41433481e-03 -7.87908005e-04 -1.87252189e-01] [-1.41554184e-03 9.99997822e-01 -1.53350321e-03 -6.48826897e-02] [ 7.85737403e-04 1.53461652e-03 9.99998514e-01 5.13338823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.632557844 meters 0.29339206718578065 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99998387e-01 1.64332737e-03 -7.25333044e-04 -1.87425438e-01] [-1.64401601e-03 9.99998198e-01 -9.49839348e-04 -6.73296268e-02] [ 7.23770839e-04 9.51030274e-04 9.99999286e-01 5.13400581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662557844 meters 0.2921176659711953 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99998216e-01 1.75233270e-03 -7.05292289e-04 -1.87461923e-01] [-1.75280434e-03 9.99998240e-01 -6.68642104e-04 -6.85006657e-02] [ 7.04119365e-04 6.69877150e-04 9.99999528e-01 5.13379688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.692557844 meters 0.29291130320766323 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99998111e-01 1.81991212e-03 -6.82713764e-04 -1.87422514e-01] [-1.82025354e-03 9.99998218e-01 -4.99796449e-04 -6.92188621e-02] [ 6.81802963e-04 5.01038217e-04 9.99999642e-01 5.13175744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72255784400001 meters 0.2930101702880784 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997944e-01 1.88477844e-03 -7.48721447e-04 -1.87176099e-01] [-1.88502526e-03 9.99998169e-01 -3.29085185e-04 -6.99422599e-02] [ 7.48099823e-04 3.30495867e-04 9.99999666e-01 5.13012825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75255784400001 meters 0.293194334066305 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997817e-01 1.91197172e-03 -8.42697418e-04 -1.86847121e-01] [-1.91218603e-03 9.99998140e-01 -2.53585323e-04 -7.02703943e-02] [ 8.42211002e-04 2.55196163e-04 9.99999613e-01 5.12817117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782557844 meters 0.29273912540950087 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997726e-01 1.93898815e-03 -8.88137113e-04 -1.86674906e-01] [-1.93914813e-03 9.99998104e-01 -1.79308609e-04 -7.05922060e-02] [ 8.87787752e-04 1.81030430e-04 9.99999590e-01 5.12692826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812557844 meters 0.29305890637181 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997466e-01 2.07714627e-03 -8.68593248e-04 -1.86949555e-01] [-2.07700002e-03 9.99997829e-01 1.69247687e-04 -7.20253004e-02] [ 8.68942914e-04 -1.67443190e-04 9.99999608e-01 5.13208127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.842557844 meters 0.29417398728507227 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997230e-01 2.18155411e-03 -8.83656096e-04 -1.87133064e-01] [-2.18117277e-03 9.99997528e-01 4.32278541e-04 -7.31209985e-02] [ 8.84596950e-04 -4.30349937e-04 9.99999516e-01 5.13712414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.872557844 meters 0.2931711600725032 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.51 [[ 9.99997005e-01 2.29429125e-03 -8.52308427e-04 -1.87330671e-01] [-2.29367616e-03 9.99997109e-01 7.21960357e-04 -7.43212686e-02] [ 8.53962350e-04 -7.20003275e-04 9.99999376e-01 5.13992876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902557844 meters 0.29325413584171145 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.51 [[ 9.99996532e-01 2.49439000e-03 -8.44647260e-04 -1.87164723e-01] [-2.49333182e-03 9.99996108e-01 1.25155668e-03 -7.65760717e-02] [ 8.47765844e-04 -1.24944635e-03 9.99998860e-01 5.13610908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.932557844 meters 0.29222063197445486 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.08, Z:0.51 [[ 0.99997592 -0.00631236 -0.00288427 -0.20630632] [ 0.00632045 0.99997609 0.00280495 -0.07737312] [ 0.00286649 -0.00282311 0.99999191 0.51254391] [ 0. 0. 0. 1. ]] SLAMing on 102.962557844 meters 0.29266796912585324 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.51 [[ 0.99999461 0.00276327 -0.00177405 -0.18688204] [-0.00275976 0.99999423 0.00198037 -0.08283038] [ 0.00177951 -0.00197546 0.99999647 0.51350333] [ 0. 0. 0. 1. ]] SLAMing on 102.992557844 meters 0.29350504602970956 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.51 [[ 0.99999416 0.00290106 -0.00180787 -0.18692023] [-0.00289678 0.99999301 0.00236569 -0.08440777] [ 0.00181472 -0.00236044 0.99999557 0.51381425] [ 0. 0. 0. 1. ]] SLAMing on 103.022557844 meters 0.2934817874710754 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.51 [[ 0.99999379 0.00303134 -0.00179472 -0.18704978] [-0.00302645 0.99999173 0.00271751 -0.08584994] [ 0.00180295 -0.00271206 0.9999947 0.51405276] [ 0. 0. 0. 1. ]] SLAMing on 103.052557844 meters 0.2935216701812942 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.51 [[ 0.99999334 0.00316293 -0.00182191 -0.18707242] [-0.00315731 0.99999029 0.00307533 -0.08731536] [ 0.00183162 -0.00306955 0.99999361 0.51429483] [ 0. 0. 0. 1. ]] SLAMing on 103.08255784400001 meters 0.29395756314266075 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.51 [[ 9.99997787e-01 -9.62402149e-04 -1.87058597e-03 -1.86866417e-01] [ 9.61076744e-04 9.99999287e-01 -7.09320270e-04 -8.96695612e-02] [ 1.87126729e-03 7.07520924e-04 9.99997999e-01 5.14107176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11255784400001 meters 0.2935214558216142 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.51 [[ 9.99997874e-01 -7.50942331e-04 -1.92052112e-03 -1.86726969e-01] [ 7.50675158e-04 9.99999708e-01 -1.39831721e-04 -9.20325816e-02] [ 1.92062557e-03 1.38389737e-04 9.99998146e-01 5.14112784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14255784400001 meters 0.29254114462011815 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.09, Z:0.52 [[ 0.9999851 0.00400236 -0.0037121 -0.21093755] [-0.00401486 0.99998628 -0.0033653 -0.09442375] [ 0.00369858 0.00338016 0.99998745 0.51603197] [ 0. 0. 0. 1. ]] SLAMing on 103.172557844 meters 0.29204712305940056 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.09, Z:0.52 [[ 0.99999222 -0.00333714 -0.00210481 -0.19212006] [ 0.00333385 0.99999322 -0.00156339 -0.09237033] [ 0.00211001 0.00155636 0.99999656 0.51746615] [ 0. 0. 0. 1. ]] SLAMing on 103.202557844 meters 0.29280954548635074 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.52 [[ 9.99993066e-01 -3.03703895e-03 -2.15484607e-03 -1.92105115e-01] [ 3.03528678e-03 9.99995061e-01 -8.15934146e-04 -9.55082777e-02] [ 2.15731345e-03 8.09387913e-04 9.99997345e-01 5.17728876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232557844 meters 0.29453088188211424 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.52 [[ 0.99999076 0.00410892 -0.00126653 -0.16938684] [-0.00411368 0.9999844 -0.00377976 -0.09717151] [ 0.00125098 0.00378493 0.99999205 0.51640821] [ 0. 0. 0. 1. ]] SLAMing on 103.262557844 meters 0.29480344907102485 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.52 [[ 0.99999017 0.00421169 -0.00138621 -0.16883542] [-0.00421653 0.99998495 -0.00351112 -0.09837526] [ 0.0013714 0.00351693 0.99999288 0.51587765] [ 0. 0. 0. 1. ]] SLAMing on 103.292557844 meters 0.29259616659981436 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.52 [[ 9.99982937e-01 -2.35958281e-03 -5.34404028e-03 -1.88803897e-01] [ 2.35792947e-03 9.99997170e-01 -3.15659812e-04 -1.01622082e-01] [ 5.34476998e-03 3.03053556e-04 9.99985671e-01 5.17217636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322557844 meters 0.293988097176025 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.51 [[ 0.99998368 0.00529425 -0.00214669 -0.16709445] [-0.00529879 0.99998373 -0.00211296 -0.10267016] [ 0.00213547 0.0021243 0.99999546 0.51455774] [ 0. 0. 0. 1. ]] SLAMing on 103.352557844 meters 0.29380215050015035 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.10, Z:0.51 [[ 0.99998298 0.00544549 -0.00209214 -0.1674286 ] [-0.0054491 0.99998367 -0.00172511 -0.10427042] [ 0.00208271 0.00173648 0.99999632 0.51497129] [ 0. 0. 0. 1. ]] SLAMing on 103.382557844 meters 0.2931748959998699 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.52 [[ 0.99998215 0.00560747 -0.00206315 -0.16769009] [-0.00561016 0.99998342 -0.00129963 -0.10602122] [ 0.00205582 0.00131119 0.99999703 0.51538338] [ 0. 0. 0. 1. ]] SLAMing on 103.412557844 meters 0.29509172199411693 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.51 [[ 9.99999206e-01 -1.58324757e-04 1.24998191e-03 -1.45600103e-01] [ 1.56590422e-04 9.99999025e-01 1.38746445e-03 -1.08012668e-01] [-1.25020036e-03 -1.38726761e-03 9.99998256e-01 5.13015721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442557844 meters 0.2940264627394055 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.51 [[ 9.99999274e-01 -6.16750259e-05 1.20307427e-03 -1.45349185e-01] [ 5.97001056e-05 9.99998651e-01 1.64152825e-03 -1.09113086e-01] [-1.20317389e-03 -1.64145523e-03 9.99997929e-01 5.12746193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47255784400001 meters 0.2949695377473857 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.11, Z:0.51 [[ 9.99999392e-01 -4.99682109e-05 1.10162112e-03 -1.44920043e-01] [ 4.81192851e-05 9.99998590e-01 1.67833079e-03 -1.09300130e-01] [-1.10170343e-03 -1.67827676e-03 9.99997985e-01 5.12381924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50255784400001 meters 0.2941691500307903 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.51 [[ 0.99998421 0.00535891 -0.0016892 -0.16682835] [-0.00536147 0.99998449 -0.00151042 -0.10887675] [ 0.00168108 0.00151945 0.99999743 0.51403922] [ 0. 0. 0. 1. ]] SLAMing on 103.532557844 meters 0.2951104123824577 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.52 [[ 9.99996667e-01 -2.45893888e-03 -7.87482068e-04 -1.48040135e-01] [ 2.45845336e-03 9.99996788e-01 -6.16924180e-04 -1.02980555e-01] [ 7.88996517e-04 6.14986136e-04 9.99999500e-01 5.15414975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562557844 meters 0.294222117237916 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.52 [[ 9.99996485e-01 -2.53155538e-03 -7.87982959e-04 -1.48044027e-01] [ 2.53089532e-03 9.99996447e-01 -8.37524373e-04 -1.02085003e-01] [ 7.90100398e-04 8.35527127e-04 9.99999339e-01 5.15415009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.592557844 meters 0.2939395904241676 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.52 [[ 9.99996394e-01 -2.59935831e-03 -6.75060477e-04 -1.48234779e-01] [ 2.59866711e-03 9.99996100e-01 -1.02278022e-03 -1.01322069e-01] [ 6.77716417e-04 1.02102227e-03 9.99999249e-01 5.15167800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622557844 meters 0.2939395904241676 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.52 [[ 9.99996394e-01 -2.59935831e-03 -6.75060477e-04 -1.48234779e-01] [ 2.59866711e-03 9.99996100e-01 -1.02278022e-03 -1.01322069e-01] [ 6.77716417e-04 1.02102227e-03 9.99999249e-01 5.15167800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652557844 meters 0.29404119440199195 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.10, Z:0.52 [[ 9.99996449e-01 -2.59781916e-03 -5.93750484e-04 -1.48429215e-01] [ 2.59721102e-03 9.99996104e-01 -1.02272654e-03 -1.01319343e-01] [ 5.96405029e-04 1.02118081e-03 9.99999301e-01 5.15128236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682557844 meters 0.2962591763327243 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.52 [[ 0.99999827 -0.00148473 -0.00112185 -0.10988753] [ 0.00148265 0.99999718 -0.00185284 -0.09822861] [ 0.0011246 0.00185117 0.99999765 0.51825944] [ 0. 0. 0. 1. ]] SLAMing on 103.712557844 meters 0.29345276643252405 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.52 [[ 9.99991997e-01 3.88996544e-03 -9.34872371e-04 -1.34384060e-01] [-3.89453615e-03 9.99980224e-01 -4.93808245e-03 -1.01535307e-01] [ 9.15644913e-04 4.94168383e-03 9.99987371e-01 5.20173927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742557844 meters 0.29384385032949056 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.52 [[ 0.99999567 -0.0020549 0.00210695 -0.11496007] [ 0.00205927 0.99999573 -0.00207325 -0.10104979] [-0.00210268 0.00207758 0.99999563 0.52002391] [ 0. 0. 0. 1. ]] SLAMing on 103.772557844 meters 0.2952911721048454 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.52 [[ 0.99999591 -0.00194736 0.00209245 -0.11499546] [ 0.00195108 0.99999652 -0.00177652 -0.10225561] [-0.00208898 0.00178059 0.99999623 0.52021683] [ 0. 0. 0. 1. ]] SLAMing on 103.802557844 meters 0.29343974048238747 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:0.52 [[ 0.99999635 -0.00182221 0.00199673 -0.11479648] [ 0.00182502 0.99999735 -0.00140683 -0.10376567] [-0.00199417 0.00141047 0.99999702 0.52034852] [ 0. 0. 0. 1. ]] SLAMing on 103.83255784400001 meters 0.2932783361693484 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.52 [[ 9.99996812e-01 -1.64926896e-03 1.91188408e-03 -1.14591338e-01] [ 1.65100295e-03 9.99998227e-01 -9.05728497e-04 -1.05832448e-01] [-1.91038690e-03 9.08882136e-04 9.99997762e-01 5.20379414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86255784400001 meters 0.2942680829437237 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.52 [[ 9.99997238e-01 -1.35316342e-03 1.92184515e-03 -1.14648201e-01] [ 1.35322053e-03 9.99999084e-01 -2.84186435e-05 -1.09416301e-01] [-1.92180493e-03 3.10192453e-05 9.99998153e-01 5.20381981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89255784400001 meters 0.29190726854201465 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.12, Z:0.52 [[ 0.99999341 -0.00191426 0.00308566 -0.15430621] [ 0.00190913 0.99999679 0.00166533 -0.11502322] [-0.00308884 -0.00165943 0.99999385 0.51806054] [ 0. 0. 0. 1. ]] SLAMing on 103.922557844 meters 0.294035811250214 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.52 [[ 9.99996737e-01 -3.05901850e-04 2.53630233e-03 -1.15307065e-01] [ 3.01918212e-04 9.99998721e-01 1.57088225e-03 -1.13966392e-01] [-2.53677962e-03 -1.57011136e-03 9.99995550e-01 5.21079390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952557844 meters 0.29274157800282913 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.52 [[ 9.99996918e-01 -2.05376533e-04 2.47426802e-03 -1.15200763e-01] [ 2.00831662e-04 9.99998293e-01 1.83696315e-03 -1.15073745e-01] [-2.47464107e-03 -1.83646058e-03 9.99995252e-01 5.21218039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982557844 meters 0.29239145635062896 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.52 [[ 9.99997223e-01 -9.54800396e-05 2.35489260e-03 -1.14827884e-01] [ 9.04554550e-05 9.99997720e-01 2.13369312e-03 -1.16337834e-01] [-2.35509095e-03 -2.13347419e-03 9.99994951e-01 5.21084098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012557844 meters 0.29367339351544536 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.52 [[ 0.99999877 0.00103653 0.00117695 -0.07516099] [-0.00103872 0.99999772 0.00186656 -0.11704578] [-0.00117501 -0.00186778 0.99999757 0.52397224] [ 0. 0. 0. 1. ]] SLAMing on 104.042557844 meters 0.2934841416363484 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.52 [[ 0.99999857 0.00114952 0.0012395 -0.07535418] [-0.00115219 0.99999701 0.00215709 -0.11825808] [-0.00123701 -0.00215851 0.99999691 0.52404784] [ 0. 0. 0. 1. ]] SLAMing on 104.072557844 meters 0.2937162281360995 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.52 [[ 0.99999838 0.0012792 0.00126502 -0.07542277] [-0.00128235 0.99999607 0.00249129 -0.11965565] [-0.00126183 -0.00249291 0.9999961 0.52405893] [ 0. 0. 0. 1. ]] SLAMing on 104.102557844 meters 0.29423237027679905 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.52 [[ 0.9999982 0.00151382 0.00114123 -0.07501874] [-0.0015174 0.99999393 0.00313789 -0.12235921] [-0.00113647 -0.00313961 0.99999443 0.52389383] [ 0. 0. 0. 1. ]] SLAMing on 104.132557844 meters 0.29357678009281796 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.52 [[ 0.99999822 0.00157465 0.00104156 -0.07463021] [-0.00157809 0.99999329 0.00330662 -0.12309946] [-0.00103635 -0.00330826 0.99999399 0.52358179] [ 0. 0. 0. 1. ]] SLAMing on 104.162557844 meters 0.2937372811719362 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.52 [[ 9.99998256e-01 1.63720285e-03 8.98987981e-04 -7.41860117e-02] [-1.64032598e-03 9.99992584e-01 3.48437516e-03 -1.23865036e-01] [-8.93276686e-04 -3.48584372e-03 9.99993525e-01 5.23396534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.192557844 meters 0.29472511907608484 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.52 [[ 9.99998165e-01 1.73652044e-03 8.09054889e-04 -7.38939318e-02] [-1.73954222e-03 9.99991458e-01 3.74933794e-03 -1.25001216e-01] [-8.02537176e-04 -3.75073844e-03 9.99992644e-01 5.23287113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22255784400001 meters 0.29288182892071185 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.52 [[ 9.99997974e-01 1.85781187e-03 7.74485822e-04 -7.39504010e-02] [-1.86093805e-03 9.99990045e-01 4.05547725e-03 -1.26255432e-01] [-7.66943798e-04 -4.05691030e-03 9.99991477e-01 5.23616986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25255784400001 meters 0.2942959177770712 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.53 [[ 9.99997565e-01 2.05282079e-03 8.10296040e-04 -3.74641590e-02] [-2.05488903e-03 9.99994612e-01 2.55992611e-03 -1.26941281e-01] [-8.05036605e-04 -2.56158494e-03 9.99996395e-01 5.28001212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282557844 meters 0.29266841808588634 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.53 [[ 0.99998524 0.00445534 -0.00311038 -0.06126222] [-0.00446453 0.99998567 -0.00295429 -0.12333619] [ 0.00309717 0.00296813 0.9999908 0.53226274] [ 0. 0. 0. 1. ]] SLAMing on 104.312557844 meters 0.2939872509432183 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.53 [[ 9.99999203e-01 -4.16840062e-04 -1.19173885e-03 -3.71363628e-02] [ 4.17414304e-04 9.99999797e-01 4.81644350e-04 -1.24451890e-01] [ 1.19153784e-03 -4.82141415e-04 9.99999174e-01 5.29822644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.342557844 meters 0.29190469200059604 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.53 [[ 0.99999792 -0.00169748 -0.00112913 -0.07555958] [ 0.00169917 0.99999744 0.00149737 -0.12937905] [ 0.00112659 -0.00149928 0.99999824 0.52726333] [ 0. 0. 0. 1. ]] SLAMing on 104.372557844 meters 0.29394655286178906 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.53 [[ 9.99997966e-01 -5.90659467e-04 -1.92847072e-03 -3.68204367e-02] [ 5.91489160e-04 9.99999733e-01 4.29691536e-04 -1.28234049e-01] [ 1.92821640e-03 -4.30831331e-04 9.99998048e-01 5.30286231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402557844 meters 0.2930993838498343 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.53 [[ 0.99998481 0.00461696 -0.00300923 -0.0605613 ] [-0.00462526 0.9999855 -0.00275753 -0.12969644] [ 0.00299645 0.00277141 0.99999167 0.53223928] [ 0. 0. 0. 1. ]] SLAMing on 104.432557844 meters 0.2936718702286948 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.53 [[ 0.99999582 -0.00262162 -0.00121942 -0.04224899] [ 0.00261993 0.99999561 -0.00138235 -0.12570115] [ 0.00122303 0.00137915 0.9999983 0.53395626] [ 0. 0. 0. 1. ]] SLAMing on 104.462557844 meters 0.2935903370697528 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.53 [[ 0.999996 -0.00256756 -0.00118533 -0.04240694] [ 0.00256609 0.99999593 -0.00124371 -0.12626497] [ 0.00118852 0.00124066 0.99999852 0.53411665] [ 0. 0. 0. 1. ]] SLAMing on 104.492557844 meters 0.2964693985408246 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:0.53 [[ 9.99987516e-01 4.93689614e-03 -7.71181980e-04 -1.97081856e-02] [-4.94003613e-03 9.99979293e-01 -4.12424765e-03 -1.28680851e-01] [ 7.50805029e-04 4.12800583e-03 9.99991198e-01 5.32866863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522557844 meters 0.292804834817703 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.53 [[ 9.99994629e-01 3.27690283e-03 6.32785713e-05 -5.80869467e-02] [-3.27668879e-03 9.99989736e-01 -3.12913103e-03 -1.34127483e-01] [-7.35317801e-05 3.12890688e-03 9.99995102e-01 5.29767221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552557844 meters 0.29461073893490686 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99993651e-01 -1.47118376e-03 3.24552250e-03 -3.59407094e-02] [ 1.47002020e-03 9.99998854e-01 3.60868362e-04 -1.36212236e-01] [-3.24604968e-03 -3.56095087e-04 9.99994668e-01 5.27930966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58255784400001 meters 0.2946899853155525 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99993598e-01 -1.40966014e-03 3.28902201e-03 -3.61014098e-02] [ 1.40795295e-03 9.99998873e-01 5.21314285e-04 -1.36867398e-01] [-3.28975318e-03 -5.16680159e-04 9.99994455e-01 5.28049162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61255784400001 meters 0.2934204855108711 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99993459e-01 -1.32588172e-03 3.36508092e-03 -3.62164063e-02] [ 1.32341183e-03 9.99998853e-01 7.36098719e-04 -1.37776733e-01] [-3.36605304e-03 -7.31640517e-04 9.99994067e-01 5.27876426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64255784400001 meters 0.293066854719378 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.53 [[ 9.99995457e-01 3.01175322e-03 1.26066265e-04 -5.85011714e-02] [-3.01139109e-03 9.99991600e-01 -2.78044014e-03 -1.37066888e-01] [-1.34439206e-04 2.78004787e-03 9.99996127e-01 5.29767573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672557844 meters 0.292934090101313 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.53 [[ 9.99995348e-01 3.05006921e-03 4.00142215e-05 -5.82378965e-02] [-3.04995149e-03 9.99991784e-01 -2.67008946e-03 -1.37538958e-01] [-4.81578504e-05 2.66995500e-03 9.99996435e-01 5.29657042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702557844 meters 0.2938042763227679 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99994252e-01 -1.83620257e-03 2.85022684e-03 -3.51121179e-02] [ 1.83447634e-03 9.99998132e-01 6.08141751e-04 -1.39125382e-01] [-2.85133819e-03 -6.02909582e-04 9.99995753e-01 5.27178066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732557844 meters 0.2934870294301114 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.53 [[ 9.99994585e-01 -1.75936071e-03 2.78122493e-03 -3.49886442e-02] [ 1.75708700e-03 9.99998120e-01 8.19752416e-04 -1.40002051e-01] [-2.78266194e-03 -8.14861123e-04 9.99995796e-01 5.27318762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762557844 meters 0.2925632344687709 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.53 [[ 0.99999504 -0.00162328 0.00269897 -0.0348677 ] [ 0.00162001 0.99999795 0.00121229 -0.14160687] [-0.00270093 -0.00120791 0.99999562 0.52755827] [ 0. 0. 0. 1. ]] SLAMing on 104.792557844 meters 0.2931455420183675 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.53 [[ 0.999995 -0.00155567 0.00275216 -0.03497909] [ 0.00155184 0.99999783 0.00139222 -0.14235819] [-0.00275432 -0.00138794 0.99999524 0.52750444] [ 0. 0. 0. 1. ]] SLAMing on 104.822557844 meters 0.2927479987125255 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 0.99999485 -0.00151689 0.00282908 -0.03524668] [ 0.00151266 0.99999774 0.00149476 -0.14276317] [-0.00283134 -0.00149048 0.99999488 0.52767996] [ 0. 0. 0. 1. ]] SLAMing on 104.852557844 meters 0.29188195277014356 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.14, Z:0.53 [[ 9.99994842e-01 3.12896359e-03 7.25245971e-04 -5.88492134e-02] [-3.12752410e-03 9.99993154e-01 -1.97754449e-03 -1.42538169e-01] [-7.31428670e-04 1.97526606e-03 9.99997782e-01 5.29841828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882557844 meters 0.2924330670966883 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99995503e-01 -2.46432373e-03 -1.70938172e-03 -4.25854152e-02] [ 2.46459981e-03 9.99996950e-01 1.59420714e-04 -1.41692109e-01] [ 1.70898364e-03 -1.63632939e-04 9.99998526e-01 5.34588027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912557844 meters 0.2940023425006619 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.54 [[ 9.99995461e-01 -7.57633598e-04 -2.91625223e-03 -3.71753614e-03] [ 7.55969864e-04 9.99999551e-01 -5.71564257e-04 -1.38730331e-01] [ 2.91668396e-03 5.69357064e-04 9.99995584e-01 5.37735862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942557844 meters 0.29243030773988665 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.53 [[ 9.99996228e-01 -1.95196140e-03 -1.93222070e-03 -4.24738835e-02] [ 1.95329878e-03 9.99997854e-01 6.90498358e-04 -1.42225440e-01] [ 1.93086872e-03 -6.94269958e-04 9.99997895e-01 5.34921819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97255784400001 meters 0.2930232701359117 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.54 [[ 9.99996250e-01 -1.91064937e-03 -1.96215967e-03 -4.24745235e-02] [ 1.91222443e-03 9.99997851e-01 8.01155109e-04 -1.42668626e-01] [ 1.96062473e-03 -8.04904194e-04 9.99997754e-01 5.35106057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00255784400001 meters 0.2929559074078236 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.54 [[ 0.99999657 -0.00170309 -0.00198897 -0.04265634] [ 0.00170583 0.99999759 0.0013785 -0.1450061 ] [ 0.00198662 -0.00138189 0.99999707 0.53570308] [ 0. 0. 0. 1. ]] SLAMing on 105.03255784400001 meters 0.29140115887410434 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.54 [[ 0.99999096 0.0028031 -0.00319588 -0.0661157 ] [-0.00281019 0.99999359 -0.00221662 -0.14721845] [ 0.00318965 0.00222559 0.99999244 0.5367498 ] [ 0. 0. 0. 1. ]] SLAMing on 105.062557844 meters 0.2925959865464624 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.54 [[ 0.99999037 0.00291718 -0.00328016 -0.06593095] [-0.00292342 0.99999392 -0.00189883 -0.14852312] [ 0.0032746 0.0019084 0.99999282 0.53681872] [ 0. 0. 0. 1. ]] SLAMing on 105.092557844 meters 0.2935088838859194 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.54 [[ 0.99998344 -0.00536576 -0.00208181 -0.04339893] [ 0.00536235 0.99998428 -0.0016403 -0.14784496] [ 0.00209058 0.00162911 0.99999649 0.53615484] [ 0. 0. 0. 1. ]] SLAMing on 105.122557844 meters 0.2923104272999216 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.54 [[ 0.99999402 0.00241668 -0.00247449 -0.06397854] [-0.00242211 0.99999466 -0.00219358 -0.1529887 ] [ 0.00246917 0.00219956 0.99999453 0.53546623] [ 0. 0. 0. 1. ]] SLAMing on 105.152557844 meters 0.2934439622484909 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.53 [[ 9.99998049e-01 -1.97284188e-03 -9.45282332e-05 -4.08187336e-02] [ 1.97298168e-03 9.99996925e-01 1.50240497e-03 -1.54205700e-01] [ 9.15639351e-05 -1.50258854e-03 9.99998867e-01 5.34000901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182557844 meters 0.2939074789888957 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.53 [[ 9.99998071e-01 -1.95514508e-03 -1.85507323e-04 -4.05870429e-02] [ 1.95543142e-03 9.99996877e-01 1.55612388e-03 -1.54427726e-01] [ 1.82464296e-04 -1.55648363e-03 9.99998772e-01 5.34005227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.212557844 meters 0.29215455800571566 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.54 [[ 0.99998983 0.00288027 -0.00347016 -0.06234537] [-0.00288579 0.99999457 -0.00158846 -0.1542367 ] [ 0.00346556 0.00159846 0.99999272 0.53561449] [ 0. 0. 0. 1. ]] SLAMing on 105.242557844 meters 0.293763605215816 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.54 [[ 0.99998916 0.00296923 -0.00358776 -0.0618034 ] [-0.00297409 0.99999467 -0.00135078 -0.15530308] [ 0.00358373 0.00136143 0.99999265 0.53503486] [ 0. 0. 0. 1. ]] SLAMing on 105.272557844 meters 0.29381458847282793 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.54 [[ 0.99998891 0.00304873 -0.00358975 -0.06181867] [-0.00305285 0.99999469 -0.0011427 -0.1561606 ] [ 0.00358625 0.00115365 0.9999929 0.53507691] [ 0. 0. 0. 1. ]] SLAMing on 105.302557844 meters 0.2927784952478187 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:0.53 [[ 9.99970065e-01 -6.27856643e-03 -4.52199201e-03 -8.08416439e-02] [ 6.28098072e-03 9.99980139e-01 5.19896003e-04 -1.55605737e-01] [ 4.51863800e-03 -5.48282985e-04 9.99989641e-01 5.33994803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33255784400001 meters 0.2941343529252814 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992673e-01 3.00599077e-03 -2.37024527e-03 -6.22749059e-02] [-3.00714517e-03 9.99995362e-01 -4.83622325e-04 -1.59107944e-01] [ 2.36878051e-03 4.90746453e-04 9.99997074e-01 5.34933549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36255784400001 meters 0.2944904380458682 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99991895e-01 3.18185327e-03 -2.46683365e-03 -6.20101208e-02] [-3.18190521e-03 9.99994938e-01 -1.71279144e-05 -1.61047991e-01] [ 2.46676667e-03 2.49770064e-05 9.99996957e-01 5.34918851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39255784400001 meters 0.29445915607528467 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.54 [[ 0.99998885 -0.0043382 -0.0018646 -0.04197189] [ 0.00434013 0.99999005 0.00103262 -0.15772266] [ 0.0018601 -0.0010407 0.99999773 0.53578717] [ 0. 0. 0. 1. ]] SLAMing on 105.422557844 meters 0.29376075453038863 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992065e-01 3.00323405e-03 -2.61748767e-03 -6.18154195e-02] [-3.00305215e-03 9.99995488e-01 7.34191974e-05 -1.61923964e-01] [ 2.61769635e-03 -6.55581628e-05 9.99996572e-01 5.34131654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452557844 meters 0.2944326771574435 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992245e-01 3.00533333e-03 -2.54499920e-03 -6.18929965e-02] [-3.00514907e-03 9.99995482e-01 7.62222488e-05 -1.61956920e-01] [ 2.54521677e-03 -6.85735558e-05 9.99996759e-01 5.33878211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482557844 meters 0.29416142775819715 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992331e-01 2.99538373e-03 -2.52284165e-03 -6.18026590e-02] [-2.99526472e-03 9.99995513e-01 5.09521374e-05 -1.61885863e-01] [ 2.52298295e-03 -4.33951681e-05 9.99996816e-01 5.33521640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.512557844 meters 0.29416142775819715 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992331e-01 2.99538373e-03 -2.52284165e-03 -6.18026590e-02] [-2.99526472e-03 9.99995513e-01 5.09521374e-05 -1.61885863e-01] [ 2.52298295e-03 -4.33951681e-05 9.99996816e-01 5.33521640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542557844 meters 0.2940166759572364 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992256e-01 2.97933823e-03 -2.57139970e-03 -6.15776802e-02] [-2.97931464e-03 9.99995562e-01 1.30040201e-05 -1.61758389e-01] [ 2.57142703e-03 -5.34291063e-06 9.99996694e-01 5.33290088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.572557844 meters 0.29543544306722735 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.53 [[ 9.99992095e-01 2.92851534e-03 -2.68951193e-03 -6.11348547e-02] [-2.92883124e-03 9.99995705e-01 -1.13523543e-04 -1.61269169e-01] [ 2.68916792e-03 1.21399773e-04 9.99996377e-01 5.32972369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602557844 meters 0.29367091507532056 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997174e-01 8.33443393e-04 -2.22649757e-03 -9.87826666e-02] [-8.32710011e-04 9.99999599e-01 3.30294861e-04 -1.64040087e-01] [ 2.22677196e-03 -3.28439901e-04 9.99997467e-01 5.29618255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632557844 meters 0.29287959565874533 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997386e-01 8.54138444e-04 -2.12086129e-03 -9.90404048e-02] [-8.53336599e-04 9.99999564e-01 3.78951473e-04 -1.64238299e-01] [ 2.12118404e-03 -3.77140674e-04 9.99997679e-01 5.29592803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662557844 meters 0.2934822461095835 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997574e-01 8.08354333e-04 -2.04884701e-03 -9.92688311e-02] [-8.07840070e-04 9.99999642e-01 2.51816454e-04 -1.63687679e-01] [ 2.04904983e-03 -2.50160703e-04 9.99997869e-01 5.29690467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692557844 meters 0.29336778676872843 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997771e-01 7.81931405e-04 -1.96101790e-03 -9.95451951e-02] [-7.81585077e-04 9.99999679e-01 1.77366041e-04 -1.63357658e-01] [ 1.96115596e-03 -1.75832943e-04 9.99998061e-01 5.29805572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72255784400001 meters 0.29344701902829934 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997991e-01 7.49084846e-04 -1.85927260e-03 -1.00029805e-01] [-7.48933662e-04 9.99999716e-01 8.20088397e-05 -1.62885829e-01] [ 1.85933350e-03 -8.06162031e-05 9.99998268e-01 5.30351575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75255784400001 meters 0.2936264320891093 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99998024e-01 6.95255866e-04 -1.86252003e-03 -9.99994951e-02] [-6.95368989e-04 9.99999756e-01 -6.00898357e-05 -1.62300304e-01] [ 1.86247780e-03 6.13848557e-05 9.99998264e-01 5.30296908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78255784400001 meters 0.2922799754640762 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:0.53 [[ 9.99998357e-01 -9.37823027e-04 -1.55105045e-03 -1.36548127e-01] [ 9.38632198e-04 9.99999424e-01 5.21046173e-04 -1.64420400e-01] [ 1.55056091e-03 -5.22501183e-04 9.99998661e-01 5.26244061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812557844 meters 0.29534215230939465 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.53 [[ 9.99998009e-01 1.04838205e-03 -1.69813218e-03 -9.44616534e-02] [-1.04892229e-03 9.99999400e-01 -3.17278381e-04 -1.59249215e-01] [ 1.69779853e-03 3.19058958e-04 9.99998508e-01 5.26228541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.842557844 meters 0.29375747728982265 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.53 [[ 9.99998147e-01 9.23067756e-04 -1.68958441e-03 -9.43160597e-02] [-9.24166672e-04 9.99999362e-01 -6.49741114e-04 -1.57910927e-01] [ 1.68898357e-03 6.51301367e-04 9.99998362e-01 5.25850498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872557844 meters 0.29248216790247084 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.53 [[ 9.99998528e-01 7.25532978e-04 -1.55493499e-03 -9.47319896e-02] [-7.27386954e-04 9.99999025e-01 -1.19208370e-03 -1.55642662e-01] [ 1.55406858e-03 1.19321299e-03 9.99998081e-01 5.25981654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902557844 meters 0.29328985734910834 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.53 [[ 9.99998619e-01 6.63576564e-04 -1.52387809e-03 -9.48620751e-02] [-6.65647126e-04 9.99998856e-01 -1.35864075e-03 -1.54937168e-01] [ 1.52297478e-03 1.35965324e-03 9.99997916e-01 5.26093480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.932557844 meters 0.2954548526939724 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.52 [[ 0.99999129 -0.00395487 0.00133255 -0.07233256] [ 0.00395218 0.99999015 0.00202177 -0.1549287 ] [-0.00134053 -0.00201648 0.99999707 0.52437396] [ 0. 0. 0. 1. ]] SLAMing on 105.962557844 meters 0.29261887110102286 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.53 [[ 9.99999386e-01 5.09516613e-04 -9.83800354e-04 -9.59869511e-02] [-5.10988398e-04 9.99998750e-01 -1.49634814e-03 -1.54232545e-01] [ 9.83036710e-04 1.49684993e-03 9.99998397e-01 5.26436222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.992557844 meters 0.2927981133584065 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.53 [[ 9.99999331e-01 4.83063701e-04 -1.05061144e-03 -9.57430974e-02] [-4.84713206e-04 9.99998650e-01 -1.57035469e-03 -1.53958963e-01] [ 1.04985144e-03 1.57086288e-03 9.99998215e-01 5.26247023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022557844 meters 0.2924612771322657 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.53 [[ 9.99999315e-01 5.14829126e-04 -1.05147620e-03 -9.58595804e-02] [-5.16388099e-04 9.99998767e-01 -1.48291811e-03 -1.54286272e-01] [ 1.05071145e-03 1.48346007e-03 9.99998348e-01 5.26534888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.052557844 meters 0.2909714744657869 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.53 [[ 9.99999267e-01 5.50041529e-04 -1.07891797e-03 -9.59172655e-02] [-5.51535654e-04 9.99998889e-01 -1.38502819e-03 -1.54656135e-01] [ 1.07815494e-03 1.38562224e-03 9.99998459e-01 5.26839431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08255784400001 meters 0.29178231681978756 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99999141e-01 6.11466537e-04 -1.15963218e-03 -9.57258216e-02] [-6.12867068e-04 9.99999083e-01 -1.20776636e-03 -1.55385638e-01] [ 1.15889261e-03 1.20847602e-03 9.99998598e-01 5.26872452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11255784400001 meters 0.2922680378295667 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99998808e-01 7.28110789e-04 -1.36131341e-03 -9.50776142e-02] [-7.29272895e-04 9.99999370e-01 -8.53363818e-04 -1.56894574e-01] [ 1.36069121e-03 8.54355570e-04 9.99998709e-01 5.26506723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14255784400001 meters 0.2932389327766071 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.52 [[ 9.99990963e-01 -4.14604349e-03 9.39989884e-04 -7.25941412e-02] [ 4.14352554e-03 9.99987864e-01 2.66499970e-03 -1.58358082e-01] [-9.51027681e-04 -2.66108075e-03 9.99996007e-01 5.24916339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172557844 meters 0.2939912122459144 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.52 [[ 9.99991166e-01 -4.09684316e-03 9.39944912e-04 -7.26162898e-02] [ 4.09419970e-03 9.99987706e-01 2.79724387e-03 -1.58900684e-01] [-9.51393226e-04 -2.79337084e-03 9.99995646e-01 5.24971019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202557844 meters 0.2918879982412415 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.53 [[ 9.99997869e-01 2.04054075e-03 -3.11767196e-04 -9.46671885e-02] [-2.04039572e-03 9.99997810e-01 4.64814124e-04 -1.61874811e-01] [ 3.12714986e-04 -4.64177005e-04 9.99999843e-01 5.26378375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232557844 meters 0.29112419193147293 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.53 [[ 9.99997937e-01 2.02426509e-03 -1.68287019e-04 -9.50431194e-02] [-2.02419593e-03 9.99997867e-01 4.10089345e-04 -1.61636803e-01] [ 1.69116790e-04 -4.09747853e-04 9.99999902e-01 5.26422035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262557844 meters 0.2915424863849932 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.53 [[ 9.99998079e-01 1.95394505e-03 -1.52111549e-04 -9.49109546e-02] [-1.95391404e-03 9.99998070e-01 2.03757098e-04 -1.60843162e-01] [ 1.52509386e-04 -2.03459494e-04 9.99999968e-01 5.25979690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292557844 meters 0.2930661938008397 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.52 [[ 9.99996032e-01 -2.80008758e-03 3.09385187e-04 -7.02507451e-02] [ 2.79899999e-03 9.99990092e-01 3.46156000e-03 -1.57682753e-01] [-3.19074793e-04 -3.46068030e-03 9.99993961e-01 5.23927245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322557844 meters 0.2933286278383338 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.52 [[ 9.99995767e-01 -2.89789841e-03 2.61523026e-04 -6.98854573e-02] [ 2.89705468e-03 9.99990776e-01 3.17093191e-03 -1.56560951e-01] [-2.70709652e-04 -3.17016084e-03 9.99994938e-01 5.23295956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352557844 meters 0.29272961633270117 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.52 [[ 9.99995453e-01 -3.01466735e-03 7.71369371e-05 -6.93085471e-02] [ 3.01443750e-03 9.99991469e-01 2.82405638e-03 -1.55210995e-01] [-8.56498696e-05 -2.82381102e-03 9.99996009e-01 5.22955392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382557844 meters 0.2909781552722731 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.53 [[ 9.99995681e-01 1.69953732e-03 -2.39784878e-03 -9.26598400e-02] [-1.70063168e-03 9.99998451e-01 -4.54426869e-04 -1.54936954e-01] [ 2.39707275e-03 4.58502764e-04 9.99997022e-01 5.25244818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412557844 meters 0.29216489043975774 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.53 [[ 9.99984513e-01 -5.51354774e-03 -7.58183775e-04 -7.37670391e-02] [ 5.51407037e-03 9.99984560e-01 6.88970946e-04 -1.50117661e-01] [ 7.54373394e-04 -6.93140954e-04 9.99999475e-01 5.26691967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442557844 meters 0.2923403499282362 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.53 [[ 9.99989540e-01 4.19331086e-03 1.82652790e-03 -5.48881727e-02] [-4.19335874e-03 9.99991208e-01 2.23869586e-05 -1.51891536e-01] [-1.82641797e-03 -3.00460112e-05 9.99998332e-01 5.26625682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47255784400001 meters 0.29145568233103175 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.53 [[ 9.99989154e-01 4.24174098e-03 1.92365666e-03 -5.52212062e-02] [-4.24204193e-03 9.99990991e-01 1.52391402e-04 -1.52394288e-01] [-1.92299293e-03 -1.60549982e-04 9.99998138e-01 5.26841809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50255784400001 meters 0.29081283893295506 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.53 [[ 9.99988574e-01 4.32131363e-03 2.04419515e-03 -5.57069514e-02] [-4.32212420e-03 9.99990583e-01 3.92272726e-04 -1.53304588e-01] [-2.04248077e-03 -4.01103510e-04 9.99997834e-01 5.27353138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53255784400001 meters 0.2920390296175492 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.53 [[ 9.99973122e-01 -5.15912022e-03 5.20947663e-03 -3.55466527e-02] [ 5.16081129e-03 9.99986634e-01 -3.11222963e-04 -1.55832921e-01] [-5.20780137e-03 3.38099724e-04 9.99986382e-01 5.26996957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562557844 meters 0.2911414672721577 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.53 [[ 9.99990925e-01 2.79289697e-03 3.21705656e-03 -5.49104622e-02] [-2.79119059e-03 9.99995962e-01 -5.34785243e-04 -1.61769254e-01] [-3.21853717e-03 5.25800972e-04 9.99994682e-01 5.27113513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.592557844 meters 0.2912333961453994 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.53 [[ 9.99991384e-01 2.93588785e-03 2.93461162e-03 -5.42508975e-02] [-2.93580751e-03 9.99995690e-01 -3.16837223e-05 -1.63766734e-01] [-2.93469200e-03 2.30679945e-05 9.99995694e-01 5.27182551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622557844 meters 0.29336076654366033 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.16, Z:0.53 [[ 0.9999941 0.00325939 0.00108712 -0.01321618] [-0.00325734 0.99999292 -0.0018841 -0.16272922] [-0.00109325 0.00188055 0.99999763 0.52902914] [ 0. 0. 0. 1. ]] SLAMing on 106.652557844 meters 0.2912661010158642 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.53 [[ 0.99999862 0.00109897 0.00124531 -0.05168137] [-0.00109742 0.99999863 -0.00124141 -0.16740613] [-0.00124667 0.00124005 0.99999845 0.52680923] [ 0. 0. 0. 1. ]] SLAMing on 106.682557844 meters 0.2906069478914323 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.53 [[ 9.99998524e-01 1.21731850e-03 1.21282873e-03 -5.16680274e-02] [-1.21620899e-03 9.99998842e-01 -9.15131878e-04 -1.68735562e-01] [-1.21394133e-03 9.13655474e-04 9.99998846e-01 5.26969059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712557844 meters 0.2904948455117031 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.53 [[ 9.99998171e-01 1.40984042e-03 1.29229035e-03 -5.21354214e-02] [-1.40933297e-03 9.99998929e-01 -3.93508708e-04 -1.70835471e-01] [-1.29284375e-03 3.91686721e-04 9.99999088e-01 5.27620360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742557844 meters 0.2927466591822258 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.52 [[ 0.99998299 -0.00304452 0.00497574 -0.02921063] [ 0.00302992 0.99999109 0.00293997 -0.17468562] [-0.00498464 -0.00292485 0.9999833 0.52479261] [ 0. 0. 0. 1. ]] SLAMing on 106.772557844 meters 0.29139837943219227 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.52 [[ 0.99998469 0.00403719 0.00378547 -0.04740403] [-0.00404363 0.99999039 0.0016947 -0.18123464] [-0.0037786 -0.00170998 0.9999914 0.52297384] [ 0. 0. 0. 1. ]] SLAMing on 106.802557844 meters 0.29211823402819886 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.52 [[ 0.99998648 -0.00367995 0.00367287 -0.02694709] [ 0.00367022 0.99998975 0.00265265 -0.17830303] [-0.0036826 -0.00263914 0.99998974 0.5238006 ] [ 0. 0. 0. 1. ]] SLAMing on 106.83255784400001 meters 0.29157141936993897 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.53 [[ 9.99998622e-01 1.65938158e-03 5.12467816e-05 -4.89580909e-02] [-1.65939700e-03 9.99998577e-01 3.02380455e-04 -1.79920009e-01] [-5.07449441e-05 -3.02465077e-04 9.99999953e-01 5.26377461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86255784400001 meters 0.2933133442645558 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.53 [[ 9.99994088e-01 3.38140383e-03 -6.24783054e-04 -9.57197584e-03] [-3.38165706e-03 9.99994200e-01 -4.04692807e-04 -1.78785114e-01] [ 6.23411001e-04 4.06803217e-04 9.99999723e-01 5.28752227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89255784400001 meters 0.29208754107391 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.53 [[ 9.99999173e-01 1.28615372e-03 1.81468688e-05 -4.82711375e-02] [-1.28616136e-03 9.99999081e-01 4.27986356e-04 -1.84297096e-01] [-1.75963959e-05 -4.28009342e-04 9.99999908e-01 5.26968398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922557844 meters 0.291019593883843 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.19, Z:0.53 [[ 9.99998935e-01 1.45965403e-03 4.25993631e-06 -4.84364232e-02] [-1.45965718e-03 9.99998558e-01 8.67612842e-04 -1.86070939e-01] [-2.99351558e-06 -8.67618136e-04 9.99999624e-01 5.27423076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952557844 meters 0.29231283796379703 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.53 [[ 9.99997113e-01 2.35847645e-03 -4.59473857e-04 -9.75988152e-03] [-2.35848238e-03 9.99997219e-01 -1.23686945e-05 -1.89871406e-01] [ 4.59443408e-04 1.34523198e-05 9.99999894e-01 5.30157324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982557844 meters 0.29213728912470505 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.53 [[ 9.99996645e-01 2.54995137e-03 -4.55345406e-04 -9.82609835e-03] [-2.54972192e-03 9.99996623e-01 5.03767091e-04 -1.91981238e-01] [ 4.56628449e-04 -5.02604397e-04 9.99999769e-01 5.30286618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.012557844 meters 0.29243656689828373 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.53 [[ 9.99996134e-01 2.74302748e-03 -4.56285556e-04 -9.88124882e-03] [-2.74255658e-03 9.99995709e-01 1.02949018e-03 -1.94116262e-01] [ 4.59107518e-04 -1.02823481e-03 9.99999366e-01 5.30416119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042557844 meters 0.29323084331950866 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:0.53 [[ 9.99995474e-01 2.96380419e-03 -5.16613084e-04 -9.87318633e-03] [-2.96295765e-03 9.99994279e-01 1.63175002e-03 -1.96532354e-01] [ 5.21446316e-04 -1.63021193e-03 9.99998535e-01 5.30752370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072557844 meters 0.2936550155170418 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:0.53 [[ 9.99994704e-01 3.20348197e-03 -5.73657287e-04 -9.86918621e-03] [-3.20215597e-03 9.99992233e-01 2.29766463e-03 -1.99189991e-01] [ 5.81013359e-04 -2.29581552e-03 9.99997196e-01 5.31087102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102557844 meters 0.29487161414908775 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:0.53 [[ 9.99993036e-01 3.64418660e-03 -8.04606052e-04 -9.43652884e-03] [-3.64133851e-03 9.99987199e-01 3.51327270e-03 -2.04096936e-01] [ 8.17398773e-04 -3.51031839e-03 9.99993505e-01 5.31476147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132557844 meters 0.2914748096000075 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.21, Z:0.53 [[ 9.99993411e-01 1.00925900e-03 -3.48709128e-03 -5.02045714e-02] [-9.95513830e-04 9.99991738e-01 3.94121898e-03 -2.08572119e-01] [ 3.49104018e-03 -3.93772156e-03 9.99986153e-01 5.31896579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162557844 meters 0.294157759742129 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:0.53 [[ 0.99995997 0.00880731 -0.00158088 -0.0284778 ] [-0.00880533 0.99996044 0.00125558 -0.20992518] [ 0.00159188 -0.00124161 0.99999796 0.53001565] [ 0. 0. 0. 1. ]] SLAMing on 107.192557844 meters 0.2951934551847243 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999563e-01 -1.20273570e-04 -9.27396879e-04 -4.82307331e-03] [ 1.20975181e-04 9.99999707e-01 7.56519050e-04 -2.09271563e-01] [ 9.27305617e-04 -7.56630911e-04 9.99999284e-01 5.28115713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22255784400001 meters 0.29497331266624177 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999606e-01 -5.51010211e-05 -8.85501755e-04 -4.89002610e-03] [ 5.59208989e-05 9.99999570e-01 9.25892523e-04 -2.09979197e-01] [ 8.85450356e-04 -9.25941676e-04 9.99999179e-01 5.28030967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25255784400001 meters 0.2945388935197483 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999671e-01 -4.97668593e-05 -8.09372581e-04 -4.99935635e-03] [ 5.05247226e-05 9.99999560e-01 9.36365552e-04 -2.10040452e-01] [ 8.09325625e-04 -9.36406137e-04 9.99999234e-01 5.27830727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28255784400001 meters 0.2942553487566982 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999702e-01 -5.90505242e-05 -7.69695026e-04 -5.08079648e-03] [ 5.97519126e-05 9.99999583e-01 9.11263787e-04 -2.09937317e-01] [ 7.69640895e-04 -9.11309507e-04 9.99999289e-01 5.27780660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312557844 meters 0.2951642008993853 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999599e-01 5.46406444e-05 -8.93715856e-04 -4.90946934e-03] [-5.35698454e-05 9.99999281e-01 1.19812270e-03 -2.11105791e-01] [ 8.93780680e-04 -1.19807435e-03 9.99998883e-01 5.28130779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.342557844 meters 0.29402081926798523 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999604e-01 1.06529395e-04 -8.83249232e-04 -5.05514578e-03] [-1.05351809e-04 9.99999106e-01 1.33318290e-03 -2.11632734e-01] [ 8.83390466e-04 -1.33308932e-03 9.99998721e-01 5.28402237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372557844 meters 0.2948060768775471 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999625e-01 1.63415297e-04 -8.49999614e-04 -5.19141324e-03] [-1.62156749e-04 9.99998891e-01 1.48050387e-03 -2.12231547e-01] [ 8.50240609e-04 -1.48036549e-03 9.99998543e-01 5.28515481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402557844 meters 0.2947160035750957 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999657e-01 1.44303317e-04 -8.15465446e-04 -5.24313567e-03] [-1.43137537e-04 9.99998968e-01 1.42946515e-03 -2.12025824e-01] [ 8.15670881e-04 -1.42934793e-03 9.99998646e-01 5.28427191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432557844 meters 0.2947160035750957 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999657e-01 1.44303317e-04 -8.15465446e-04 -5.24313567e-03] [-1.43137537e-04 9.99998968e-01 1.42946515e-03 -2.12025824e-01] [ 8.15670881e-04 -1.42934793e-03 9.99998646e-01 5.28427191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462557844 meters 0.29424939852019855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999646e-01 6.59255264e-05 -8.38806488e-04 -5.21290321e-03] [-6.48940651e-05 9.99999242e-01 1.22964512e-03 -2.11182007e-01] [ 8.38886917e-04 -1.22959025e-03 9.99998892e-01 5.28489215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492557844 meters 0.29380750581871135 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999526e-01 2.22227605e-05 -9.73698781e-04 -4.85159505e-03] [-2.11272989e-05 9.99999367e-01 1.12504771e-03 -2.10759350e-01] [ 9.73723166e-04 -1.12502661e-03 9.99998893e-01 5.28462309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522557844 meters 0.2949671602568911 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999449e-01 -2.62021255e-05 -1.04987810e-03 -4.52076021e-03] [ 2.72545750e-05 9.99999497e-01 1.00244742e-03 -2.10294410e-01] [ 1.04985130e-03 -1.00247549e-03 9.99998946e-01 5.28150968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552557844 meters 0.29528120692638027 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999422e-01 -1.00827403e-04 -1.07008663e-03 -4.14561339e-03] [ 1.01688354e-04 9.99999671e-01 8.04537962e-04 -2.09549916e-01] [ 1.07000516e-03 -8.04646313e-04 9.99999104e-01 5.27382530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58255784400001 meters 0.2951304445031663 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.21, Z:0.53 [[ 9.99999535e-01 -8.09952000e-05 -9.60715466e-04 -4.43650946e-03] [ 8.18094828e-05 9.99999637e-01 8.47570542e-04 -2.09721171e-01] [ 9.60646469e-04 -8.47648743e-04 9.99999179e-01 5.27393600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61255784400001 meters 0.2936976383887328 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:0.53 [[ 0.99998949 0.00424326 -0.00173823 -0.02877468] [-0.00424789 0.99998742 -0.00266699 -0.21162168] [ 0.00172689 0.00267434 0.99999493 0.52926143] [ 0. 0. 0. 1. ]] SLAMing on 107.64255784400001 meters 0.2934547008304088 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99995433e-01 -3.02029926e-03 -1.03922889e-04 -8.60027219e-03] [ 3.02011676e-03 9.99993971e-01 -1.71359107e-03 -2.10060521e-01] [ 1.09097820e-04 1.71326939e-03 9.99998526e-01 5.30545665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672557844 meters 0.29328390920671454 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99995762e-01 -2.91095234e-03 -4.84587055e-05 -8.94806477e-03] [ 2.91088209e-03 9.99994795e-01 -1.39145519e-03 -2.11310633e-01] [ 5.25089130e-05 1.39130824e-03 9.99999031e-01 5.31081318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702557844 meters 0.2944516870076925 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99996345e-01 -2.70323560e-03 5.52724063e-05 -9.33149036e-03] [ 2.70327709e-03 9.99996054e-01 -7.64930804e-04 -2.13781043e-01] [-5.32044000e-05 7.65077425e-04 9.99999706e-01 5.31410453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732557844 meters 0.29557576598269725 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.53 [[ 0.99997342 0.00714153 0.00146747 0.00951803] [-0.00713903 0.99997308 -0.001697 -0.21764602] [-0.00147955 0.00168648 0.99999748 0.53161738] [ 0. 0. 0. 1. ]] SLAMing on 107.762557844 meters 0.2943824208766679 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:0.53 [[ 9.99996709e-01 -2.55145037e-03 -2.69615021e-04 -8.27473681e-03] [ 2.55136278e-03 9.99996693e-01 -3.24721858e-04 -2.15831218e-01] [ 2.70442641e-04 3.24032904e-04 9.99999911e-01 5.30627670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.792557844 meters 0.2942311163900293 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:0.53 [[ 9.99996573e-01 -2.59055186e-03 -3.77134990e-04 -7.85100316e-03] [ 2.59039225e-03 9.99996555e-01 -4.23093585e-04 -2.15480077e-01] [ 3.78229736e-04 4.22115208e-04 9.99999839e-01 5.30264900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822557844 meters 0.29333318043597373 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99996108e-01 -2.73388834e-03 -5.56582122e-04 -7.15921053e-03] [ 2.73340558e-03 9.99995889e-01 -8.66282969e-04 -2.13786991e-01] [ 5.58948155e-04 8.64758233e-04 9.99999470e-01 5.29575511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852557844 meters 0.2941582876445058 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99995881e-01 -2.81147602e-03 -5.76863853e-04 -7.01355587e-03] [ 2.81085114e-03 9.99995465e-01 -1.08120551e-03 -2.12934069e-01] [ 5.79901020e-04 1.07957958e-03 9.99999249e-01 5.29355167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882557844 meters 0.2961940341805523 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 9.99999189e-01 -1.40346879e-04 -1.26598308e-03 3.06759542e-02] [ 1.38023430e-04 9.99998307e-01 -1.83519283e-03 -2.08368383e-01] [ 1.26623850e-03 1.83501660e-03 9.99997515e-01 5.32221789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912557844 meters 0.29536786907125134 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 9.99999280e-01 -2.10922767e-04 -1.18123535e-03 3.04304246e-02] [ 2.08525546e-04 9.99997919e-01 -2.02917433e-03 -2.07552179e-01] [ 1.18166089e-03 2.02892655e-03 9.99997244e-01 5.32273999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942557844 meters 0.294729995365293 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 9.99999471e-01 -3.14952720e-04 -9.78907745e-04 2.97544137e-02] [ 3.12650908e-04 9.99997188e-01 -2.35067253e-03 -2.06140051e-01] [ 9.79645343e-04 2.35036523e-03 9.99996758e-01 5.32721881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97255784400001 meters 0.294365046866214 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999548e-01 -4.30127153e-04 -8.48124736e-04 2.93874823e-02] [ 4.27858302e-04 9.99996335e-01 -2.67350766e-03 -2.04779391e-01] [ 8.49271575e-04 2.67314358e-03 9.99996067e-01 5.32780644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00255784400001 meters 0.2954878001316307 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999565e-01 -5.76179607e-04 -7.34038729e-04 2.91193781e-02] [ 5.73931510e-04 9.99995156e-01 -3.05917910e-03 -2.03185417e-01] [ 7.35797810e-04 3.05875648e-03 9.99995051e-01 5.32691945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03255784400001 meters 0.2941751631427901 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999451e-01 -8.33654392e-04 -6.34622020e-04 2.90714357e-02] [ 8.31314256e-04 9.99992888e-01 -3.67882548e-03 -2.00655194e-01] [ 6.37684375e-04 3.67829589e-03 9.99993032e-01 5.32233920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062557844 meters 0.2948611474413437 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999384e-01 -8.44312767e-04 -7.20130461e-04 2.91928577e-02] [ 8.41641641e-04 9.99992795e-01 -3.70149875e-03 -2.00539020e-01] [ 7.23250495e-04 3.70089038e-03 9.99992890e-01 5.32463963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.092557844 meters 0.2943350973537429 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999428e-01 -8.11169173e-04 -6.97459342e-04 2.90272370e-02] [ 8.08643037e-04 9.99993140e-01 -3.61459675e-03 -2.00875314e-01] [ 7.00386608e-04 3.61403068e-03 9.99993224e-01 5.32714870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122557844 meters 0.29435638647676293 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.53 [[ 9.99999455e-01 -7.91675125e-04 -6.80436516e-04 2.88960269e-02] [ 7.89244703e-04 9.99993335e-01 -3.56473426e-03 -2.01054999e-01] [ 6.83254092e-04 3.56419529e-03 9.99993415e-01 5.32919219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.152557844 meters 0.29242604753331175 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.53 [[ 9.99959151e-01 -8.42241854e-03 -3.28014955e-03 9.28915704e-03] [ 8.42103489e-03 9.99964448e-01 -4.35410346e-04 -2.01709581e-01] [ 3.28370014e-03 4.07770306e-04 9.99994526e-01 5.33283178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182557844 meters 0.29371598217537453 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 0.99999612 0.00151084 -0.00234191 0.0284853 ] [-0.00151409 0.99999789 -0.00138543 -0.20539647] [ 0.00233981 0.00138897 0.9999963 0.53389476] [ 0. 0. 0. 1. ]] SLAMing on 108.212557844 meters 0.2944537809015865 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 0.999996 0.00155856 -0.00235816 0.02837444] [-0.00156152 0.99999799 -0.00125445 -0.20589645] [ 0.0023562 0.00125813 0.99999643 0.53425014] [ 0. 0. 0. 1. ]] SLAMing on 108.242557844 meters 0.2916617442311511 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999449e-01 -4.59717651e-04 -9.43600119e-04 -1.17155082e-02] [ 4.59758310e-04 9.99999893e-01 4.28729401e-05 -2.11058754e-01] [ 9.43580309e-04 -4.33067445e-05 9.99999554e-01 5.32839225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272557844 meters 0.29532981763365707 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 9.99995449e-01 5.96303217e-04 2.95744203e-03 3.27587277e-02] [-5.92434321e-04 9.99998968e-01 -1.30889356e-03 -2.08953219e-01] [-2.95821948e-03 1.30713552e-03 9.99994770e-01 5.29510663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302557844 meters 0.29550705702660923 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.53 [[ 9.99995765e-01 6.66077963e-04 2.83316078e-03 3.32224527e-02] [-6.62919088e-04 9.99999158e-01 -1.11575804e-03 -2.09804944e-01] [-2.83390157e-03 1.11387516e-03 9.99995364e-01 5.29191426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33255784400001 meters 0.2931336942443279 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.53 [[ 9.99999662e-01 -8.12683503e-04 -1.25236664e-04 -6.08249698e-03] [ 8.12705845e-04 9.99999654e-01 1.78454571e-04 -2.14597850e-01] [ 1.25091594e-04 -1.78556291e-04 9.99999976e-01 5.29198851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36255784400001 meters 0.295088067043532 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 9.99977715e-01 6.66071674e-03 4.52919818e-04 1.67652397e-02] [-6.65934322e-03 9.99973418e-01 -2.96934271e-03 -2.16970365e-01] [-4.72685729e-04 2.96626039e-03 9.99995489e-01 5.27730104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39255784400001 meters 0.2951344009286784 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 9.99977151e-01 6.74681525e-03 4.22487231e-04 1.67196849e-02] [-6.74563275e-03 9.99973493e-01 -2.74041313e-03 -2.17889805e-01] [-4.40965093e-04 2.73750057e-03 9.99996156e-01 5.28003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422557844 meters 0.2941716545485434 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.22, Z:0.53 [[ 9.99995050e-01 -3.11158129e-03 -4.67751161e-04 -2.91023068e-03] [ 3.11087793e-03 9.99994041e-01 -1.49696962e-03 -2.16265916e-01] [ 4.72406316e-04 1.49550710e-03 9.99998770e-01 5.27802634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452557844 meters 0.2936845484462424 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.22, Z:0.53 [[ 9.99995245e-01 -3.05699808e-03 -4.05647876e-04 -3.14517176e-03] [ 3.05644639e-03 9.99994413e-01 -1.35374676e-03 -2.16839050e-01] [ 4.09784011e-04 1.35250048e-03 9.99999001e-01 5.27980415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482557844 meters 0.2964177712115381 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99998617 0.0049567 0.00175996 0.0179642 ] [-0.0049498 0.99998013 -0.00390402 -0.21809217] [-0.00177928 0.00389525 0.99999083 0.52591431] [ 0. 0. 0. 1. ]] SLAMing on 108.512557844 meters 0.29385419421624687 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.22, Z:0.53 [[ 9.99995366e-01 -2.72606246e-03 -1.35529016e-03 -2.09066009e-03] [ 2.72478873e-03 9.99995845e-01 -9.40778876e-04 -2.20059569e-01] [ 1.35784915e-03 9.37081637e-04 9.99998639e-01 5.27727987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542557844 meters 0.2955572914804489 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99998538 0.00529121 0.00111227 0.01848014] [-0.00528732 0.99997999 -0.00347287 -0.22071597] [-0.00113062 0.00346694 0.99999335 0.52595815] [ 0. 0. 0. 1. ]] SLAMing on 108.572557844 meters 0.29538845281111425 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99998495 0.00537536 0.00109588 0.01846874] [-0.00537176 0.99998028 -0.00325388 -0.22161305] [-0.00111335 0.00324795 0.99999411 0.52607019] [ 0. 0. 0. 1. ]] SLAMing on 108.602557844 meters 0.2940897098253822 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.22, Z:0.53 [[ 9.99985319e-01 -5.40487953e-03 3.86952423e-04 -2.55078579e-03] [ 5.40594089e-03 9.99981478e-01 -2.79647937e-03 -2.21784375e-01] [-3.71830621e-04 2.79853016e-03 9.99996015e-01 5.26729143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632557844 meters 0.29473071558646935 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.53 [[ 0.999987 0.00468984 0.00200336 0.01610304] [-0.00468288 0.99998303 -0.00346507 -0.22560689] [-0.00201957 0.00345564 0.99999199 0.52703184] [ 0. 0. 0. 1. ]] SLAMing on 108.662557844 meters 0.29356768899842833 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.53 [[ 0.99998658 0.00475501 0.00205689 0.01598006] [-0.00474822 0.9999833 -0.00329432 -0.22631442] [-0.00207252 0.00328451 0.99999246 0.52699283] [ 0. 0. 0. 1. ]] SLAMing on 108.692557844 meters 0.2939016580814744 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.53 [[ 0.99998623 0.00482487 0.00206428 0.0159408 ] [-0.00481845 0.99998357 -0.0031039 -0.22709505] [-0.00207922 0.00309391 0.99999305 0.52703421] [ 0. 0. 0. 1. ]] SLAMing on 108.72255784400001 meters 0.2970241116810296 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:0.52 [[ 0.99997519 0.00592787 0.00380515 0.05969742] [-0.00590928 0.99997064 -0.00487814 -0.22605363] [-0.00383396 0.00485553 0.99998086 0.52486782] [ 0. 0. 0. 1. ]] SLAMing on 108.75255784400001 meters 0.2947400565038652 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.23, Z:0.53 [[ 9.99993893e-01 3.46090875e-03 4.86705204e-04 1.81955694e-02] [-3.45863521e-03 9.99983452e-01 -4.59703253e-03 -2.27527218e-01] [-5.02607060e-04 4.59532112e-03 9.99989315e-01 5.26426686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78255784400001 meters 0.29623620143730295 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.23, Z:0.52 [[ 9.99996285e-01 -7.85978436e-04 2.60996226e-03 4.19039025e-02] [ 7.89104593e-04 9.99998972e-01 -1.19696478e-03 -2.27553777e-01] [-2.60901878e-03 1.19901986e-03 9.99995878e-01 5.24222483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812557844 meters 0.2952287717023717 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99999098 0.00391111 -0.00165717 0.02022473] [-0.00391791 0.99998383 -0.00412216 -0.2237462 ] [ 0.00164102 0.00412862 0.99999013 0.52714651] [ 0. 0. 0. 1. ]] SLAMing on 108.842557844 meters 0.2951077636572521 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99999157 0.00381709 -0.00151606 0.01988582] [-0.00382373 0.99998301 -0.0044004 -0.22260545] [ 0.00149924 0.00440616 0.99998917 0.52710883] [ 0. 0. 0. 1. ]] SLAMing on 108.872557844 meters 0.29627853584082087 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99999276 0.0036312 -0.00114165 0.01894219] [-0.00363693 0.99998059 -0.0050582 -0.21991938] [ 0.00112326 0.00506231 0.99998656 0.5271909 ] [ 0. 0. 0. 1. ]] SLAMing on 108.902557844 meters 0.2956013557571135 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.22, Z:0.53 [[ 0.99999332 0.00350103 -0.00105326 0.01871392] [-0.0035067 0.99997909 -0.00543355 -0.21837133] [ 0.00103421 0.00543721 0.99998468 0.52720887] [ 0. 0. 0. 1. ]] SLAMing on 108.932557844 meters 0.2966459985070223 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99999670e-01 -5.45854372e-04 6.01746453e-04 4.19964253e-02] [ 5.46988188e-04 9.99998073e-01 -1.88565655e-03 -2.15722193e-01] [-6.00716000e-04 1.88598508e-03 9.99998041e-01 5.25966171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962557844 meters 0.29665274565757266 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999572e-01 -7.13856285e-04 5.88480543e-04 4.22441802e-02] [ 7.15228461e-04 9.99997019e-01 -2.33482266e-03 -2.13912171e-01] [-5.86812060e-04 2.33524256e-03 9.99997101e-01 5.25486813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992557844 meters 0.2958087053878806 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999562e-01 -7.11834002e-04 6.08048454e-04 4.22585080e-02] [ 7.13250110e-04 9.99997027e-01 -2.33190683e-03 -2.13939650e-01] [-6.06386716e-04 2.33233950e-03 9.99997096e-01 5.25339581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022557844 meters 0.29615758326741864 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999562e-01 -7.07088386e-04 6.12922733e-04 4.21348891e-02] [ 7.08509486e-04 9.99997054e-01 -2.32145632e-03 -2.13955924e-01] [-6.11279453e-04 2.32188957e-03 9.99997118e-01 5.25593308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052557844 meters 0.2945025068342547 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999540e-01 -7.26810789e-04 6.25667423e-04 4.19898563e-02] [ 7.28295549e-04 9.99996912e-01 -2.37613511e-03 -2.13698891e-01] [-6.23938490e-04 2.37658969e-03 9.99996981e-01 5.25856378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08255784400001 meters 0.29536462042842054 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999518e-01 -8.01817980e-04 5.66437580e-04 4.23397754e-02] [ 8.03267437e-04 9.99996392e-01 -2.56332309e-03 -2.12972276e-01] [-5.64380218e-04 2.56377686e-03 9.99996554e-01 5.25407265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11255784400001 meters 0.29465745408778743 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99999558e-01 -8.15735939e-04 4.68188018e-04 4.27304526e-02] [ 8.16948855e-04 9.99996296e-01 -2.59634238e-03 -2.12882759e-01] [-4.66068354e-04 2.59672372e-03 9.99996520e-01 5.25071387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14255784400001 meters 0.2968283449388295 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.53 [[ 9.99999398e-01 1.00089583e-03 -4.49906751e-04 8.11505136e-02] [-1.00261326e-03 9.99992150e-01 -3.83342567e-03 -2.10329972e-01] [ 4.46066359e-04 3.83387445e-03 9.99992551e-01 5.27771497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172557844 meters 0.29521318877764835 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99998678e-01 -5.38934170e-04 1.53385615e-03 3.98409312e-02] [ 5.42023853e-04 9.99997824e-01 -2.01462173e-03 -2.14131694e-01] [-1.53276706e-03 2.01545046e-03 9.99996794e-01 5.27226739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202557844 meters 0.2940779955410491 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99998559e-01 -4.85448614e-04 1.62673271e-03 3.93571762e-02] [ 4.88494473e-04 9.99998128e-01 -1.87250414e-03 -2.14650703e-01] [-1.62582066e-03 1.87329609e-03 9.99996924e-01 5.27838727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232557844 meters 0.2955256704883225 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 0.99997254 -0.00534802 0.00513094 0.05969332] [ 0.00534116 0.99998483 0.00134926 -0.2153765 ] [-0.00513808 -0.00132182 0.99998593 0.52681022] [ 0. 0. 0. 1. ]] SLAMing on 109.262557844 meters 0.2942338568833829 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99993503e-01 1.88984254e-03 3.06974933e-03 4.07021247e-02] [-1.89166452e-03 9.99998036e-01 5.90731454e-04 -2.20484083e-01] [-3.06862692e-03 -5.96534551e-04 9.99995114e-01 5.26224647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292557844 meters 0.29388302814898126 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99993589e-01 1.86963982e-03 3.05386352e-03 4.09951222e-02] [-1.87130258e-03 9.99998102e-01 5.41710146e-04 -2.20356436e-01] [-3.05284492e-03 -5.47421376e-04 9.99995190e-01 5.25636221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322557844 meters 0.29388302814898126 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99993589e-01 1.86963982e-03 3.05386352e-03 4.09951222e-02] [-1.87130258e-03 9.99998102e-01 5.41710146e-04 -2.20356436e-01] [-3.05284492e-03 -5.47421376e-04 9.99995190e-01 5.25636221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352557844 meters 0.2968174056208428 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.53 [[ 9.99990278e-01 3.67505337e-03 2.43665244e-03 7.91481626e-02] [-3.67277465e-03 9.99992814e-01 -9.39000865e-04 -2.15620554e-01] [-2.44008581e-03 9.30042461e-04 9.99996590e-01 5.27967001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382557844 meters 0.2939794306018688 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99992164e-01 -3.92661301e-03 5.03301050e-04 5.76252692e-02] [ 3.92554839e-03 9.99990092e-01 2.09908722e-03 -2.15373320e-01] [-5.11538367e-04 -2.09709504e-03 9.99997670e-01 5.29995516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.412557844 meters 0.29615047782129994 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99992103e-01 -3.95006486e-03 4.37313039e-04 5.78035328e-02] [ 3.94916578e-03 9.99990125e-01 2.03803371e-03 -2.15128034e-01] [-4.45359086e-04 -2.03629059e-03 9.99997828e-01 5.29967760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442557844 meters 0.29816787477549916 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.53 [[ 9.99975866e-01 6.93712437e-03 -3.79891770e-04 8.09672738e-02] [-6.93632748e-03 9.99973821e-01 2.06027907e-03 -2.18128318e-01] [ 3.94174237e-04 -2.05759429e-03 9.99997805e-01 5.29109317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47255784400001 meters 0.29652795626429146 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 0.99999336 -0.002767 -0.00237229 0.06312857] [ 0.00277505 0.99999038 0.00339713 -0.21726718] [ 0.00236287 -0.00340369 0.99999142 0.52814505] [ 0. 0. 0. 1. ]] SLAMing on 109.50255784400001 meters 0.2972977717505063 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 0.99999351 -0.00269025 -0.00239619 0.06315777] [ 0.00269886 0.99998989 0.00359574 -0.21808103] [ 0.0023865 -0.00360218 0.99999066 0.52822011] [ 0. 0. 0. 1. ]] SLAMing on 109.53255784400001 meters 0.29655188128910115 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99993823e-01 1.66112402e-03 -3.09738629e-03 3.88780422e-02] [-1.66071364e-03 9.99998612e-01 1.35060286e-04 -2.20155648e-01] [ 3.09760634e-03 -1.29915580e-04 9.99995194e-01 5.29976514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562557844 meters 0.2969566591100735 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99993934e-01 -3.48288825e-03 2.69324944e-05 5.96861817e-02] [ 3.48279338e-03 9.99989563e-01 2.95709792e-03 -2.19311385e-01] [-3.72314549e-05 -2.95698618e-03 9.99995627e-01 5.28526195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.592557844 meters 0.29737670905751645 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99993714e-01 -3.54281729e-03 1.39931323e-04 5.94635545e-02] [ 3.54241165e-03 9.99989806e-01 2.79988085e-03 -2.18666553e-01] [-1.49849363e-04 -2.79936756e-03 9.99996071e-01 5.28356645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622557844 meters 0.29757404300487605 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99993457e-01 -3.60800576e-03 2.59780873e-04 5.91960041e-02] [ 3.60731120e-03 9.99990045e-01 2.62625122e-03 -2.17943308e-01] [-2.69253816e-04 -2.62529692e-03 9.99996518e-01 5.28245778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652557844 meters 0.29749491735544553 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99992856e-01 -3.76998646e-03 2.74395882e-04 5.92366572e-02] [ 3.76937381e-03 9.99990476e-01 2.20001606e-03 -2.16188577e-01] [-2.82687299e-04 -2.19896605e-03 9.99997542e-01 5.28050096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682557844 meters 0.29823543133037295 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 9.99992627e-01 -3.83501414e-03 1.96909748e-04 5.95307753e-02] [ 3.83460617e-03 9.99990583e-01 2.03206414e-03 -2.15524182e-01] [-2.04700888e-04 -2.03129408e-03 9.99997916e-01 5.27830950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.712557844 meters 0.29651868779092894 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99992287e-01 1.33463749e-03 -3.69392129e-03 3.91695986e-02] [-1.33689209e-03 9.99998922e-01 -6.07951888e-04 -2.14611750e-01] [ 3.69310592e-03 6.12885573e-04 9.99992993e-01 5.29220560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742557844 meters 0.2968796026105237 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99992256e-01 1.28110317e-03 -3.72105043e-03 3.94163202e-02] [-1.28389513e-03 9.99998896e-01 -7.48022841e-04 -2.14076836e-01] [ 3.72008803e-03 7.52794487e-04 9.99992797e-01 5.28809546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.772557844 meters 0.29694205394645923 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99991172e-01 1.22498091e-03 -4.01935478e-03 4.02133479e-02] [-1.22862707e-03 9.99998836e-01 -9.04806299e-04 -2.13507758e-01] [ 4.01824173e-03 9.09736600e-04 9.99991513e-01 5.28621658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802557844 meters 0.29649244273327985 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99991115e-01 1.26312757e-03 -4.02162915e-03 4.00182366e-02] [-1.26633030e-03 9.99998883e-01 -7.93929006e-04 -2.13910880e-01] [ 4.02062183e-03 7.99014663e-04 9.99991598e-01 5.29130039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83255784400001 meters 0.2966067067735527 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.21, Z:0.53 [[ 9.99991696e-01 1.32151641e-03 -3.85498700e-03 3.93882924e-02] [-1.32394202e-03 9.99998927e-01 -6.26730647e-04 -2.14535321e-01] [ 3.85415463e-03 6.31829223e-04 9.99992373e-01 5.29697219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86255784400001 meters 0.29670973104093396 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99992315e-01 1.41181461e-03 -3.65739915e-03 3.86649919e-02] [-1.41317315e-03 9.99998933e-01 -3.68889651e-04 -2.15529507e-01] [ 3.65687444e-03 3.74055354e-04 9.99993244e-01 5.30309980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89255784400001 meters 0.29554916261250885 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99993172e-01 1.63077508e-03 -3.31599709e-03 3.73599287e-02] [-1.62965588e-03 9.99998614e-01 3.40188400e-04 -2.18269210e-01] [ 3.31654727e-03 -3.34782143e-04 9.99994444e-01 5.31569007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922557844 meters 0.2969838587996217 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99992694e-01 1.75992803e-03 -3.39317993e-03 3.75117683e-02] [-1.75763536e-03 9.99998225e-01 6.78533613e-04 -2.19645797e-01] [ 3.39436808e-03 -6.72564683e-04 9.99994013e-01 5.31663041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952557844 meters 0.2962709323384518 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 9.99991980e-01 1.88399215e-03 -3.53413684e-03 3.79151287e-02] [-1.88044957e-03 9.99997726e-01 1.00544226e-03 -2.21018589e-01] [ 3.53602305e-03 -9.98788427e-04 9.99993249e-01 5.31587088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982557844 meters 0.29688372633248133 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 0.99999129 0.002002 -0.003661 0.03832064] [-0.00199719 0.99999714 0.00131732 -0.22233423] [ 0.00366362 -0.00130999 0.99999243 0.53140064] [ 0. 0. 0. 1. ]] SLAMing on 110.012557844 meters 0.2959527383192089 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.22, Z:0.53 [[ 0.99999126 0.00222247 -0.00354117 0.03790026] [-0.00221591 0.99999583 0.00185419 -0.22449862] [ 0.00354528 -0.00184632 0.99999201 0.53163076] [ 0. 0. 0. 1. ]] SLAMing on 110.042557844 meters 0.2965981447787129 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.23, Z:0.53 [[ 0.99999139 0.00227989 -0.00346731 0.03753039] [-0.00227294 0.9999954 0.00200688 -0.22507342] [ 0.00347187 -0.00199899 0.99999198 0.53206372] [ 0. 0. 0. 1. ]] SLAMing on 110.072557844 meters 0.29548619283647953 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.23, Z:0.53 [[ 0.99999158 0.00229761 -0.0033996 0.03723194] [-0.00229062 0.99999525 0.00206064 -0.22524329] [ 0.00340432 -0.00205284 0.9999921 0.53240394] [ 0. 0. 0. 1. ]] SLAMing on 110.102557844 meters 0.2974886563683934 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:0.53 [[ 0.9999767 -0.00544987 -0.00411101 0.05814226] [ 0.0054602 0.99998195 0.00250589 -0.21896448] [ 0.00409728 -0.00252828 0.99998841 0.53203833] [ 0. 0. 0. 1. ]] SLAMing on 110.132557844 meters 0.2977838860614345 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.53 [[ 0.99997935 0.00559928 -0.00315297 0.07918447] [-0.00559196 0.99998166 0.00232649 -0.21835071] [ 0.00316594 -0.00230881 0.99999232 0.53156895] [ 0. 0. 0. 1. ]] SLAMing on 110.162557844 meters 0.2972688569325661 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:0.53 [[ 0.99998016 0.00546603 -0.00313055 0.07930807] [-0.0054601 0.99998329 0.00189908 -0.21672142] [ 0.00314088 -0.00188195 0.9999933 0.53110487] [ 0. 0. 0. 1. ]] SLAMing on 110.192557844 meters 0.2982464896210735 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.53 [[ 0.99998149 0.00530816 -0.00297275 0.07907794] [-0.00530408 0.99998498 0.00138091 -0.21471415] [ 0.00298004 -0.00136511 0.99999463 0.53067528] [ 0. 0. 0. 1. ]] SLAMing on 110.22255784400001 meters 0.2985357346160073 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.53 [[ 9.99983374e-01 5.01770458e-03 -2.84144829e-03 7.90913568e-02] [-5.01660373e-03 9.99987339e-01 3.94423238e-04 -2.10939996e-01] [ 2.84339141e-03 -3.80162260e-04 9.99995885e-01 5.29903979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25255784400001 meters 0.3009036580823947 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.53 [[ 9.99993534e-01 -2.18249953e-03 -2.85795850e-03 9.85684526e-02] [ 2.18536450e-03 9.99997112e-01 9.99714617e-04 -2.04206710e-01] [ 2.85576837e-03 -1.00595383e-03 9.99995416e-01 5.31370373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28255784400001 meters 0.29845133953442593 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.53 [[ 9.99976751e-01 4.99082703e-03 -4.64644705e-03 7.97666862e-02] [-4.99239196e-03 9.99987485e-01 -3.25262581e-04 -2.06851698e-01] [ 4.64476557e-03 3.48451904e-04 9.99989152e-01 5.30593514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312557844 meters 0.2997976938444696 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.53 [[ 9.99977357e-01 4.88130689e-03 -4.63233610e-03 7.97198790e-02] [-4.88415562e-03 9.99987890e-01 -6.03853455e-04 -2.05697012e-01] [ 4.62933241e-03 6.26464832e-04 9.99989088e-01 5.30609205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.342557844 meters 0.2985127167385793 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.53 [[ 9.99979584e-01 4.74684828e-03 -4.27778003e-03 7.86434404e-02] [-4.75086549e-03 9.99988283e-01 -9.29414674e-04 -2.04251684e-01] [ 4.27331811e-03 9.49718857e-04 9.99990418e-01 5.30948944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372557844 meters 0.29639466203492987 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.20, Z:0.53 [[ 9.99992187e-01 2.23521474e-03 -3.26020785e-03 3.93778574e-02] [-2.23727262e-03 9.99997300e-01 -6.27700421e-04 -2.04333791e-01] [ 3.25879600e-03 6.34989491e-04 9.99994489e-01 5.28365440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402557844 meters 0.29635591997473243 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.53 [[ 9.99982751e-01 -4.96268959e-03 -3.14154013e-03 5.92691134e-02] [ 4.96314496e-03 9.99987674e-01 1.37170101e-04 -1.98063251e-01] [ 3.14082067e-03 -1.52759654e-04 9.99995056e-01 5.29943550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432557844 meters 0.2961572004706199 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.20, Z:0.53 [[ 9.99982872e-01 2.87256867e-03 -5.09943690e-03 3.95291594e-02] [-2.87663011e-03 9.99995551e-01 -7.89292872e-04 -1.98509261e-01] [ 5.09714692e-03 8.03948547e-04 9.99986686e-01 5.29812046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462557844 meters 0.2976564652754179 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.20, Z:0.53 [[ 0.99999626 -0.00202779 -0.00183568 0.0612578 ] [ 0.00203156 0.99999582 0.00205553 -0.19746526] [ 0.00183151 -0.00205925 0.9999962 0.52814619] [ 0. 0. 0. 1. ]] SLAMing on 110.492557844 meters 0.2949781964507758 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.20, Z:0.53 [[ 0.99998831 0.00208805 -0.00436077 0.03701508] [-0.00209452 0.99999671 -0.0014789 -0.1953345 ] [ 0.00435767 0.00148802 0.9999894 0.53080806] [ 0. 0. 0. 1. ]] SLAMing on 110.522557844 meters 0.2954732337960675 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.53 [[ 0.99998835 0.00204378 -0.00437227 0.03703314] [-0.00205079 0.99999662 -0.00159908 -0.19484518] [ 0.00436899 0.00160803 0.99998916 0.53083482] [ 0. 0. 0. 1. ]] SLAMing on 110.552557844 meters 0.2954908523220601 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.19, Z:0.53 [[ 0.99998802 0.00196628 -0.00448364 0.03748334] [-0.00197442 0.99999641 -0.00181055 -0.19403053] [ 0.00448006 0.00181938 0.99998831 0.53041144] [ 0. 0. 0. 1. ]] SLAMing on 110.58255784400001 meters 0.29745519530973835 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99997853 -0.00551964 -0.00353072 0.05781654] [ 0.00551555 0.99998411 -0.00116629 -0.18935724] [ 0.00353711 0.00114679 0.99999309 0.53088385] [ 0. 0. 0. 1. ]] SLAMing on 110.61255784400001 meters 0.29739930974319617 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99997813 -0.00557633 -0.00355662 0.05794105] [ 0.00557169 0.99998361 -0.00131474 -0.18875377] [ 0.00356389 0.0012949 0.99999281 0.5307519 ] [ 0. 0. 0. 1. ]] SLAMing on 110.64255784400001 meters 0.297075509376199 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99997809 -0.00562539 -0.00348994 0.05769437] [ 0.00562036 0.99998316 -0.00144843 -0.18818038] [ 0.00349803 0.00142878 0.99999286 0.53092359] [ 0. 0. 0. 1. ]] SLAMing on 110.672557844 meters 0.29632139133620894 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99997819 -0.00569319 -0.00334721 0.05718601] [ 0.00568771 0.99998247 -0.00164471 -0.18731336] [ 0.00335651 0.00162563 0.99999305 0.5312547 ] [ 0. 0. 0. 1. ]] SLAMing on 110.702557844 meters 0.2960468882655254 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99997794 -0.00581179 -0.0032165 0.05666037] [ 0.00580537 0.99998114 -0.00200419 -0.18578794] [ 0.00322808 0.00198548 0.99999282 0.53175504] [ 0. 0. 0. 1. ]] SLAMing on 110.732557844 meters 0.29454061473744714 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.19, Z:0.53 [[ 0.99998768 0.0021994 -0.00444937 0.03475414] [-0.00220977 0.99999485 -0.00232792 -0.18799371] [ 0.00444423 0.00233772 0.99998739 0.53217273] [ 0. 0. 0. 1. ]] SLAMing on 110.762557844 meters 0.29724134125518237 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 0.99999551 -0.00197868 -0.00225053 0.05870255] [ 0.00198094 0.99999754 0.00100161 -0.18674104] [ 0.00224854 -0.00100607 0.99999697 0.53004686] [ 0. 0. 0. 1. ]] SLAMing on 110.792557844 meters 0.2957275741286564 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 9.99995491e-01 -2.09079424e-03 -2.15538315e-03 5.85739070e-02] [ 2.09224821e-03 9.99997585e-01 6.72542782e-04 -1.85434147e-01] [ 2.15397180e-03 -6.77049346e-04 9.99997451e-01 5.29766365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822557844 meters 0.29637769814756976 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.53 [[ 9.99993899e-01 -5.10395390e-06 -3.49306585e-03 6.37323183e-02] [ 1.36549919e-05 9.99997004e-01 2.44798421e-03 -1.85509832e-01] [ 3.49304289e-03 -2.44801697e-03 9.99990903e-01 5.27011401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852557844 meters 0.29356249541597795 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.53 [[ 0.9999725 0.0045325 -0.00587067 0.04026775] [-0.00453892 0.99998912 -0.00107938 -0.18377791] [ 0.00586572 0.001106 0.99998218 0.52928524] [ 0. 0. 0. 1. ]] SLAMing on 110.882557844 meters 0.29468549027258734 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.53 [[ 0.99997283 0.00451028 -0.0058299 0.0400082 ] [-0.00451701 0.99998915 -0.00114257 -0.18347277] [ 0.00582468 0.00116887 0.99998235 0.52965492] [ 0. 0. 0. 1. ]] SLAMing on 110.912557844 meters 0.29393981755034665 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.53 [[ 0.99997237 0.00448558 -0.00592696 0.04019078] [-0.00449279 0.99998918 -0.00120362 -0.18321278] [ 0.00592149 0.00123022 0.99998171 0.52980801] [ 0. 0. 0. 1. ]] SLAMing on 110.942557844 meters 0.29549944465342237 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.53 [[ 9.99980796e-01 -2.87510946e-03 -5.49018699e-03 6.02362030e-02] [ 2.87397411e-03 9.99995847e-01 -2.14673268e-04 -1.79073003e-01] [ 5.49078140e-03 1.98890490e-04 9.99984906e-01 5.30792137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97255784400001 meters 0.29673928508425973 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.53 [[ 9.99980645e-01 -2.85296606e-03 -5.52896826e-03 6.04949506e-02] [ 2.85215347e-03 9.99995921e-01 -1.54847593e-04 -1.79361168e-01] [ 5.52938748e-03 1.39075130e-04 9.99984703e-01 5.30430375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00255784400001 meters 0.2948588848867906 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.53 [[ 0.99996775 0.00137713 -0.00791207 0.0371847 ] [-0.00140647 0.99999215 -0.00370422 -0.1792329 ] [ 0.00790691 0.00371523 0.99996184 0.53185559] [ 0. 0. 0. 1. ]] SLAMing on 111.03255784400001 meters 0.29546996955557836 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:0.53 [[ 0.99996669 0.00141294 -0.00803885 0.0375743 ] [-0.00144194 0.99999247 -0.00360289 -0.17966922] [ 0.0080337 0.00361436 0.9999612 0.53169995] [ 0. 0. 0. 1. ]] SLAMing on 111.062557844 meters 0.29525057028626017 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.53 [[ 9.99977983e-01 -3.07862484e-03 -5.87836205e-03 6.04877747e-02] [ 3.07815785e-03 9.99995259e-01 -8.84875917e-05 -1.79609262e-01] [ 5.87860660e-03 7.03911172e-05 9.99982718e-01 5.30342649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.092557844 meters 0.2953433401476612 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.53 [[ 9.99977656e-01 -3.13496774e-03 -5.90416612e-03 6.06105097e-02] [ 3.13359774e-03 9.99995061e-01 -2.41274930e-04 -1.79001047e-01] [ 5.90489335e-03 2.22768257e-04 9.99982541e-01 5.30207403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122557844 meters 0.29673730447398206 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.18, Z:0.53 [[ 9.99977215e-01 -3.21468378e-03 -5.93589770e-03 6.08268658e-02] [ 3.21198634e-03 9.99994734e-01 -4.63905494e-04 -1.78128632e-01] [ 5.93735775e-03 4.44828902e-04 9.99982275e-01 5.29882002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.152557844 meters 0.2980632959898153 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.18, Z:0.53 [[ 0.99997463 -0.00118624 -0.00702359 0.06616638] [ 0.00119564 0.99999839 0.0013347 -0.17888076] [ 0.00702199 -0.00134307 0.99997444 0.52626183] [ 0. 0. 0. 1. ]] SLAMing on 111.182557844 meters 0.2957661642127668 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.18, Z:0.52 [[ 0.9999789 -0.00258955 -0.00595717 0.02675486] [ 0.00260325 0.99999398 0.00229382 -0.18000046] [ 0.0059512 -0.00230928 0.99997963 0.523612 ] [ 0. 0. 0. 1. ]] SLAMing on 111.212557844 meters 0.297331455139146 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.18, Z:0.52 [[ 9.99984065e-01 5.01431501e-03 -2.59361364e-03 4.70095023e-02] [-5.01593288e-03 9.99987229e-01 -6.17662133e-04 -1.75584328e-01] [ 2.59048337e-03 6.30661682e-04 9.99996446e-01 5.21667019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242557844 meters 0.29681284761544213 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.52 [[ 0.99998521 0.00479495 -0.00256518 0.04712453] [-0.00479806 0.99998776 -0.00120655 -0.17320243] [ 0.00255936 0.00121884 0.99999598 0.5212535 ] [ 0. 0. 0. 1. ]] SLAMing on 111.272557844 meters 0.29681284761544213 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.17, Z:0.52 [[ 0.99998521 0.00479495 -0.00256518 0.04712453] [-0.00479806 0.99998776 -0.00120655 -0.17320243] [ 0.00255936 0.00121884 0.99999598 0.5212535 ] [ 0. 0. 0. 1. ]] SLAMing on 111.302557844 meters 0.29591992755425506 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.52 [[ 0.99999611 0.0022823 -0.00160647 0.00796995] [-0.00228521 0.99999575 -0.00180871 -0.17006472] [ 0.00160234 0.00181238 0.99999707 0.51846549] [ 0. 0. 0. 1. ]] SLAMing on 111.33255784400001 meters 0.29776385991970733 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.52 [[ 0.99999646 -0.00238861 0.0011764 0.03069965] [ 0.00238703 0.99999625 0.00134055 -0.16913499] [-0.0011796 -0.00133774 0.99999841 0.51650284] [ 0. 0. 0. 1. ]] SLAMing on 111.36255784400001 meters 0.29639020446327935 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.52 [[ 0.99999623 -0.00246881 0.00120427 0.03061308] [ 0.00246746 0.99999633 0.00111871 -0.16822472] [-0.00120703 -0.00111573 0.99999865 0.51653144] [ 0. 0. 0. 1. ]] SLAMing on 111.39255784400001 meters 0.29452442546198393 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.52 [[ 9.99985636e-01 5.31498472e-03 -6.92393063e-04 1.10833560e-02] [-5.31469697e-03 9.99985790e-01 4.16769702e-04 -1.71699264e-01] [ 6.94598348e-04 -4.13083856e-04 9.99999673e-01 5.16388973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters 0.29640228566204463 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.17, Z:0.52 [[ 9.99997065e-01 -2.38136491e-03 4.46866632e-04 3.24858108e-02] [ 2.38088315e-03 9.99996587e-01 1.07553156e-03 -1.66870714e-01] [-4.49426340e-04 -1.07446447e-03 9.99999322e-01 5.16610736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452557844 meters 0.29460808221293283 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.52 [[ 0.99999489 0.00298825 -0.00113441 0.01003642] [-0.00299038 0.99999377 -0.00187503 -0.16836116] [ 0.0011288 0.00187841 0.9999976 0.51768537] [ 0. 0. 0. 1. ]] SLAMing on 111.482557844 meters 0.2960235855425693 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.17, Z:0.52 [[ 0.99999475 0.00303267 -0.00114317 0.00999221] [-0.00303467 0.99999385 -0.00175563 -0.16883849] [ 0.00113784 0.00175909 0.99999781 0.51783376] [ 0. 0. 0. 1. ]] SLAMing on 111.512557844 meters 0.29464314161832295 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 9.99981517e-01 -4.85144232e-03 -3.66446544e-03 -1.06265400e-02] [ 4.85448971e-03 9.99987878e-01 8.23168987e-04 -1.69408770e-01] [ 3.66042746e-03 -8.40942882e-04 9.99992947e-01 5.19596562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542557844 meters 0.2943130587759105 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 9.99981645e-01 -4.83624809e-03 -3.64971152e-03 -1.08055880e-02] [ 4.83943470e-03 9.99987916e-01 8.64785879e-04 -1.69545409e-01] [ 3.64548510e-03 -8.82432546e-04 9.99992966e-01 5.19936028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572557844 meters 0.2947576858671596 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 9.99981986e-01 -4.80742255e-03 -3.59407273e-03 -1.09759428e-02] [ 4.81083468e-03 9.99987985e-01 9.41333735e-04 -1.69850669e-01] [ 3.58950416e-03 -9.58607267e-04 9.99993098e-01 5.20003199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602557844 meters 0.2949946337572769 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 0.99998217 -0.00472662 -0.00364977 -0.01083171] [ 0.00473085 0.99998815 0.001151 -0.17071731] [ 0.00364429 -0.00116825 0.99999268 0.5200021 ] [ 0. 0. 0. 1. ]] SLAMing on 111.632557844 meters 0.2946019938897597 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.52 [[ 9.99985813e-01 2.57528981e-03 -4.66270862e-03 -3.00267051e-02] [-2.57486229e-03 9.99996680e-01 9.76909754e-05 -1.75585177e-01] [ 4.66294472e-03 -8.56837569e-05 9.99989125e-01 5.18480515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662557844 meters 0.2943408342809438 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 0.9999854 -0.00480325 -0.00247591 -0.01093846] [ 0.00480609 0.9999878 0.00114249 -0.17216142] [ 0.00247039 -0.00115438 0.99999628 0.51915155] [ 0. 0. 0. 1. ]] SLAMing on 111.692557844 meters 0.29523605581251416 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 0.99998571 -0.00476111 -0.00243251 -0.01117053] [ 0.00476417 0.99998787 0.00125329 -0.17259057] [ 0.00242651 -0.00126487 0.99999626 0.51942905] [ 0. 0. 0. 1. ]] SLAMing on 111.72255784400001 meters 0.2951272662169133 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 0.99998601 -0.00470444 -0.00241827 -0.01131197] [ 0.00470783 0.99998794 0.00139993 -0.17317727] [ 0.00241165 -0.0014113 0.9999961 0.51966362] [ 0. 0. 0. 1. ]] SLAMing on 111.75255784400001 meters 0.29544403129561997 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.52 [[ 9.99995509e-01 2.98633996e-03 2.54123035e-04 8.52938336e-03] [-2.98605429e-03 9.99994918e-01 -1.11718249e-03 -1.75333964e-01] [-2.57458030e-04 1.11641865e-03 9.99999344e-01 5.18714904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78255784400001 meters 0.2951149191893862 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.52 [[ 9.99977172e-01 -6.75182170e-03 -2.62863524e-04 -1.12669471e-02] [ 6.75187074e-03 9.99977189e-01 1.86135529e-04 -1.74733683e-01] [ 2.61600774e-04 -1.87906100e-04 9.99999948e-01 5.18137892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812557844 meters 0.29506675775787683 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.52 [[ 9.99977868e-01 -6.64993393e-03 -2.06507355e-04 -1.15396030e-02] [ 6.65002751e-03 9.99977784e-01 4.55842728e-04 -1.75816885e-01] [ 2.03471443e-04 -4.57205918e-04 9.99999875e-01 5.18432093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.842557844 meters 0.29405109374849897 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.52 [[ 9.99978362e-01 -6.57412398e-03 -2.38947751e-04 -1.15241197e-02] [ 6.57427994e-03 9.99978173e-01 6.57862533e-04 -1.76635702e-01] [ 2.34617666e-04 -6.59419208e-04 9.99999755e-01 5.18592642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872557844 meters 0.29361474396241266 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.52 [[ 9.99998992e-01 6.47571402e-04 -1.26369262e-03 -3.02939729e-02] [-6.48176678e-04 9.99999675e-01 -4.78623701e-04 -1.81262521e-01] [ 1.26338227e-03 4.79442314e-04 9.99999087e-01 5.16931708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902557844 meters 0.29494488430204874 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.52 [[ 9.99998859e-01 7.29211496e-04 -1.32312674e-03 -3.01248449e-02] [-7.29557127e-04 9.99999700e-01 -2.60759004e-04 -1.82173087e-01] [ 1.32293620e-03 2.61724003e-04 9.99999091e-01 5.16889251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932557844 meters 0.2955111510723473 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.51 [[ 0.99999239 -0.0036131 0.00147025 -0.00672875] [ 0.0036084 0.9999884 0.00319104 -0.18362921] [-0.00148176 -0.00318571 0.99999383 0.51459719] [ 0. 0. 0. 1. ]] SLAMing on 111.962557844 meters 0.2952640023132812 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.51 [[ 9.99993655e-01 3.56047525e-03 1.13510346e-04 -2.55875638e-02] [-3.56069665e-03 9.99991633e-01 2.01394285e-03 -1.87700691e-01] [-1.06338802e-04 -2.01433425e-03 9.99997966e-01 5.12836017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992557844 meters 0.29507386209383774 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.51 [[ 9.99993728e-01 3.54127390e-03 4.89606588e-05 -2.51910603e-02] [-3.54136332e-03 9.99991797e-01 1.96599717e-03 -1.87560768e-01] [-4.19981227e-05 -1.96615823e-03 9.99998066e-01 5.12279366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022557844 meters 0.295011746321082 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.19, Z:0.51 [[ 9.99999181e-01 1.19698008e-03 -4.53719345e-04 -5.89803427e-02] [-1.19623131e-03 9.99997928e-01 1.64698851e-03 -1.87652558e-01] [ 4.55689817e-04 -1.64644441e-03 9.99998541e-01 5.06624110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.052557844 meters 0.29629863899931486 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.51 [[ 9.99995361e-01 2.43021000e-03 -1.83633719e-03 -1.95838007e-02] [-2.43046110e-03 9.99997037e-01 -1.34518956e-04 -1.82214223e-01] [ 1.83600484e-03 1.38981478e-04 9.99998305e-01 5.08932677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08255784400001 meters 0.29602131292199646 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.51 [[ 9.99995903e-01 2.24307925e-03 -1.77820553e-03 -1.97943894e-02] [-2.24418234e-03 9.99997290e-01 -6.18585280e-04 -1.80177035e-01] [ 1.77681318e-03 6.22573364e-04 9.99998228e-01 5.09054220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11255784400001 meters 0.2946779674299098 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.51 [[ 9.99996136e-01 2.16221060e-03 -1.74737601e-03 -1.99051010e-02] [-2.16366555e-03 9.99997314e-01 -8.31182446e-04 -1.79293523e-01] [ 1.74557413e-03 8.34959972e-04 9.99998128e-01 5.09131958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14255784400001 meters 0.2955029193531875 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.18, Z:0.51 [[ 0.99999631 0.00205948 -0.00177384 -0.01971488] [-0.00206143 0.99999727 -0.00109954 -0.17821612] [ 0.00177158 0.00110319 0.99999782 0.50885752] [ 0. 0. 0. 1. ]] SLAMing on 112.17255784400001 meters 0.29456100855497613 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.50 [[ 9.99998965e-01 4.62741241e-04 -1.36197320e-03 -5.66645210e-02] [-4.63250060e-04 9.99999823e-01 -3.73298203e-04 -1.79649058e-01] [ 1.36180021e-03 3.73928751e-04 9.99999003e-01 5.04831088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202557844 meters 0.2949422888880902 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.50 [[ 9.99990118e-01 -4.44101282e-03 2.01015302e-04 -3.24656860e-02] [ 4.44043356e-03 9.99986233e-01 2.79582042e-03 -1.78802416e-01] [-2.13428809e-04 -2.79490020e-03 9.99996071e-01 5.02470195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.232557844 meters 0.2963659256065816 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.50 [[ 9.99989855e-01 -4.50193353e-03 1.52082893e-04 -3.22544761e-02] [ 4.50151643e-03 9.99986384e-01 2.63980578e-03 -1.78175132e-01] [-1.63965052e-04 -2.63909440e-03 9.99996504e-01 5.02279904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262557844 meters 0.29449585263060213 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.51 [[ 9.99996975e-01 3.07186619e-04 -2.44049145e-03 -5.62203429e-02] [-3.08604686e-04 9.99999784e-01 -5.80702992e-04 -1.75902777e-01] [ 2.44031254e-03 5.81454383e-04 9.99996853e-01 5.05448932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.292557844 meters 0.2937173898360074 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.51 [[ 9.99997174e-01 2.59537709e-04 -2.36323850e-03 -5.64169700e-02] [-2.61225309e-04 9.99999711e-01 -7.13824262e-04 -1.75347460e-01] [ 2.36305255e-03 7.14439582e-04 9.99996953e-01 5.05442543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322557844 meters 0.29505254240580436 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.51 [[ 0.99999355 0.00185665 -0.00307531 -0.01774385] [-0.00186221 0.99999664 -0.00180516 -0.17089057] [ 0.00307194 0.00181088 0.99999364 0.50819646] [ 0. 0. 0. 1. ]] SLAMing on 112.352557844 meters 0.29562377160341097 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.51 [[ 0.99999371 0.00176356 -0.00307766 -0.01758335] [-0.00176989 0.99999632 -0.00205445 -0.16989502] [ 0.00307403 0.00205989 0.99999315 0.50784902] [ 0. 0. 0. 1. ]] SLAMing on 112.382557844 meters 0.29390180473984356 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.51 [[ 9.99967140e-01 -5.60542724e-03 -5.85645919e-03 -3.82612130e-02] [ 5.60928465e-03 9.99984061e-01 6.42442632e-04 -1.68813430e-01] [ 5.85276468e-03 -6.75272068e-04 9.99982644e-01 5.09179522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.412557844 meters 0.29541868980607067 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.51 [[ 9.99963884e-01 -5.88228815e-03 -6.13424025e-03 -3.71662547e-02] [ 5.88059491e-03 9.99982666e-01 -2.94031449e-04 -1.65245128e-01] [ 6.13586350e-03 2.57947848e-04 9.99981142e-01 5.08004478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442557844 meters 0.29636203769513986 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.51 [[ 9.99963289e-01 -6.04513159e-03 -6.07266295e-03 -3.73070854e-02] [ 6.04050088e-03 9.99981451e-01 -7.80601721e-04 -1.63281482e-01] [ 6.07726915e-03 7.43891138e-04 9.99981257e-01 5.07954171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47255784400001 meters 0.2974336849995114 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.51 [[ 0.999989 0.00336225 -0.00326985 -0.01906902] [-0.00336937 0.99999196 -0.00217452 -0.16075845] [ 0.00326252 0.00218552 0.99999229 0.50842701] [ 0. 0. 0. 1. ]] SLAMing on 112.50255784400001 meters 0.29524635639947777 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.51 [[ 0.99999106 0.00308617 -0.00289111 -0.02026938] [-0.00309491 0.99999064 -0.00302261 -0.15707936] [ 0.00288175 0.00303153 0.99999125 0.50901945] [ 0. 0. 0. 1. ]] SLAMing on 112.53255784400001 meters 0.2933542877479424 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.51 [[ 0.99999154 0.00300351 -0.00280947 -0.02053311] [-0.00301263 0.99999019 -0.00324749 -0.1561343 ] [ 0.00279969 0.00325592 0.99999078 0.50915288] [ 0. 0. 0. 1. ]] SLAMing on 112.562557844 meters 0.29476442884517523 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.51 [[ 9.99998540e-01 -1.70058879e-03 1.68915747e-04 1.44445226e-03] [ 1.70058348e-03 9.99998554e-01 3.15734988e-05 -1.55445003e-01] [-1.68969196e-04 -3.12861974e-05 9.99999985e-01 5.07362295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.592557844 meters 0.29501570056232446 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.15, Z:0.51 [[ 9.99998305e-01 -1.83055143e-03 1.95844417e-04 1.36931968e-03] [ 1.83061054e-03 9.99998279e-01 -3.02048027e-04 -1.54065715e-01] [-1.95291166e-04 3.02406030e-04 9.99999935e-01 5.07359270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622557844 meters 0.2933067451033082 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.51 [[ 0.99999371 0.00284833 -0.00211159 -0.02330549] [-0.00285578 0.99998968 -0.00353337 -0.15255277] [ 0.00210151 0.00353938 0.99999153 0.5104232 ] [ 0. 0. 0. 1. ]] SLAMing on 112.652557844 meters 0.29357113636397886 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 9.99980029e-01 -4.89492928e-03 -3.99768701e-03 -4.40211852e-02] [ 4.89177970e-03 9.99987717e-01 -7.97248260e-04 -1.52330701e-01] [ 4.00154038e-03 7.77676534e-04 9.99991691e-01 5.11571772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682557844 meters 0.2940636519134053 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 9.99980348e-01 -4.89573762e-03 -3.91595409e-03 -4.43412308e-02] [ 4.89262792e-03 9.99987708e-01 -8.03296505e-04 -1.52278811e-01] [ 3.91983869e-03 7.84121412e-04 9.99992010e-01 5.11839272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.712557844 meters 0.2940320861412171 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.51 [[ 0.99999442 0.00297245 -0.00152228 -0.0234397 ] [-0.00297769 0.99998962 -0.0034482 -0.15087453] [ 0.00151201 0.00345271 0.9999929 0.51029253] [ 0. 0. 0. 1. ]] SLAMing on 112.742557844 meters 0.29264891480605254 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 0.9999718 -0.00639428 -0.00393863 -0.0420996 ] [ 0.00638448 0.9999765 -0.00249678 -0.14889301] [ 0.0039545 0.00247157 0.99998913 0.50978761] [ 0. 0. 0. 1. ]] SLAMing on 112.772557844 meters 0.2937264815576725 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.51 [[ 0.99999193 0.0029671 -0.00270973 -0.02302037] [-0.00297714 0.99998869 -0.00370776 -0.15160436] [ 0.00269869 0.0037158 0.99998945 0.51078784] [ 0. 0. 0. 1. ]] SLAMing on 112.802557844 meters 0.29280534368421385 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 0.99997406 -0.00629405 -0.00350075 -0.04215863] [ 0.00628626 0.99997775 -0.00223381 -0.14957698] [ 0.00351473 0.00221174 0.99999138 0.50970432] [ 0. 0. 0. 1. ]] SLAMing on 112.83255784400001 meters 0.29369356461690926 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 0.99997442 -0.00626335 -0.00345339 -0.04230868] [ 0.00625594 0.99997811 -0.00215269 -0.14990568] [ 0.00346679 0.00213104 0.99999172 0.50977218] [ 0. 0. 0. 1. ]] SLAMing on 112.86255784400001 meters 0.29281693999686026 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 0.99997465 -0.006231 -0.00344728 -0.04232573] [ 0.00622389 0.99997849 -0.0020684 -0.150257 ] [ 0.00346009 0.0020469 0.99999192 0.50977634] [ 0. 0. 0. 1. ]] SLAMing on 112.89255784400001 meters 0.29309539097179454 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 0.99997472 -0.00616385 -0.00354449 -0.04196769] [ 0.00615716 0.99997925 -0.00189586 -0.15101475] [ 0.0035561 0.00187399 0.99999192 0.50955055] [ 0. 0. 0. 1. ]] SLAMing on 112.92255784400001 meters 0.29230414424088413 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.51 [[ 0.99998679 0.00113271 -0.00501452 -0.06083051] [-0.00114845 0.99999442 -0.00313589 -0.15505683] [ 0.00501094 0.00314161 0.99998251 0.50782266] [ 0. 0. 0. 1. ]] SLAMing on 112.952557844 meters 0.293446064989505 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.51 [[ 0.99998665 0.0010859 -0.00505267 -0.06058584] [-0.00110238 0.99999408 -0.00326074 -0.15457753] [ 0.0050491 0.00326627 0.99998192 0.50747001] [ 0. 0. 0. 1. ]] SLAMing on 112.982557844 meters 0.2930706820605566 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.51 [[ 9.99986021e-01 9.18278430e-04 -5.20708243e-03 -5.98275193e-02] [-9.37792345e-04 9.99992543e-01 -3.74636944e-03 -1.52614190e-01] [ 5.20360339e-03 3.75120023e-03 9.99979425e-01 5.06561875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012557844 meters 0.2926650851152775 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.51 [[ 9.99986340e-01 8.45932741e-04 -5.15800998e-03 -5.99309042e-02] [-8.66268139e-04 9.99991857e-01 -3.94153050e-03 -1.51813530e-01] [ 5.15463370e-03 3.94594487e-03 9.99978929e-01 5.06510314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042557844 meters 0.2934480219920894 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.50 [[ 9.99991278e-01 -3.46781327e-03 -2.32779377e-03 -3.72626450e-02] [ 3.46699373e-03 9.99993927e-01 -3.56008658e-04 -1.51521342e-01] [ 2.32901420e-03 3.47935106e-04 9.99997227e-01 5.04949135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.072557844 meters 0.2941623905330899 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.15, Z:0.51 [[ 9.99991208e-01 -3.50930970e-03 -2.29532625e-03 -3.74453132e-02] [ 3.50824127e-03 9.99993736e-01 -4.69343086e-04 -1.51028837e-01] [ 2.29695895e-03 4.61286401e-04 9.99997256e-01 5.05169709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102557844 meters 0.2914364190192465 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.50 [[ 0.99998262 0.00402234 -0.00430971 -0.05700256] [-0.00402926 0.9999906 -0.00159862 -0.15289281] [ 0.00430324 0.00161596 0.99998944 0.50437093] [ 0. 0. 0. 1. ]] SLAMing on 113.132557844 meters 0.2931570090921846 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.50 [[ 0.99998279 0.00395343 -0.0043342 -0.05680185] [-0.00396118 0.99999057 -0.00178153 -0.15215768] [ 0.00432712 0.00179867 0.99998902 0.50404581] [ 0. 0. 0. 1. ]] SLAMing on 113.162557844 meters 0.2931570090921846 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.50 [[ 0.99998279 0.00395343 -0.0043342 -0.05680185] [-0.00396118 0.99999057 -0.00178153 -0.15215768] [ 0.00432712 0.00179867 0.99998902 0.50404581] [ 0. 0. 0. 1. ]] SLAMing on 113.192557844 meters 0.2940331581619125 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 0.99999697 -0.00120113 -0.00214888 -0.03348929] [ 0.00120375 0.99999853 0.00121724 -0.15097922] [ 0.00214742 -0.00121982 0.99999695 0.50200528] [ 0. 0. 0. 1. ]] SLAMing on 113.22255784400001 meters 0.2931310555504667 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 0.99999688 -0.00124514 -0.00216773 -0.03343221] [ 0.00124752 0.99999862 0.00109554 -0.15048417] [ 0.00216637 -0.00109824 0.99999705 0.50197921] [ 0. 0. 0. 1. ]] SLAMing on 113.25255784400001 meters 0.29379513044943933 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 0.99999674 -0.00126939 -0.00221708 -0.03353666] [ 0.00127165 0.99999867 0.00102089 -0.15015352] [ 0.00221578 -0.0010237 0.99999702 0.50255664] [ 0. 0. 0. 1. ]] SLAMing on 113.28255784400001 meters 0.2929877735310308 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996559e-01 -1.30477884e-03 -2.27603211e-03 -3.33782200e-02] [ 1.30689741e-03 9.99998714e-01 9.29577398e-04 -1.49778767e-01] [ 2.27481629e-03 -9.32548739e-04 9.99996978e-01 5.02540706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312557844 meters 0.2923830527553127 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996470e-01 -1.34428150e-03 -2.29171227e-03 -3.32153624e-02] [ 1.34617874e-03 9.99998752e-01 8.26530484e-04 -1.49377117e-01] [ 2.29059832e-03 -8.29612621e-04 9.99997032e-01 5.02260366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.342557844 meters 0.2928432042360069 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996378e-01 -1.39926204e-03 -2.29926587e-03 -3.31225544e-02] [ 1.40083292e-03 9.99998786e-01 6.81738143e-04 -1.48791474e-01] [ 2.29830915e-03 -6.84956560e-04 9.99997124e-01 5.02090194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372557844 meters 0.2930341718441515 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996444e-01 -1.42692548e-03 -2.25297148e-03 -3.33804389e-02] [ 1.42829097e-03 9.99998797e-01 6.04592660e-04 -1.48446999e-01] [ 2.25210606e-03 -6.07808408e-04 9.99997279e-01 5.02424966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402557844 meters 0.29334326199271155 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996543e-01 -1.45022142e-03 -2.19334563e-03 -3.36443354e-02] [ 1.45141116e-03 9.99998800e-01 5.40934197e-04 -1.48169725e-01] [ 2.19255853e-03 -5.44115774e-04 9.99997448e-01 5.02679773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432557844 meters 0.29376521831540026 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.50 [[ 9.99996828e-01 -1.45909770e-03 -2.05284584e-03 -3.41068584e-02] [ 1.46014612e-03 9.99998804e-01 5.09309544e-04 -1.48012867e-01] [ 2.05210026e-03 -5.12305383e-04 9.99997763e-01 5.02931938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462557844 meters 0.2916100733312672 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.15, Z:0.51 [[ 0.9999848 0.00350647 -0.00425512 -0.05793666] [-0.00351846 0.99998986 -0.00281219 -0.14675063] [ 0.00424522 0.00282712 0.99998699 0.50528643] [ 0. 0. 0. 1. ]] SLAMing on 113.492557844 meters 0.2923112954160179 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999193 -0.00371382 -0.00153256 -0.04003112] [ 0.00371134 0.9999918 -0.00162314 -0.14197029] [ 0.00153858 0.00161744 0.99999751 0.50639128] [ 0. 0. 0. 1. ]] SLAMing on 113.522557844 meters 0.29122169331981307 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999197 -0.00370451 -0.00152733 -0.0400581 ] [ 0.00370207 0.99999187 -0.00159658 -0.14207631] [ 0.00153323 0.00159091 0.99999756 0.50642352] [ 0. 0. 0. 1. ]] SLAMing on 113.552557844 meters 0.29208321623972444 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999196 -0.00370178 -0.00154293 -0.03995973] [ 0.00369933 0.9999919 -0.00158692 -0.1421265 ] [ 0.00154879 0.00158119 0.99999755 0.50628407] [ 0. 0. 0. 1. ]] SLAMing on 113.58255784400001 meters 0.29285448406442477 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999193 -0.00370115 -0.00156538 -0.03982707] [ 0.00369867 0.99999191 -0.00158259 -0.14215654] [ 0.00157123 0.00157678 0.99999752 0.50610452] [ 0. 0. 0. 1. ]] SLAMing on 113.61255784400001 meters 0.29261022079537335 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999158 -0.0037584 -0.0016446 -0.03953414] [ 0.00375552 0.99999142 -0.0017507 -0.14150709] [ 0.00165117 0.00174451 0.99999712 0.50584748] [ 0. 0. 0. 1. ]] SLAMing on 113.64255784400001 meters 0.29439128357222116 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.50 [[ 9.99990848e-01 4.19906724e-03 8.19286848e-04 -1.88220550e-02] [-4.19558917e-03 9.99982371e-01 -4.20175109e-03 -1.39338829e-01] [-8.36915840e-04 4.19827525e-03 9.99990837e-01 5.04746455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67255784400001 meters 0.2928856623253746 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 0.99999558 -0.00277921 -0.00105847 -0.04042092] [ 0.00277803 0.99999552 -0.00111447 -0.13784174] [ 0.00106156 0.00111152 0.99999882 0.5059646 ] [ 0. 0. 0. 1. ]] SLAMing on 113.702557844 meters 0.2940229024977414 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.14, Z:0.51 [[ 9.99995255e-01 -2.92709322e-03 -9.60213997e-04 -4.05560143e-02] [ 2.92560278e-03 9.99994519e-01 -1.54994597e-03 -1.36105642e-01] [ 9.64745571e-04 1.54712941e-03 9.99998338e-01 5.05680057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.732557844 meters 0.2930194797637942 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.51 [[ 9.99994481e-01 -3.22496150e-03 -7.98583516e-04 -4.07962656e-02] [ 3.22296449e-03 9.99991707e-01 -2.48947471e-03 -1.32409024e-01] [ 8.06605354e-04 2.48688716e-03 9.99996582e-01 5.05262360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762557844 meters 0.2931607724187859 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.51 [[ 9.99994067e-01 -3.35785113e-03 -7.68534470e-04 -4.07728796e-02] [ 3.35564684e-03 9.99990304e-01 -2.85171438e-03 -1.30931335e-01] [ 7.78102650e-04 2.84911854e-03 9.99995639e-01 5.05016362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792557844 meters 0.29343751067472323 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 9.99993652e-01 -3.46490716e-03 -8.30453747e-04 -4.05194446e-02] [ 3.46228841e-03 9.99989094e-01 -3.13435655e-03 -1.29789009e-01] [ 8.41304945e-04 3.13146138e-03 9.99994743e-01 5.04784318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822557844 meters 0.293582013724763 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 9.99993303e-01 -3.54999112e-03 -8.90224333e-04 -4.02083714e-02] [ 3.54698025e-03 9.99988061e-01 -3.36121646e-03 -1.28891752e-01] [ 9.02145993e-04 3.35803634e-03 9.99993955e-01 5.04393103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852557844 meters 0.29354426472961753 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 0.99999253 -0.00367211 -0.00120635 -0.03925292] [ 0.00366765 0.99998654 -0.0036706 -0.12768433] [ 0.00121981 0.00366615 0.99999254 0.50394802] [ 0. 0. 0. 1. ]] SLAMing on 113.882557844 meters 0.2929647873860072 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 0.9999923 -0.0037303 -0.0012224 -0.03918006] [ 0.0037256 0.99998575 -0.00382378 -0.12706798] [ 0.00123664 0.00381919 0.99999194 0.50386964] [ 0. 0. 0. 1. ]] SLAMing on 113.912557844 meters 0.2930069516124303 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 0.99999218 -0.00378322 -0.00115417 -0.03933435] [ 0.00377861 0.99998496 -0.00397495 -0.12645265] [ 0.00116919 0.00397056 0.99999143 0.50381939] [ 0. 0. 0. 1. ]] SLAMing on 113.942557844 meters 0.2932940226909579 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 0.99999222 -0.00377979 -0.00113033 -0.03941556] [ 0.00377528 0.999985 -0.00396813 -0.12647793] [ 0.00114532 0.00396383 0.99999149 0.50386452] [ 0. 0. 0. 1. ]] SLAMing on 113.97255784400001 meters 0.2935632898323774 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.13, Z:0.50 [[ 0.99999199 -0.00383478 -0.00114868 -0.03934741] [ 0.00383003 0.9999842 -0.0041142 -0.12587534] [ 0.00116444 0.00410976 0.99999088 0.50381376] [ 0. 0. 0. 1. ]] SLAMing on 114.00255784400001 meters 0.2931256421573734 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 0.99999163 -0.0039259 -0.00114964 -0.03934119] [ 0.00392085 0.99998282 -0.00435781 -0.1248712 ] [ 0.00116673 0.00435326 0.99998984 0.50379926] [ 0. 0. 0. 1. ]] SLAMing on 114.03255784400001 meters 0.2915842810397312 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.50 [[ 0.99998636 0.00473889 -0.00219598 -0.0625239 ] [-0.00474924 0.99997754 -0.00472969 -0.12377276] [ 0.00217352 0.00474005 0.9999864 0.50483901] [ 0. 0. 0. 1. ]] SLAMing on 114.062557844 meters 0.29373919939655646 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99999876e-01 1.11631775e-04 -4.85734617e-04 -3.89347148e-02] [-1.12343587e-04 9.99998920e-01 -1.46565418e-03 -1.20263595e-01] [ 4.85570478e-04 1.46570856e-03 9.99998808e-01 5.03478290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.092557844 meters 0.2937944167741703 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99999961e-01 -5.85954203e-05 -2.73474571e-04 -3.96118017e-02] [ 5.80565592e-05 9.99998058e-01 -1.97001719e-03 -1.18149187e-01] [ 2.73589474e-04 1.97000123e-03 9.99998022e-01 5.03779482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122557844 meters 0.2920809135841468 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99999975e-01 -1.88181585e-04 -1.21207984e-04 -4.00996764e-02] [ 1.87896403e-04 9.99997224e-01 -2.34855878e-03 -1.16579067e-01] [ 1.21649603e-04 2.34853595e-03 9.99997235e-01 5.04007333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152557844 meters 0.2931217809039544 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.50 [[ 9.99999937e-01 -3.47598787e-04 -6.69704716e-05 -4.01623676e-02] [ 3.47411227e-04 9.99996074e-01 -2.78057757e-03 -1.14810362e-01] [ 6.79367341e-05 2.78055413e-03 9.99996132e-01 5.03831030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182557844 meters 0.2914884266397847 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.11, Z:0.51 [[ 9.99965489e-01 -7.52725069e-03 -3.51578131e-03 -6.10785472e-02] [ 7.52551568e-03 9.99971555e-01 -5.06459701e-04 -1.14597589e-01] [ 3.51949356e-03 4.79984156e-04 9.99993691e-01 5.05546520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212557844 meters 0.2920179652138916 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.51 [[ 0.9999944 0.00192338 -0.00273939 -0.04177353] [-0.00192796 0.99999674 -0.00167207 -0.11647428] [ 0.00273617 0.00167735 0.99999485 0.50657934] [ 0. 0. 0. 1. ]] SLAMing on 114.242557844 meters 0.2913017848907369 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.51 [[ 0.99999447 0.00188028 -0.00274361 -0.04181088] [-0.00188521 0.99999662 -0.00179327 -0.11597481] [ 0.00274023 0.00179843 0.99999463 0.50669396] [ 0. 0. 0. 1. ]] SLAMing on 114.272557844 meters 0.29357315398764855 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.51 [[ 9.99994565e-01 -3.29709205e-03 1.89015297e-06 -1.97402653e-02] [ 3.29708629e-03 9.99993609e-01 1.38259875e-03 -1.15314895e-01] [-6.44869625e-06 -1.38258501e-03 9.99999044e-01 5.05293895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302557844 meters 0.2921513877307661 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99989663e-01 4.40015510e-03 -1.14536265e-03 -3.88116965e-02] [-4.40008247e-03 9.99990317e-01 6.59285484e-05 -1.18713428e-01] [ 1.14564166e-03 -6.08881768e-05 9.99999342e-01 5.04277571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33255784400001 meters 0.2937707850868148 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99990197e-01 4.27477267e-03 -1.15397903e-03 -3.89476701e-02] [-4.27507763e-03 9.99990828e-01 -2.61923697e-04 -1.17324834e-01] [ 1.15284878e-03 2.66854480e-04 9.99999300e-01 5.04643301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36255784400001 meters 0.2914962362605937 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99990486e-01 4.21698013e-03 -1.11560891e-03 -3.90846494e-02] [-4.21744964e-03 9.99991019e-01 -4.18836579e-04 -1.16669138e-01] [ 1.11383266e-03 4.23537618e-04 9.99999290e-01 5.04740129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39255784400001 meters 0.2931463995614972 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.50 [[ 0.99999782 -0.00123156 0.00168458 -0.01651833] [ 0.00122743 0.99999625 0.00244746 -0.11660373] [-0.00168759 -0.00244539 0.99999559 0.50267389] [ 0. 0. 0. 1. ]] SLAMing on 114.42255784400001 meters 0.2910829122938367 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.51 [[ 0.99999401 0.00320565 -0.00130527 -0.03992034] [-0.00320719 0.99999416 -0.00118059 -0.11482489] [ 0.00130147 0.00118477 0.99999845 0.50513353] [ 0. 0. 0. 1. ]] SLAMing on 114.452557844 meters 0.29199113740978794 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.51 [[ 9.99990690e-01 -4.30480287e-03 -2.96536725e-04 -2.09527707e-02] [ 4.30484470e-03 9.99990724e-01 1.40558270e-04 -1.10761561e-01] [ 2.95928898e-04 -1.41833506e-04 9.99999946e-01 5.06766270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482557844 meters 0.2921372645082209 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.51 [[ 9.99990641e-01 -4.31762957e-03 -2.74676484e-04 -2.10511762e-02] [ 4.31765874e-03 9.99990673e-01 1.05714395e-04 -1.10612178e-01] [ 2.74217487e-04 -1.06899365e-04 9.99999957e-01 5.06861879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.512557844 meters 0.2916521999308488 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.51 [[ 9.99990357e-01 -4.38055957e-03 -3.09488309e-04 -2.09099984e-02] [ 4.38053932e-03 9.99990403e-01 -6.60646605e-05 -1.09915387e-01] [ 3.09774740e-04 6.47082978e-05 9.99999950e-01 5.06729072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542557844 meters 0.29276904755227956 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.51 [[ 9.99987876e-01 4.90181173e-03 4.69940338e-04 -5.31389688e-04] [-4.90118635e-03 9.99987114e-01 -1.32279280e-03 -1.10208460e-01] [-4.76418363e-04 1.32047349e-03 9.99999015e-01 5.07254708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.572557844 meters 0.29254574726263194 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:0.51 [[ 9.99988396e-01 4.79697096e-03 4.44004335e-04 -3.53249412e-04] [-4.79623961e-03 9.99987163e-01 -1.63382121e-03 -1.08977204e-01] [-4.51836028e-04 1.63167270e-03 9.99998567e-01 5.06965972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602557844 meters 0.2930983587404724 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:0.51 [[ 9.99994746e-01 -3.01852290e-03 1.18151558e-03 1.78237926e-02] [ 3.01970433e-03 9.99994941e-01 -9.99423646e-04 -9.99449933e-02] [-1.17849282e-03 1.00298622e-03 9.99998803e-01 5.07981613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.632557844 meters 0.293999625034915 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:0.51 [[ 0.99999432 -0.00313946 0.00122641 0.01777931] [ 0.00314111 0.99999415 -0.00135353 -0.09851991] [-0.00122215 0.00135737 0.99999833 0.5078117 ] [ 0. 0. 0. 1. ]] SLAMing on 114.662557844 meters 0.29254155924841074 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.51 [[ 9.99993988e-01 -3.12119301e-03 1.51069455e-03 -2.14761627e-02] [ 3.12137670e-03 9.99995121e-01 -1.19251961e-04 -1.00783959e-01] [-1.51031497e-03 1.23966691e-04 9.99998852e-01 5.05282562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.692557844 meters 0.2926187458915772 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.50 [[ 9.99999654e-01 -6.93153168e-04 4.60146209e-04 -1.59709247e-02] [ 6.92371727e-04 9.99998322e-01 1.69623682e-03 -9.62813978e-02] [-4.61321189e-04 -1.69591764e-03 9.99998456e-01 5.01328827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72255784400001 meters 0.29310225270779583 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99999585e-01 -8.38748930e-04 3.56406220e-04 -1.56276847e-02] [ 8.38278808e-04 9.99998781e-01 1.31716994e-03 -9.47271694e-02] [-3.57510560e-04 -1.31687063e-03 9.99999069e-01 5.01148607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75255784400001 meters 0.2929797087791045 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99999455e-01 -9.85007096e-04 3.46418208e-04 -1.56071255e-02] [ 9.84683289e-04 9.99999079e-01 9.33660577e-04 -9.31357444e-02] [-3.47337552e-04 -9.33318956e-04 9.99999504e-01 5.01147950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78255784400001 meters 0.292286287233534 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99999314e-01 -1.09953678e-03 4.04691033e-04 -1.58156681e-02] [ 1.09928073e-03 9.99999196e-01 6.32393188e-04 -9.18747870e-02] [-4.05386048e-04 -6.31947885e-04 9.99999718e-01 5.01264454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812557844 meters 0.29370735907838164 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99999030e-01 -1.28155470e-03 5.45519085e-04 -1.62209993e-02] [ 1.28145334e-03 9.99999162e-01 1.86116344e-04 -9.00177610e-02] [-5.45757145e-04 -1.85417106e-04 9.99999834e-01 5.01314867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.842557844 meters 0.2935550699935548 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99998916e-01 -1.33993833e-03 6.10282050e-04 -1.64157285e-02] [ 1.33992161e-03 9.99999102e-01 2.77971430e-05 -8.93553073e-02] [-6.10318748e-04 -2.69793828e-05 9.99999813e-01 5.01369656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.872557844 meters 0.29240451217136626 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.09, Z:0.50 [[ 0.99999267 0.00359593 -0.00131823 -0.04093201] [-0.00360036 0.99998782 -0.00337494 -0.08875417] [ 0.00130608 0.00337966 0.99999344 0.50388319] [ 0. 0. 0. 1. ]] SLAMing on 114.902557844 meters 0.2921257960061551 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.09, Z:0.50 [[ 0.99999267 0.00356825 -0.00138974 -0.04086525] [-0.00357302 0.99998767 -0.00344771 -0.08843835] [ 0.00137743 0.00345265 0.99999309 0.50415627] [ 0. 0. 0. 1. ]] SLAMing on 114.932557844 meters 0.2928873732371485 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99997092e-01 -2.05613047e-03 1.26057100e-03 -1.96833164e-02] [ 2.05652644e-03 9.99997836e-01 -3.12902922e-04 -8.79392113e-02] [-1.25992490e-03 3.15494410e-04 9.99999157e-01 5.03268504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962557844 meters 0.29224117250376136 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99997126e-01 -2.03356740e-03 1.27024698e-03 -1.97875371e-02] [ 2.03389273e-03 9.99997899e-01 -2.54879022e-04 -8.81694555e-02] [-1.26972600e-03 2.57461836e-04 9.99999161e-01 5.03451444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.992557844 meters 0.292521630716305 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99996954e-01 -2.02495629e-03 1.41093071e-03 -2.04058867e-02] [ 2.02528515e-03 9.99997922e-01 -2.31685440e-04 -8.82216187e-02] [-1.41045863e-03 2.34542271e-04 9.99998978e-01 5.04196841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022557844 meters 0.2924005930084961 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99996796e-01 -2.01748093e-03 1.52872408e-03 -2.09613477e-02] [ 2.01781390e-03 9.99997941e-01 -2.16297309e-04 -8.82335755e-02] [-1.52828456e-03 2.19381296e-04 9.99998808e-01 5.04849055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052557844 meters 0.29184772101686196 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.51 [[ 9.99996682e-01 -2.00820517e-03 1.61347384e-03 -2.13052398e-02] [ 2.00852178e-03 9.99997964e-01 -1.94630685e-04 -8.82961821e-02] [-1.61307970e-03 1.97870736e-04 9.99998679e-01 5.05165137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08255784400001 meters 0.29184772101686196 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.51 [[ 9.99996682e-01 -2.00820517e-03 1.61347384e-03 -2.13052398e-02] [ 2.00852178e-03 9.99997964e-01 -1.94630685e-04 -8.82961821e-02] [-1.61307970e-03 1.97870736e-04 9.99998679e-01 5.05165137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11255784400001 meters 0.2927813945791789 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99996764e-01 -2.08187555e-03 1.46180951e-03 -2.06736716e-02] [ 2.08248872e-03 9.99997744e-01 -4.18061558e-04 -8.74472445e-02] [-1.46093586e-03 4.21104408e-04 9.99998844e-01 5.04451765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14255784400001 meters 0.29258415000450894 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99996821e-01 -2.14248910e-03 1.32963057e-03 -2.00797871e-02] [ 2.14327187e-03 9.99997531e-01 -5.87569070e-04 -8.67740177e-02] [-1.32836842e-03 5.90416961e-04 9.99998943e-01 5.03779187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17255784400001 meters 0.2913867116445536 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.50 [[ 9.99996793e-01 -2.19905628e-03 1.25647709e-03 -1.97169136e-02] [ 2.19999470e-03 9.99997302e-01 -7.45972652e-04 -8.61499009e-02] [-1.25483326e-03 7.48734502e-04 9.99998932e-01 5.03329381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.202557844 meters 0.292595921952358 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.09, Z:0.50 [[ 9.99974224e-01 6.74183757e-03 2.46954135e-03 -1.05712129e-04] [-6.73653762e-03 9.99975002e-01 -2.14819562e-03 -8.70221430e-02] [-2.48396240e-03 2.13150409e-03 9.99994643e-01 5.04378866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232557844 meters 0.2927227700082551 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.09, Z:0.50 [[ 9.99974661e-01 6.65042382e-03 2.53951858e-03 -4.11115415e-04] [-6.64430012e-03 9.99975017e-01 -2.41223412e-03 -8.59190114e-02] [-2.55549752e-03 2.39529967e-03 9.99993866e-01 5.04690671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262557844 meters 0.291527050712768 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 0.99999602 -0.00244333 0.00141228 -0.01955943] [ 0.00244524 0.9999961 -0.00134816 -0.08259734] [-0.00140898 0.00135161 0.99999809 0.50345183] [ 0. 0. 0. 1. ]] SLAMing on 115.292557844 meters 0.2928009887473893 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.51 [[ 9.99999941e-01 -3.32440482e-04 -8.24821673e-05 2.10567338e-02] [ 3.32360391e-04 9.99999475e-01 -9.69134729e-04 -7.90254470e-02] [ 8.28043036e-05 9.69107259e-04 9.99999527e-01 5.05903410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322557844 meters 0.2909785592144858 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999268e-01 -9.06971748e-04 8.00581232e-04 -1.72415944e-02] [ 9.07049130e-04 9.99999584e-01 -9.62989046e-05 -8.19291506e-02] [-8.00493559e-04 9.70250007e-05 9.99999675e-01 5.02275205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.352557844 meters 0.2924396390174208 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999328e-01 -9.21583937e-04 7.03373995e-04 -1.69728080e-02] [ 9.21677369e-04 9.99999566e-01 -1.32521592e-04 -8.17923883e-02] [-7.03251560e-04 1.33169787e-04 9.99999744e-01 5.02220404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382557844 meters 0.2923220519850117 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999337e-01 -9.40798143e-04 6.64404152e-04 -1.68606524e-02] [ 9.40919718e-04 9.99999541e-01 -1.82694256e-04 -8.15886589e-02] [-6.64231968e-04 1.83319286e-04 9.99999763e-01 5.02190989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.412557844 meters 0.2924375932956135 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999293e-01 -9.43707816e-04 7.23965886e-04 -1.70635399e-02] [ 9.43848529e-04 9.99999536e-01 -1.94046706e-04 -8.15339074e-02] [-7.23782426e-04 1.94729883e-04 9.99999719e-01 5.02302274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442557844 meters 0.2931200667171598 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.51 [[ 9.99999994e-01 -8.79144000e-05 -6.94441802e-05 2.16479569e-02] [ 8.78596009e-05 9.99999685e-01 -7.88719779e-04 -7.81099351e-02] [ 6.95134982e-05 7.88713673e-04 9.99999687e-01 5.05671592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47255784400001 meters 0.2911743737545619 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99998979e-01 -1.09642458e-03 9.16804220e-04 -1.70586687e-02] [ 1.09658709e-03 9.99999383e-01 -1.76776204e-04 -8.20275600e-02] [-9.16609832e-04 1.77781379e-04 9.99999564e-01 5.02424650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50255784400001 meters 0.2919996839445706 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999181e-01 -1.06111452e-03 7.15303217e-04 -1.64501951e-02] [ 1.06116357e-03 9.99999435e-01 -6.82038025e-05 -8.25165888e-02] [-7.15230440e-04 6.89628003e-05 9.99999742e-01 5.02183905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53255784400001 meters 0.292996729574398 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999239e-01 -1.06984258e-03 6.14257825e-04 -1.60159680e-02] [ 1.06989589e-03 9.99999424e-01 -8.64603873e-05 -8.24746181e-02] [-6.14164972e-04 8.71175134e-05 9.99999808e-01 5.01773483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562557844 meters 0.2928164468458367 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.50 [[ 9.99999286e-01 -1.07375522e-03 5.23608297e-04 -1.56343500e-02] [ 1.07380335e-03 9.99999419e-01 -9.16433011e-05 -8.24808519e-02] [-5.23509590e-04 9.22054881e-05 9.99999859e-01 5.01443427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.592557844 meters 0.2924401071518269 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.50 [[ 0.99999223 0.00367155 -0.00143324 -0.03938203] [-0.00367687 0.99998631 -0.00372414 -0.08265716] [ 0.00141955 0.00372938 0.99999204 0.50321056] [ 0. 0. 0. 1. ]] SLAMing on 115.622557844 meters 0.29152467685191985 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.50 [[ 0.99999221 0.00369986 -0.00137475 -0.03969625] [-0.00370486 0.99998648 -0.00364935 -0.08294195] [ 0.00136123 0.00365442 0.9999924 0.50361185] [ 0. 0. 0. 1. ]] SLAMing on 115.652557844 meters 0.29089523916120513 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.50 [[ 0.99999223 0.00372607 -0.00128836 -0.04006906] [-0.00373066 0.99998663 -0.00358106 -0.0832001 ] [ 0.001275 0.00358584 0.99999276 0.50399359] [ 0. 0. 0. 1. ]] SLAMing on 115.682557844 meters 0.29200175431397923 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99992336e-01 -3.90994511e-03 -2.00513417e-04 -2.04526574e-02] [ 3.90948325e-03 9.99989817e-01 -2.25426743e-03 -8.00686261e-02] [ 2.09325437e-04 2.25346625e-03 9.99997439e-01 5.05423580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.712557844 meters 0.2921073712803081 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99992705e-01 -3.80321534e-03 -3.54871954e-04 -1.99122439e-02] [ 3.80251824e-03 9.99990879e-01 -1.94479014e-03 -8.13788851e-02] [ 3.62265173e-04 1.94342655e-03 9.99998046e-01 5.05056044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742557844 meters 0.2932281366508524 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99992873e-01 -3.75246853e-03 -4.15208741e-04 -1.97704780e-02] [ 3.75171100e-03 9.99991323e-01 -1.81042867e-03 -8.19414236e-02] [ 4.21998715e-04 1.80885803e-03 9.99998275e-01 5.05091324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772557844 meters 0.29308204816097877 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99992982e-01 -3.72342012e-03 -4.13717457e-04 -1.97986357e-02] [ 3.72269721e-03 9.99991566e-01 -1.73458870e-03 -8.22553064e-02] [ 4.20172570e-04 1.73303639e-03 9.99998410e-01 5.05147563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802557844 meters 0.2937416403612892 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99993036e-01 -3.70706355e-03 -4.29879090e-04 -1.98213812e-02] [ 3.70633239e-03 9.99991705e-01 -1.68935875e-03 -8.24321672e-02] [ 4.36138085e-04 1.68775372e-03 9.99998481e-01 5.05297385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83255784400001 meters 0.29125248267509063 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.50 [[ 9.99994220e-01 -3.39090366e-03 2.49035533e-04 -5.99298055e-02] [ 3.39091590e-03 9.99994250e-01 -4.87191610e-05 -8.63594473e-02] [-2.48868899e-04 4.95633379e-05 9.99999968e-01 5.03397998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86255784400001 meters 0.29361233416763993 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.51 [[ 9.99999237e-01 -8.71691442e-04 -8.75558188e-04 -1.96326765e-02] [ 8.72219823e-04 9.99999438e-01 6.03278677e-04 -8.33363333e-02] [ 8.75031823e-04 -6.04041896e-04 9.99999435e-01 5.05604989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89255784400001 meters 0.2923863409718855 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.50 [[ 9.99999406e-01 -1.08601882e-03 8.74496431e-05 -5.87822412e-02] [ 1.08588811e-03 9.99998314e-01 1.48107008e-03 -8.53860393e-02] [-8.90579656e-05 -1.48097424e-03 9.99998899e-01 5.02730179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92255784400001 meters 0.2932570411460604 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.50 [[ 0.99997654 0.0055743 0.00397995 -0.03792311] [-0.00556804 0.99998325 -0.00158179 -0.08055946] [-0.0039887 0.00155959 0.99999083 0.50056797] [ 0. 0. 0. 1. ]] SLAMing on 115.952557844 meters 0.2917396952853304 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 0.99999706 -0.00121453 0.00209802 -0.06124907] [ 0.00121148 0.99999821 0.00145497 -0.08158303] [-0.00209979 -0.00145243 0.99999674 0.50303139] [ 0. 0. 0. 1. ]] SLAMing on 115.982557844 meters 0.29188967444936187 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 0.99999666 -0.0012632 0.00225663 -0.06182161] [ 0.00126025 0.99999835 0.00130514 -0.0809209 ] [-0.00225828 -0.0013023 0.9999966 0.50347989] [ 0. 0. 0. 1. ]] SLAMing on 116.012557844 meters 0.29193959976251416 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 0.99999658 -0.00129905 0.00227175 -0.06195033] [ 0.00129631 0.99999843 0.00120827 -0.0804985 ] [-0.00227332 -0.00120532 0.99999669 0.50368023] [ 0. 0. 0. 1. ]] SLAMing on 116.042557844 meters 0.2922891107140296 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 0.99999635 -0.00134176 0.00234671 -0.06215227] [ 0.00133921 0.99999851 0.00109065 -0.08000283] [-0.00234817 -0.0010875 0.99999665 0.50368982] [ 0. 0. 0. 1. ]] SLAMing on 116.072557844 meters 0.2926071664809632 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99996019e-01 -1.38661496e-03 2.45765529e-03 -6.24904591e-02] [ 1.38423227e-03 9.99998571e-01 9.70935371e-04 -7.94881309e-02] [-2.45899809e-03 -9.67529540e-04 9.99996509e-01 5.03788492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102557844 meters 0.29150045761312354 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99995789e-01 -1.39938316e-03 2.54227720e-03 -6.27620576e-02] [ 1.39701222e-03 9.99998588e-01 9.34140919e-04 -7.93221778e-02] [-2.54358083e-03 -9.30585393e-04 9.99996332e-01 5.03900998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132557844 meters 0.2917095088404313 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99995891e-01 -1.40604465e-03 2.49831577e-03 -6.26988256e-02] [ 1.40376014e-03 9.99998595e-01 9.15941437e-04 -7.92406247e-02] [-2.49960011e-03 -9.12430637e-04 9.99996460e-01 5.04017855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162557844 meters 0.2915342779765474 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99996058e-01 -1.37622488e-03 2.44744080e-03 -6.26924528e-02] [ 1.37378405e-03 9.99998558e-01 9.98700150e-04 -7.95630123e-02] [-2.44881171e-03 -9.95333958e-04 9.99996506e-01 5.04314185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192557844 meters 0.29170009911000405 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 0.99999614 -0.00126589 0.00247251 -0.06299265] [ 0.00126253 0.99999828 0.00136106 -0.08095516] [-0.00247423 -0.00135793 0.99999602 0.50498856] [ 0. 0. 0. 1. ]] SLAMing on 116.22255784400001 meters 0.2915266808155065 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 0.99999638 -0.00116634 0.00242378 -0.06295375] [ 0.00116234 0.99999796 0.00165279 -0.08212292] [-0.0024257 -0.00164997 0.9999957 0.50520559] [ 0. 0. 0. 1. ]] SLAMing on 116.25255784400001 meters 0.29206172967813604 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 0.99999666 -0.0010578 0.0023596 -0.0627718 ] [ 0.00105317 0.99999752 0.00196013 -0.08338865] [-0.00236167 -0.00195764 0.9999953 0.50518148] [ 0. 0. 0. 1. ]] SLAMing on 116.28255784400001 meters 0.292286298435098 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99996956e-01 -9.77249802e-04 2.26567050e-03 -6.24224897e-02] [ 9.72305911e-04 9.99997146e-01 2.18216292e-03 -8.43321514e-02] [-2.26779655e-03 -2.17995335e-03 9.99995052e-01 5.04955735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312557844 meters 0.2922342751943775 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.50 [[ 9.99997194e-01 -9.30094256e-04 2.17857388e-03 -6.20195000e-02] [ 9.25061199e-04 9.99996904e-01 2.31012259e-03 -8.48948509e-02] [-2.18071577e-03 -2.30810079e-03 9.99994959e-01 5.04551654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.342557844 meters 0.2901759905093807 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:0.51 [[ 0.99999749 -0.00184927 -0.00126297 -0.10549242] [ 0.00185266 0.99999467 0.0026892 -0.08796843] [ 0.00125799 -0.00269154 0.99999559 0.50619985] [ 0. 0. 0. 1. ]] SLAMing on 116.372557844 meters 0.2920298534066958 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.51 [[ 9.99996394e-01 7.42277258e-05 -2.68446307e-03 -6.45043637e-02] [-6.60376616e-05 9.99995344e-01 3.05087333e-03 -8.51801043e-02] [ 2.68467703e-03 -3.05068505e-03 9.99991743e-01 5.08462484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402557844 meters 0.2920463351431216 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996233e-01 1.29091098e-05 -2.74470615e-03 -6.42102092e-02] [-4.99394470e-06 9.99995842e-01 2.88378056e-03 -8.45155182e-02] [ 2.74473197e-03 -2.88375599e-03 9.99992075e-01 5.08112223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.432557844 meters 0.2923114092791033 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996140e-01 -6.45293479e-05 -2.77787791e-03 -6.40183258e-02] [ 7.19444254e-05 9.99996435e-01 2.66931453e-03 -8.36508562e-02] [ 2.77769576e-03 -2.66950408e-03 9.99992579e-01 5.07835751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462557844 meters 0.2910539768318494 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996353e-01 -1.27117360e-04 -2.69792422e-03 -6.42699338e-02] [ 1.33847877e-04 9.99996879e-01 2.49466842e-03 -8.29160425e-02] [ 2.69759868e-03 -2.49502043e-03 9.99993249e-01 5.07936823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492557844 meters 0.2917662834068108 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996756e-01 -2.52989014e-04 -2.53446618e-03 -6.48080803e-02] [ 2.58367574e-04 9.99997715e-01 2.12206429e-03 -8.13525019e-02] [ 2.53392353e-03 -2.12271223e-03 9.99994537e-01 5.08229026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522557844 meters 0.29223037915043454 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996651e-01 -3.13975958e-04 -2.56886710e-03 -6.45412700e-02] [ 3.19015708e-04 9.99998025e-01 1.96168263e-03 -8.07150047e-02] [ 2.56824610e-03 -1.96249557e-03 9.99994776e-01 5.07801217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552557844 meters 0.2925113469232004 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996400e-01 -3.92459763e-04 -2.65425156e-03 -6.41270316e-02] [ 3.97116421e-04 9.99998383e-01 1.75411532e-03 -7.98840404e-02] [ 2.65355885e-03 -1.75516305e-03 9.99994939e-01 5.07325604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58255784400001 meters 0.2924360327934772 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996344e-01 -4.40765107e-04 -2.66804199e-03 -6.39926275e-02] [ 4.45109718e-04 9.99998576e-01 1.62801475e-03 -7.93751309e-02] [ 2.66732062e-03 -1.62919636e-03 9.99995116e-01 5.07089832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61255784400001 meters 0.2929718366742943 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.51 [[ 9.99996679e-01 -4.54825223e-04 -2.53689615e-03 -6.45438036e-02] [ 4.58840543e-04 9.99998643e-01 1.58241135e-03 -7.91142710e-02] [ 2.53617299e-03 -1.58357013e-03 9.99995530e-01 5.07631546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64255784400001 meters 0.2916318871648667 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.51 [[ 0.99998206 0.0050282 -0.00325583 -0.0880188 ] [-0.00503401 0.99998575 -0.00177675 -0.08073596] [ 0.00324685 0.0017931 0.99999312 0.50919861] [ 0. 0. 0. 1. ]] SLAMing on 116.67255784400001 meters 0.2921813733468508 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.51 [[ 9.99996021e-01 -2.41262937e-03 -1.46164647e-03 -6.96196385e-02] [ 2.41227229e-03 9.99997060e-01 -2.46013498e-04 -7.75283694e-02] [ 1.46223571e-03 2.42486630e-04 9.99998902e-01 5.11060271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.702557844 meters 0.2921606775592096 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.51 [[ 9.99996482e-01 -2.23559418e-03 -1.42790201e-03 -6.98451053e-02] [ 2.23594275e-03 9.99997471e-01 2.42560252e-04 -7.95073008e-02] [ 1.42735613e-03 -2.45752106e-04 9.99998951e-01 5.11405563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732557844 meters 0.2916777389013253 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.51 [[ 9.99981693e-01 5.26968787e-03 -2.97400673e-03 -8.75442569e-02] [-5.27266705e-03 9.99985605e-01 -9.94789252e-04 -8.60538423e-02] [ 2.96872169e-03 1.01045199e-03 9.99995083e-01 5.09464539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762557844 meters 0.2928996535617266 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.51 [[ 9.99992328e-01 -2.89988566e-03 -2.63328696e-03 -6.59963686e-02] [ 2.89940675e-03 9.99995779e-01 -1.85668451e-04 -8.34694530e-02] [ 2.63381426e-03 1.78032056e-04 9.99996516e-01 5.09540955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792557844 meters 0.2935441318298526 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.51 [[ 9.99992298e-01 -2.80476134e-03 -2.74529014e-03 -6.55260995e-02] [ 2.80495735e-03 9.99996064e-01 6.75493279e-05 -8.45583809e-02] [ 2.74508988e-03 -7.52492294e-05 9.99996229e-01 5.09137827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822557844 meters 0.2923644818711917 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.51 [[ 0.99998 0.00280257 -0.00566901 -0.08827966] [-0.00281745 0.9999926 -0.00261956 -0.08550861] [ 0.00566162 0.00263548 0.9999805 0.51158687] [ 0. 0. 0. 1. ]] SLAMing on 116.852557844 meters 0.29280857722339804 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.51 [[ 0.99998028 0.00283536 -0.00560297 -0.08856976] [-0.00284961 0.99999272 -0.0025372 -0.08582474] [ 0.00559573 0.00255311 0.99998108 0.5118639 ] [ 0. 0. 0. 1. ]] SLAMing on 116.882557844 meters 0.2922222668379352 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.51 [[ 0.99998053 0.00286231 -0.00554575 -0.08883396] [-0.00287604 0.99999281 -0.00246968 -0.08608011] [ 0.00553864 0.00248558 0.99998157 0.51213632] [ 0. 0. 0. 1. ]] SLAMing on 116.912557844 meters 0.293445107169178 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 0.99999427 -0.0019846 -0.00274094 -0.06636134] [ 0.00198747 0.99999748 0.00104439 -0.0862651 ] [ 0.00273886 -0.00104984 0.9999957 0.51034712] [ 0. 0. 0. 1. ]] SLAMing on 116.942557844 meters 0.29289683855878534 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 9.99994379e-01 -2.00325739e-03 -2.68867754e-03 -6.63156065e-02] [ 2.00594165e-03 9.99997492e-01 9.96034230e-04 -8.60771901e-02] [ 2.68667549e-03 -1.00142196e-03 9.99995889e-01 5.09933653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97255784400001 meters 0.29289683855878534 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 9.99994379e-01 -2.00325739e-03 -2.68867754e-03 -6.63156065e-02] [ 2.00594165e-03 9.99997492e-01 9.96034230e-04 -8.60771901e-02] [ 2.68667549e-03 -1.00142196e-03 9.99995889e-01 5.09933653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00255784400001 meters 0.29133562464506085 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.51 [[ 0.99998182 0.00291842 -0.00527614 -0.08853923] [-0.00293233 0.99999225 -0.00262887 -0.08568537] [ 0.00526843 0.00264429 0.99998263 0.51103362] [ 0. 0. 0. 1. ]] SLAMing on 117.03255784400001 meters 0.29323088237779416 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 9.99994142e-01 -2.12142506e-03 -2.68623907e-03 -6.53822281e-02] [ 2.12331122e-03 9.99997501e-01 6.99499277e-04 -8.58109588e-02] [ 2.68474842e-03 -7.05198901e-04 9.99996147e-01 5.08849806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062557844 meters 0.2930724323627249 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 9.99994273e-01 -2.10824872e-03 -2.64759331e-03 -6.55097695e-02] [ 2.11019141e-03 9.99997506e-01 7.31178661e-04 -8.59362417e-02] [ 2.64604520e-03 -7.36761402e-04 9.99996228e-01 5.08911685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.092557844 meters 0.2921391910381225 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 9.99994462e-01 -2.07700241e-03 -2.60036535e-03 -6.56596272e-02] [ 2.07911284e-03 9.99997511e-01 8.09151536e-04 -8.62509507e-02] [ 2.59867827e-03 -8.14553508e-04 9.99996292e-01 5.08978586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122557844 meters 0.2925278348466787 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 0.99999433 -0.00198029 -0.00272205 -0.06540964] [ 0.00198331 0.99999742 0.00110873 -0.08745005] [ 0.00271985 -0.00111412 0.99999568 0.50915409] [ 0. 0. 0. 1. ]] SLAMing on 117.152557844 meters 0.29256008397828837 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.51 [[ 0.99999408 -0.00190902 -0.00286375 -0.06501928] [ 0.00191281 0.9999973 0.00132265 -0.08833409] [ 0.00286122 -0.00132812 0.99999502 0.50909685] [ 0. 0. 0. 1. ]] SLAMing on 117.182557844 meters 0.29268246581748547 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.51 [[ 0.99999388 -0.00181001 -0.00299269 -0.06464262] [ 0.00181481 0.99999707 0.00160502 -0.0895046 ] [ 0.00298978 -0.00161044 0.99999423 0.5090042 ] [ 0. 0. 0. 1. ]] SLAMing on 117.212557844 meters 0.2915595894721948 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.51 [[ 0.999994 -0.00171197 -0.00301272 -0.06459022] [ 0.00171763 0.99999676 0.0018787 -0.09062998] [ 0.00300949 -0.00188386 0.9999937 0.50901146] [ 0. 0. 0. 1. ]] SLAMing on 117.242557844 meters 0.2933930148578692 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.09, Z:0.51 [[ 9.99990881e-01 4.26673779e-03 1.82593093e-04 -4.28501606e-02] [-4.26650811e-03 9.99990129e-01 -1.24031183e-03 -9.22312335e-02] [-1.87883376e-04 1.23952148e-03 9.99999214e-01 5.07120178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272557844 meters 0.2925759220198815 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.09, Z:0.51 [[ 9.99990318e-01 4.39374910e-03 2.41706837e-04 -4.30845584e-02] [-4.39353152e-03 9.99989949e-01 -8.93464958e-04 -9.36448394e-02] [-2.45630068e-04 8.92394361e-04 9.99999572e-01 5.07311433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302557844 meters 0.2920579147149207 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 9.99989672e-01 4.54080878e-03 1.93828964e-04 -4.29540778e-02] [-4.54071210e-03 9.99989568e-01 -4.96333276e-04 -9.52873451e-02] [-1.96080697e-04 4.95448028e-04 9.99999858e-01 5.07301342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33255784400001 meters 0.2928451261771518 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 9.99989076e-01 4.67334004e-03 8.96528691e-05 -4.25510412e-02] [-4.67332708e-03 9.99989070e-01 -1.44175178e-04 -9.67858041e-02] [-9.03256688e-05 1.43754625e-04 9.99999986e-01 5.07011553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36255784400001 meters 0.2944186219653269 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.51 [[ 9.99993271e-01 -3.66423509e-03 -1.75913508e-04 -2.06083703e-02] [ 3.66437272e-03 9.99992975e-01 7.88555024e-04 -9.57607945e-02] [ 1.73022822e-04 -7.89194331e-04 9.99999674e-01 5.07265707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39255784400001 meters 0.29276498048861005 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 0.99999646 0.00195981 -0.00180087 -0.04376223] [-0.00196338 0.9999961 -0.00198825 -0.09845834] [ 0.00179696 0.00199178 0.9999964 0.50937037] [ 0. 0. 0. 1. ]] SLAMing on 117.42255784400001 meters 0.2920945415560935 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 0.99999631 0.00209323 -0.00173189 -0.0441233 ] [-0.00209606 0.99999646 -0.00163621 -0.09989261] [ 0.00172846 0.00163983 0.99999716 0.50981452] [ 0. 0. 0. 1. ]] SLAMing on 117.452557844 meters 0.29300540930357216 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 0.99999613 0.0022072 -0.00169308 -0.04431757] [-0.00220947 0.99999667 -0.00133678 -0.10112273] [ 0.00169012 0.00134051 0.99999767 0.51004262] [ 0. 0. 0. 1. ]] SLAMing on 117.482557844 meters 0.29246472352402375 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.51 [[ 0.99999589 0.00229175 -0.00172139 -0.04419722] [-0.00229366 0.99999675 -0.00111226 -0.10206446] [ 0.00171884 0.0011162 0.9999979 0.50994033] [ 0. 0. 0. 1. ]] SLAMing on 117.512557844 meters 0.2937908442992122 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.51 [[ 9.99980489e-01 -6.11265553e-03 -1.28697266e-03 -2.24333525e-02] [ 6.11214026e-03 9.99981239e-01 -4.03926026e-04 -1.00325128e-01] [ 1.28941757e-03 3.96051988e-04 9.99999090e-01 5.09641003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542557844 meters 0.29235696771322955 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.51 [[ 0.9999973 0.00133602 -0.00190394 -0.04131844] [-0.00133903 0.99999786 -0.00157995 -0.10632667] [ 0.00190182 0.00158249 0.99999694 0.50805831] [ 0. 0. 0. 1. ]] SLAMing on 117.572557844 meters 0.29240480472521235 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.51 [[ 0.99999724 0.00141511 -0.00187535 -0.04150945] [-0.00141769 0.99999805 -0.00137432 -0.10715798] [ 0.00187341 0.00137697 0.9999973 0.50833288] [ 0. 0. 0. 1. ]] SLAMing on 117.602557844 meters 0.2928995113316206 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.51 [[ 0.99999718 0.001475 -0.00186158 -0.04160189] [-0.00147727 0.99999817 -0.00121689 -0.10780148] [ 0.00185978 0.00121964 0.99999753 0.50846978] [ 0. 0. 0. 1. ]] SLAMing on 117.632557844 meters 0.2916774718433082 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.51 [[ 9.99997153e-01 1.56218225e-03 -1.80359304e-03 -4.17195354e-02] [-1.56395880e-03 9.99998293e-01 -9.84017063e-04 -1.08768954e-01] [ 1.80205275e-03 9.86835007e-04 9.99997889e-01 5.08401171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662557844 meters 0.29300068374935867 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.11, Z:0.51 [[ 0.9999942 -0.00324031 0.00104424 -0.01853692] [ 0.00323767 0.99999158 0.00252027 -0.11067664] [-0.0010524 -0.00251687 0.99999628 0.50606311] [ 0. 0. 0. 1. ]] SLAMing on 117.692557844 meters 0.29326428045863945 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.50 [[ 9.99991291e-01 4.16791000e-03 2.16795885e-04 -3.68373090e-02] [-4.16819234e-03 9.99990444e-01 1.31861435e-03 -1.17240268e-01] [-2.11297947e-04 -1.31950652e-03 9.99999107e-01 5.04211832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72255784400001 meters 0.29169290782737545 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.50 [[ 0.99998746 -0.00478611 -0.00147622 -0.05593201] [ 0.00479047 0.99998413 0.00296449 -0.11783345] [ 0.001462 -0.00297152 0.99999452 0.50318282] [ 0. 0. 0. 1. ]] SLAMing on 117.75255784400001 meters 0.2934281253582463 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.50 [[ 9.99997245e-01 2.02326968e-03 1.19042121e-03 -3.36941656e-02] [-2.02337288e-03 9.99997949e-01 8.54977594e-05 -1.17816576e-01] [-1.19024578e-03 -8.79061898e-05 9.99999288e-01 5.00859167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78255784400001 meters 0.29285989865587436 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.50 [[ 9.99996958e-01 2.15823130e-03 1.19440612e-03 -3.38097051e-02] [-2.15877039e-03 9.99997568e-01 4.50237177e-04 -1.19304613e-01] [-1.19343150e-03 -4.52814256e-04 9.99999185e-01 5.01111074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812557844 meters 0.2941741504364449 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.50 [[ 0.99999652 0.00239981 0.0010918 -0.03365183] [-0.00240103 0.99999649 0.00111857 -0.12201805] [-0.00108911 -0.00112119 0.99999878 0.50138709] [ 0. 0. 0. 1. ]] SLAMing on 117.842557844 meters 0.293577618572988 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:0.50 [[ 0.99999639 0.00247781 0.00103967 -0.0334519 ] [-0.00247919 0.99999605 0.0013262 -0.12289933] [-0.00103638 -0.00132878 0.99999858 0.50124688] [ 0. 0. 0. 1. ]] SLAMing on 117.872557844 meters 0.2917649340240528 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99998098e-01 9.83897926e-04 1.68384771e-03 -7.16315434e-02] [-9.87245779e-04 9.99997536e-01 1.98854107e-03 -1.26155880e-01] [-1.68188703e-03 -1.99019966e-03 9.99996605e-01 4.97816762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902557844 meters 0.29410713383524734 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.50 [[ 0.99999428 0.00255362 0.00221973 -0.03160765] [-0.00255807 0.99999472 0.00200166 -0.12564979] [-0.00221461 -0.00200733 0.99999553 0.4992579 ] [ 0. 0. 0. 1. ]] SLAMing on 117.932557844 meters 0.29302003399059184 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.50 [[ 0.99998654 0.00494839 -0.00156235 -0.05546 ] [-0.00495401 0.99998121 -0.00361067 -0.12264701] [ 0.00154446 0.00361836 0.99999226 0.50359767] [ 0. 0. 0. 1. ]] SLAMing on 117.962557844 meters 0.2927407852287694 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.50 [[ 0.99998581 0.00506958 -0.00163656 -0.05525923] [-0.00507495 0.9999817 -0.00329456 -0.12396642] [ 0.00161983 0.00330282 0.99999323 0.50358552] [ 0. 0. 0. 1. ]] SLAMing on 117.992557844 meters 0.2928695400293713 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 0.99998516 0.0051494 -0.00177745 -0.05479498] [-0.00515485 0.99998198 -0.00307663 -0.12490125] [ 0.00176158 0.00308575 0.99999369 0.50335336] [ 0. 0. 0. 1. ]] SLAMing on 118.022557844 meters 0.2930698412805778 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 0.99998462 0.00521531 -0.00188761 -0.05438262] [-0.00522077 0.99998217 -0.00289729 -0.12568238] [ 0.00187247 0.0029071 0.99999402 0.50306656] [ 0. 0. 0. 1. ]] SLAMing on 118.052557844 meters 0.2937512894787919 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 0.99998342 0.00540958 -0.00197543 -0.05402254] [-0.00541432 0.99998246 -0.00240129 -0.12779957] [ 0.0019624 0.00241194 0.99999517 0.50279479] [ 0. 0. 0. 1. ]] SLAMing on 118.08255784400001 meters 0.2926718617210131 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 0.99998316 0.00545995 -0.00196886 -0.05414423] [-0.00546442 0.99998249 -0.00227041 -0.12832255] [ 0.00195643 0.00228113 0.99999548 0.50303223] [ 0. 0. 0. 1. ]] SLAMing on 118.11255784400001 meters 0.2927786387027223 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99989109e-01 -3.67406583e-03 -2.87805205e-03 -7.32003492e-02] [ 3.67201992e-03 9.99993002e-01 -7.15828365e-04 -1.26615314e-01] [ 2.88066191e-03 7.05252304e-04 9.99995602e-01 5.02163188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14255784400001 meters 0.29345375040462934 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 9.99993285e-01 3.66072934e-03 1.68302025e-04 -5.25154602e-02] [-3.66014012e-03 9.99987599e-01 -3.37721574e-03 -1.25589817e-01] [-1.80663010e-04 3.37657706e-03 9.99994283e-01 5.00730006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17255784400001 meters 0.29324961364775126 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 9.99993343e-01 3.64796301e-03 7.44050312e-05 -5.22546076e-02] [-3.64768830e-03 9.99987541e-01 -3.40760653e-03 -1.25474042e-01] [-8.68349267e-05 3.40731244e-03 9.99994191e-01 5.00680563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.202557844 meters 0.2924258779827535 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 9.99993515e-01 3.59949807e-03 1.17781590e-04 -5.23827956e-02] [-3.59905868e-03 9.99987260e-01 -3.53937960e-03 -1.24923817e-01] [-1.30520080e-04 3.53893274e-03 9.99993729e-01 5.00716576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.232557844 meters 0.29352751799538174 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 9.99993635e-01 3.56177443e-03 2.08062534e-04 -5.26132991e-02] [-3.56099253e-03 9.99987018e-01 -3.64469756e-03 -1.24481210e-01] [-2.21041423e-04 3.64393345e-03 9.99993336e-01 5.00703569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262557844 meters 0.29292655438607784 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 9.99993735e-01 3.52370148e-03 3.35412347e-04 -5.29056285e-02] [-3.52241810e-03 9.99986754e-01 -3.75289423e-03 -1.24034188e-01] [-3.48631983e-04 3.75168926e-03 9.99992902e-01 5.00616838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292557844 meters 0.29158442037300497 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 9.99990479e-01 -3.82631525e-03 -2.09778682e-03 -7.34602017e-02] [ 3.82442542e-03 9.99992278e-01 -9.04143379e-04 -1.24182034e-01] [ 2.10123016e-03 8.96111941e-04 9.99997391e-01 5.01647314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322557844 meters 0.29136246649677 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 0.99999022 -0.00388805 -0.00210664 -0.07340015] [ 0.0038858 0.99999188 -0.00106976 -0.12350603] [ 0.00211078 0.00106157 0.99999721 0.50155276] [ 0. 0. 0. 1. ]] SLAMing on 118.352557844 meters 0.29328498790112983 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 9.99985274e-01 5.39973263e-03 -5.42186054e-04 -5.35818343e-02] [-5.40095673e-03 9.99982810e-01 -2.28222122e-03 -1.24280455e-01] [ 5.29853349e-04 2.28511594e-03 9.99997249e-01 5.01848154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382557844 meters 0.29243456705948545 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 9.99992270e-01 -3.56227649e-03 -1.66445503e-03 -7.28208697e-02] [ 3.56064437e-03 9.99993178e-01 -9.82505607e-04 -1.20721405e-01] [ 1.66794364e-03 9.76571480e-04 9.99998132e-01 5.00527743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412557844 meters 0.29223764084444126 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 9.99992351e-01 -3.55140631e-03 -1.63877515e-03 -7.29634535e-02] [ 3.54984210e-03 9.99993242e-01 -9.56421243e-04 -1.20808026e-01] [ 1.64216072e-03 9.50596534e-04 9.99998200e-01 5.00710272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442557844 meters 0.29286176676634545 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.50 [[ 0.99999169 0.00389154 0.00121149 -0.05194301] [-0.00388734 0.99998648 -0.00345355 -0.12041311] [-0.00122492 0.00344882 0.9999933 0.49922628] [ 0. 0. 0. 1. ]] SLAMing on 118.47255784400001 meters 0.2917379506678936 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 9.99979276e-01 -6.43190761e-03 -2.78331733e-04 -7.32722912e-02] [ 6.43097000e-03 9.99974047e-01 -3.24775535e-03 -1.21489016e-01] [ 2.99213772e-04 3.24589810e-03 9.99994687e-01 4.99740433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50255784400001 meters 0.2926195201183063 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.50 [[ 9.99979718e-01 -6.36306342e-03 -2.73500951e-04 -7.33647010e-02] [ 6.36219676e-03 9.99975077e-01 -3.06069278e-03 -1.22245311e-01] [ 2.92969516e-04 3.05889063e-03 9.99995279e-01 4.99937021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53255784400001 meters 0.2945676039064877 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 9.99994213e-01 3.25218567e-03 9.98843015e-04 -5.43178021e-02] [-3.24826500e-03 9.99987111e-01 -3.90207034e-03 -1.25060552e-01] [-1.01152040e-03 3.89880325e-03 9.99991888e-01 5.00727855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters 0.2926613217641793 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99990649e-01 -4.00865939e-03 -1.62244300e-03 -7.48578485e-02] [ 4.00714699e-03 9.99991535e-01 -9.34348300e-04 -1.26223928e-01] [ 1.62617475e-03 9.27838195e-04 9.99998247e-01 5.02027374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.592557844 meters 0.2920807914455922 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99990799e-01 -3.96132145e-03 -1.64630496e-03 -7.47840442e-02] [ 3.95999375e-03 9.99991832e-01 -8.08953079e-04 -1.26750158e-01] [ 1.64949604e-03 8.02426278e-04 9.99998318e-01 5.02002256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622557844 meters 0.2935182191843621 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.50 [[ 9.99986784e-01 5.13107334e-03 -3.23572392e-04 -5.58108167e-02] [-5.13173297e-03 9.99984686e-01 -2.07181500e-03 -1.30040157e-01] [ 3.12936802e-04 2.07344810e-03 9.99997801e-01 5.03020953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652557844 meters 0.2931325318153016 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.50 [[ 9.99986689e-01 5.15197275e-03 -2.81990200e-04 -5.57053707e-02] [-5.15253173e-03 9.99984688e-01 -2.01881895e-03 -1.30301284e-01] [ 2.71584982e-04 2.02024504e-03 9.99997922e-01 5.02541246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682557844 meters 0.29338331102648935 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.13, Z:0.50 [[ 9.99986672e-01 5.15165904e-03 -3.41774559e-04 -5.53166000e-02] [-5.15233741e-03 9.99984697e-01 -2.01458511e-03 -1.30366285e-01] [ 3.31390873e-04 2.01631920e-03 9.99997912e-01 5.02003547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712557844 meters 0.29189831194138305 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99987258e-01 -3.84029743e-03 -3.27654064e-03 -7.36411734e-02] [ 3.83742800e-03 9.99992248e-01 -8.81585290e-04 -1.29528509e-01] [ 3.27990079e-03 8.69000568e-04 9.99994244e-01 5.01426077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742557844 meters 0.2911192843556849 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99986965e-01 -3.77003200e-03 -3.44340173e-03 -7.30716825e-02] [ 3.76770607e-03 9.99992670e-01 -6.81712465e-04 -1.30419728e-01] [ 3.44594657e-03 6.68729854e-04 9.99993839e-01 5.01037110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772557844 meters 0.2916726250728431 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99987015e-01 -3.68704986e-03 -3.51791901e-03 -7.28631234e-02] [ 3.68548099e-03 9.99993106e-01 -4.52343223e-04 -1.31376885e-01] [ 3.51956257e-03 4.39372125e-04 9.99993710e-01 5.00994062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802557844 meters 0.2923796904014239 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99987374e-01 -3.57708452e-03 -3.52935431e-03 -7.29245909e-02] [ 3.57655716e-03 9.99993592e-01 -1.55721514e-04 -1.32590641e-01] [ 3.52988872e-03 1.43096611e-04 9.99993760e-01 5.01213492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83255784400001 meters 0.2929753797172729 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.50 [[ 9.99988027e-01 -3.43343931e-03 -3.48667546e-03 -7.32077956e-02] [ 3.43428867e-03 9.99994075e-01 2.37643287e-04 -1.34181842e-01] [ 3.48583887e-03 -2.49614691e-04 9.99993893e-01 5.01641910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86255784400001 meters 0.29362623818339123 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 9.99994122e-01 3.36786509e-03 -6.43689605e-04 -5.20287232e-02] [-3.36964366e-03 9.99990452e-01 -2.78228390e-03 -1.34702305e-01] [ 6.34313103e-04 2.78443655e-03 9.99995922e-01 5.00111612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89255784400001 meters 0.29362623818339123 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.50 [[ 9.99994122e-01 3.36786509e-03 -6.43689605e-04 -5.20287232e-02] [-3.36964366e-03 9.99990452e-01 -2.78228390e-03 -1.34702305e-01] [ 6.34313103e-04 2.78443655e-03 9.99995922e-01 5.00111612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92255784400001 meters 0.29299536598666515 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.50 [[ 9.99993651e-01 3.50300548e-03 -6.53140798e-04 -5.19850650e-02] [-3.50457379e-03 9.99990941e-01 -2.41569737e-03 -1.36216887e-01] [ 6.44672680e-04 2.41797102e-03 9.99996869e-01 5.00068375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.952557844 meters 0.2912924867992419 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.50 [[ 9.99997330e-01 2.29020963e-03 -3.06509039e-04 -8.78482480e-02] [-2.29048313e-03 9.99996976e-01 -8.94941389e-04 -1.42873793e-01] [ 3.04458509e-04 8.95641054e-04 9.99999553e-01 4.95346971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982557844 meters 0.2920299361287814 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.50 [[ 9.99997022e-01 2.41569651e-03 -3.45854543e-04 -8.77301781e-02] [-2.41588831e-03 9.99996928e-01 -5.55223810e-04 -1.44282675e-01] [ 3.44512228e-04 5.56057702e-04 9.99999786e-01 4.95310946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.012557844 meters 0.29329846941753307 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.49 [[ 0.99999128 -0.0029377 0.00296838 -0.06587797] [ 0.00293036 0.99999265 0.00247385 -0.14669783] [-0.00297562 -0.00246513 0.99999253 0.49338078] [ 0. 0. 0. 1. ]] SLAMing on 119.042557844 meters 0.29221881398222393 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.50 [[ 9.99997876e-01 1.83476398e-03 9.39051611e-04 -8.89154781e-02] [-1.83406677e-03 9.99998042e-01 -7.42785572e-04 -1.49663889e-01] [-9.40412609e-04 7.41061711e-04 9.99999283e-01 4.95209615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072557844 meters 0.2915025700358076 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.50 [[ 9.99997678e-01 2.04893950e-03 6.67889606e-04 -8.82470485e-02] [-2.04878079e-03 9.99997873e-01 -2.38223077e-04 -1.51759120e-01] [-6.68376290e-04 2.36854165e-04 9.99999749e-01 4.95302137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102557844 meters 0.292612624974978 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.49 [[ 0.99999063 -0.00232108 0.00365326 -0.06504173] [ 0.00230875 0.99999163 0.00337663 -0.15408174] [-0.00366107 -0.00336817 0.99998763 0.49312864] [ 0. 0. 0. 1. ]] SLAMing on 119.132557844 meters 0.29412655230923535 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.49 [[ 0.99999017 -0.00227506 0.00380559 -0.06556893] [ 0.00226174 0.99999131 0.00350097 -0.15452906] [-0.00381352 -0.00349233 0.99998663 0.49351621] [ 0. 0. 0. 1. ]] SLAMing on 119.162557844 meters 0.2933256006478149 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.49 [[ 0.99998974 -0.00223852 0.00393777 -0.06597677] [ 0.00222436 0.99999106 0.00359694 -0.1548948 ] [-0.00394579 -0.00358815 0.99998578 0.49369375] [ 0. 0. 0. 1. ]] SLAMing on 119.192557844 meters 0.29180823786539595 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99995939e-01 2.66609296e-03 1.00646302e-03 -8.71918959e-02] [-2.66626287e-03 9.99996431e-01 1.67510477e-04 -1.55136564e-01] [-1.00601283e-03 -1.70193292e-04 9.99999479e-01 4.94804902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22255784400001 meters 0.292434498803751 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99995980e-01 2.67164728e-03 9.49389173e-04 -8.68923857e-02] [-2.67182655e-03 9.99996413e-01 1.87614118e-04 -1.55258617e-01] [-9.48884529e-04 -1.90149967e-04 9.99999532e-01 4.94433459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25255784400001 meters 0.29401426399416997 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.50 [[ 9.99986538e-01 -5.09803998e-03 9.65828675e-04 -6.66401381e-02] [ 5.09691796e-03 9.99986337e-01 1.16063049e-03 -1.51295279e-01] [-9.71732420e-04 -1.15569212e-03 9.99998860e-01 4.95165837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28255784400001 meters 0.2935179270604808 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99996635e-01 2.45227955e-03 -8.45887786e-04 -8.60335959e-02] [-2.45197361e-03 9.99996928e-01 3.62524211e-04 -1.55840753e-01] [ 8.46774198e-04 -3.60448897e-04 9.99999577e-01 4.94621074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31255784400001 meters 0.29275319612381334 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99996486e-01 2.50508064e-03 -8.67163587e-04 -8.60140681e-02] [-2.50464200e-03 9.99996735e-01 5.06553905e-04 -1.56428091e-01] [ 8.68429714e-04 -5.04380191e-04 9.99999496e-01 4.94706767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.342557844 meters 0.2928731295741315 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99996245e-01 2.57556010e-03 -9.36609734e-04 -8.58904613e-02] [-2.57489308e-03 9.99996431e-01 7.12671356e-04 -1.57261939e-01] [ 9.38441919e-04 -7.10257010e-04 9.99999307e-01 4.94835695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372557844 meters 0.29354008778659063 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99996277e-01 2.56254392e-03 -9.37547493e-04 -8.58527010e-02] [-2.56190910e-03 9.99996489e-01 6.77678802e-04 -1.57126888e-01] [ 9.39280782e-04 -6.75274367e-04 9.99999331e-01 4.94753049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402557844 meters 0.2933628670978313 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.49 [[ 9.99996369e-01 2.54594580e-03 -8.83382702e-04 -8.60259346e-02] [-2.54538908e-03 9.99996562e-01 6.30767494e-04 -1.56920177e-01] [ 8.84985565e-04 -6.28516651e-04 9.99999411e-01 4.94826721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432557844 meters 0.2925029468879346 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99996458e-01 2.52675451e-03 -8.36632766e-04 -8.62264743e-02] [-2.52627299e-03 9.99996643e-01 5.76107765e-04 -1.56666950e-01] [ 8.38085640e-04 -5.73992162e-04 9.99999484e-01 4.95011445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462557844 meters 0.2929329769178209 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99996571e-01 2.48829182e-03 -8.16852479e-04 -8.63141530e-02] [-2.48790755e-03 9.99996794e-01 4.71108960e-04 -1.56221087e-01] [ 8.18022117e-04 -4.69075090e-04 9.99999555e-01 4.95093505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.492557844 meters 0.29339140620072396 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99996717e-01 2.43441965e-03 -7.99319471e-04 -8.63897010e-02] [-2.43415926e-03 9.99996984e-01 3.26584314e-04 -1.55614182e-01] [ 8.00112104e-04 -3.24637571e-04 9.99999627e-01 4.95156376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522557844 meters 0.29369423421814134 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.49 [[ 9.99996951e-01 2.34397499e-03 -7.77191643e-04 -8.62842677e-02] [-2.34391187e-03 9.99997250e-01 8.21173807e-05 -1.54634555e-01] [ 7.77381986e-04 -8.02954616e-05 9.99999695e-01 4.94773982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.552557844 meters 0.29296187695873765 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.49 [[ 9.99997040e-01 2.30007959e-03 -7.93287840e-04 -8.61433340e-02] [-2.30010714e-03 9.99997354e-01 -3.38132894e-05 -1.54178173e-01] [ 7.93207968e-04 3.56378363e-05 9.99999685e-01 4.94541608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58255784400001 meters 0.2923993956340093 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.49 [[ 9.99997097e-01 2.26944791e-03 -8.09943315e-04 -8.61143235e-02] [-2.26954227e-03 9.99997418e-01 -1.15601369e-04 -1.53836629e-01] [ 8.09678873e-04 1.17439234e-04 9.99999665e-01 4.94571164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61255784400001 meters 0.2939143417515957 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.50 [[ 0.99999556 0.00278159 -0.00106794 -0.04889773] [-0.00278344 0.99999463 -0.00172803 -0.15030321] [ 0.00106313 0.00173099 0.99999794 0.49858053] [ 0. 0. 0. 1. ]] SLAMing on 119.64255784400001 meters 0.2952893394379118 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.50 [[ 0.99999562 0.00276114 -0.00106896 -0.04894495] [-0.00276304 0.99999459 -0.00178322 -0.15006486] [ 0.00106403 0.00178617 0.99999784 0.49869241] [ 0. 0. 0. 1. ]] SLAMing on 119.67255784400001 meters 0.2928586635632674 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.50 [[ 0.99998106 -0.00447071 -0.0042301 -0.06979186] [ 0.00447552 0.99998935 0.00112909 -0.15222824] [ 0.00422501 -0.001148 0.99999042 0.50051206] [ 0. 0. 0. 1. ]] SLAMing on 119.702557844 meters 0.29308445391897026 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.50 [[ 0.99998088 -0.00446874 -0.00427504 -0.06953642] [ 0.00447364 0.99998935 0.00113627 -0.15229542] [ 0.00426992 -0.00115537 0.99999022 0.50019317] [ 0. 0. 0. 1. ]] SLAMing on 119.732557844 meters 0.2929314007534559 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.50 [[ 0.99998064 -0.00445074 -0.00434803 -0.06919608] [ 0.00445594 0.99998937 0.00118778 -0.15254707] [ 0.0043427 -0.00120713 0.99998984 0.49983897] [ 0. 0. 0. 1. ]] SLAMing on 119.762557844 meters 0.2929223654519009 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.50 [[ 0.99998053 -0.00441557 -0.00440856 -0.06896236] [ 0.00442127 0.9999894 0.00128415 -0.15297293] [ 0.00440285 -0.00130362 0.99998946 0.49966795] [ 0. 0. 0. 1. ]] SLAMing on 119.792557844 meters 0.2939275919917716 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.50 [[ 9.99984193e-01 4.48011818e-03 -3.39745083e-03 -4.99530895e-02] [-4.48152351e-03 9.99989875e-01 -4.06142143e-04 -1.55585996e-01] [ 3.39559687e-03 4.21361479e-04 9.99994146e-01 5.01215702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822557844 meters 0.2926280028475532 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99994992e-01 2.25079775e-03 -2.22497678e-03 -9.02222704e-02] [-2.25151979e-03 9.99997413e-01 -3.22062035e-04 -1.57772443e-01] [ 2.22424613e-03 3.27070002e-04 9.99997473e-01 4.99295013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852557844 meters 0.2924512604937314 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99995171e-01 2.23046542e-03 -2.16394607e-03 -9.04154762e-02] [-2.23129456e-03 9.99997438e-01 -3.80824696e-04 -1.57516959e-01] [ 2.16309111e-03 3.85651258e-04 9.99997586e-01 4.99382964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882557844 meters 0.29263175634477273 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99995316e-01 2.23083889e-03 -2.09533032e-03 -9.06678232e-02] [-2.23164718e-03 9.99997436e-01 -3.83498048e-04 -1.57479738e-01] [ 2.09446942e-03 3.88172290e-04 9.99997731e-01 4.99567022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912557844 meters 0.2928405650003364 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99995515e-01 2.22123845e-03 -2.00903746e-03 -9.08688847e-02] [-2.22207329e-03 9.99997446e-01 -4.13405982e-04 -1.57353853e-01] [ 2.00811405e-03 4.17868356e-04 9.99997896e-01 4.99515190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942557844 meters 0.2937438209326771 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99995714e-01 2.20226915e-03 -1.92939495e-03 -9.11359916e-02] [-2.20317647e-03 9.99997463e-01 -4.68262064e-04 -1.57108569e-01] [ 1.92835881e-03 4.72510855e-04 9.99998029e-01 4.99651821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97255784400001 meters 0.2938911644969053 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99995883e-01 2.17773353e-03 -1.86867584e-03 -9.14080821e-02] [-2.17874044e-03 9.99997482e-01 -5.36970950e-04 -1.56790526e-01] [ 1.86750175e-03 5.41040099e-04 9.99998110e-01 4.99905667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00255784400001 meters 0.2926730372321479 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.50 [[ 9.99971169e-01 -7.14312816e-03 -2.57622437e-03 -1.11272531e-01] [ 7.14527208e-03 9.99974133e-01 8.23950124e-04 -1.54956801e-01] [ 2.57027215e-03 -8.42334193e-04 9.99996342e-01 4.99172968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03255784400001 meters 0.29358586740685166 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.50 [[ 9.99996832e-01 2.35229625e-03 -8.96083671e-04 -9.24968888e-02] [-2.35242881e-03 9.99997222e-01 -1.46910626e-04 -1.58282908e-01] [ 8.95735605e-04 1.49018134e-04 9.99999588e-01 4.99981783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06255784400001 meters 0.2922261821179086 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999622e-01 1.56591757e-05 -8.69409250e-04 -1.28636690e-01] [-1.53563534e-05 9.99999939e-01 3.48313779e-04 -1.65131395e-01] [ 8.69414651e-04 -3.48300296e-04 9.99999561e-01 4.96033534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.092557844 meters 0.2920092449497149 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999578e-01 9.75102599e-05 -9.12977941e-04 -1.28453934e-01] [-9.69790535e-05 9.99999826e-01 5.81865420e-04 -1.66112943e-01] [ 9.13034520e-04 -5.81776635e-04 9.99999414e-01 4.95858427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122557844 meters 0.2917155005434738 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999602e-01 1.72117122e-04 -8.75534857e-04 -1.28517005e-01] [-1.71434074e-04 9.99999681e-01 7.80165340e-04 -1.66937270e-01] [ 8.75668858e-04 -7.80014933e-04 9.99999312e-01 4.95788502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152557844 meters 0.2903613357115136 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999646e-01 2.19513287e-04 -8.12802361e-04 -1.28755010e-01] [-2.18775442e-04 9.99999564e-01 9.07757602e-04 -1.67442589e-01] [ 8.13001271e-04 -9.07579459e-04 9.99999258e-01 4.95979941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182557844 meters 0.2921879340331302 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999609e-01 3.09955081e-04 -8.28783776e-04 -1.28630108e-01] [-3.09000686e-04 9.99999289e-01 1.15144080e-03 -1.68456995e-01] [ 8.29140082e-04 -1.15118426e-03 9.99998994e-01 4.95789058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212557844 meters 0.2937917480929506 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999568e-01 3.04705617e-04 -8.78052210e-04 -1.28508041e-01] [-3.03703561e-04 9.99999303e-01 1.14113364e-03 -1.68416408e-01] [ 8.78399308e-04 -1.14086648e-03 9.99998963e-01 4.95802454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242557844 meters 0.29295549714714514 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999619e-01 3.01930241e-04 -8.19504912e-04 -1.28648329e-01] [-3.01003097e-04 9.99999315e-01 1.13123485e-03 -1.68373155e-01] [ 8.19845905e-04 -1.13098774e-03 9.99999024e-01 4.95773740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272557844 meters 0.29202757398597906 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999624e-01 2.73928271e-04 -8.23037418e-04 -1.28533504e-01] [-2.73058346e-04 9.99999404e-01 1.05689505e-03 -1.68091498e-01] [ 8.23326441e-04 -1.05666992e-03 9.99999103e-01 4.95522887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302557844 meters 0.29338579775736023 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.50 [[ 9.99999641e-01 2.36118883e-04 -8.13830524e-04 -1.28435453e-01] [-2.35342039e-04 9.99999517e-01 9.54516597e-04 -1.67699931e-01] [ 8.14055510e-04 -9.54324726e-04 9.99999213e-01 4.95233808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33255784400001 meters 0.29273452739507033 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.49 [[ 9.99999620e-01 1.90200923e-04 -8.51157999e-04 -1.28226090e-01] [-1.89491344e-04 9.99999635e-01 8.33665725e-04 -1.67228193e-01] [ 8.51316252e-04 -8.33504121e-04 9.99999290e-01 4.94970652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36255784400001 meters 0.2925719491240054 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.49 [[ 9.99999590e-01 4.47428951e-05 -9.04720530e-04 -1.27919049e-01] [-4.43844085e-05 9.99999921e-01 3.96256327e-04 -1.65522507e-01] [ 9.04738187e-04 -3.96216009e-04 9.99999512e-01 4.94483822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39255784400001 meters 0.2931991050233965 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.49 [[ 9.99999599e-01 -8.97822484e-05 -8.91439096e-04 -1.27812123e-01] [ 8.97918885e-05 9.99999996e-01 1.07740406e-05 -1.63994703e-01] [ 8.91438125e-04 -1.08540802e-05 9.99999603e-01 4.94124519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42255784400001 meters 0.2927073183768617 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.49 [[ 9.99999597e-01 -2.10535727e-04 -8.72979985e-04 -1.27689338e-01] [ 2.10237919e-04 9.99999920e-01 -3.41217668e-04 -1.62614659e-01] [ 8.73051753e-04 3.41033997e-04 9.99999561e-01 4.93700097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.452557844 meters 0.2941299324115228 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.49 [[ 9.99999528e-01 -3.37886593e-04 -9.11019714e-04 -1.27454849e-01] [ 3.37247605e-04 9.99999697e-01 -7.01461057e-04 -1.61190386e-01] [ 9.11256452e-04 7.01153487e-04 9.99999339e-01 4.93356024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482557844 meters 0.29388892151558726 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.49 [[ 9.99999408e-01 -4.84208486e-04 -9.74618296e-04 -1.27221093e-01] [ 4.83134922e-04 9.99999277e-01 -1.10145671e-03 -1.59572391e-01] [ 9.75150926e-04 1.10098519e-03 9.99998918e-01 4.93177970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512557844 meters 0.29331052674251235 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.16, Z:0.49 [[ 9.99999336e-01 -6.04497253e-04 -9.81584472e-04 -1.27148817e-01] [ 6.03091482e-04 9.99998793e-01 -1.43180985e-03 -1.58232556e-01] [ 9.82448813e-04 1.43121691e-03 9.99998493e-01 4.93033819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542557844 meters 0.29406449015316233 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 9.99986731e-01 -5.14571135e-03 -2.45355306e-04 -1.03315682e-01] [ 5.14615400e-03 9.99985068e-01 1.83894602e-03 -1.52705734e-01] [ 2.35888956e-04 -1.84018426e-03 9.99998279e-01 4.91846295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572557844 meters 0.2936929622920862 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99996583e-01 2.45935192e-03 -8.86178526e-04 -1.22806320e-01] [-2.45886539e-03 9.99996826e-01 5.49686546e-04 -1.55330356e-01] [ 8.87527586e-04 -5.47505675e-04 9.99999456e-01 4.90583107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602557844 meters 0.2934126120680466 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99996905e-01 2.35476430e-03 -8.02988432e-04 -1.23068798e-01] [-2.35455162e-03 9.99997193e-01 2.65696310e-04 -1.54141974e-01] [ 8.03611830e-04 -2.63804810e-04 9.99999642e-01 4.90665703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.632557844 meters 0.292483007296489 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997159e-01 2.28630696e-03 -6.74031104e-04 -1.23484396e-01] [-2.28626536e-03 9.99997385e-01 6.24795675e-05 -1.53283801e-01] [ 6.74172189e-04 -6.09383761e-05 9.99999771e-01 4.90881439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662557844 meters 0.29310815211437036 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997344e-01 2.22404225e-03 -6.05325347e-04 -1.23778046e-01] [-2.22411310e-03 9.99997520e-01 -1.16385409e-04 -1.52515338e-01] [ 6.05064999e-04 1.17731411e-04 9.99999810e-01 4.91163543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.692557844 meters 0.2925769302522467 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997399e-01 2.18863138e-03 -6.41802184e-04 -1.23795916e-01] [-2.18876158e-03 9.99997584e-01 -2.02228117e-04 -1.52138930e-01] [ 6.41358030e-04 2.03632343e-04 9.99999774e-01 4.91404814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72255784400001 meters 0.2931210696526975 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997414e-01 2.15451964e-03 -7.27773745e-04 -1.23540656e-01] [-2.15472981e-03 9.99997637e-01 -2.88126851e-04 -1.51801745e-01] [ 7.27151250e-04 2.89694262e-04 9.99999694e-01 4.91324425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75255784400001 meters 0.29159230398483166 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997411e-01 2.14721107e-03 -7.53291806e-04 -1.23537743e-01] [-2.14744365e-03 9.99997647e-01 -3.08084108e-04 -1.51708928e-01] [ 7.52628512e-04 3.09700962e-04 9.99999669e-01 4.91471356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78255784400001 meters 0.29159230398483166 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997411e-01 2.14721107e-03 -7.53291806e-04 -1.23537743e-01] [-2.14744365e-03 9.99997647e-01 -3.08084108e-04 -1.51708928e-01] [ 7.52628512e-04 3.09700962e-04 9.99999669e-01 4.91471356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81255784400001 meters 0.2922713828232624 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997281e-01 2.20859604e-03 -7.47735256e-04 -1.23757427e-01] [-2.20869719e-03 9.99997552e-01 -1.34485417e-04 -1.52375126e-01] [ 7.47436402e-04 1.36136572e-04 9.99999711e-01 4.91977932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.842557844 meters 0.2917985105278449 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99997137e-01 2.30200365e-03 -6.52837503e-04 -1.24276476e-01] [-2.30191876e-03 9.99997342e-01 1.30753640e-04 -1.53419246e-01] [ 6.53136763e-04 -1.29250487e-04 9.99999778e-01 4.92674647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.872557844 meters 0.2921265980510319 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99996954e-01 2.39356942e-03 -6.01580527e-04 -1.24637835e-01] [-2.39333616e-03 9.99997061e-01 3.88157763e-04 -1.54429507e-01] [ 6.02507841e-04 -3.86716796e-04 9.99999744e-01 4.93242411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902557844 meters 0.2921573060160686 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99996692e-01 2.49731969e-03 -6.16323333e-04 -1.24593243e-01] [-2.49689781e-03 9.99996649e-01 6.84334129e-04 -1.55639772e-01] [ 6.18030269e-04 -6.82792969e-04 9.99999576e-01 4.93218693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.932557844 meters 0.2915548604646623 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99996598e-01 2.52805379e-03 -6.42569395e-04 -1.24385759e-01] [-2.52755975e-03 9.99996510e-01 7.68498728e-04 -1.56025153e-01] [ 6.44509959e-04 -7.66871981e-04 9.99999498e-01 4.92900009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962557844 meters 0.29153070631356076 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99996594e-01 2.53291770e-03 -6.30138323e-04 -1.24372654e-01] [-2.53242541e-03 9.99996489e-01 7.80817411e-04 -1.56085347e-01] [ 6.32113856e-04 -7.79218973e-04 9.99999497e-01 4.92796819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992557844 meters 0.29172095806846166 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99996544e-01 2.54544550e-03 -6.57589557e-04 -1.24266805e-01] [-2.54490909e-03 9.99996429e-01 8.15273873e-04 -1.56235165e-01] [ 6.59662445e-04 -8.13597550e-04 9.99999451e-01 4.92720030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022557844 meters 0.2905803637490502 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.49 [[ 0.99997358 -0.00678702 -0.00260228 -0.14305867] [ 0.00679215 0.99997499 0.0019698 -0.15434748] [ 0.00258884 -0.00198742 0.99999467 0.4921422 ] [ 0. 0. 0. 1. ]] SLAMing on 121.052557844 meters 0.2931438442091179 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999611e-01 8.73540485e-04 -1.18691986e-04 -1.21744356e-01] [-8.73613846e-04 9.99999427e-01 -6.19443107e-04 -1.52987095e-01] [ 1.18150810e-04 6.19546557e-04 9.99999801e-01 4.90325275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08255784400001 meters 0.29215315628495464 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999642e-01 8.43430368e-04 -6.52255324e-05 -1.21843173e-01] [-8.43476205e-04 9.99999395e-01 -7.05941625e-04 -1.52640824e-01] [ 6.46300804e-05 7.05996389e-04 9.99999749e-01 4.90231376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11255784400001 meters 0.29135261486478575 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999686e-01 7.92283909e-04 2.52762380e-05 -1.22084184e-01] [-7.92262078e-04 9.99999323e-01 -8.52324720e-04 -1.52031066e-01] [-2.59515041e-05 8.52304427e-04 9.99999636e-01 4.90248630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14255784400001 meters 0.2907519215811158 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999716e-01 7.48378545e-04 8.62160604e-05 -1.22231653e-01] [-7.48294115e-04 9.99999245e-01 -9.75189941e-04 -1.51520958e-01] [-8.69458065e-05 9.75125149e-04 9.99999521e-01 4.90224640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17255784400001 meters 0.29161972940792363 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 9.99976490e-01 -6.78543799e-03 9.88431406e-04 -1.02982624e-01] [ 6.78542822e-03 9.99976979e-01 1.32383834e-05 -1.46218731e-01] [-9.88498479e-04 -6.53114186e-06 9.99999511e-01 4.91121604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.202557844 meters 0.29253616742853084 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 9.99976312e-01 -6.81591360e-03 9.58000910e-04 -1.02712215e-01] [ 6.81598096e-03 9.99976769e-01 -6.70706351e-05 -1.45927240e-01] [-9.57521507e-04 7.35987623e-05 9.99999539e-01 4.90676788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232557844 meters 0.29143374124426535 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999669e-01 6.63516325e-04 -4.70540962e-04 -1.21601533e-01] [-6.64077695e-04 9.99999067e-01 -1.19387914e-03 -1.50200484e-01] [ 4.69748365e-04 1.19419122e-03 9.99999177e-01 4.89109506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262557844 meters 0.2920419465999741 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999676e-01 6.03398915e-04 -5.32007180e-04 -1.21322457e-01] [-6.04116568e-04 9.99998907e-01 -1.34982559e-03 -1.49585545e-01] [ 5.31192115e-04 1.35014655e-03 9.99998947e-01 4.88822742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292557844 meters 0.292181526803589 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999658e-01 5.75398395e-04 -5.94555933e-04 -1.21214276e-01] [-5.76242664e-04 9.99998825e-01 -1.42080408e-03 -1.49283553e-01] [ 5.93737706e-04 1.42114620e-03 9.99998814e-01 4.88945756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322557844 meters 0.2919503530081296 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999563e-01 5.80191239e-04 -7.33478933e-04 -1.20894051e-01] [-5.81217642e-04 9.99998851e-01 -1.39992417e-03 -1.49371477e-01] [ 7.32665866e-04 1.40034987e-03 9.99998751e-01 4.89034035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352557844 meters 0.29211607454494637 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999527e-01 5.66089911e-04 -7.90922828e-04 -1.20594720e-01] [-5.67223346e-04 9.99998812e-01 -1.43356591e-03 -1.49270585e-01] [ 7.90110361e-04 1.43401386e-03 9.99998660e-01 4.88687146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382557844 meters 0.29192482840606426 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99999640e-01 5.73457152e-04 -6.24891531e-04 -1.21090999e-01] [-5.74347292e-04 9.99998819e-01 -1.42522321e-03 -1.49281706e-01] [ 6.24073489e-04 1.42558161e-03 9.99998789e-01 4.88885144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412557844 meters 0.29262181700392065 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998564 -0.00457401 0.00279242 -0.1005213 ] [ 0.00456931 0.99998814 0.0016868 -0.14887924] [-0.0028001 -0.00167401 0.99999468 0.48768283] [ 0. 0. 0. 1. ]] SLAMing on 121.442557844 meters 0.2927016336662607 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998565 -0.00456517 0.00280436 -0.10065471] [ 0.00456038 0.99998814 0.00170954 -0.14895481] [-0.00281213 -0.00169673 0.99999461 0.48791922] [ 0. 0. 0. 1. ]] SLAMing on 121.47255784400001 meters 0.29394434871603625 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.9999858 -0.00458442 0.00271563 -0.10035264] [ 0.00457992 0.99998813 0.00166302 -0.14878082] [-0.00272322 -0.00165055 0.99999493 0.48775996] [ 0. 0. 0. 1. ]] SLAMing on 121.50255784400001 meters 0.29248852360759026 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99995126e-01 2.87604737e-03 1.21538724e-03 -1.19430940e-01] [-2.87665933e-03 9.99995736e-01 5.02063334e-04 -1.52868195e-01] [-1.21393810e-03 -5.05557141e-04 9.99999135e-01 4.86710583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53255784400001 meters 0.29126440441011253 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99995145e-01 2.87773278e-03 1.19530809e-03 -1.19582595e-01] [-2.87834258e-03 9.99995728e-01 5.08761191e-04 -1.52848564e-01] [-1.19383890e-03 -5.12199227e-04 9.99999156e-01 4.87186237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56255784400001 meters 0.29155881021076535 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99995189e-01 2.88147915e-03 1.14869305e-03 -1.19525916e-01] [-2.88208062e-03 9.99995710e-01 5.22303001e-04 -1.52890944e-01] [-1.14718312e-03 -5.25611114e-04 9.99999204e-01 4.87335571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.592557844 meters 0.29250665246662577 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998492 -0.00506997 0.00211295 -0.09858853] [ 0.00506755 0.9999865 0.00114832 -0.14942768] [-0.00211875 -0.00113759 0.99999711 0.48742838] [ 0. 0. 0. 1. ]] SLAMing on 121.622557844 meters 0.2926117444527256 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998533 -0.00500447 0.0020727 -0.09835392] [ 0.00500172 0.99998661 0.00132659 -0.15019216] [-0.00207931 -0.0013162 0.99999697 0.48713687] [ 0. 0. 0. 1. ]] SLAMing on 121.652557844 meters 0.29224183214096366 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998562 -0.00493738 0.00209114 -0.09831384] [ 0.00493424 0.9999867 0.00150387 -0.15093674] [-0.00209853 -0.00149353 0.99999668 0.4869473 ] [ 0. 0. 0. 1. ]] SLAMing on 121.682557844 meters 0.29104848076204437 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99995480e-01 2.58300447e-03 1.53913822e-03 -1.17534373e-01] [-2.58376690e-03 9.99996540e-01 4.93573983e-04 -1.56070568e-01] [-1.53785799e-03 -4.97548526e-04 9.99998694e-01 4.85399442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.712557844 meters 0.2906606525726691 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99995486e-01 2.61126062e-03 1.48635279e-03 -1.17507094e-01] [-2.61211227e-03 9.99996425e-01 5.71327311e-04 -1.56371391e-01] [-1.48485559e-03 -5.75207253e-04 9.99998732e-01 4.85651363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742557844 meters 0.29064657690908813 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.49 [[ 9.99995562e-01 2.57339082e-03 1.50127957e-03 -1.17573069e-01] [-2.57409434e-03 9.99996578e-01 4.66867705e-04 -1.55932061e-01] [-1.50007300e-03 -4.70730069e-04 9.99998764e-01 4.85717763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.772557844 meters 0.2922309645954796 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998351 -0.00478202 0.00318066 -0.09887076] [ 0.00477689 0.99998728 0.00161835 -0.1507512 ] [-0.00318836 -0.00160313 0.99999363 0.48678949] [ 0. 0. 0. 1. ]] SLAMing on 121.802557844 meters 0.29163350598127147 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998313 -0.00482081 0.00324122 -0.09903551] [ 0.00481596 0.99998727 0.00150451 -0.15028549] [-0.00324843 -0.00148887 0.99999362 0.48681149] [ 0. 0. 0. 1. ]] SLAMing on 121.83255784400001 meters 0.2925303404235977 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998289 -0.00488141 0.00322448 -0.09897676] [ 0.00487712 0.99998721 0.00133727 -0.14960674] [-0.00323097 -0.00132152 0.99999391 0.48676331] [ 0. 0. 0. 1. ]] SLAMing on 121.86255784400001 meters 0.29194514597530336 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99998245 -0.00499694 0.00318431 -0.09883124] [ 0.00499369 0.999987 0.00102731 -0.14834986] [-0.0031894 -0.00101139 0.9999944 0.48662574] [ 0. 0. 0. 1. ]] SLAMing on 121.89255784400001 meters 0.2921870771657081 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 9.99982103e-01 -5.03703651e-03 3.22831015e-03 -9.88774080e-02] [ 5.03410110e-03 9.99986909e-01 9.16755978e-04 -1.47902826e-01] [-3.23288562e-03 -9.00487932e-04 9.99994369e-01 4.86462054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92255784400001 meters 0.2921033412289573 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 9.99981599e-01 -5.10053662e-03 3.28413385e-03 -9.89718129e-02] [ 5.09812269e-03 9.99986728e-01 7.42979145e-04 -1.47190542e-01] [-3.28787986e-03 -7.26222557e-04 9.99994331e-01 4.86335604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.952557844 meters 0.2912143300078247 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99993650e-01 2.64164419e-03 2.39200431e-03 -1.19177906e-01] [-2.64115380e-03 9.99996490e-01 -2.08147079e-04 -1.50098979e-01] [-2.39254576e-03 2.01828106e-04 9.99997117e-01 4.85495140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982557844 meters 0.2909117418072134 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99993822e-01 2.53544424e-03 2.43446634e-03 -1.19237561e-01] [-2.53424437e-03 9.99996666e-01 -4.95829069e-04 -1.48923392e-01] [-2.43571537e-03 4.89656473e-04 9.99996914e-01 4.85371308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.012557844 meters 0.2912544455765846 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99994071e-01 2.42253886e-03 2.44731427e-03 -1.19204963e-01] [-2.42059439e-03 9.99996753e-01 -7.97182175e-04 -1.47698232e-01] [-2.44923753e-03 7.91253493e-04 9.99996688e-01 4.85219214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042557844 meters 0.29246194258179536 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.99998411 -0.00282266 0.00487934 -0.09648055] [ 0.00281265 0.99999393 0.00205799 -0.14535043] [-0.00488512 -0.00204424 0.99998598 0.48362346] [ 0. 0. 0. 1. ]] SLAMing on 122.072557844 meters 0.2910986283294658 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 0.99999377 0.00188537 0.00298279 -0.12059845] [-0.00188122 0.99999726 -0.00139261 -0.14514521] [-0.00298541 0.00138699 0.99999458 0.48589992] [ 0. 0. 0. 1. ]] SLAMing on 122.102557844 meters 0.2920451031699464 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.48 [[ 0.99997599 -0.00362567 0.00590548 -0.09924698] [ 0.00361687 0.99999233 0.00149986 -0.14466393] [-0.00591087 -0.00147846 0.99998144 0.48447981] [ 0. 0. 0. 1. ]] SLAMing on 122.132557844 meters 0.29095015463619506 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99981803e-01 4.08905680e-03 4.43535227e-03 -1.18533057e-01] [-4.09149387e-03 9.99991484e-01 5.40530644e-04 -1.49213925e-01] [-4.43310424e-03 -5.58668025e-04 9.99990018e-01 4.83999179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162557844 meters 0.29176632404208763 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99981774e-01 4.13634841e-03 4.39792059e-03 -1.18461557e-01] [-4.13938180e-03 9.99991201e-01 6.80854397e-04 -1.49775236e-01] [-4.39506564e-03 -6.99046660e-04 9.99990097e-01 4.84053628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192557844 meters 0.2915847424914136 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99982128e-01 4.18063053e-03 4.27388156e-03 -1.18180029e-01] [-4.18416499e-03 9.99990911e-01 8.18384521e-04 -1.50328137e-01] [-4.27042135e-03 -8.36252520e-04 9.99990532e-01 4.84131649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22255784400001 meters 0.2919238477560533 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.99997994 -0.00392346 0.00497222 -0.09651662] [ 0.00391685 0.99999143 0.00133815 -0.1480467 ] [-0.00497743 -0.00131865 0.99998674 0.48430709] [ 0. 0. 0. 1. ]] SLAMing on 122.25255784400001 meters 0.29214595500844914 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.99998032 -0.0038551 0.00494965 -0.09652049] [ 0.00384759 0.99999144 0.00152466 -0.14880295] [-0.00495549 -0.00150558 0.99998659 0.48445433] [ 0. 0. 0. 1. ]] SLAMing on 122.28255784400001 meters 0.29219750426837754 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.9999805 -0.00378235 0.00496867 -0.09664788] [ 0.00377385 0.9999914 0.00171775 -0.14958575] [-0.00497513 -0.00169897 0.99998618 0.48463506] [ 0. 0. 0. 1. ]] SLAMing on 122.31255784400001 meters 0.29251330996418096 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.99998041 -0.00374952 0.00501242 -0.09680608] [ 0.00374051 0.99999138 0.00180476 -0.14993463] [-0.00501914 -0.00178598 0.99998581 0.48474421] [ 0. 0. 0. 1. ]] SLAMing on 122.342557844 meters 0.29166416766526193 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.49 [[ 0.99997978 -0.00375787 0.00513035 -0.09720718] [ 0.00374882 0.9999914 0.00177174 -0.14975958] [-0.00513697 -0.00175247 0.99998527 0.4850345 ] [ 0. 0. 0. 1. ]] SLAMing on 122.372557844 meters 0.29148667012433793 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.48 [[ 0.99997978 -0.00384948 0.00506261 -0.09701199] [ 0.00384186 0.99999147 0.00151425 -0.14873204] [-0.0050684 -0.00149477 0.99998604 0.48494808] [ 0. 0. 0. 1. ]] SLAMing on 122.402557844 meters 0.2909616866389787 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99984548e-01 3.92232299e-03 3.93932464e-03 -1.17856967e-01] [-3.92444904e-03 9.99992158e-01 5.32113628e-04 -1.50521557e-01] [-3.93720662e-03 -5.47565085e-04 9.99992099e-01 4.84090937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.432557844 meters 0.29130055218338174 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99984429e-01 3.84545609e-03 4.04407328e-03 -1.17967940e-01] [-3.84658175e-03 9.99992565e-01 2.70606338e-04 -1.49525087e-01] [-4.04300261e-03 -2.86157983e-04 9.99991786e-01 4.83688314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462557844 meters 0.29070520788437465 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.48 [[ 9.99984102e-01 3.76099426e-03 4.20123079e-03 -1.18308891e-01] [-3.76096722e-03 9.99992927e-01 -1.43367559e-05 -1.48399807e-01] [-4.20125500e-03 -1.46416329e-06 9.99991175e-01 4.83557129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.492557844 meters 0.29320834765290343 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.49 [[ 0.99997876 0.00558478 0.00336104 -0.08000002] [-0.00558011 0.99998346 -0.00139605 -0.13949849] [-0.00336878 0.00137726 0.99999338 0.48654773] [ 0. 0. 0. 1. ]] SLAMing on 122.522557844 meters 0.292327401868811 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99991183e-01 -3.99421122e-03 1.29610378e-03 -9.85545469e-02] [ 3.99531079e-03 9.99991660e-01 -8.46885262e-04 -1.35026475e-01] [-1.29271033e-03 8.52056132e-04 9.99998801e-01 4.86045257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.552557844 meters 0.29285690576681633 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.49 [[ 0.99999077 -0.00411145 0.00124795 -0.0983362 ] [ 0.0041129 0.99999087 -0.00116045 -0.1337576 ] [-0.00124316 0.00116557 0.99999855 0.48580754] [ 0. 0. 0. 1. ]] SLAMing on 122.58255784400001 meters 0.2926731718937526 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.49 [[ 0.99999027 -0.00421771 0.00129453 -0.09832938] [ 0.00421958 0.99999005 -0.00144609 -0.13260591] [-0.00128842 0.00145154 0.99999812 0.48550278] [ 0. 0. 0. 1. ]] SLAMing on 122.61255784400001 meters 0.29097975591434594 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.49 [[ 0.99999746 0.00101571 -0.00201085 -0.1210843 ] [-0.00102473 0.9999894 -0.00448934 -0.1297668 ] [ 0.00200627 0.00449139 0.9999879 0.48799713] [ 0. 0. 0. 1. ]] SLAMing on 122.64255784400001 meters 0.29327079440574166 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.48 [[ 9.99998005e-01 -1.39256933e-03 1.43217080e-03 -9.67387156e-02] [ 1.39127833e-03 9.99998625e-01 9.02028133e-04 -1.30194579e-01] [-1.43342497e-03 -9.00033785e-04 9.99998568e-01 4.83675088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67255784400001 meters 0.292955091405791 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.48 [[ 9.99997714e-01 -1.68646800e-03 1.31447604e-03 -9.63219695e-02] [ 1.68623485e-03 9.99998562e-01 1.78457283e-04 -1.27225843e-01] [-1.31477511e-03 -1.76240360e-04 9.99999120e-01 4.83396104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.702557844 meters 0.292955091405791 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.48 [[ 9.99997714e-01 -1.68646800e-03 1.31447604e-03 -9.63219695e-02] [ 1.68623485e-03 9.99998562e-01 1.78457283e-04 -1.27225843e-01] [-1.31477511e-03 -1.76240360e-04 9.99999120e-01 4.83396104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732557844 meters 0.292955091405791 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.48 [[ 9.99997714e-01 -1.68646800e-03 1.31447604e-03 -9.63219695e-02] [ 1.68623485e-03 9.99998562e-01 1.78457283e-04 -1.27225843e-01] [-1.31477511e-03 -1.76240360e-04 9.99999120e-01 4.83396104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762557844 meters 0.29537262618437865 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.48 [[ 9.99997656e-01 -1.77149741e-03 1.24457131e-03 -9.60350774e-02] [ 1.77154740e-03 9.99998430e-01 -3.90612900e-05 -1.26348890e-01] [-1.24450016e-03 4.12660155e-05 9.99999225e-01 4.83156099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792557844 meters 0.292699487003151 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.48 [[ 9.99981432e-01 6.06939728e-03 -5.45887949e-04 -1.15875346e-01] [-6.07004246e-03 9.99980871e-01 -1.18810746e-03 -1.28565928e-01] [ 5.38666411e-04 1.19139896e-03 9.99999145e-01 4.83161624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822557844 meters 0.29339350146484805 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.48 [[ 9.99998865e-01 -1.33077106e-03 7.06487145e-04 -9.69001614e-02] [ 1.33080029e-03 9.99999114e-01 -4.08971091e-05 -1.23159643e-01] [-7.06432094e-04 4.18372560e-05 9.99999750e-01 4.84975436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852557844 meters 0.2921332131800022 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.49 [[ 9.99993342e-01 3.58707510e-03 -6.70590432e-04 -1.21647237e-01] [-3.58942911e-03 9.99987282e-01 -3.54273672e-03 -1.22018786e-01] [ 6.57873841e-04 3.54512017e-03 9.99993500e-01 4.87360581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882557844 meters 0.2918780743417901 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.49 [[ 9.99993521e-01 3.55553983e-03 -5.62605940e-04 -1.22049421e-01] [-3.55756111e-03 9.99987071e-01 -3.63345847e-03 -1.21617503e-01] [ 5.49679759e-04 3.63543643e-03 9.99993241e-01 4.87651380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.912557844 meters 0.29305215947848723 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.49 [[ 9.99992111e-01 -3.96732867e-03 1.95303932e-04 -1.02155757e-01] [ 3.96780498e-03 9.99988998e-01 -2.50203123e-03 -1.17276715e-01] [-1.85375403e-04 2.50278641e-03 9.99996851e-01 4.89075321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942557844 meters 0.28945244156550415 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.49 [[ 0.99998235 -0.0054821 -0.00229082 -0.14499836] [ 0.00547672 0.99998225 -0.00234603 -0.12129293] [ 0.00230364 0.00233344 0.99999462 0.49000209] [ 0. 0. 0. 1. ]] SLAMing on 122.97255784400001 meters 0.2919851535682138 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.12, Z:0.49 [[ 0.99998886 -0.00369365 -0.00293847 -0.10394189] [ 0.00368769 0.99999113 -0.0020336 -0.12101709] [ 0.00294595 0.00202274 0.99999361 0.49181793] [ 0. 0. 0. 1. ]] SLAMing on 123.00255784400001 meters 0.2911915598796819 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.49 [[ 0.99998189 0.00431641 -0.00419469 -0.12297128] [-0.0043278 0.99998696 -0.00271063 -0.12661947] [ 0.00418294 0.00272873 0.99998753 0.4910608 ] [ 0. 0. 0. 1. ]] SLAMing on 123.03255784400001 meters 0.2905433496873197 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.49 [[ 0.99998147 0.00441057 -0.00419627 -0.12301828] [-0.00442085 0.99998724 -0.00244502 -0.12769506] [ 0.00418544 0.00246352 0.99998821 0.49117069] [ 0. 0. 0. 1. ]] SLAMing on 123.06255784400001 meters 0.291750349323849 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.49 [[ 9.99999272e-01 -9.54386717e-04 -7.38273754e-04 -1.01595685e-01] [ 9.54882496e-04 9.99999319e-01 6.71476780e-04 -1.29659521e-01] [ 7.37632402e-04 -6.72181256e-04 9.99999502e-01 4.89411893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.092557844 meters 0.2909060642886354 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.49 [[ 9.99998032e-01 -1.98257351e-03 7.70667723e-05 -1.40661162e-01] [ 1.98244342e-03 9.99996669e-01 1.65300754e-03 -1.34427833e-01] [-8.03437245e-05 -1.65285151e-03 9.99998631e-01 4.86780196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122557844 meters 0.29003979375112277 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.49 [[ 9.99998149e-01 -1.92395970e-03 -3.31337637e-06 -1.40443892e-01] [ 1.92396254e-03 9.99996490e-01 1.82165095e-03 -1.35127379e-01] [-1.91418275e-07 -1.82165396e-03 9.99998341e-01 4.86753198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.152557844 meters 0.29198115254881 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999389e-01 -8.10624243e-04 -7.50932551e-04 -9.98347760e-02] [ 8.11848768e-04 9.99998339e-01 1.63180561e-03 -1.35901127e-01] [ 7.49608523e-04 -1.63241426e-03 9.99998387e-01 4.88889827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182557844 meters 0.29111383387184664 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999509e-01 -7.23377810e-04 -6.76932141e-04 -1.00174085e-01] [ 7.24637338e-04 9.99998003e-01 1.86225057e-03 -1.36823740e-01] [ 6.75583678e-04 -1.86274018e-03 9.99998037e-01 4.89239728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.212557844 meters 0.2905370025741271 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999588e-01 -6.57563129e-04 -6.26057637e-04 -1.00522931e-01] [ 6.58835219e-04 9.99997715e-01 2.03387155e-03 -1.37496758e-01] [ 6.24718807e-04 -2.03428318e-03 9.99997736e-01 4.89742910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242557844 meters 0.29157892311471373 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999622e-01 -5.44334880e-04 -6.78521272e-04 -1.00580588e-01] [ 5.45907287e-04 9.99997161e-01 2.31937608e-03 -1.38659112e-01] [ 6.77256829e-04 -2.31974561e-03 9.99997080e-01 4.90172161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.272557844 meters 0.29063830149143144 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999628e-01 -4.45199860e-04 -7.38553721e-04 -1.00406768e-01] [ 4.47103769e-04 9.99996573e-01 2.57972877e-03 -1.39741721e-01] [ 7.37402695e-04 -2.58005802e-03 9.99996400e-01 4.90144587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302557844 meters 0.29052751744029043 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999628e-01 -2.50297567e-04 -8.25161548e-04 -9.98755106e-02] [ 2.52867581e-04 9.99995114e-01 3.11592699e-03 -1.42039854e-01] [ 8.24377607e-04 -3.11613449e-03 9.99994805e-01 4.89369885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33255784400001 meters 0.29112703105140797 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999626e-01 -1.65526493e-04 -8.48704943e-04 -9.97216510e-02] [ 1.68359934e-04 9.99994409e-01 3.33956181e-03 -1.42984825e-01] [ 8.48147413e-04 -3.33970345e-03 9.99994063e-01 4.89163617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36255784400001 meters 0.29203821768013366 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.14, Z:0.49 [[ 9.99999624e-01 -5.21070793e-05 -8.65564617e-04 -9.97977941e-02] [ 5.52392162e-05 9.99993450e-01 3.61897591e-03 -1.44124758e-01] [ 8.65370374e-04 -3.61902236e-03 9.99993077e-01 4.89417421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39255784400001 meters 0.2901629958344644 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.49 [[ 9.99997053e-01 -2.42532750e-03 1.12466076e-04 -1.39798988e-01] [ 2.42494491e-03 9.99991662e-01 3.28560150e-03 -1.47973678e-01] [-1.20433798e-04 -3.28531910e-03 9.99994596e-01 4.87430697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42255784400001 meters 0.29136726424461723 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.49 [[ 9.99984195e-01 4.86043280e-03 2.82596382e-03 -1.18876503e-01] [-4.86205120e-03 9.99988020e-01 5.66104496e-04 -1.47801912e-01] [-2.82317845e-03 -5.79835529e-04 9.99995847e-01 4.86151682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.452557844 meters 0.2897905296570456 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.15, Z:0.48 [[ 9.99989639e-01 2.85582829e-03 3.54496529e-03 -1.58028615e-01] [-2.85827980e-03 9.99995679e-01 6.86674797e-04 -1.49832249e-01] [-3.54298895e-03 -6.96800185e-04 9.99993481e-01 4.83636132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482557844 meters 0.289697719450806 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.15, Z:0.48 [[ 9.99989185e-01 2.88639536e-03 3.64663475e-03 -1.58102027e-01] [-2.88926366e-03 9.99995521e-01 7.81538122e-04 -1.50235458e-01] [-3.64436259e-03 -7.92065759e-04 9.99993046e-01 4.83172131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512557844 meters 0.2907588672215294 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.48 [[ 0.99997138 -0.0049475 0.00572409 -0.13851912] [ 0.00493905 0.9999867 0.00148805 -0.14628966] [-0.00573137 -0.00145974 0.99998251 0.48311326] [ 0. 0. 0. 1. ]] SLAMing on 123.542557844 meters 0.2916098448638831 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.48 [[ 0.99997168 -0.00492448 0.0056904 -0.13844424] [ 0.00491572 0.99998671 0.00155102 -0.1465486 ] [-0.00569796 -0.00152301 0.99998261 0.48314482] [ 0. 0. 0. 1. ]] SLAMing on 123.572557844 meters 0.2905233598997743 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.15, Z:0.48 [[ 9.99997123e-01 6.54394017e-04 2.30795481e-03 -1.59284228e-01] [-6.51745663e-04 9.99999129e-01 -1.14805525e-03 -1.47112214e-01] [-2.30870408e-03 1.14654775e-03 9.99996678e-01 4.84623260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602557844 meters 0.29158370738727096 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.48 [[ 0.99998699 -0.00428713 0.0027625 -0.13524279] [ 0.00428056 0.999988 0.00238084 -0.14532877] [-0.00277267 -0.00236898 0.99999335 0.483157 ] [ 0. 0. 0. 1. ]] SLAMing on 123.632557844 meters 0.29252595094076406 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 0.99997946 0.0056796 0.00297167 -0.11372233] [-0.00568478 0.99998233 0.00173883 -0.14712455] [-0.00296174 -0.00175568 0.99999407 0.48314905] [ 0. 0. 0. 1. ]] SLAMing on 123.662557844 meters 0.29100354879364776 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.48 [[ 9.99994242e-01 -3.38268236e-03 2.72566040e-04 -1.32395595e-01] [ 3.38189692e-03 9.99990270e-01 2.83234145e-03 -1.45184931e-01] [-2.82144299e-04 -2.83140335e-03 9.99995952e-01 4.82742371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.692557844 meters 0.2923251937643112 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 9.99981032e-01 6.09878817e-03 8.60597048e-04 -1.12839130e-01] [-6.10020150e-03 9.99980033e-01 1.64930910e-03 -1.47545828e-01] [-8.50521078e-04 -1.65452763e-03 9.99998270e-01 4.83771589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72255784400001 meters 0.29237974340557216 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 9.99981146e-01 6.08890852e-03 7.95360616e-04 -1.12660355e-01] [-6.09019603e-03 9.99980132e-01 1.62650337e-03 -1.47457872e-01] [-7.85441184e-04 -1.63131661e-03 9.99998361e-01 4.83747215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75255784400001 meters 0.2917753674092111 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.48 [[ 9.99995267e-01 -3.07571025e-03 7.74493068e-05 -1.32348695e-01] [ 3.07545530e-03 9.99990463e-01 3.10102660e-03 -1.45825198e-01] [-8.69864274e-05 -3.10077373e-03 9.99995189e-01 4.82612227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78255784400001 meters 0.29268183476697585 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.48 [[ 9.99985737e-01 3.90128238e-03 3.64761445e-03 -1.11721307e-01] [-3.90238863e-03 9.99992342e-01 2.96211400e-04 -1.44731085e-01] [-3.64643091e-03 -3.10441584e-04 9.99993304e-01 4.80541418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81255784400001 meters 0.29188697092459703 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 9.99985131e-01 3.96580217e-03 3.74303660e-03 -1.12079219e-01] [-3.96757192e-03 9.99992021e-01 4.65505151e-04 -1.45399728e-01] [-3.74116063e-03 -4.80348996e-04 9.99992886e-01 4.80810405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.842557844 meters 0.2916795358593212 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 9.99985217e-01 4.08889052e-03 3.58409845e-03 -1.11584227e-01] [-4.09200380e-03 9.99991256e-01 8.61734354e-04 -1.47026317e-01] [-3.58054358e-03 -8.76387760e-04 9.99993206e-01 4.80579528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872557844 meters 0.2913809230300058 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 0.99998535 0.00416843 0.00345353 -0.11110111] [-0.00417225 0.99999069 0.00110177 -0.1480682 ] [-0.0034489 -0.00111617 0.99999343 0.48021674] [ 0. 0. 0. 1. ]] SLAMing on 123.902557844 meters 0.29142572147639334 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 0.99998538 0.00426357 0.00332572 -0.11070315] [-0.00426816 0.99998994 0.00137657 -0.1492236 ] [-0.00331981 -0.00139075 0.99999352 0.48005988] [ 0. 0. 0. 1. ]] SLAMing on 123.932557844 meters 0.2928753602814731 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.48 [[ 0.99998499 0.00438246 0.00328878 -0.11064293] [-0.0043881 0.99998891 0.00170868 -0.15057921] [-0.00328125 -0.00172309 0.99999313 0.48014314] [ 0. 0. 0. 1. ]] SLAMing on 123.962557844 meters 0.29043813941901386 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 0.99998906 0.00157441 0.00440535 -0.15046354] [-0.00158046 0.99999781 0.00137104 -0.15419594] [-0.00440318 -0.00137799 0.99998936 0.47801362] [ 0. 0. 0. 1. ]] SLAMing on 123.992557844 meters 0.29109741745225703 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.16, Z:0.48 [[ 0.99998877 0.00164887 0.00444391 -0.15065932] [-0.00165588 0.99999739 0.00157223 -0.15500522] [-0.00444131 -0.00157957 0.99998889 0.47824651] [ 0. 0. 0. 1. ]] SLAMing on 124.022557844 meters 0.291161480630596 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.16, Z:0.48 [[ 0.99998795 0.00170943 0.00460274 -0.15124908] [-0.00171743 0.99999702 0.0017341 -0.15558867] [-0.00459976 -0.00174198 0.9999879 0.47875372] [ 0. 0. 0. 1. ]] SLAMing on 124.052557844 meters 0.29042599761361 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.16, Z:0.48 [[ 0.99998774 0.00168393 0.00465671 -0.15147861] [-0.00169169 0.99999719 0.00166257 -0.15527125] [-0.00465389 -0.00167043 0.99998778 0.47896954] [ 0. 0. 0. 1. ]] SLAMing on 124.08255784400001 meters 0.2912130151310287 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 0.99998774 0.00164618 0.00466994 -0.15152463] [-0.00165347 0.99999742 0.00155719 -0.15483781] [-0.00466737 -0.00156489 0.99998788 0.4789966 ] [ 0. 0. 0. 1. ]] SLAMing on 124.11255784400001 meters 0.2923865032312004 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 0.99998803 0.00159119 0.00462709 -0.15130867] [-0.00159769 0.99999774 0.00140122 -0.15422832] [-0.00462485 -0.0014086 0.99998831 0.4787231 ] [ 0. 0. 0. 1. ]] SLAMing on 124.14255784400001 meters 0.2920293202807947 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.48 [[ 0.99996967 -0.00604591 0.00490918 -0.13187619] [ 0.00603398 0.99997882 0.00244039 -0.14887737] [-0.00492383 -0.0024107 0.99998497 0.47945103] [ 0. 0. 0. 1. ]] SLAMing on 124.17255784400001 meters 0.2904277162958547 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 0.99999339 0.00123903 0.0034171 -0.15119427] [-0.00124284 0.99999861 0.00111085 -0.15233441] [-0.00341572 -0.00111509 0.99999354 0.47811701] [ 0. 0. 0. 1. ]] SLAMing on 124.202557844 meters 0.29091367372387805 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99993930e-01 1.14184831e-03 3.29183962e-03 -1.50924344e-01] [-1.14465522e-03 9.99998983e-01 8.50929317e-04 -1.51295447e-01] [-3.29086464e-03 -8.54692173e-04 9.99994220e-01 4.78195941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232557844 meters 0.29179512135716773 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99993890e-01 1.10024433e-03 3.31818694e-03 -1.50977703e-01] [-1.10269806e-03 9.99999120e-01 7.37738476e-04 -1.50828531e-01] [-3.31737233e-03 -7.41392927e-04 9.99994223e-01 4.78155115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262557844 meters 0.2909922896704118 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99993474e-01 1.06379163e-03 3.45270099e-03 -1.51335770e-01] [-1.06597449e-03 9.99999233e-01 6.30440935e-04 -1.50370627e-01] [-3.45202768e-03 -6.34117312e-04 9.99993841e-01 4.78171742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292557844 meters 0.291323399457203 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99993118e-01 1.03938035e-03 3.56131155e-03 -1.51676903e-01] [-1.04137151e-03 9.99999302e-01 5.57297616e-04 -1.50044558e-01] [-3.56072982e-03 -5.61002429e-04 9.99993503e-01 4.78311295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322557844 meters 0.2920787217191027 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99992851e-01 1.03254585e-03 3.63748090e-03 -1.52024715e-01] [-1.03449573e-03 9.99999322e-01 5.34210297e-04 -1.49919430e-01] [-3.63692684e-03 -5.37969437e-04 9.99993242e-01 4.78676745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352557844 meters 0.2924183552671517 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99992789e-01 1.02923425e-03 3.65558620e-03 -1.52229291e-01] [-1.03115489e-03 9.99999331e-01 5.23551298e-04 -1.49840431e-01] [-3.65504489e-03 -5.27316998e-04 9.99993181e-01 4.79035477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382557844 meters 0.2922715756770476 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99993207e-01 1.02213200e-03 3.54145181e-03 -1.51971029e-01] [-1.02395527e-03 9.99999344e-01 5.13064652e-04 -1.49795908e-01] [-3.54092507e-03 -5.16687455e-04 9.99993597e-01 4.79116733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412557844 meters 0.29051856528882325 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.48 [[ 9.99981852e-01 -6.02452862e-03 -1.10670780e-05 -1.71640950e-01] [ 6.02453018e-03 9.99975633e-01 3.52681549e-03 -1.51862119e-01] [-1.01805925e-05 -3.52681816e-03 9.99993781e-01 4.80160841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442557844 meters 0.29110003099231374 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.48 [[ 9.99981735e-01 -6.04244242e-03 -1.32991217e-04 -1.71135852e-01] [ 6.04286925e-03 9.99975669e-01 3.48507513e-03 -1.51753109e-01] [ 1.11929616e-04 -3.48581513e-03 9.99993918e-01 4.79696643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47255784400001 meters 0.29095902005409696 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.15, Z:0.48 [[ 9.99981749e-01 -6.03937194e-03 -1.67562025e-04 -1.70922931e-01] [ 6.03992068e-03 9.99975654e-01 3.49448290e-03 -1.51834535e-01] [ 1.46453464e-04 -3.49543118e-03 9.99993880e-01 4.79408779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50255784400001 meters 0.29206899629724087 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99997957e-01 8.56051996e-04 1.83134651e-03 -1.49268660e-01] [-8.56116910e-04 9.99999633e-01 3.46623822e-05 -1.51099744e-01] [-1.83131617e-03 -3.62301581e-05 9.99998322e-01 4.78040347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53255784400001 meters 0.29085360564289603 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99997827e-01 8.59197362e-04 1.89916291e-03 -1.49532842e-01] [-8.59269835e-04 9.99999630e-01 3.73446297e-05 -1.51090639e-01] [-1.89913012e-03 -3.89764419e-05 9.99998196e-01 4.78251599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56255784400001 meters 0.2911952712687377 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99997908e-01 8.91573127e-04 1.84119997e-03 -1.49411945e-01] [-8.91802071e-04 9.99999595e-01 1.23527795e-04 -1.51441033e-01] [-1.84108909e-03 -1.25169523e-04 9.99998297e-01 4.78316046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.592557844 meters 0.2911952712687377 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99997908e-01 8.91573127e-04 1.84119997e-03 -1.49411945e-01] [-8.91802071e-04 9.99999595e-01 1.23527795e-04 -1.51441033e-01] [-1.84108909e-03 -1.25169523e-04 9.99998297e-01 4.78316046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622557844 meters 0.29064982214970536 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99998103e-01 8.80456135e-04 1.73745275e-03 -1.49035723e-01] [-8.80631608e-04 9.99999607e-01 1.00231527e-04 -1.51375112e-01] [-1.73736381e-03 -1.01761393e-04 9.99998486e-01 4.78056940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.652557844 meters 0.29223329901524 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.48 [[ 0.99997518 -0.00668116 0.00223539 -0.12895302] [ 0.00667862 0.99997705 0.00113956 -0.14742874] [-0.00224296 -0.0011246 0.99999685 0.47910647] [ 0. 0. 0. 1. ]] SLAMing on 124.682557844 meters 0.29293665844199185 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.48 [[ 0.99997555 -0.00662117 0.00225133 -0.12906854] [ 0.00661826 0.99997726 0.00129705 -0.14806779] [-0.00225986 -0.00128212 0.99999662 0.47927944] [ 0. 0. 0. 1. ]] SLAMing on 124.712557844 meters 0.2912754303368067 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99995196e-01 1.00503549e-03 2.93231016e-03 -1.49523088e-01] [-1.00616927e-03 9.99999420e-01 3.85199058e-04 -1.52663841e-01] [-2.93192132e-03 -3.88147607e-04 9.99995627e-01 4.78159818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742557844 meters 0.2905094357850857 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99994898e-01 8.69465764e-04 3.07384624e-03 -1.49864045e-01] [-8.69493848e-04 9.99999622e-01 7.80008519e-06 -1.51102500e-01] [-3.07383829e-03 -1.04727358e-05 9.99995276e-01 4.78071655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.772557844 meters 0.2909339630720256 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99995274e-01 7.46299242e-04 2.98235274e-03 -1.49386631e-01] [-7.45306367e-04 9.99999666e-01 -3.34013973e-04 -1.49754988e-01] [-2.98260102e-03 3.31789628e-04 9.99995497e-01 4.77473122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802557844 meters 0.2919658356757762 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.15, Z:0.48 [[ 9.99995678e-01 6.33910535e-04 2.87094662e-03 -1.48982557e-01] [-6.32073276e-04 9.99999595e-01 -6.40810793e-04 -1.48521663e-01] [-2.87135167e-03 6.38993375e-04 9.99995674e-01 4.77178762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83255784400001 meters 0.28950286932827407 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:0.47 [[ 9.99995196e-01 -4.52377830e-04 3.06655686e-03 -1.86952669e-01] [ 4.51969125e-04 9.99999889e-01 1.33969941e-04 -1.50084016e-01] [-3.06661712e-03 -1.32583309e-04 9.99995289e-01 4.74399368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86255784400001 meters 0.2919449956204182 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99997506e-01 1.04121736e-03 1.97559340e-03 -1.48262841e-01] [-1.03970361e-03 9.99999165e-01 -7.67101068e-04 -1.44890010e-01] [-1.97639047e-03 7.65045124e-04 9.99997754e-01 4.77491201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89255784400001 meters 0.2907613128101145 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:0.48 [[ 9.99995503e-01 -5.63584953e-05 2.99841320e-03 -1.87756389e-01] [ 5.55372642e-05 9.99999961e-01 2.73971131e-04 -1.46643969e-01] [-2.99842852e-03 -2.73803376e-04 9.99995467e-01 4.75431921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92255784400001 meters 0.2914008545182217 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995600e-01 4.66612747e-04 2.92967126e-03 -1.50996247e-01] [-4.62917454e-04 9.99999097e-01 -1.26188503e-03 -1.42321056e-01] [-2.93025743e-03 1.26052329e-03 9.99994912e-01 4.79456022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.952557844 meters 0.2904408411535225 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995344e-01 4.59839493e-04 3.01682234e-03 -1.51252589e-01] [-4.55948292e-04 9.99999063e-01 -1.29039536e-03 -1.42195231e-01] [-3.01741289e-03 1.28901384e-03 9.99994617e-01 4.79547801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982557844 meters 0.29187355701896195 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995324e-01 4.21731374e-04 3.02880232e-03 -1.51276083e-01] [-4.17492991e-04 9.99998933e-01 -1.39985519e-03 -1.41750753e-01] [-3.02938945e-03 1.39858415e-03 9.99994433e-01 4.79527869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012557844 meters 0.29035733503795347 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995206e-01 4.13952478e-04 3.06849287e-03 -1.51471797e-01] [-4.09583856e-04 9.99998902e-01 -1.42419457e-03 -1.41631814e-01] [-3.06907905e-03 1.42293094e-03 9.99994278e-01 4.79751460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042557844 meters 0.29050579428355405 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995242e-01 4.01534351e-04 3.05843023e-03 -1.51616714e-01] [-3.97076409e-04 9.99998858e-01 -1.45805928e-03 -1.41457178e-01] [-3.05901220e-03 1.45683792e-03 9.99994260e-01 4.80155298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072557844 meters 0.29057234300546053 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995375e-01 3.84856999e-04 3.01683716e-03 -1.51688388e-01] [-3.80328793e-04 9.99998801e-01 -1.50140775e-03 -1.41238856e-01] [-3.01741136e-03 1.50025341e-03 9.99994322e-01 4.80578159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102557844 meters 0.2896602203177654 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:0.48 [[ 9.99995590e-01 3.83403919e-04 2.94504421e-03 -1.51677646e-01] [-3.78978137e-04 9.99998798e-01 -1.50320069e-03 -1.41201178e-01] [-2.94561700e-03 1.50207796e-03 9.99994534e-01 4.80990015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132557844 meters 0.29085617096402955 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.48 [[ 0.99999663 0.00141801 0.00217253 -0.11348809] [-0.00141283 0.99999616 -0.00238459 -0.13908324] [-0.0021759 0.00238152 0.9999948 0.48424932] [ 0. 0. 0. 1. ]] SLAMing on 125.162557844 meters 0.2909961102148059 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.48 [[ 0.99999636 0.00146424 0.00226532 -0.11379942] [-0.00145911 0.99999637 -0.00226459 -0.13956206] [-0.00226862 0.00226128 0.99999487 0.48441816] [ 0. 0. 0. 1. ]] SLAMing on 125.192557844 meters 0.28953793706266784 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.48 [[ 9.99969617e-01 -7.62828478e-03 1.60470570e-03 -1.33595376e-01] [ 7.62939638e-03 9.99970659e-01 -6.87731468e-04 -1.38457814e-01] [-1.59941240e-03 6.99953508e-04 9.99998476e-01 4.83703055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22255784400001 meters 0.2907759116238278 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.49 [[ 0.99999361 0.00168823 0.0031526 -0.11515781] [-0.00168311 0.99999726 -0.00162466 -0.14257805] [-0.00315534 0.00161934 0.99999371 0.48507838] [ 0. 0. 0. 1. ]] SLAMing on 125.25255784400001 meters 0.2907107612298035 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.49 [[ 0.99999341 0.00189208 0.00309797 -0.11516514] [-0.00188884 0.99999766 -0.00105025 -0.1448881 ] [-0.00309995 0.00104439 0.99999465 0.48540871] [ 0. 0. 0. 1. ]] SLAMing on 125.28255784400001 meters 0.2907107612298035 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.49 [[ 0.99999341 0.00189208 0.00309797 -0.11516514] [-0.00188884 0.99999766 -0.00105025 -0.1448881 ] [-0.00309995 0.00104439 0.99999465 0.48540871] [ 0. 0. 0. 1. ]] SLAMing on 125.31255784400001 meters 0.2909470096292006 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.49 [[ 9.99993401e-01 2.00478175e-03 3.02969503e-03 -1.14942561e-01] [-2.00252134e-03 9.99997715e-01 -7.48933834e-04 -1.46143584e-01] [-3.03118955e-03 7.42861863e-04 9.99995130e-01 4.85302244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.342557844 meters 0.29016940430779325 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.49 [[ 9.99993239e-01 2.12289430e-03 3.00262645e-03 -1.14867124e-01] [-2.12156883e-03 9.99997651e-01 -4.44551052e-04 -1.47390209e-01] [-3.00356313e-03 4.38177768e-04 9.99995393e-01 4.85297073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372557844 meters 0.2898913060181918 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.49 [[ 9.99993375e-01 2.10177209e-03 2.97210199e-03 -1.14810192e-01] [-2.10029271e-03 9.99997669e-01 -5.00789290e-04 -1.47158965e-01] [-2.97314760e-03 4.94543688e-04 9.99995458e-01 4.85344560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402557844 meters 0.289048404430797 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.49 [[ 9.99993641e-01 2.07759160e-03 2.89850272e-03 -1.14511953e-01] [-2.07596287e-03 9.99997686e-01 -5.64817461e-04 -1.46929363e-01] [-2.89966948e-03 5.58796685e-04 9.99995640e-01 4.85039952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432557844 meters 0.2928023783564974 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 0.99999038 0.00423017 -0.00116085 -0.06820244] [-0.00423181 0.99999004 -0.00141512 -0.1434837 ] [ 0.00115485 0.00142002 0.99999832 0.48403254] [ 0. 0. 0. 1. ]] SLAMing on 125.462557844 meters 0.29192260445003493 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 0.99999035 0.00418776 -0.00133087 -0.06746066] [-0.0041898 0.99999005 -0.00153208 -0.14307169] [ 0.00132444 0.00153765 0.99999794 0.4831965 ] [ 0. 0. 0. 1. ]] SLAMing on 125.492557844 meters 0.2916040189908667 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 0.99999051 0.00415689 -0.00130609 -0.06746763] [-0.00415901 0.99999004 -0.00161987 -0.14272715] [ 0.00129934 0.00162529 0.99999784 0.48305942] [ 0. 0. 0. 1. ]] SLAMing on 125.522557844 meters 0.2923880798609751 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99994857e-01 -3.16653429e-03 5.08601214e-04 -4.97437881e-02] [ 3.16669768e-03 9.99994935e-01 -3.20768100e-04 -1.37645836e-01] [-5.07582914e-04 3.22377036e-04 9.99999819e-01 4.84693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552557844 meters 0.2915107795344474 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.49 [[ 9.99994667e-01 -3.19511475e-03 6.76350700e-04 -5.03502161e-02] [ 3.19539288e-03 9.99994810e-01 -4.10541637e-04 -1.37217863e-01] [-6.75035462e-04 4.12700653e-04 9.99999687e-01 4.85135865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58255784400001 meters 0.2911949080263115 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.49 [[ 9.99994645e-01 -3.19301977e-03 7.17969109e-04 -5.05187993e-02] [ 3.19331169e-03 9.99994819e-01 -4.05821528e-04 -1.37223676e-01] [-7.16669593e-04 4.08112054e-04 9.99999660e-01 4.85282889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61255784400001 meters 0.29239147484671885 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99994844e-01 -3.15616575e-03 5.92341014e-04 -4.99997189e-02] [ 3.15634005e-03 9.99994976e-01 -2.93556365e-04 -1.37768418e-01] [-5.91411525e-04 2.95424481e-04 9.99999781e-01 4.84793304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64255784400001 meters 0.2918422469367295 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99995040e-01 -3.10558845e-03 5.24844624e-04 -4.97225033e-02] [ 3.10566683e-03 9.99995166e-01 -1.48595104e-04 -1.38395794e-01] [-5.24380611e-04 1.50224359e-04 9.99999851e-01 4.84545875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67255784400001 meters 0.29277742058182266 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99995370e-01 -3.01212284e-03 4.31640034e-04 -4.94751271e-02] [ 3.01207033e-03 9.99995456e-01 1.22250369e-04 -1.39508126e-01] [-4.32006306e-04 -1.20949673e-04 9.99999899e-01 4.84539783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.702557844 meters 0.2930747302484408 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99995726e-01 -2.89853588e-03 3.83440455e-04 -4.93904266e-02] [ 2.89836460e-03 9.99995700e-01 4.46480253e-04 -1.40820042e-01] [-3.84732945e-04 -4.45366995e-04 9.99999827e-01 4.84653266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732557844 meters 0.29404910286929214 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.49 [[ 9.99996046e-01 -2.78955431e-03 3.54171056e-04 -4.94906330e-02] [ 2.78928613e-03 9.99995825e-01 7.55455025e-04 -1.42043727e-01] [-3.56276960e-04 -7.54464154e-04 9.99999652e-01 4.85078327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762557844 meters 0.29247265528280414 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.49 [[ 9.99996401e-01 -2.65106630e-03 4.10984137e-04 -4.99192098e-02] [ 2.65059347e-03 9.99995830e-01 1.14679431e-03 -1.43595884e-01] [-4.14022651e-04 -1.14570083e-03 9.99999258e-01 4.85764559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792557844 meters 0.2915156673387902 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.49 [[ 9.99996797e-01 -2.46782884e-03 5.61891627e-04 -5.04917988e-02] [ 2.46688357e-03 9.99995551e-01 1.67683175e-03 -1.45709029e-01] [-5.66027261e-04 -1.67544026e-03 9.99998436e-01 4.86222251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822557844 meters 0.29135095485293877 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.49 [[ 9.99997035e-01 -2.36913597e-03 5.63990413e-04 -5.04437699e-02] [ 2.36803790e-03 9.99995315e-01 1.93974099e-03 -1.46803563e-01] [-5.68583281e-04 -1.93839968e-03 9.99997960e-01 4.86108095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852557844 meters 0.2914599324826332 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.49 [[ 9.99997249e-01 -2.29561059e-03 4.81464442e-04 -5.01135266e-02] [ 2.29457352e-03 9.99995070e-01 2.14359198e-03 -1.47669451e-01] [-4.86382920e-04 -2.14248132e-03 9.99997587e-01 4.85835637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882557844 meters 0.2906840459428468 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99987144e-01 4.99375051e-03 -8.79533809e-04 -6.85310825e-02] [-4.99282390e-03 9.99986982e-01 1.05259274e-03 -1.53615656e-01] [ 8.84778745e-04 -1.04818785e-03 9.99999059e-01 4.84166730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912557844 meters 0.2922381328529428 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.49 [[ 9.99996423e-01 -2.67330103e-03 -8.22117870e-05 -4.86857124e-02] [ 2.67347230e-03 9.99994096e-01 2.15889546e-03 -1.50982284e-01] [ 7.64399242e-05 -2.15910753e-03 9.99997666e-01 4.85094684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942557844 meters 0.2918209421131722 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.49 [[ 9.99996569e-01 -2.61819174e-03 -8.51179103e-05 -4.87803784e-02] [ 2.61838115e-03 9.99993911e-01 2.30701731e-03 -1.51572394e-01] [ 7.90771783e-05 -2.30723227e-03 9.99997335e-01 4.85338763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97255784400001 meters 0.2932241080142693 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 9.99984335e-01 4.54107457e-03 3.27231623e-03 -2.88979976e-02] [-4.53968055e-03 9.99989602e-01 -4.33306111e-04 -1.52031400e-01] [-3.27424988e-03 4.18444052e-04 9.99994552e-01 4.84627415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00255784400001 meters 0.2913887083348065 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99985048e-01 -5.14593177e-03 1.85031342e-03 -4.82449769e-02] [ 5.14488219e-03 9.99986602e-01 5.71554770e-04 -1.50618551e-01] [-1.85322981e-03 -5.62026580e-04 9.99998125e-01 4.84375240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03255784400001 meters 0.29146377969295323 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.48 [[ 9.99997149e-01 2.17345555e-03 9.89243085e-04 -6.73752239e-02] [-2.17287864e-03 9.99997469e-01 -5.83884219e-04 -1.55441847e-01] [-9.90509627e-04 5.81733049e-04 9.99999340e-01 4.82748583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06255784400001 meters 0.2923952521010658 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99985364e-01 -5.18607115e-03 1.54152638e-03 -4.83145311e-02] [ 5.18516074e-03 9.99986381e-01 5.94003164e-04 -1.50256236e-01] [-1.54458593e-03 -5.86001408e-04 9.99998635e-01 4.83891997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.092557844 meters 0.29314341789157766 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99985199e-01 -5.21648118e-03 1.54591303e-03 -4.81822847e-02] [ 5.21569593e-03 9.99986267e-01 5.11551565e-04 -1.49946256e-01] [-1.54856030e-03 -5.03480981e-04 9.99998674e-01 4.83548708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122557844 meters 0.2934271554173911 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99984922e-01 -5.27093254e-03 1.54018903e-03 -4.79143781e-02] [ 5.27037911e-03 9.99986046e-01 3.63169252e-04 -1.49381673e-01] [-1.54208178e-03 -3.55046397e-04 9.99998748e-01 4.82942314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.152557844 meters 0.2930450580057527 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99997603e-01 1.85175495e-03 -1.16875518e-03 -6.64126029e-02] [-1.85291167e-03 9.99997794e-01 -9.89392937e-04 -1.51733025e-01] [ 1.16692048e-03 9.91556165e-04 9.99998828e-01 4.81210827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182557844 meters 0.29344777051585036 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99983752e-01 -5.68939414e-03 -3.55886788e-04 -4.68266117e-02] [ 5.68936615e-03 9.99983812e-01 -7.96284414e-05 -1.46574534e-01] [ 3.56334065e-04 7.76023774e-05 9.99999934e-01 4.82087458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212557844 meters 0.29290302407193636 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99983805e-01 -5.67890380e-03 -3.74884580e-04 -4.68990698e-02] [ 5.67888483e-03 9.99983874e-01 -5.16492995e-05 -1.46670999e-01] [ 3.75171846e-04 4.95195367e-05 9.99999928e-01 4.82365398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242557844 meters 0.29448541973559234 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999201 0.00334253 0.00219201 -0.02885188] [-0.00333964 0.99999355 -0.0013216 -0.14900436] [-0.00219642 0.00131427 0.99999672 0.4834476 ] [ 0. 0. 0. 1. ]] SLAMing on 126.272557844 meters 0.2936422162054143 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999177 0.00333858 0.00230555 -0.02941288] [-0.00333549 0.99999354 -0.00133994 -0.14886126] [-0.00231001 0.00133224 0.99999644 0.48410279] [ 0. 0. 0. 1. ]] SLAMing on 126.302557844 meters 0.2925154914748721 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999154 0.00333911 0.00240368 -0.02980222] [-0.00333588 0.99999353 -0.00134669 -0.14878739] [-0.00240816 0.00133866 0.9999962 0.48443797] [ 0. 0. 0. 1. ]] SLAMing on 126.33255784400001 meters 0.2926906093944567 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999119 0.00330902 0.00258355 -0.03009126] [-0.00330533 0.99999351 -0.00143241 -0.14845254] [-0.00258827 0.00142386 0.99999564 0.48403334] [ 0. 0. 0. 1. ]] SLAMing on 126.36255784400001 meters 0.2928782839263022 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999147 0.00327203 0.00252061 -0.02976303] [-0.00326817 0.99999349 -0.00153075 -0.14808582] [-0.0025256 0.0015225 0.99999565 0.48362765] [ 0. 0. 0. 1. ]] SLAMing on 126.39255784400001 meters 0.2930643988814751 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999182 0.0032578 0.00239641 -0.02931224] [-0.00325406 0.99999349 -0.00156063 -0.14800142] [-0.00240148 0.00155282 0.99999591 0.4833205 ] [ 0. 0. 0. 1. ]] SLAMing on 126.42255784400001 meters 0.29193198631099654 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99988782e-01 -4.65264250e-03 -8.88345126e-04 -4.88083840e-02] [ 4.65318703e-03 9.99988987e-01 6.11893164e-04 -1.48051316e-01] [ 8.85488423e-04 -6.16019936e-04 9.99999418e-01 4.84490900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.452557844 meters 0.29295163120133894 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.49 [[ 9.99989151e-01 4.61285268e-03 6.47354581e-04 -3.03264842e-02] [-4.61238105e-03 9.99989098e-01 -7.28155321e-04 -1.50410482e-01] [-6.50706396e-04 7.25161576e-04 9.99999525e-01 4.85572336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482557844 meters 0.29295163120133894 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.49 [[ 9.99989151e-01 4.61285268e-03 6.47354581e-04 -3.03264842e-02] [-4.61238105e-03 9.99989098e-01 -7.28155321e-04 -1.50410482e-01] [-6.50706396e-04 7.25161576e-04 9.99999525e-01 4.85572336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.512557844 meters 0.2924208920204592 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.49 [[ 9.99989146e-01 4.61074108e-03 6.69810165e-04 -3.05171067e-02] [-4.61024734e-03 9.99989101e-01 -7.36828556e-04 -1.50337354e-01] [-6.73200190e-04 7.33732568e-04 9.99999504e-01 4.85890530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542557844 meters 0.292351295688434 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.49 [[ 9.99988992e-01 4.64757815e-03 6.45185117e-04 -3.05683351e-02] [-4.64717078e-03 9.99989002e-01 -6.31467010e-04 -1.50739065e-01] [-6.48112814e-04 6.28461773e-04 9.99999592e-01 4.86166615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572557844 meters 0.2930895581151337 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.49 [[ 9.99989082e-01 4.63963739e-03 5.56401437e-04 -3.02730991e-02] [-4.63927815e-03 9.99989030e-01 -6.45221809e-04 -1.50700155e-01] [-5.59388928e-04 6.42633463e-04 9.99999637e-01 4.86015960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602557844 meters 0.29284010002470917 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99988951e-01 -4.59114873e-03 -1.00955363e-03 -4.83667245e-02] [ 4.59179978e-03 9.99989251e-01 6.43516984e-04 -1.47347482e-01] [ 1.00658829e-03 -6.48145542e-04 9.99999283e-01 4.84470222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.632557844 meters 0.29256605723440376 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99988652e-01 -4.65839860e-03 -9.97111848e-04 -4.83190628e-02] [ 4.65885448e-03 9.99989044e-01 4.55366894e-04 -1.46592019e-01] [ 9.94979643e-04 -4.60007126e-04 9.99999399e-01 4.84269464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662557844 meters 0.29329313513044514 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 9.99988358e-01 -4.73706594e-03 -9.18537008e-04 -4.84913144e-02] [ 4.73727278e-03 9.99988754e-01 2.23132604e-04 -1.45654107e-01] [ 9.17469684e-04 -2.27481367e-04 9.99999553e-01 4.84192751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.692557844 meters 0.29360918447998174 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99988178e-01 -4.84180855e-03 -4.48950614e-04 -4.97486379e-02] [ 4.84172505e-03 9.99988261e-01 -1.86902999e-04 -1.43947941e-01] [ 4.49850292e-04 1.84727094e-04 9.99999882e-01 4.84450623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72255784400001 meters 0.2920347676441982 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99994555e-01 3.01501650e-03 -1.34153080e-03 -7.08605672e-02] [-3.01625631e-03 9.99995025e-01 -9.23109239e-04 -1.46167140e-01] [ 1.33874094e-03 9.27150613e-04 9.99998674e-01 4.83762206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75255784400001 meters 0.29450959961329737 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99998422e-01 -1.77439053e-03 -8.35588999e-05 -4.63962274e-02] [ 1.77457207e-03 9.99995950e-01 2.22505692e-03 -1.43377624e-01] [ 7.96104416e-05 -2.22520170e-03 9.99997521e-01 4.81728054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78255784400001 meters 0.293896408486521 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99998182e-01 -1.90305101e-03 -1.21341486e-04 -4.61256800e-02] [ 1.90327576e-03 9.99996422e-01 1.87982479e-03 -1.41993108e-01] [ 1.17763649e-04 -1.88005232e-03 9.99998226e-01 4.81310915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81255784400001 meters 0.2946672848375724 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99997931e-01 -2.02688307e-03 -1.72418250e-04 -4.59080007e-02] [ 2.02714872e-03 9.99996737e-01 1.55475821e-03 -1.40670994e-01] [ 1.69266374e-04 -1.55510451e-03 9.99998776e-01 4.81101308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.842557844 meters 0.2921118564051945 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 0.99999207 0.00286709 -0.00276456 -0.06915162] [-0.00287227 0.99999412 -0.00187266 -0.13866891] [ 0.00275918 0.00188058 0.99999443 0.48335042] [ 0. 0. 0. 1. ]] SLAMing on 126.872557844 meters 0.29247109490004736 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 0.99999329 0.002639 -0.00253997 -0.07005393] [-0.00264547 0.99999325 -0.00254827 -0.13566831] [ 0.00253323 0.00255497 0.99999353 0.48419868] [ 0. 0. 0. 1. ]] SLAMing on 126.902557844 meters 0.29215576326631004 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.48 [[ 0.99999414 0.00250632 -0.00233024 -0.07069641] [-0.00251313 0.99999258 -0.00292125 -0.13408088] [ 0.0023229 0.00292709 0.99999302 0.4844463 ] [ 0. 0. 0. 1. ]] SLAMing on 126.932557844 meters 0.2929646159246281 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.49 [[ 9.99988074e-01 -4.87407926e-03 -3.09125607e-04 -5.23953679e-02] [ 4.87344994e-03 9.99986115e-01 -2.00491106e-03 -1.26995338e-01] [ 3.18893410e-04 2.00338064e-03 9.99997942e-01 4.85722987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962557844 meters 0.29320447885217504 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.49 [[ 9.99987631e-01 -4.96678457e-03 -2.62197720e-04 -5.24690381e-02] [ 4.96618142e-03 9.99985131e-01 -2.25295473e-03 -1.25978248e-01] [ 2.73383762e-04 2.25162475e-03 9.99997428e-01 4.85606583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992557844 meters 0.29357843803099193 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.49 [[ 9.99987430e-01 -5.00778161e-03 -2.47908698e-04 -5.23648140e-02] [ 5.00718227e-03 9.99984675e-01 -2.36188914e-03 -1.25553915e-01] [ 2.59732724e-04 2.36061812e-03 9.99997180e-01 4.85280490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022557844 meters 0.2936364989768547 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.49 [[ 9.99987525e-01 -4.98122643e-03 -3.69297439e-04 -5.20063725e-02] [ 4.98036921e-03 9.99984983e-01 -2.28689302e-03 -1.25883978e-01] [ 3.80683425e-04 2.28502526e-03 9.99997317e-01 4.85176698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052557844 meters 0.29420831340144715 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.49 [[ 9.99987713e-01 -4.94092024e-03 -4.01461644e-04 -5.19883800e-02] [ 4.94003410e-03 9.99985424e-01 -2.17909029e-03 -1.26320721e-01] [ 4.12222504e-04 2.17708028e-03 9.99997545e-01 4.85331240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08255784400001 meters 0.2918517456104197 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99997969e-01 -1.44057487e-04 -2.01034478e-03 -7.60593457e-02] [ 1.33009971e-04 9.99984897e-01 -5.49438573e-03 -1.27890001e-01] [ 2.01110592e-03 5.49410717e-03 9.99982885e-01 4.87371563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11255784400001 meters 0.29125158682740526 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99997975e-01 -7.39155554e-05 -2.01126476e-03 -7.61176650e-02] [ 6.32484800e-05 9.99985936e-01 -5.30321227e-03 -1.28666665e-01] [ 2.01162846e-03 5.30307432e-03 9.99983915e-01 4.87514330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14255784400001 meters 0.2920795672675871 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99998013e-01 -3.15063784e-05 -1.99340425e-03 -7.61450561e-02] [ 2.11587902e-05 9.99986528e-01 -5.19072122e-03 -1.29135510e-01] [ 1.99354093e-03 5.19066873e-03 9.99984541e-01 4.87471149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17255784400001 meters 0.2946260918436926 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99998023e-01 -7.25577642e-05 -1.98728247e-03 -7.57555289e-02] [ 6.20189145e-05 9.99985939e-01 -5.30269458e-03 -1.28731021e-01] [ 1.98763928e-03 5.30256085e-03 9.99983966e-01 4.86479296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20255784400001 meters 0.29275538979903043 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99998014e-01 -1.17415973e-04 -1.98932029e-03 -7.55653793e-02] [ 1.06620409e-04 9.99985273e-01 -5.42599707e-03 -1.28255376e-01] [ 1.98992810e-03 5.42577419e-03 9.99983300e-01 4.86031973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.232557844 meters 0.29379592587472686 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.49 [[ 9.99997921e-01 -1.79940994e-04 -2.03137018e-03 -7.53718595e-02] [ 1.68569430e-04 9.99984324e-01 -5.59676125e-03 -1.27575330e-01] [ 2.03234542e-03 5.59640718e-03 9.99982275e-01 4.85817977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262557844 meters 0.29489158640624824 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.48 [[ 9.99995725e-01 -2.20903079e-03 1.91594296e-03 -5.20279222e-02] [ 2.20867042e-03 9.99997543e-01 1.90187102e-04 -1.31180132e-01] [-1.91635838e-03 -1.85954602e-04 9.99998146e-01 4.82019372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292557844 meters 0.2947295642751587 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.48 [[ 9.99995865e-01 -2.20233060e-03 1.84944839e-03 -5.17998019e-02] [ 2.20194377e-03 9.99997553e-01 2.11169374e-04 -1.31285289e-01] [-1.84990893e-03 -2.07096119e-04 9.99998267e-01 4.81893924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322557844 meters 0.2953127301057007 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.48 [[ 9.99996063e-01 -2.14437720e-03 1.80999136e-03 -5.17787660e-02] [ 2.14369099e-03 9.99997630e-01 3.80981210e-04 -1.31959462e-01] [-1.81080403e-03 -3.77099648e-04 9.99998289e-01 4.82098741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352557844 meters 0.2934933506116598 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.48 [[ 9.99996938e-01 2.45323186e-03 -3.23529889e-04 -7.63551648e-02] [-2.45412669e-03 9.99993082e-01 -2.79506348e-03 -1.32593329e-01] [ 3.16670712e-04 2.79584890e-03 9.99996041e-01 4.84808473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382557844 meters 0.29291070627786625 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.13, Z:0.48 [[ 9.99996814e-01 2.51276690e-03 -2.42692106e-04 -7.66050469e-02] [-2.51339573e-03 9.99993392e-01 -2.62647823e-03 -1.33260147e-01] [ 2.36090775e-04 2.62707985e-03 9.99996521e-01 4.84938397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412557844 meters 0.2945024047824431 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.13, Z:0.48 [[ 9.99992137e-01 -2.76853763e-03 2.83927631e-03 -5.47562134e-02] [ 2.76709365e-03 9.99996040e-01 5.12374412e-04 -1.34603798e-01] [-2.84068359e-03 -5.04513840e-04 9.99995838e-01 4.83370439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442557844 meters 0.2932025056825392 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.48 [[ 0.99998616 -0.00405583 0.00335019 -0.09403831] [ 0.00405066 0.9999906 0.00154697 -0.13973675] [-0.00335643 -0.00153338 0.99999319 0.48125141] [ 0. 0. 0. 1. ]] SLAMing on 127.47255784400001 meters 0.2946615159010753 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999438 -0.00263237 0.00207398 -0.05464373] [ 0.00263023 0.99999601 0.00103286 -0.13851292] [-0.00207669 -0.0010274 0.99999732 0.48414415] [ 0. 0. 0. 1. ]] SLAMing on 127.50255784400001 meters 0.29542094194912183 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999527 -0.00253602 0.0017404 -0.05359545] [ 0.00253371 0.99999591 0.0013298 -0.13988392] [-0.00174376 -0.00132538 0.9999976 0.48362531] [ 0. 0. 0. 1. ]] SLAMing on 127.53255784400001 meters 0.29593580402605063 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.9999955 -0.00252617 0.00162002 -0.05314342] [ 0.00252397 0.99999588 0.00136428 -0.14006411] [-0.00162346 -0.00136018 0.99999776 0.48329565] [ 0. 0. 0. 1. ]] SLAMing on 127.56255784400001 meters 0.2956827976201124 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999562 -0.00253622 0.00152784 -0.05280957] [ 0.00253417 0.99999589 0.00134406 -0.13999761] [-0.00153125 -0.00134019 0.99999793 0.48308373] [ 0. 0. 0. 1. ]] SLAMing on 127.592557844 meters 0.2950951148178293 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999567 -0.00247578 0.00159223 -0.05299692] [ 0.00247338 0.99999581 0.00150319 -0.14064748] [-0.00159594 -0.00149924 0.9999976 0.48313613] [ 0. 0. 0. 1. ]] SLAMing on 127.622557844 meters 0.29648176506530854 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999591 -0.00235095 0.00162875 -0.05330246] [ 0.00234797 0.99999557 0.00183163 -0.14197018] [-0.00163305 -0.0018278 0.999997 0.4836276 ] [ 0. 0. 0. 1. ]] SLAMing on 127.652557844 meters 0.29457788586661277 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 0.99999617 -0.00222561 0.00164503 -0.05356319] [ 0.00222206 0.99999521 0.00215406 -0.14326309] [-0.00164981 -0.00215039 0.99999633 0.48411511] [ 0. 0. 0. 1. ]] SLAMing on 127.682557844 meters 0.2946863870801013 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 0.99999692 -0.0019146 0.00158164 -0.05352257] [ 0.00191002 0.99999398 0.00289707 -0.14631526] [-0.00158718 -0.00289404 0.99999455 0.48438583] [ 0. 0. 0. 1. ]] SLAMing on 127.712557844 meters 0.2940629634160955 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 0.99998492 0.0053735 0.00113761 -0.07223592] [-0.0053755 0.999984 0.00176451 -0.15216489] [-0.00112811 -0.0017706 0.9999978 0.48209771] [ 0. 0. 0. 1. ]] SLAMing on 127.742557844 meters 0.2946289862953322 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 0.99998433 0.00546504 0.00121366 -0.07233468] [-0.00546746 0.99998305 0.00200301 -0.15316558] [-0.00120269 -0.00200961 0.99999726 0.48187928] [ 0. 0. 0. 1. ]] SLAMing on 127.772557844 meters 0.29556010026691454 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 0.9999926 -0.00299647 0.00241348 -0.0501092 ] [ 0.0029915 0.9999934 0.00206168 -0.15021791] [-0.00241965 -0.00205444 0.99999496 0.48063253] [ 0. 0. 0. 1. ]] SLAMing on 127.802557844 meters 0.2953318269580216 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 0.999993 -0.00291416 0.00234805 -0.04990411] [ 0.00290881 0.99999317 0.00227992 -0.15113384] [-0.00235467 -0.00227308 0.99999464 0.48055996] [ 0. 0. 0. 1. ]] SLAMing on 127.83255784400001 meters 0.2951489733288828 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 0.9999935 -0.00279115 0.00228129 -0.04991913] [ 0.00278521 0.99999273 0.00260417 -0.15244409] [-0.00228854 -0.0025978 0.99999401 0.48100403] [ 0. 0. 0. 1. ]] SLAMing on 127.86255784400001 meters 0.29578127625681105 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 9.99973475e-01 4.76159177e-03 5.51157848e-03 -2.96218363e-02] [-4.76235432e-03 9.99988652e-01 1.25237670e-04 -1.51303421e-01] [-5.51091961e-03 -1.51482437e-04 9.99984803e-01 4.79804562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89255784400001 meters 0.2954971490492769 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.48 [[ 0.99997961 -0.00471283 0.00430845 -0.04854107] [ 0.00470732 0.99998809 0.0012879 -0.14807201] [-0.00431447 -0.0012676 0.99998989 0.47921734] [ 0. 0. 0. 1. ]] SLAMing on 127.92255784400001 meters 0.29361649595264344 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998785e-01 8.92649889e-04 1.27762743e-03 -7.01466150e-02] [-8.90888281e-04 9.99998653e-01 -1.37871819e-03 -1.48641425e-01] [-1.27885642e-03 1.37757829e-03 9.99998233e-01 4.81175370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95255784400001 meters 0.29562250821997177 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998794e-01 8.23623753e-04 1.31630150e-03 -7.01522283e-02] [-8.21558083e-04 9.99998432e-01 -1.56906893e-03 -1.47877902e-01] [-1.31759175e-03 1.56798562e-03 9.99997903e-01 4.80956201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982557844 meters 0.29450829424739633 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998788e-01 7.91250644e-04 1.34067894e-03 -7.01018288e-02] [-7.89029255e-04 9.99998316e-01 -1.65663276e-03 -1.47536414e-01] [-1.34198750e-03 1.65557291e-03 9.99997729e-01 4.80695961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012557844 meters 0.2941338732200177 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998816e-01 7.73194724e-04 1.33021965e-03 -7.00233400e-02] [-7.70925618e-04 9.99998249e-01 -1.70548048e-03 -1.47345912e-01] [-1.33153599e-03 1.70445296e-03 9.99997661e-01 4.80571975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04255784400002 meters 0.29397827892885103 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998875e-01 8.02099992e-04 1.26721869e-03 -6.98694220e-02] [-8.00045599e-04 9.99998366e-01 -1.62085842e-03 -1.47695156e-01] [-1.26851671e-03 1.61984277e-03 9.99997883e-01 4.80587354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07255784400002 meters 0.2947508513205027 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99975163e-01 -6.60724453e-03 2.45323522e-03 -4.99580558e-02] [ 6.60844992e-03 9.99978047e-01 -4.83568698e-04 -1.44353811e-01] [-2.44998630e-03 4.99768770e-04 9.99996874e-01 4.81784166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10255784400002 meters 0.29529527525485805 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99975704e-01 -6.56904125e-03 2.33216495e-03 -4.96327430e-02] [ 6.56991541e-03 9.99978350e-01 -3.67365691e-04 -1.44835993e-01] [-2.32970122e-03 3.82678892e-04 9.99997213e-01 4.81743755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13255784400002 meters 0.2944945276259822 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 0.9999985 0.0010204 0.00140079 -0.06823985] [-0.0010186 0.99999866 -0.00128202 -0.15128802] [-0.00140209 0.00128059 0.9999982 0.48066285] [ 0. 0. 0. 1. ]] SLAMing on 128.162557844 meters 0.2945472578889574 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 0.9999983 0.00110501 0.00147655 -0.06850894] [-0.00110347 0.99999885 -0.001045 -0.15223879] [-0.00147771 0.00104337 0.99999836 0.48085671] [ 0. 0. 0. 1. ]] SLAMing on 128.192557844 meters 0.29547199948506514 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99998082e-01 1.18418417e-03 1.56027799e-03 -6.87619865e-02] [-1.18288915e-03 9.99998955e-01 -8.30655461e-04 -1.53109148e-01] [-1.56126000e-03 8.28808231e-04 9.99998438e-01 4.80954792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222557844 meters 0.2943120735117394 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.48 [[ 9.99997911e-01 1.25578251e-03 1.61260884e-03 -6.89187193e-02] [-1.25475295e-03 9.99999008e-01 -6.39292781e-04 -1.53891673e-01] [-1.61341006e-03 6.37268019e-04 9.99998495e-01 4.81005346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252557844 meters 0.29514045512976333 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.48 [[ 0.99998412 -0.00366373 0.00428293 -0.04559193] [ 0.00365225 0.99998973 0.0026844 -0.15607122] [-0.00429272 -0.00266871 0.99998723 0.47867813] [ 0. 0. 0. 1. ]] SLAMing on 128.282557844 meters 0.29429281909694566 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.9999898 0.00365155 0.00265883 -0.06379459] [-0.00365559 0.99999217 0.00151731 -0.16140446] [-0.00265327 -0.00152702 0.99999531 0.47710421] [ 0. 0. 0. 1. ]] SLAMing on 128.312557844 meters 0.29613965910327716 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.9999899 0.00373648 0.00249926 -0.06323379] [-0.00374088 0.99999146 0.00175914 -0.16245341] [-0.00249267 -0.00176847 0.99999533 0.47673144] [ 0. 0. 0. 1. ]] SLAMing on 128.342557844 meters 0.29621699701510934 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.99998986 0.0037307 0.00252389 -0.06317422] [-0.00373511 0.9999915 0.0017434 -0.16240733] [-0.00251736 -0.00175281 0.9999953 0.47645153] [ 0. 0. 0. 1. ]] SLAMing on 128.372557844 meters 0.29621699701510934 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.99998986 0.0037307 0.00252389 -0.06317422] [-0.00373511 0.9999915 0.0017434 -0.16240733] [-0.00251736 -0.00175281 0.9999953 0.47645153] [ 0. 0. 0. 1. ]] SLAMing on 128.402557844 meters 0.29518980043643517 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.99998943 0.00374821 0.002661 -0.06361918] [-0.00375295 0.99999137 0.0017813 -0.16253425] [-0.0026543 -0.00179127 0.99999487 0.47667003] [ 0. 0. 0. 1. ]] SLAMing on 128.432557844 meters 0.29376866740173607 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.16, Z:0.48 [[ 0.9999891 0.00374891 0.00278293 -0.06407522] [-0.00375386 0.99999138 0.00177679 -0.16247137] [-0.00277624 -0.00178722 0.99999455 0.47703543] [ 0. 0. 0. 1. ]] SLAMing on 128.462557844 meters 0.29450913685239194 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.48 [[ 0.99998248 -0.00350659 0.00476936 -0.04522502] [ 0.00349195 0.99998917 0.00307612 -0.15928129] [-0.00478009 -0.00305942 0.9999839 0.47837699] [ 0. 0. 0. 1. ]] SLAMing on 128.492557844 meters 0.2945036699020971 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.48 [[ 0.9999829 -0.00339075 0.00476476 -0.04541785] [ 0.00337444 0.99998843 0.00342867 -0.16064849] [-0.00477633 -0.00341253 0.99998277 0.47890729] [ 0. 0. 0. 1. ]] SLAMing on 128.522557844 meters 0.2954316063256812 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.48 [[ 0.99998372 -0.00332655 0.00463533 -0.04506576] [ 0.00330977 0.99998796 0.00362377 -0.16144659] [-0.00464733 -0.00360837 0.99998269 0.47885355] [ 0. 0. 0. 1. ]] SLAMing on 128.552557844 meters 0.2952217469297267 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.48 [[ 0.99998474 -0.00327397 0.00444903 -0.04450933] [ 0.00325707 0.99998748 0.00379955 -0.16218502] [-0.00446141 -0.003785 0.99998288 0.47862588] [ 0. 0. 0. 1. ]] SLAMing on 128.582557844 meters 0.295744081538064 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.48 [[ 0.99998588 -0.00321288 0.00423286 -0.0438825 ] [ 0.00319596 0.99998689 0.00399956 -0.16302672] [-0.00424566 -0.00398598 0.99998304 0.47841025] [ 0. 0. 0. 1. ]] SLAMing on 128.612557844 meters 0.2942949944645044 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.48 [[ 0.99999788 0.00123539 0.00164879 -0.06804138] [-0.00123723 0.99999861 0.00111682 -0.16485045] [-0.00164741 -0.00111886 0.99999802 0.48129098] [ 0. 0. 0. 1. ]] SLAMing on 128.642557844 meters 0.29592075030974496 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.48 [[ 9.99997082e-01 2.00313248e-03 1.35020838e-03 -3.07724944e-02] [-2.00339721e-03 9.99997974e-01 1.94746029e-04 -1.64326752e-01] [-1.34981555e-03 -1.97450465e-04 9.99999070e-01 4.84911711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672557844 meters 0.293789120880971 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.17, Z:0.49 [[ 9.99981264e-01 -6.08403342e-03 -6.75955981e-04 -5.13259960e-02] [ 6.08582615e-03 9.99977883e-01 2.68251576e-03 -1.65424857e-01] [ 6.59620516e-04 -2.68657925e-03 9.99996174e-01 4.85696984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702557844 meters 0.29548122296287144 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99997728e-01 1.55854350e-03 1.45441198e-03 -2.98084102e-02] [-1.55886325e-03 9.99998761e-01 2.18738698e-04 -1.67023110e-01] [-1.45406927e-03 -2.21005430e-04 9.99998918e-01 4.83872406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732557844 meters 0.2958031023657628 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99997547e-01 1.61940815e-03 1.51116829e-03 -2.99345210e-02] [-1.61999022e-03 9.99998614e-01 3.84038995e-04 -1.67696663e-01] [-1.51054428e-03 -3.86486131e-04 9.99998784e-01 4.83813388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762557844 meters 0.29393389557139515 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99997453e-01 1.67601891e-03 1.51173538e-03 -3.00465329e-02] [-1.67683051e-03 9.99998451e-01 5.35761729e-04 -1.68297157e-01] [-1.51083509e-03 -5.38295288e-04 9.99998714e-01 4.84060019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79255784400002 meters 0.29361994128118774 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.48 [[ 9.99998009e-01 -1.15114107e-04 1.99196228e-03 -6.76421088e-02] [ 1.12735746e-04 9.99999281e-01 1.19405000e-03 -1.71639284e-01] [-1.99209829e-03 -1.19382306e-03 9.99997303e-01 4.81032063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82255784400002 meters 0.2947479563100976 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99999508e-01 7.77371664e-04 6.15738571e-04 -2.79092185e-02] [-7.77406658e-04 9.99999696e-01 5.65945458e-05 -1.70854207e-01] [-6.15694389e-04 -5.70731972e-05 9.99999809e-01 4.83552432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85255784400002 meters 0.29466522473596124 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99999471e-01 8.52122703e-04 5.76448091e-04 -2.76463039e-02] [-8.52279784e-04 9.99999600e-01 2.72308761e-04 -1.71774969e-01] [-5.76215820e-04 -2.72799912e-04 9.99999797e-01 4.83152925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88255784400002 meters 0.29510180940857594 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99999424e-01 9.36797600e-04 5.24071672e-04 -2.74269183e-02] [-9.37073619e-04 9.99999422e-01 5.26685315e-04 -1.72820789e-01] [-5.23577972e-04 -5.27176105e-04 9.99999724e-01 4.82926506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912557844 meters 0.29459118803010464 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99999408e-01 1.01593533e-03 3.89080700e-04 -2.69867562e-02] [-1.01623886e-03 9.99999179e-01 7.80722530e-04 -1.73867332e-01] [-3.88287217e-04 -7.81117467e-04 9.99999620e-01 4.82640553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942557844 meters 0.29832985634043396 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 9.99999384e-01 1.09467653e-03 1.85091084e-04 -2.63206939e-02] [-1.09486856e-03 9.99998859e-01 1.04058905e-03 -1.74960679e-01] [-1.83951764e-04 -1.04079106e-03 9.99999441e-01 4.82204748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972557844 meters 0.2946735130695616 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.48 [[ 9.99999480e-01 -1.00306368e-03 1.83798468e-04 -6.24638548e-02] [ 1.00269847e-03 9.99997544e-01 1.97645981e-03 -1.80549945e-01] [-1.85780531e-04 -1.97627449e-03 9.99998030e-01 4.78440082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002557844 meters 0.29410796178096144 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.48 [[ 9.99999560e-01 -8.99133523e-04 2.66756276e-04 -6.27663370e-02] [ 8.98521045e-04 9.99996980e-01 2.28732629e-03 -1.81776210e-01] [-2.68812082e-04 -2.28708560e-03 9.99997348e-01 4.78658553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032557844 meters 0.2953917368333457 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99999947e-01 1.62141238e-05 -3.25013081e-04 -2.55056567e-02] [-1.57448739e-05 9.99998958e-01 1.44373804e-03 -1.83235997e-01] [ 3.25036151e-04 -1.44373284e-03 9.99998905e-01 4.82487847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062557844 meters 0.2939871451807873 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998685 0.00436632 -0.00269015 -0.04965339] [-0.00437181 0.99998836 -0.00204099 -0.18160051] [ 0.0026812 0.00205272 0.9999943 0.48488748] [ 0. 0. 0. 1. ]] SLAMing on 129.092557844 meters 0.29385933836443723 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998674 0.0044162 -0.00264895 -0.04978723] [-0.00442126 0.99998841 -0.0019075 -0.18214597] [ 0.0026405 0.00191919 0.99999467 0.48493947] [ 0. 0. 0. 1. ]] SLAMing on 129.122557844 meters 0.2938645509706138 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998654 0.00446684 -0.00264069 -0.04970712] [-0.00447152 0.99998844 -0.00177058 -0.18272526] [ 0.00263275 0.00178236 0.99999495 0.48468284] [ 0. 0. 0. 1. ]] SLAMing on 129.152557844 meters 0.29351947986265586 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998655 0.00446428 -0.00264132 -0.0496397 ] [-0.00446898 0.99998843 -0.00177796 -0.18270432] [ 0.00263335 0.00178974 0.99999493 0.48452798] [ 0. 0. 0. 1. ]] SLAMing on 129.182557844 meters 0.29405715166741625 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998661 0.00443899 -0.00265909 -0.04955704] [-0.0044439 0.99998842 -0.00184505 -0.18243226] [ 0.00265087 0.00185684 0.99999476 0.48445057] [ 0. 0. 0. 1. ]] SLAMing on 129.212557844 meters 0.2957029256209922 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99999457e-01 -9.35972051e-04 4.59266411e-04 -2.74760912e-02] [ 9.35563093e-04 9.99999166e-01 8.89867436e-04 -1.83842437e-01] [-4.60098920e-04 -8.89437280e-04 9.99999499e-01 4.82480940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242557844 meters 0.2944623734613029 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99999440e-01 -9.48464285e-04 4.68801773e-04 -2.73182445e-02] [ 9.48062446e-04 9.99999184e-01 8.56640015e-04 -1.83735549e-01] [-4.69613882e-04 -8.56195083e-04 9.99999523e-01 4.82060774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.272557844 meters 0.2955685731451484 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99999436e-01 -9.84894014e-04 3.97205086e-04 -2.69675688e-02] [ 9.84591153e-04 9.99999225e-01 7.61955302e-04 -1.83365859e-01] [-3.97955223e-04 -7.61563788e-04 9.99999631e-01 4.81683040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302557844 meters 0.29457530372226437 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998814 0.0033715 -0.00351599 -0.04857607] [-0.00338108 0.99999057 -0.00272396 -0.18013695] [ 0.00350677 0.00273581 0.99999011 0.48353846] [ 0. 0. 0. 1. ]] SLAMing on 129.332557844 meters 0.2943436282464301 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.18, Z:0.48 [[ 0.99998787 0.00334771 -0.00361212 -0.04846172] [-0.00335777 0.99999049 -0.00278379 -0.17987527] [ 0.00360276 0.00279588 0.9999896 0.48384851] [ 0. 0. 0. 1. ]] SLAMing on 129.362557844 meters 0.296857126462678 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99999071e-01 -1.13934830e-03 7.48875340e-04 -2.69548709e-02] [ 1.13918595e-03 9.99999328e-01 2.17179819e-04 -1.82959631e-01] [-7.49122280e-04 -2.16326508e-04 9.99999696e-01 4.81980924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392557844 meters 0.293987194117916 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99998912e-01 -1.17292543e-03 8.94153655e-04 -2.75924813e-02] [ 1.17282485e-03 9.99999306e-01 1.13007202e-04 -1.82457572e-01] [-8.94285583e-04 -1.11958394e-04 9.99999594e-01 4.82700913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422557844 meters 0.2940397739547582 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 9.99997478e-01 -1.28573727e-03 1.84125418e-03 -2.98701201e-02] [ 1.28682514e-03 9.99998998e-01 -5.89765446e-04 -1.79433259e-01] [-1.84049405e-03 5.92133331e-04 9.99998131e-01 4.83057172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.452557844 meters 0.29400037755158465 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 0.99999742 -0.00142201 0.0017741 -0.0294315 ] [ 0.00142383 0.99999846 -0.00102372 -0.17777119] [-0.00177264 0.00102624 0.9999979 0.48237583] [ 0. 0. 0. 1. ]] SLAMing on 129.482557844 meters 0.2939855269276062 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.48 [[ 0.99999754 -0.00156784 0.00157063 -0.02859106] [ 0.00157018 0.99999766 -0.00148909 -0.17596879] [-0.00156829 0.00149155 0.99999766 0.48152802] [ 0. 0. 0. 1. ]] SLAMing on 129.512557844 meters 0.2948040131991733 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.99999753 -0.00171856 0.00140733 -0.02794046] [ 0.00172132 0.99999659 -0.00196185 -0.1741212 ] [-0.00140395 0.00196426 0.99999709 0.48093843] [ 0. 0. 0. 1. ]] SLAMing on 129.54255784400002 meters 0.29357778839574855 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.99999742 -0.00185823 0.00130689 -0.02765028] [ 0.00186133 0.99999544 -0.00237796 -0.17246872] [-0.00130247 0.00238039 0.99999632 0.48086338] [ 0. 0. 0. 1. ]] SLAMing on 129.57255784400002 meters 0.2938797296475275 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.99999722 -0.00199106 0.00126205 -0.02758863] [ 0.00199454 0.99999419 -0.0027629 -0.17090996] [-0.00125654 0.00276541 0.99999539 0.48102032] [ 0. 0. 0. 1. ]] SLAMing on 129.60255784400002 meters 0.2935038332086204 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.9999964 -0.00226493 0.00143643 -0.02810517] [ 0.00227013 0.99999082 -0.00363417 -0.16742231] [-0.00142819 0.00363742 0.99999236 0.48128291] [ 0. 0. 0. 1. ]] SLAMing on 129.63255784400002 meters 0.2930067643606895 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.99999613 -0.00236923 0.00146045 -0.02805416] [ 0.00237494 0.99998951 -0.00391683 -0.16628509] [-0.00145115 0.00392028 0.99999126 0.48103624] [ 0. 0. 0. 1. ]] SLAMing on 129.662557844 meters 0.29261732294089826 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.48 [[ 0.9999959 -0.00247527 0.00143942 -0.02784871] [ 0.0024813 0.9999881 -0.00420061 -0.16514728] [-0.001429 0.00420416 0.99999014 0.48069557] [ 0. 0. 0. 1. ]] SLAMing on 129.692557844 meters 0.2936501105214539 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.48 [[ 0.9999957 -0.00258434 0.00138761 -0.02757333] [ 0.00259056 0.99998655 -0.00449317 -0.1639759 ] [-0.00137598 0.00449674 0.99998894 0.48037306] [ 0. 0. 0. 1. ]] SLAMing on 129.722557844 meters 0.29304615606099094 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.48 [[ 0.99999535 -0.00269518 0.00142721 -0.02761752] [ 0.002702 0.99998484 -0.00479854 -0.16273464] [-0.00141426 0.00480238 0.99998747 0.48024955] [ 0. 0. 0. 1. ]] SLAMing on 129.752557844 meters 0.2917693518461769 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.16, Z:0.48 [[ 9.99997052e-01 -4.36953382e-04 2.38842010e-03 -3.24233015e-02] [ 4.45210891e-04 9.99993922e-01 -3.45787215e-03 -1.55779566e-01] [-2.38689465e-03 3.45892531e-03 9.99991169e-01 4.83770903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782557844 meters 0.29235824417133865 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 9.99996778e-01 -6.16695885e-04 2.46230578e-03 -3.25452730e-02] [ 6.26520430e-04 9.99991839e-01 -3.99120177e-03 -1.53654376e-01] [-2.45982433e-03 3.99273159e-03 9.99989004e-01 4.83638320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812557844 meters 0.2923941434228694 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 9.99996807e-01 -7.83739293e-04 2.40257284e-03 -3.21911273e-02] [ 7.94539236e-04 9.99989571e-01 -4.49750356e-03 -1.51666130e-01] [-2.39902291e-03 4.49939814e-03 9.99987000e-01 4.83153138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842557844 meters 0.2935645032969459 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.48 [[ 9.99975069e-01 -3.07282185e-03 6.35752988e-03 -8.49741684e-03] [ 3.06793914e-03 9.99994992e-01 7.77629879e-04 -1.52973545e-01] [-6.35988755e-03 -7.58105978e-04 9.99979488e-01 4.78740229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872557844 meters 0.2923795770128417 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999384 0.0026195 0.00233835 -0.02833671] [-0.00261476 0.99999453 -0.00202804 -0.14971198] [-0.00234365 0.00202191 0.99999521 0.47988125] [ 0. 0. 0. 1. ]] SLAMing on 129.902557844 meters 0.2918679941834158 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999417 0.00249963 0.00232791 -0.02828354] [-0.00249409 0.99999406 -0.00237971 -0.14829697] [-0.00233384 0.00237389 0.99999446 0.4798301 ] [ 0. 0. 0. 1. ]] SLAMing on 129.932557844 meters 0.2920007594634547 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999461 0.00234 0.00230237 -0.02820615] [-0.00233341 0.99999319 -0.00285862 -0.14637079] [-0.00230904 0.00285323 0.99999326 0.47982457] [ 0. 0. 0. 1. ]] SLAMing on 129.962557844 meters 0.29169752744252336 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999484 0.00231831 0.00222434 -0.02799225] [-0.00231182 0.99999308 -0.00291388 -0.14614686] [-0.00223108 0.00290873 0.99999328 0.47979114] [ 0. 0. 0. 1. ]] SLAMing on 129.992557844 meters 0.2929301540339527 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.15, Z:0.48 [[ 0.99999501 0.00229972 0.00216712 -0.02789469] [-0.0022933 0.99999298 -0.00296191 -0.14594133] [-0.00217392 0.00295693 0.99999327 0.47990922] [ 0. 0. 0. 1. ]] SLAMing on 130.022557844 meters 0.2932228858362131 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.15, Z:0.48 [[ 9.99985803e-01 -2.33760581e-03 4.78854764e-03 -4.14847446e-03] [ 2.33572964e-03 9.99997193e-01 3.97359569e-04 -1.47038739e-01] [-4.78946307e-03 -3.86169175e-04 9.99988456e-01 4.77686983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.052557844 meters 0.29278637461422324 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.48 [[ 9.99981537e-01 5.16440654e-03 3.20216243e-03 -2.37188037e-02] [-5.16199479e-03 9.99986387e-01 -7.60971261e-04 -1.50259520e-01] [-3.20604880e-03 7.44427666e-04 9.99994584e-01 4.76772773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082557844 meters 0.29266997884001794 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.15, Z:0.48 [[ 9.99981483e-01 5.13085973e-03 3.27216245e-03 -2.39195553e-02] [-5.12807950e-03 9.99986484e-01 -8.57485734e-04 -1.49853575e-01] [-3.27651786e-03 8.40689947e-04 9.99994279e-01 4.76829074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112557844 meters 0.29373764257213947 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99985532e-01 -2.41211317e-03 4.80796616e-03 -5.59687083e-03] [ 2.41131771e-03 9.99997078e-01 1.71235148e-04 -1.43854581e-01] [-4.80836515e-03 -1.59639136e-04 9.99988427e-01 4.77905547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142557844 meters 0.2933713353226579 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99985594e-01 -2.48065112e-03 4.76015030e-03 -5.41329578e-03] [ 2.48076712e-03 9.99996923e-01 -1.84651437e-05 -1.43087639e-01] [-4.76008984e-03 3.02737020e-05 9.99988670e-01 4.77762299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172557844 meters 0.2932801767167045 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 9.99986164e-01 -2.55602440e-03 4.59756095e-03 -4.94825790e-03] [ 2.55706845e-03 9.99996706e-01 -2.21225035e-04 -1.42273910e-01] [-4.59698035e-03 2.32978252e-04 9.99989407e-01 4.77634409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202557844 meters 0.29416477501913324 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 9.99986525e-01 -2.63222314e-03 4.47441933e-03 -4.55655829e-03] [ 2.63419449e-03 9.99996436e-01 -4.34747001e-04 -1.41426182e-01] [-4.47325904e-03 4.46527633e-04 9.99989895e-01 4.77435781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232557844 meters 0.29391615166203894 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 9.99986338e-01 -2.72342640e-03 4.46175485e-03 -4.46381199e-03] [ 2.72659933e-03 9.99996034e-01 -7.05211429e-04 -1.40347251e-01] [-4.45981656e-03 7.17367212e-04 9.99989798e-01 4.77286610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262557844 meters 0.2928237757020529 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 9.99985777e-01 -2.81838695e-03 4.52795832e-03 -4.58735349e-03] [ 2.82290245e-03 9.99995524e-01 -9.91166553e-04 -1.39200420e-01] [-4.52514456e-03 1.00393444e-03 9.99989258e-01 4.77165473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29255784400002 meters 0.29273860165499865 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 0.99998458 -0.00294325 0.00471025 -0.00505079] [ 0.00294983 0.99999468 -0.00139112 -0.1375887 ] [-0.00470613 0.001405 0.99998794 0.4772048 ] [ 0. 0. 0. 1. ]] SLAMing on 130.32255784400002 meters 0.29273860165499865 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 0.99998458 -0.00294325 0.00471025 -0.00505079] [ 0.00294983 0.99999468 -0.00139112 -0.1375887 ] [-0.00470613 0.001405 0.99998794 0.4772048 ] [ 0. 0. 0. 1. ]] SLAMing on 130.35255784400002 meters 0.2933490588834618 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 0.99998458 -0.00298885 0.00467951 -0.00490285] [ 0.00299597 0.99999437 -0.00151441 -0.13709223] [-0.00467495 0.0015284 0.9999879 0.47704233] [ 0. 0. 0. 1. ]] SLAMing on 130.38255784400002 meters 0.29300780253347164 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 0.99998476 -0.00302193 0.00462059 -0.00458892] [ 0.00302937 0.99999413 -0.00160349 -0.13675178] [-0.00461571 0.00161746 0.99998804 0.47664999] [ 0. 0. 0. 1. ]] SLAMing on 130.412557844 meters 0.2941429944337888 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:0.48 [[ 0.99996506 0.00641491 0.0053589 0.01515364] [-0.00640011 0.99997567 -0.00277397 -0.13853082] [-0.00537656 0.00273958 0.99998179 0.47720802] [ 0. 0. 0. 1. ]] SLAMing on 130.442557844 meters 0.2943461795146461 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:0.48 [[ 0.99996519 0.00640698 0.00534566 0.01525888] [-0.00639211 0.99997567 -0.0027929 -0.13846494] [-0.00536342 0.00275863 0.99998181 0.47704814] [ 0. 0. 0. 1. ]] SLAMing on 130.472557844 meters 0.29341457694453466 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:0.48 [[ 0.99997379 -0.0035112 0.00633174 -0.00671993] [ 0.00352509 0.9999914 -0.00218389 -0.13476556] [-0.00632402 0.00220615 0.99997757 0.47692579] [ 0. 0. 0. 1. ]] SLAMing on 130.502557844 meters 0.2926412808303905 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:0.48 [[ 0.99997301 -0.00349822 0.00646081 -0.00716182] [ 0.00351222 0.99999151 -0.00215582 -0.13484912] [-0.00645321 0.00217846 0.9999768 0.47720358] [ 0. 0. 0. 1. ]] SLAMing on 130.532557844 meters 0.2938546214244921 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:0.48 [[ 0.99997308 -0.00350363 0.00644698 -0.00709635] [ 0.00351768 0.99999146 -0.00216865 -0.13480124] [-0.00643933 0.00219127 0.99997687 0.47713388] [ 0. 0. 0. 1. ]] SLAMing on 130.562557844 meters 0.29113877122423343 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.14, Z:0.48 [[ 9.99994922e-01 -2.38316037e-03 2.11591193e-03 -5.01321472e-02] [ 2.38185031e-03 9.99996970e-01 6.21453832e-04 -1.40816499e-01] [-2.11738654e-03 -6.16410891e-04 9.99997568e-01 4.79831777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592557844 meters 0.2930421258887296 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99999992e-01 -2.43080556e-05 1.23808423e-04 -7.73305851e-03] [ 2.41823739e-05 9.99999485e-01 1.01503068e-03 -1.39045215e-01] [-1.23833033e-04 -1.01502768e-03 9.99999477e-01 4.80801358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622557844 meters 0.2934683699502637 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99999993e-01 2.06553161e-05 1.14410161e-04 -7.61548815e-03] [-2.07849788e-05 9.99999357e-01 1.13342911e-03 -1.39555508e-01] [-1.14386676e-04 -1.13343148e-03 9.99999351e-01 4.80593779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652557844 meters 0.2930046026058137 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99999996e-01 8.74327156e-05 8.47437644e-06 -7.31904867e-03] [-8.74437795e-05 9.99999132e-01 1.31448808e-03 -1.40310032e-01] [-8.35943983e-06 -1.31448881e-03 9.99999136e-01 4.80552707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682557844 meters 0.29285597088523835 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:0.48 [[ 9.99999986e-01 1.37525076e-04 -9.83292587e-05 -7.03481416e-03] [-1.37382428e-04 9.99998940e-01 1.44925704e-03 -1.40870541e-01] [ 9.85284637e-05 -1.44924351e-03 9.99998945e-01 4.80544397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712557844 meters 0.29526788184903857 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99997903e-01 1.46970558e-03 -1.42630897e-03 3.22417537e-02] [-1.46861294e-03 9.99998628e-01 7.66802539e-04 -1.38635207e-01] [ 1.42743398e-03 -7.64706235e-04 9.99998689e-01 4.83683891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742557844 meters 0.29483922321367245 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99997980e-01 1.44612019e-03 -1.39588105e-03 3.23316658e-02] [-1.44513510e-03 9.99998706e-01 7.06463781e-04 -1.38407072e-01] [ 1.39690087e-03 -7.04445117e-04 9.99998776e-01 4.83309326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.772557844 meters 0.29323062718965326 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99998013e-01 1.47447143e-03 -1.34130360e-03 3.21870076e-02] [-1.47342127e-03 9.99998608e-01 7.83589454e-04 -1.38716603e-01] [ 1.34245711e-03 -7.81611592e-04 9.99998793e-01 4.83318083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802557844 meters 0.2934260304368278 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99997859e-01 1.55816634e-03 -1.36180038e-03 3.21450064e-02] [-1.55681702e-03 9.99998297e-01 9.91332427e-04 -1.39562187e-01] [ 1.36334272e-03 -9.89210230e-04 9.99998581e-01 4.83528054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.832557844 meters 0.2948442967205425 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999761 0.00163925 -0.00144837 0.03234165] [-0.00163751 0.99999794 0.0011991 -0.14041662] [ 0.00145033 -0.00119673 0.99999823 0.48360986] [ 0. 0. 0. 1. ]] SLAMing on 130.862557844 meters 0.2925509748446572 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999735 0.00170998 -0.00154213 0.03262411] [-0.00170783 0.99999757 0.00139071 -0.14122257] [ 0.0015445 -0.00138807 0.99999784 0.48353043] [ 0. 0. 0. 1. ]] SLAMing on 130.892557844 meters 0.2937550007594413 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.9999972 0.0017624 -0.00157968 0.03286646] [-0.00175998 0.99999728 0.00153097 -0.14182961] [ 0.00158237 -0.00152818 0.99999758 0.48320034] [ 0. 0. 0. 1. ]] SLAMing on 130.922557844 meters 0.2935345522617436 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999702 0.00187984 -0.00155741 0.03293073] [-0.00187698 0.99999655 0.00183733 -0.14312527] [ 0.00156086 -0.00183441 0.9999971 0.48293423] [ 0. 0. 0. 1. ]] SLAMing on 130.952557844 meters 0.2924843800736413 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999683 0.00192197 -0.00162854 0.03308451] [-0.00191879 0.99999625 0.00195199 -0.14359116] [ 0.00163228 -0.00194886 0.99999677 0.48300644] [ 0. 0. 0. 1. ]] SLAMing on 130.982557844 meters 0.2928225013545471 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999661 0.00195686 -0.00171528 0.03332529] [-0.00195335 0.999996 0.00204791 -0.14399272] [ 0.00171928 -0.00204455 0.99999643 0.48296935] [ 0. 0. 0. 1. ]] SLAMing on 131.012557844 meters 0.29232488397592554 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.9999964 0.00200135 -0.00178635 0.0334546 ] [-0.00199747 0.99999565 0.00216934 -0.1444892 ] [ 0.00179069 -0.00216576 0.99999605 0.48309759] [ 0. 0. 0. 1. ]] SLAMing on 131.04255784400002 meters 0.294273666941301 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 0.99999208 0.00328305 -0.00224767 0.07214452] [-0.00327998 0.99999368 0.00136811 -0.14139453] [ 0.00225215 -0.00136072 0.99999654 0.48580159] [ 0. 0. 0. 1. ]] SLAMing on 131.07255784400002 meters 0.2931519688849888 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.48 [[ 0.99997738 -0.0057801 -0.00343853 0.05350847] [ 0.00579031 0.99997884 0.00296576 -0.13902137] [ 0.00342132 -0.00298561 0.99998969 0.48436593] [ 0. 0. 0. 1. ]] SLAMing on 131.10255784400002 meters 0.2931642386584973 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.48 [[ 0.99997803 -0.00564934 -0.00346647 0.05368516] [ 0.00566082 0.9999785 0.00330956 -0.14047126] [ 0.0034477 -0.00332911 0.99998852 0.48414485] [ 0. 0. 0. 1. ]] SLAMing on 131.13255784400002 meters 0.2940027879006009 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.48 [[ 0.99997835 -0.00558456 -0.00347885 0.05370996] [ 0.00559666 0.9999783 0.00347661 -0.1411652 ] [ 0.00345936 -0.00349601 0.99998791 0.48417056] [ 0. 0. 0. 1. ]] SLAMing on 131.162557844 meters 0.29320984087619945 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.48 [[ 0.99997863 -0.00554087 -0.003471 0.05370131] [ 0.00555333 0.99997814 0.00358923 -0.1416371 ] [ 0.00345104 -0.00360843 0.99998753 0.48414692] [ 0. 0. 0. 1. ]] SLAMing on 131.192557844 meters 0.29123259495392845 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.49 [[ 9.99983184e-01 -6.52516320e-04 -5.76247985e-03 3.04808852e-02] [ 6.54390133e-04 9.99999734e-01 3.23295260e-04 -1.42185689e-01] [ 5.76226736e-03 -3.27060733e-04 9.99983345e-01 4.85979767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222557844 meters 0.2920009603413394 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.49 [[ 9.99982956e-01 -6.20547441e-04 -5.80534965e-03 3.04946249e-02] [ 6.22937179e-04 9.99999722e-01 4.09845048e-04 -1.42527915e-01] [ 5.80509371e-03 -4.13454431e-04 9.99983065e-01 4.86203650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252557844 meters 0.2909573251864439 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.49 [[ 9.99983541e-01 -5.57852510e-04 -5.71017176e-03 2.99874567e-02] [ 5.61142705e-04 9.99999677e-01 5.74613119e-04 -1.43149703e-01] [ 5.70984937e-03 -5.77807882e-04 9.99983532e-01 4.86865003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282557844 meters 0.2918356226570133 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.49 [[ 0.99998429 -0.00488728 -0.00274442 0.05253105] [ 0.00489893 0.99997896 0.00425293 -0.14400886] [ 0.00272358 -0.0042663 0.99998719 0.48517833] [ 0. 0. 0. 1. ]] SLAMing on 131.312557844 meters 0.2914041891319788 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:0.48 [[ 0.99998461 -0.00487404 -0.00265059 0.05244298] [ 0.00488537 0.99997889 0.00428431 -0.14416434] [ 0.00262966 -0.0042972 0.99998731 0.48482508] [ 0. 0. 0. 1. ]] SLAMing on 131.342557844 meters 0.29257813436792873 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.48 [[ 9.99996543e-01 2.54462665e-03 6.62355345e-04 7.34183905e-02] [-2.54572355e-03 9.99995381e-01 1.66052234e-03 -1.42192755e-01] [-6.58126876e-04 -1.66220278e-03 9.99998402e-01 4.82457163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372557844 meters 0.2931101870336752 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.48 [[ 9.99996489e-01 2.56648375e-03 6.58988266e-04 7.35725517e-02] [-2.56761259e-03 9.99995228e-01 1.71790412e-03 -1.42468103e-01] [-6.54576149e-04 -1.71959011e-03 9.99998307e-01 4.82132262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402557844 meters 0.2914833021595537 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99999177e-01 2.20828619e-04 1.26383226e-03 3.53285469e-02] [-2.22870586e-04 9.99998670e-01 1.61578209e-03 -1.46018672e-01] [-1.26347376e-03 -1.61606243e-03 9.99997896e-01 4.79209680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432557844 meters 0.2919993322371555 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99999275e-01 3.41459563e-04 1.15491340e-03 3.53586187e-02] [-3.43683315e-04 9.99998087e-01 1.92582004e-03 -1.47277192e-01] [-1.15425360e-03 -1.92621557e-03 9.99997479e-01 4.79791505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462557844 meters 0.29379682793759926 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99999244e-01 3.52918643e-04 1.17762412e-03 3.53799064e-02] [-3.55221057e-04 9.99998025e-01 1.95549907e-03 -1.47416977e-01] [-1.17693167e-03 -1.95591591e-03 9.99997395e-01 4.79608411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492557844 meters 0.2912708543698758 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.48 [[ 0.99998596 0.00488511 -0.00205294 0.01262951] [-0.00488799 0.99998707 -0.00140337 -0.14632426] [ 0.00204606 0.00141339 0.99999691 0.48195589] [ 0. 0. 0. 1. ]] SLAMing on 131.522557844 meters 0.29272691587477373 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996469e-01 -2.46035442e-03 -1.00470971e-03 3.16312912e-02] [ 2.46022399e-03 9.99996965e-01 -1.31026542e-04 -1.41782163e-01] [ 1.00502903e-03 1.28554268e-04 9.99999487e-01 4.83110933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552557844 meters 0.2922114477073241 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996557e-01 -2.43766804e-03 -9.71421389e-04 3.15809612e-02] [ 2.43759833e-03 9.99997026e-01 -7.29364978e-05 -1.42031170e-01] [ 9.71596295e-04 7.05683115e-05 9.99999526e-01 4.83029667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582557844 meters 0.2917443526387683 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996686e-01 -2.34066755e-03 -1.07162932e-03 3.17540992e-02] [ 2.34088320e-03 9.99997240e-01 2.00027761e-04 -1.43147713e-01] [ 1.07115817e-03 -2.02535657e-04 9.99999406e-01 4.83238333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612557844 meters 0.29242565807234777 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996708e-01 -2.27870156e-03 -1.17921683e-03 3.19979164e-02] [ 2.27914532e-03 9.99997332e-01 3.75112705e-04 -1.43872372e-01] [ 1.17835891e-03 -3.77799077e-04 9.99999234e-01 4.83327028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642557844 meters 0.29300438073524815 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996714e-01 -2.22408717e-03 -1.27519402e-03 3.22836418e-02] [ 2.22476187e-03 9.99997386e-01 5.27921647e-04 -1.44520563e-01] [ 1.27401655e-03 -5.30756915e-04 9.99999048e-01 4.83247690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672557844 meters 0.29182229250825503 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.48 [[ 9.99983622e-01 5.13339447e-03 -2.53064216e-03 1.39877576e-02] [-5.13495811e-03 9.99986629e-01 -6.11772908e-04 -1.50123792e-01] [ 2.52746785e-03 6.24757630e-04 9.99996611e-01 4.81753934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702557844 meters 0.29324219716384464 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99996726e-01 -2.36220928e-03 -9.83809745e-04 3.40310500e-02] [ 2.36265890e-03 9.99997105e-01 4.56110626e-04 -1.47025891e-01] [ 9.82729468e-04 -4.58433539e-04 9.99999412e-01 4.82488167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732557844 meters 0.29145894048649224 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.48 [[ 0.99999332 0.00228299 -0.00285412 0.00985807] [-0.00229081 0.99999362 -0.00274081 -0.14840425] [ 0.00284784 0.00274733 0.99999217 0.4847398 ] [ 0. 0. 0. 1. ]] SLAMing on 131.762557844 meters 0.29039064182884905 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.15, Z:0.49 [[ 9.99969317e-01 -5.88329217e-03 -5.17216456e-03 -9.76261504e-03] [ 5.88246809e-03 9.99982683e-01 -1.74527637e-04 -1.49846681e-01] [ 5.17310179e-03 1.44097189e-04 9.99986609e-01 4.85251614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79255784400002 meters 0.2933101805759322 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99991476e-01 -3.61257091e-03 -1.99928407e-03 3.38323041e-02] [ 3.61259423e-03 9.99993475e-01 8.05559099e-06 -1.48560135e-01] [ 1.99924192e-03 -1.52781244e-05 9.99998001e-01 4.83419207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82255784400002 meters 0.29313299531444686 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99991574e-01 -3.58247926e-03 -2.00420674e-03 3.38359137e-02] [ 3.58265899e-03 9.99993579e-01 8.60912054e-05 -1.48883916e-01] [ 2.00388545e-03 -9.32708693e-05 9.99997988e-01 4.83441287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85255784400002 meters 0.29232340950791086 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99991736e-01 -3.54967739e-03 -1.98170056e-03 3.37488534e-02] [ 3.55002235e-03 9.99993684e-01 1.70582188e-04 -1.49228587e-01] [ 1.98108253e-03 -1.77615860e-04 9.99998022e-01 4.83505791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88255784400002 meters 0.2918107191869555 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99991897e-01 -3.53927972e-03 -1.91824717e-03 3.35204445e-02] [ 3.53966342e-03 9.99993716e-01 1.96670670e-04 -1.49315127e-01] [ 1.91753904e-03 -2.03459026e-04 9.99998141e-01 4.83656613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912557844 meters 0.29136994893403806 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99992276e-01 -3.58634151e-03 -1.60801054e-03 3.26481875e-02] [ 3.58638529e-03 9.99993569e-01 2.43420084e-05 -1.48557445e-01] [ 1.60791290e-03 -3.01087657e-05 9.99998707e-01 4.83871561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942557844 meters 0.290951175328064 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:0.48 [[ 9.99992301e-01 -3.61085289e-03 -1.53615243e-03 3.23119856e-02] [ 3.61078342e-03 9.99993480e-01 -4.79979116e-05 -1.48217237e-01] [ 1.53631573e-03 4.24508284e-05 9.99998819e-01 4.84239667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972557844 meters 0.29027969622084465 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.48 [[ 0.99999138 0.00349484 -0.00224258 0.01322854] [-0.00349837 0.99999264 -0.00157439 -0.15224269] [ 0.00223706 0.00158222 0.99999625 0.48272894] [ 0. 0. 0. 1. ]] SLAMing on 132.002557844 meters 0.29083145662317117 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.15, Z:0.48 [[ 0.99999136 0.00345204 -0.00231543 0.01346005] [-0.00345594 0.99999261 -0.00168358 -0.15180878] [ 0.0023096 0.00169157 0.9999959 0.48262059] [ 0. 0. 0. 1. ]] SLAMing on 132.032557844 meters 0.2926231913330931 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999657 -0.00162433 -0.00205677 0.03868967] [ 0.00162736 0.99999759 0.00147286 -0.14960095] [ 0.00205437 -0.0014762 0.9999968 0.48028166] [ 0. 0. 0. 1. ]] SLAMing on 132.062557844 meters 0.29162818592669204 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999649 -0.00166451 -0.00205902 0.03879056] [ 0.00166733 0.99999767 0.00136805 -0.14918264] [ 0.00205674 -0.00137148 0.99999694 0.48006202] [ 0. 0. 0. 1. ]] SLAMing on 132.092557844 meters 0.2908503246197243 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999641 -0.0017024 -0.00206866 0.03881127] [ 0.00170502 0.99999774 0.00126641 -0.14875928] [ 0.0020665 -0.00126993 0.99999706 0.48006705] [ 0. 0. 0. 1. ]] SLAMing on 132.122557844 meters 0.2916603728883735 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999615 -0.00176186 -0.00214403 0.03899767] [ 0.00176425 0.99999782 0.00111433 -0.14813426] [ 0.00214206 -0.00111811 0.99999708 0.48007746] [ 0. 0. 0. 1. ]] SLAMing on 132.152557844 meters 0.2913450212154687 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99995825e-01 -1.85462757e-03 -2.21602011e-03 3.92344743e-02] [ 1.85656108e-03 9.99997897e-01 8.70780274e-04 -1.47148432e-01] [ 2.21440048e-03 -8.74890815e-04 9.99997165e-01 4.79941351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182557844 meters 0.2913450212154687 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99995825e-01 -1.85462757e-03 -2.21602011e-03 3.92344743e-02] [ 1.85656108e-03 9.99997897e-01 8.70780274e-04 -1.47148432e-01] [ 2.21440048e-03 -8.74890815e-04 9.99997165e-01 4.79941351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212557844 meters 0.2922068208411671 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99995645e-01 -1.96775623e-03 -2.19932420e-03 3.93681887e-02] [ 1.96899240e-03 9.99997905e-01 5.60041906e-04 -1.45919528e-01] [ 2.19821757e-03 -5.64369920e-04 9.99997425e-01 4.79517587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242557844 meters 0.29173911704202776 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99995476e-01 -2.21690976e-03 -2.03316484e-03 3.91987581e-02] [ 2.21677919e-03 9.99997541e-01 -6.64701339e-05 -1.43347382e-01] [ 2.03330719e-03 6.19627557e-05 9.99997931e-01 4.78941360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.272557844 meters 0.29223479049781725 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99995453e-01 -2.26146567e-03 -1.99505180e-03 3.90454500e-02] [ 2.26109581e-03 9.99997426e-01 -1.87626549e-04 -1.42828022e-01] [ 1.99547097e-03 1.83114693e-04 9.99997992e-01 4.79056899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302557844 meters 0.2918438982189065 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99995313e-01 -2.25416886e-03 -2.07194979e-03 3.91548726e-02] [ 2.25383550e-03 9.99997447e-01 -1.63213568e-04 -1.42911288e-01] [ 2.07231241e-03 1.58542969e-04 9.99997840e-01 4.79267030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332557844 meters 0.29145844567949286 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99995053e-01 -2.22982785e-03 -2.21864407e-03 3.94634050e-02] [ 2.22964182e-03 9.99997511e-01 -8.63186891e-05 -1.43222730e-01] [ 2.21883103e-03 8.13714805e-05 9.99997535e-01 4.79431253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362557844 meters 0.29241997280375615 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99994818e-01 -2.17519785e-03 -2.37337724e-03 3.98723908e-02] [ 2.17539276e-03 9.99997631e-01 7.95451572e-05 -1.43916989e-01] [ 2.37319859e-03 -8.47077727e-05 9.99997180e-01 4.79403347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392557844 meters 0.2931507720577337 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99994898e-01 -2.10347445e-03 -2.40409932e-03 3.99704433e-02] [ 2.10415264e-03 9.99997747e-01 2.79600333e-04 -1.44738488e-01] [ 2.40350577e-03 -2.84657498e-04 9.99997071e-01 4.79371174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422557844 meters 0.2924549898469734 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99995672e-01 -1.95582921e-03 -2.19768999e-03 3.92848930e-02] [ 1.95742692e-03 9.99997821e-01 7.25080218e-04 -1.46454691e-01] [ 2.19626707e-03 -7.29378898e-04 9.99997322e-01 4.79869334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452557844 meters 0.29070199341931047 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999584 -0.00186077 -0.00220227 0.03911886] [ 0.00186298 0.99999776 0.00100013 -0.14752736] [ 0.00220041 -0.00100423 0.99999707 0.48030329] [ 0. 0. 0. 1. ]] SLAMing on 132.482557844 meters 0.2935046427806533 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99999595 -0.00176008 -0.002238 0.03909371] [ 0.00176295 0.99999762 0.001283 -0.14866066] [ 0.00223574 -0.00128694 0.99999667 0.48058487] [ 0. 0. 0. 1. ]] SLAMing on 132.512557844 meters 0.2908534733478926 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 9.99974726e-01 5.69738355e-03 -4.25285578e-03 2.11067377e-02] [-5.69497675e-03 9.99983617e-01 5.77822090e-04 -1.55846932e-01] [ 4.25607818e-03 -5.53587572e-04 9.99990790e-01 4.79232511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54255784400002 meters 0.29145248760645937 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 9.99973989e-01 5.76970676e-03 -4.32811877e-03 2.13961212e-02] [-5.76638440e-03 9.99983070e-01 7.79708358e-04 -1.56706542e-01] [ 4.33254418e-03 -7.54730480e-04 9.99990330e-01 4.79002026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57255784400002 meters 0.29194050524457454 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997324 0.00586295 -0.00437638 0.02156231] [-0.00585847 0.9999823 0.00103634 -0.15778105] [ 0.00438238 -0.00101068 0.99998989 0.4789055 ] [ 0. 0. 0. 1. ]] SLAMing on 132.60255784400002 meters 0.29146674302814424 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997272 0.00593677 -0.0043956 0.02155733] [-0.0059314 0.99998165 0.00123415 -0.1585833 ] [ 0.00440284 -0.00120804 0.99998958 0.47902891] [ 0. 0. 0. 1. ]] SLAMing on 132.63255784400002 meters 0.29098953647133086 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997249 0.0059876 -0.00437883 0.02135202] [-0.00598166 0.99998117 0.00136889 -0.15910033] [ 0.00438695 -0.00134266 0.99998948 0.47940603] [ 0. 0. 0. 1. ]] SLAMing on 132.662557844 meters 0.2903427337731844 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997217 0.00604708 -0.00437009 0.0211141 ] [-0.00604044 0.99998059 0.00153052 -0.1597175 ] [ 0.00437926 -0.00150408 0.99998928 0.47992389] [ 0. 0. 0. 1. ]] SLAMing on 132.692557844 meters 0.2904773222122652 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997202 0.00615582 -0.004251 0.0205157 ] [-0.0061481 0.99997943 0.00182637 -0.16085765] [ 0.00426215 -0.00180018 0.9999893 0.48069623] [ 0. 0. 0. 1. ]] SLAMing on 132.722557844 meters 0.28990962685791816 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997177 0.00622263 -0.00421065 0.0203656 ] [-0.00621425 0.99997869 0.00200122 -0.16156589] [ 0.00422302 -0.00197499 0.99998913 0.48080387] [ 0. 0. 0. 1. ]] SLAMing on 132.752557844 meters 0.2903880600762154 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997129 0.00628028 -0.00424058 0.02043009] [-0.00627118 0.99997801 0.00215596 -0.16220222] [ 0.00425402 -0.00212931 0.99998868 0.48083234] [ 0. 0. 0. 1. ]] SLAMing on 132.782557844 meters 0.2911007803546385 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.48 [[ 0.99999253 -0.00170761 -0.00346759 0.0408516 ] [ 0.00171734 0.9999946 0.00280314 -0.15903946] [ 0.00346278 -0.00280907 0.99999006 0.48124659] [ 0. 0. 0. 1. ]] SLAMing on 132.812557844 meters 0.29041059870969155 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997064 0.00561331 -0.00521611 0.02162538] [-0.00560428 0.99998277 0.00174544 -0.16320966] [ 0.00522581 -0.00171615 0.99998487 0.48013596] [ 0. 0. 0. 1. ]] SLAMing on 132.842557844 meters 0.29150993867264174 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99997028 0.005579 -0.00532049 0.0220545 ] [-0.00557024 0.99998311 0.00165878 -0.16288914] [ 0.00532966 -0.0016291 0.99998447 0.47974015] [ 0. 0. 0. 1. ]] SLAMing on 132.872557844 meters 0.2933020966479081 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.48 [[ 0.99998753 -0.00276278 -0.00416061 0.04380519] [ 0.00276946 0.99999488 0.00160032 -0.15851919] [ 0.00415617 -0.00161182 0.99999006 0.47887964] [ 0. 0. 0. 1. ]] SLAMing on 132.902557844 meters 0.2907354189303628 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.48 [[ 0.99998457 -0.00461189 -0.00309742 0.00347675] [ 0.00461863 0.99998698 0.00217199 -0.16170899] [ 0.00308736 -0.00218627 0.99999284 0.47713552] [ 0. 0. 0. 1. ]] SLAMing on 132.932557844 meters 0.29074244484906714 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.48 [[ 0.99998471 -0.00462558 -0.00303042 0.00316489] [ 0.00463205 0.999987 0.00213097 -0.16150284] [ 0.00302052 -0.00214498 0.99999314 0.4774716 ] [ 0. 0. 0. 1. ]] SLAMing on 132.962557844 meters 0.29062585890908976 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.16, Z:0.48 [[ 0.99998485 -0.00463106 -0.0029755 0.00288693] [ 0.00463736 0.99998702 0.00211265 -0.16138376] [ 0.00296568 -0.00212642 0.99999334 0.47779236] [ 0. 0. 0. 1. ]] SLAMing on 132.992557844 meters 0.29083528660026836 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 9.99987111e-01 4.88999675e-03 -1.36596052e-03 2.15831042e-02] [-4.88875803e-03 9.99987637e-01 9.08724798e-04 -1.62743764e-01] [ 1.37038730e-03 -9.02035235e-04 9.99998654e-01 4.78540756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.022557844 meters 0.29109138977985366 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 9.99987558e-01 4.78984508e-03 -1.39343148e-03 2.18259492e-02] [-4.78895633e-03 9.99988328e-01 6.40449038e-04 -1.61679856e-01] [ 1.39648286e-03 -6.33767987e-04 9.99998824e-01 4.78125040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052557844 meters 0.29211449015862445 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:0.48 [[ 9.99995688e-01 -2.93411396e-03 1.25527696e-04 4.20334394e-02] [ 2.93396185e-03 9.99994982e-01 1.19520512e-03 -1.57233895e-01] [-1.29033934e-04 -1.19483167e-03 9.99999278e-01 4.78572234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082557844 meters 0.2904771465619228 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999573 0.00186506 -0.00224891 0.01844933] [-0.00186974 0.99999609 -0.00207837 -0.15630974] [ 0.00224502 0.00208256 0.99999531 0.48096412] [ 0. 0. 0. 1. ]] SLAMing on 133.112557844 meters 0.29069527081483937 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999572 0.00184614 -0.00226914 0.01846169] [-0.00185097 0.99999602 -0.00212851 -0.15609435] [ 0.0022652 0.0021327 0.99999516 0.48105601] [ 0. 0. 0. 1. ]] SLAMing on 133.142557844 meters 0.2913467807182291 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999551 0.0018204 -0.00238157 0.01886658] [-0.00182562 0.99999593 -0.00219241 -0.15587582] [ 0.00237757 0.00219675 0.99999476 0.48076341] [ 0. 0. 0. 1. ]] SLAMing on 133.172557844 meters 0.2919603144229873 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999518 0.00183643 -0.00250399 0.01932871] [-0.00184179 0.99999601 -0.00214282 -0.15612708] [ 0.00250004 0.00214742 0.99999457 0.4803963 ] [ 0. 0. 0. 1. ]] SLAMing on 133.202557844 meters 0.29022791245827984 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.16, Z:0.48 [[ 9.99997282e-01 4.17972785e-04 -2.29363125e-03 -1.74275017e-02] [-4.20652140e-04 9.99999230e-01 -1.16781367e-03 -1.60059212e-01] [ 2.29314137e-03 1.16877531e-03 9.99996688e-01 4.76469441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232557844 meters 0.29223466262903186 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999391 0.00197643 -0.00287797 0.0208167 ] [-0.00198183 0.99999628 -0.00187276 -0.15747213] [ 0.00287426 0.00187846 0.9999941 0.47952727] [ 0. 0. 0. 1. ]] SLAMing on 133.262557844 meters 0.29058982876795125 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.16, Z:0.48 [[ 9.99968634e-01 -5.32976864e-03 -5.85876025e-03 -5.39362314e-05] [ 5.33601358e-03 9.99985211e-01 1.05080114e-03 -1.59308433e-01] [ 5.85307308e-03 -1.08203061e-03 9.99982285e-01 4.81361463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29255784400002 meters 0.29335104741098267 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999398 0.00202693 -0.00281663 0.02106105] [-0.00203177 0.99999646 -0.00171771 -0.15752865] [ 0.00281314 0.00172342 0.99999456 0.47934491] [ 0. 0. 0. 1. ]] SLAMing on 133.32255784400002 meters 0.2917436678002958 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999405 0.00202656 -0.0027911 0.02098147] [-0.00203137 0.99999646 -0.00171981 -0.15751571] [ 0.00278761 0.00172547 0.99999463 0.47937421] [ 0. 0. 0. 1. ]] SLAMing on 133.35255784400002 meters 0.2925377676716778 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999417 0.00198324 -0.00277906 0.02101519] [-0.00198835 0.99999633 -0.00183771 -0.15704358] [ 0.00277541 0.00184322 0.99999445 0.47922365] [ 0. 0. 0. 1. ]] SLAMing on 133.38255784400002 meters 0.2917793511131996 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999484 0.00188936 -0.00259935 0.02062722] [-0.00189492 0.99999592 -0.00213597 -0.15585394] [ 0.0025953 0.00214088 0.99999434 0.47903544] [ 0. 0. 0. 1. ]] SLAMing on 133.412557844 meters 0.29066128349173503 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.16, Z:0.48 [[ 0.99999506 0.00182309 -0.00256231 0.02050356] [-0.00182904 0.99999564 -0.00231939 -0.15509192] [ 0.00255807 0.00232407 0.99999403 0.47910095] [ 0. 0. 0. 1. ]] SLAMing on 133.442557844 meters 0.29268655967951307 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 9.99996314e-01 -2.69262035e-03 -3.49103065e-04 4.43284604e-02] [ 2.69294215e-03 9.99995947e-01 9.24619657e-04 -1.53816805e-01] [ 3.46612000e-04 -9.25556363e-04 9.99999512e-01 4.77034378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472557844 meters 0.29092284978610783 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.15, Z:0.48 [[ 0.99999312 0.00210165 -0.00305746 0.02097399] [-0.00210917 0.99999475 -0.00245822 -0.15161109] [ 0.00305228 0.00246465 0.9999923 0.47932112] [ 0. 0. 0. 1. ]] SLAMing on 133.502557844 meters 0.29221653730368585 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.15, Z:0.48 [[ 0.99998434 -0.00532034 -0.00173705 0.03953889] [ 0.0053176 0.99998462 -0.00157543 -0.14529281] [ 0.0017454 0.00156617 0.99999725 0.48077535] [ 0. 0. 0. 1. ]] SLAMing on 133.532557844 meters 0.29152897688340745 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99998374 -0.00544744 -0.00168726 0.03939868] [ 0.00544419 0.99998333 -0.00192339 -0.14385928] [ 0.00169771 0.00191417 0.99999673 0.48078521] [ 0. 0. 0. 1. ]] SLAMing on 133.562557844 meters 0.2922761217842623 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99998282 -0.00561002 -0.00169696 0.03948786] [ 0.00560602 0.99998152 -0.00235402 -0.14211025] [ 0.00171013 0.00234447 0.99999579 0.48063068] [ 0. 0. 0. 1. ]] SLAMing on 133.592557844 meters 0.29227706705004225 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99999704 -0.00148806 -0.00192613 0.04009887] [ 0.00149072 0.99999794 0.00137961 -0.13969461] [ 0.00192407 -0.00138248 0.99999719 0.48032473] [ 0. 0. 0. 1. ]] SLAMing on 133.622557844 meters 0.2923437171028479 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99999685 -0.00161588 -0.00192155 0.04006064] [ 0.00161787 0.99999815 0.0010369 -0.13827821] [ 0.00191987 -0.00104 0.99999762 0.48037182] [ 0. 0. 0. 1. ]] SLAMing on 133.652557844 meters 0.2915379742063023 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99996577e-01 -1.78694503e-03 -1.91142904e-03 3.97196106e-02] [ 1.78804921e-03 9.99998235e-01 5.76121777e-04 -1.36325505e-01] [ 1.91039617e-03 -5.79537534e-04 9.99998007e-01 4.81101252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682557844 meters 0.29093321182338655 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 9.99996493e-01 -1.86170351e-03 -1.88349863e-03 3.97052031e-02] [ 1.86241161e-03 9.99998196e-01 3.74265249e-04 -1.35503476e-01] [ 1.88279846e-03 -3.77771786e-04 9.99998156e-01 4.80957906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712557844 meters 0.29239852250928866 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99996261e-01 -1.93071899e-03 -1.93638752e-03 3.99768891e-02] [ 1.93108620e-03 9.99998118e-01 1.87784250e-04 -1.34765154e-01] [ 1.93602132e-03 -1.91522879e-04 9.99998108e-01 4.80626722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742557844 meters 0.2912252057208394 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99996243e-01 -1.97224549e-03 -1.90390763e-03 3.99445927e-02] [ 1.97238921e-03 9.99998052e-01 7.36117170e-05 -1.34305464e-01] [ 1.90375874e-03 -7.73666873e-05 9.99998185e-01 4.80497385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.772557844 meters 0.29153265833736436 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99996404e-01 -2.00353082e-03 -1.78268352e-03 3.95709097e-02] [ 2.00349963e-03 9.99997993e-01 -1.92773545e-05 -1.33899744e-01] [ 1.78271857e-03 1.57056794e-05 9.99998411e-01 4.80644285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802557844 meters 0.29213356234679266 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.14, Z:0.48 [[ 9.99976064e-01 6.87249561e-03 8.00329421e-04 5.77741716e-02] [-6.87131396e-03 9.99975312e-01 -1.46995482e-03 -1.35097186e-01] [-8.10411921e-04 1.46442032e-03 9.99998599e-01 4.81672985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832557844 meters 0.29005176734457566 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.48 [[ 9.99999332e-01 -8.15561970e-04 8.19092639e-04 3.28733925e-02] [ 8.14403816e-04 9.99998670e-01 1.41328809e-03 -1.34920587e-01] [-8.20244173e-04 -1.41262008e-03 9.99998666e-01 4.84336953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862557844 meters 0.2918215143246632 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999844e-01 5.37334727e-04 1.54954236e-04 7.08719538e-02] [-5.37408589e-04 9.99999742e-01 4.77019346e-04 -1.30599937e-01] [-1.54697877e-04 -4.77102545e-04 9.99999874e-01 4.87653130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892557844 meters 0.29170338741403123 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999849e-01 5.16225476e-04 1.86431644e-04 7.08303186e-02] [-5.16303596e-04 9.99999779e-01 4.19224256e-04 -1.30367203e-01] [-1.86215189e-04 -4.19320448e-04 9.99999895e-01 4.87557936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922557844 meters 0.2918656521122335 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999872e-01 4.95234412e-04 1.05811925e-04 7.11735740e-02] [-4.95273201e-04 9.99999810e-01 3.66875228e-04 -1.30180550e-01] [-1.05630216e-04 -3.66927587e-04 9.99999927e-01 4.87238277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.952557844 meters 0.29257047466011443 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999893e-01 4.63013092e-04 -4.35882651e-06 7.16304303e-02] [-4.63011820e-04 9.99999851e-01 2.87513970e-04 -1.29897348e-01] [ 4.49194860e-06 -2.87511921e-04 9.99999959e-01 4.86819339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982557844 meters 0.29181677051081784 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999727e-01 -7.34779847e-04 7.56754250e-05 3.53021174e-02] [ 7.34696588e-04 9.99999131e-01 1.09442672e-03 -1.32294177e-01] [-7.64795219e-05 -1.09437082e-03 9.99999398e-01 4.82548088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012557844 meters 0.29181128811576607 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999731e-01 -7.27059743e-04 -1.00335832e-04 3.58114992e-02] [ 7.27171905e-04 9.99999106e-01 1.12239351e-03 -1.32446840e-01] [ 9.95196950e-05 -1.12246617e-03 9.99999365e-01 4.82389714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04255784400002 meters 0.2926669308676455 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:0.48 [[ 9.99963818e-01 8.32986154e-03 1.72529471e-03 5.45682914e-02] [-8.32936887e-03 9.99965267e-01 -2.92542029e-04 -1.34318207e-01] [-1.72767162e-03 2.78160828e-04 9.99998469e-01 4.83507763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07255784400002 meters 0.29259993995715305 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:0.48 [[ 9.99963895e-01 8.31050014e-03 1.77299164e-03 5.43099644e-02] [-8.30989409e-03 9.99965411e-01 -3.48917385e-04 -1.34050513e-01] [-1.77582999e-03 3.34171415e-04 9.99998367e-01 4.83822327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10255784400002 meters 0.29256392250514807 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995453e-01 1.00438876e-03 2.84351084e-03 7.29610634e-02] [-1.00707261e-03 9.99999049e-01 9.42577784e-04 -1.29157043e-01] [-2.84256142e-03 -9.45437120e-04 9.99995513e-01 4.85583486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13255784400002 meters 0.29256392250514807 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995453e-01 1.00438876e-03 2.84351084e-03 7.29610634e-02] [-1.00707261e-03 9.99999049e-01 9.42577784e-04 -1.29157043e-01] [-2.84256142e-03 -9.45437120e-04 9.99995513e-01 4.85583486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162557844 meters 0.2915125331683272 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995221e-01 9.22535535e-04 2.95082243e-03 7.26599882e-02] [-9.24671435e-04 9.99999311e-01 7.22549886e-04 -1.28233367e-01] [-2.95015382e-03 -7.25274974e-04 9.99995385e-01 4.85605725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192557844 meters 0.2915951250304505 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995167e-01 9.03431087e-04 2.97501829e-03 7.26472087e-02] [-9.05427665e-04 9.99999366e-01 6.69836390e-04 -1.28024296e-01] [-2.97441125e-03 -6.72526817e-04 9.99995350e-01 4.85487184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222557844 meters 0.2925441638444226 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995313e-01 8.98674950e-04 2.92669559e-03 7.27920731e-02] [-9.00607299e-04 9.99999377e-01 6.58998590e-04 -1.27987781e-01] [-2.92610155e-03 -6.61631305e-04 9.99995500e-01 4.85438853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252557844 meters 0.29132765862859056 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:0.49 [[ 9.99978542e-01 -6.53581326e-03 -4.45157714e-04 5.20888688e-02] [ 6.53723095e-03 9.99973314e-01 3.26138115e-03 -1.30666573e-01] [ 4.23830056e-04 -3.26422127e-03 9.99994583e-01 4.87447916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282557844 meters 0.2917643841663157 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995126e-01 3.11501629e-03 2.09143633e-04 7.11970369e-02] [-3.11550425e-03 9.99992327e-01 2.37479590e-03 -1.34495240e-01] [-2.01744500e-04 -2.37543591e-03 9.99997158e-01 4.88699190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312557844 meters 0.2919056193421927 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994976e-01 3.16810527e-03 1.06007052e-04 7.14781085e-02] [-3.16836350e-03 9.99991776e-01 2.53161547e-03 -1.35145633e-01] [-9.79857556e-05 -2.53193862e-03 9.99996790e-01 4.88655168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters 0.29171626894408753 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994716e-01 3.25065850e-03 -4.62126365e-05 7.19553790e-02] [-3.25051666e-03 9.99990812e-01 2.79464565e-03 -1.36229299e-01] [ 5.52966506e-05 -2.79448067e-03 9.99996094e-01 4.88398466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372557844 meters 0.2930239094845163 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994483e-01 3.32158212e-03 1.60143494e-05 7.16666042e-02] [-3.32161513e-03 9.99990025e-01 2.98602077e-03 -1.36987121e-01] [-6.09587649e-06 -2.98605749e-03 9.99995542e-01 4.88713811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402557844 meters 0.2910535173113426 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994235e-01 3.39227195e-03 1.47138173e-04 7.11453046e-02] [-3.39272169e-03 9.99989213e-01 3.17236455e-03 -1.37716330e-01] [-1.36375063e-04 -3.17284546e-03 9.99994957e-01 4.89180815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432557844 meters 0.2902921997534668 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993996e-01 3.45592240e-03 2.52927101e-04 7.07330968e-02] [-3.45674756e-03 9.99988454e-01 3.33818702e-03 -1.38366705e-01] [-2.41387665e-04 -3.33904128e-03 9.99994396e-01 4.89529712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462557844 meters 0.2916704744368142 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993787e-01 3.51158002e-03 3.08867869e-04 7.05581705e-02] [-3.51263490e-03 9.99987762e-01 3.48376825e-03 -1.38962053e-01] [-2.96630559e-04 -3.48483154e-03 9.99993884e-01 4.89602387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492557844 meters 0.290919555792765 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993603e-01 3.55891838e-03 3.57052175e-04 7.04567145e-02] [-3.56018317e-03 9.99987159e-01 3.60651939e-03 -1.39471437e-01] [-3.44212282e-04 -3.60776749e-03 9.99993433e-01 4.89551163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.522557844 meters 0.29134181560923345 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993479e-01 3.60287288e-03 2.47953271e-04 7.08623741e-02] [-3.60377323e-03 9.99986543e-01 3.73190941e-03 -1.40005761e-01] [-2.34504339e-04 -3.73277864e-03 9.99993006e-01 4.89244924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552557844 meters 0.2912566049936886 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993586e-01 3.57830525e-03 1.55407293e-04 7.11531624e-02] [-3.57885151e-03 9.99986862e-01 3.66983106e-03 -1.39762310e-01] [-1.42273475e-04 -3.67036370e-03 9.99993254e-01 4.89113029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582557844 meters 0.29127727397360054 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993748e-01 3.53379600e-03 1.28112075e-04 7.12073035e-02] [-3.53422866e-03 9.99987450e-01 3.55092798e-03 -1.39272931e-01] [-1.15562212e-04 -3.55135856e-03 9.99993687e-01 4.89144810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612557844 meters 0.29135340136908866 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99993919e-01 3.48559372e-03 1.08498548e-04 7.12464115e-02] [-3.48594444e-03 9.99988075e-01 3.42022178e-03 -1.38739842e-01] [-9.65757509e-05 -3.42057920e-03 9.99994145e-01 4.89161003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642557844 meters 0.29153267930012394 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994100e-01 3.43094977e-03 1.69668117e-04 7.11209723e-02] [-3.43148562e-03 9.99988780e-01 3.26579742e-03 -1.38111488e-01] [-1.58461426e-04 -3.26636037e-03 9.99994653e-01 4.89079586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672557844 meters 0.29263774284419863 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:0.49 [[ 9.99994306e-01 3.36488177e-03 2.57527065e-04 7.09226244e-02] [-3.36565941e-03 9.99989589e-01 3.08123368e-03 -1.37357200e-01] [-2.47156397e-04 -3.08208288e-03 9.99995220e-01 4.89005955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702557844 meters 0.2922750578235253 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995067e-01 3.12768498e-03 2.88076782e-04 7.12756764e-02] [-3.12838157e-03 9.99992105e-01 2.45020951e-03 -1.34821931e-01] [-2.80411024e-04 -2.45109864e-03 9.99996957e-01 4.88019652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732557844 meters 0.2924517985732675 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99995580e-01 2.96828016e-03 1.70144277e-04 7.18019701e-02] [-2.96861783e-03 9.99993554e-01 2.01994577e-03 -1.33095060e-01] [-1.64147415e-04 -2.02044193e-03 9.99997945e-01 4.87466775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762557844 meters 0.294149384348263 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99996404e-01 2.68118572e-03 5.19938905e-05 7.22879923e-02] [-2.68124988e-03 9.99995591e-01 1.27604096e-03 -1.30050240e-01] [-4.85723585e-05 -1.27617578e-03 9.99999185e-01 4.87027874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79255784400002 meters 0.29196206999753094 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:0.49 [[ 9.99978701e-01 -6.47663331e-03 -8.06853710e-04 5.33358731e-02] [ 6.47860042e-03 9.99975988e-01 2.45972416e-03 -1.25531949e-01] [ 7.90903605e-04 -2.46489905e-03 9.99996649e-01 4.85758106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82255784400002 meters 0.293967669402266 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 0.99999474 0.00299973 0.00123537 0.07254084] [-0.00300138 0.9999946 0.0013365 -0.12594074] [-0.00123136 -0.0013402 0.99999834 0.48594924] [ 0. 0. 0. 1. ]] SLAMing on 134.85255784400002 meters 0.2935934613283314 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 0.99999512 0.0028784 0.00121834 0.07269653] [-0.00287964 0.99999534 0.00101752 -0.12465413] [-0.0012154 -0.00102102 0.99999874 0.48567813] [ 0. 0. 0. 1. ]] SLAMing on 134.88255784400002 meters 0.2926028674399482 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99995451e-01 2.76767614e-03 1.19889351e-03 7.28669971e-02] [-2.76854728e-03 9.99995904e-01 7.25564718e-04 -1.23485536e-01] [-1.19688047e-03 -7.28880611e-04 9.99999018e-01 4.85385162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912557844 meters 0.2927882720760905 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99995714e-01 2.64844991e-03 1.24804405e-03 7.28100416e-02] [-2.64897028e-03 9.99996405e-01 4.15477537e-04 -1.22228501e-01] [-1.24693919e-03 -4.18781788e-04 9.99999135e-01 4.85212601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942557844 meters 0.29135167855707883 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99995842e-01 2.54217300e-03 1.36168192e-03 7.24835423e-02] [-2.54236313e-03 9.99996759e-01 1.37918189e-04 -1.21082440e-01] [-1.36132689e-03 -1.41379506e-04 9.99999063e-01 4.85279407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972557844 meters 0.2927314591439434 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.48 [[ 0.99998971 -0.00271017 0.00363832 0.09471853] [ 0.00269954 0.99999208 0.00292351 -0.11621649] [-0.00364622 -0.00291366 0.99998911 0.48417201] [ 0. 0. 0. 1. ]] SLAMing on 135.002557844 meters 0.29100695514110825 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99998036e-01 1.81890968e-03 7.87606265e-04 7.15304078e-02] [-1.81830400e-03 9.99998051e-01 -7.69050516e-04 -1.13369850e-01] [-7.89003563e-04 7.67616897e-04 9.99999394e-01 4.86492976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032557844 meters 0.29142901769561463 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99998139e-01 1.75140475e-03 8.08486887e-04 7.14903753e-02] [-1.75063279e-03 9.99998012e-01 -9.54549122e-04 -1.12614401e-01] [-8.10157081e-04 9.53131982e-04 9.99999218e-01 4.86460744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062557844 meters 0.29179080499256294 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99998145e-01 1.71210983e-03 8.82668523e-04 7.12479883e-02] [-1.71116608e-03 9.99997965e-01 -1.06884393e-03 -1.12141269e-01] [-8.84496704e-04 1.06733156e-03 9.99999039e-01 4.86589505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092557844 meters 0.291533847417962 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99998114e-01 1.72024567e-03 9.01540066e-04 7.11328393e-02] [-1.71930008e-03 9.99997972e-01 -1.04858968e-03 -1.12214424e-01] [-9.03342070e-04 1.04703769e-03 9.99999044e-01 4.86754531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122557844 meters 0.2924217276141433 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:0.49 [[ 9.99980253e-01 -5.82393255e-03 2.36104244e-03 9.11827467e-02] [ 5.82346296e-03 9.99983022e-01 2.05717400e-04 -1.09952814e-01] [-2.36220044e-03 -1.91963895e-04 9.99997192e-01 4.87959969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152557844 meters 0.291728722934155 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:0.49 [[ 9.99980482e-01 -5.63429099e-03 2.70005923e-03 8.98662507e-02] [ 5.63201876e-03 9.99983780e-01 8.48413935e-04 -1.12405592e-01] [-2.70479564e-03 -8.33190591e-04 9.99995995e-01 4.89318914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182557844 meters 0.29026500579032993 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99998755e-01 -7.21611962e-04 1.40344148e-03 6.58939975e-02] [ 7.25069459e-04 9.99996700e-01 -2.46463817e-03 -1.14563153e-01] [-1.40165833e-03 2.46565269e-03 9.99995978e-01 4.91131615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212557844 meters 0.29172554628559144 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.11, Z:0.49 [[ 9.99999991e-01 1.29122252e-04 -3.31062279e-05 1.05855631e-01] [-1.29230275e-04 9.99994599e-01 -3.28396495e-03 -1.14412282e-01] [ 3.26820161e-05 3.28396920e-03 9.99994607e-01 4.93648401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242557844 meters 0.291836701295317 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.49 [[ 9.99999967e-01 1.92335737e-04 -1.71590364e-04 1.06446856e-01] [-1.92867711e-04 9.99995159e-01 -3.10564385e-03 -1.15176756e-01] [ 1.70992207e-04 3.10567684e-03 9.99995163e-01 4.93060893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.272557844 meters 0.292497321819629 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.49 [[ 9.99999963e-01 2.21317312e-04 -1.56383495e-04 1.06400158e-01] [-2.21789462e-04 9.99995398e-01 -3.02564492e-03 -1.15499815e-01] [ 1.55713148e-04 3.02567949e-03 9.99995410e-01 4.93077255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302557844 meters 0.2907781303428975 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999290e-01 -5.44269915e-04 1.05990389e-03 6.65659298e-02] [ 5.46313375e-04 9.99997991e-01 -1.92863272e-03 -1.18239075e-01] [-1.05885206e-03 1.92921039e-03 9.99997578e-01 4.90990128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.332557844 meters 0.2925752896647352 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999309e-01 -5.37758622e-04 1.04519177e-03 6.64464189e-02] [ 5.39752592e-04 9.99998033e-01 -1.90840981e-03 -1.18298935e-01] [-1.04416345e-03 1.90897264e-03 9.99997633e-01 4.91365756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362557844 meters 0.29124448548664883 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999327e-01 -5.23733450e-04 1.03538786e-03 6.63325481e-02] [ 5.25667730e-04 9.99998116e-01 -1.86878049e-03 -1.18439963e-01] [-1.03440716e-03 1.86932350e-03 9.99997718e-01 4.91692523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.392557844 meters 0.29095674327015875 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999413e-01 -4.77121684e-04 9.73077779e-04 6.64688094e-02] [ 4.78804709e-04 9.99998389e-01 -1.73009081e-03 -1.18995456e-01] [-9.72250747e-04 1.73055571e-03 9.99998030e-01 4.91740774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422557844 meters 0.2915185414413546 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999447e-01 -4.28279562e-04 9.60633263e-04 6.66087973e-02] [ 4.29814418e-04 9.99998631e-01 -1.59811830e-03 -1.19549602e-01] [-9.59947506e-04 1.59853031e-03 9.99998262e-01 4.91484805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.452557844 meters 0.2907942238290238 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99999448e-01 -3.64355315e-04 9.85426833e-04 6.65937536e-02] [ 3.65760239e-04 9.99998917e-01 -1.42589676e-03 -1.20263152e-01] [-9.84906232e-04 1.42625641e-03 9.99998498e-01 4.91371645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482557844 meters 0.2921839306490381 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99997888 -0.00500512 0.00414624 0.08950771] [ 0.00499659 0.99998538 0.00206621 -0.12243474] [-0.00415652 -0.00204545 0.99998927 0.48894539] [ 0. 0. 0. 1. ]] SLAMing on 135.512557844 meters 0.29166869725133254 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99997905 -0.00494747 0.0041744 0.08931429] [ 0.00493824 0.99998534 0.0022195 -0.12305242] [-0.00418532 -0.00219884 0.99998882 0.48923042] [ 0. 0. 0. 1. ]] SLAMing on 135.54255784400002 meters 0.2913992952207791 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99997932 -0.00489358 0.00417272 0.08915627] [ 0.00488374 0.99998528 0.00236482 -0.12362348] [-0.00418423 -0.00234439 0.9999885 0.48961534] [ 0. 0. 0. 1. ]] SLAMing on 135.57255784400002 meters 0.2913431226688038 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.9999793 -0.00487739 0.00419623 0.08900336] [ 0.00486732 0.99998525 0.00240856 -0.12378703] [-0.00420792 -0.00238809 0.9999883 0.48983285] [ 0. 0. 0. 1. ]] SLAMing on 135.60255784400002 meters 0.29194890468276485 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99997882 -0.00490908 0.00427266 0.08873569] [ 0.00489919 0.99998531 0.00232054 -0.12340226] [-0.00428399 -0.00229956 0.99998818 0.4899931 ] [ 0. 0. 0. 1. ]] SLAMing on 135.63255784400002 meters 0.292163103299095 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99997826 -0.00494513 0.00436208 0.08844389] [ 0.00493549 0.99998536 0.00221893 -0.12296826] [-0.00437299 -0.00219735 0.99998802 0.4901327 ] [ 0. 0. 0. 1. ]] SLAMing on 135.662557844 meters 0.2910400226843476 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99992003e-01 2.47053477e-03 3.14492760e-03 6.88650594e-02] [-2.47354295e-03 9.99996487e-01 9.52988004e-04 -1.26329623e-01] [-3.14256216e-03 -9.60759496e-04 9.99994601e-01 4.88860935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692557844 meters 0.2921583147594132 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.49 [[ 9.99992936e-01 2.33675007e-03 2.94404281e-03 6.96699313e-02] [-2.33837240e-03 9.99997116e-01 5.47731495e-04 -1.24725272e-01] [-2.94275441e-03 -5.54611894e-04 9.99995516e-01 4.88002920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722557844 meters 0.29335837173495727 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.12, Z:0.49 [[ 0.99998985 -0.00274102 0.00357502 0.09463849] [ 0.00272772 0.99998936 0.00372114 -0.12244678] [-0.00358518 -0.00371135 0.99998669 0.48572311] [ 0. 0. 0. 1. ]] SLAMing on 135.752557844 meters 0.29190570700216295 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99998766 0.00473142 0.00151501 0.07501144] [-0.00473527 0.99998555 0.00254484 -0.12447917] [-0.00150295 -0.00255198 0.99999561 0.4849953 ] [ 0. 0. 0. 1. ]] SLAMing on 135.782557844 meters 0.2925953864414131 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99998812 0.00464453 0.00147635 0.07517579] [-0.00464795 0.99998651 0.00231992 -0.1235663 ] [-0.00146556 -0.00232675 0.99999622 0.4848548 ] [ 0. 0. 0. 1. ]] SLAMing on 135.812557844 meters 0.29193767978735613 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99998865 0.00456047 0.00137696 0.07548027] [-0.00456336 0.99998738 0.00210327 -0.12268523] [-0.00136735 -0.00210953 0.99999684 0.48474543] [ 0. 0. 0. 1. ]] SLAMing on 135.842557844 meters 0.29294429467445005 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99998909 0.00449133 0.00128253 0.07578517] [-0.00449379 0.99998805 0.00192583 -0.12196766] [-0.00127387 -0.00193157 0.99999732 0.48461045] [ 0. 0. 0. 1. ]] SLAMing on 135.872557844 meters 0.29215594849441884 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99998937 0.0044389 0.0012494 0.07584271] [-0.00444113 0.99998854 0.00178862 -0.12139811] [-0.00124145 -0.00179415 0.99999762 0.4846747 ] [ 0. 0. 0. 1. ]] SLAMing on 135.902557844 meters 0.29166357716024216 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99987710e-01 -4.90538035e-03 7.18424352e-04 5.62153702e-02] [ 4.90328928e-03 9.99983820e-01 2.88403671e-03 -1.18408193e-01] [-7.32560025e-04 -2.88047862e-03 9.99995583e-01 4.83529668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932557844 meters 0.29198465840728083 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99987562e-01 -4.93757835e-03 7.04293206e-04 5.62256087e-02] [ 4.93558878e-03 9.99983902e-01 2.79922656e-03 -1.18052872e-01] [-7.18103268e-04 -2.79571564e-03 9.99995834e-01 4.83587889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962557844 meters 0.2926198716810211 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99987292e-01 -4.98260522e-03 7.67925019e-04 5.61302458e-02] [ 4.98053477e-03 9.99984019e-01 2.67490122e-03 -1.17547971e-01] [-7.81240724e-04 -2.67104255e-03 9.99996128e-01 4.83418643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992557844 meters 0.2926198716810211 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99987292e-01 -4.98260522e-03 7.67925020e-04 5.61302458e-02] [ 4.98053477e-03 9.99984019e-01 2.67490122e-03 -1.17547971e-01] [-7.81240724e-04 -2.67104255e-03 9.99996128e-01 4.83418643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.022557844 meters 0.2915392757151797 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99986991e-01 -5.03358082e-03 8.25430002e-04 5.59988083e-02] [ 5.03147886e-03 9.99984144e-01 2.52910896e-03 -1.16954614e-01] [-8.38147388e-04 -2.52492293e-03 9.99996461e-01 4.83369315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.052557844 meters 0.2924725197459037 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99997847 0.00574291 0.00317486 0.0757459 ] [-0.00575197 0.99997938 0.002854 -0.11602402] [-0.0031584 -0.0028722 0.99999089 0.48330263] [ 0. 0. 0. 1. ]] SLAMing on 136.082557844 meters 0.2913479396559411 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.12, Z:0.48 [[ 0.99997878 0.00568048 0.00318984 0.07572189] [-0.00568901 0.99998025 0.00267239 -0.11529264] [-0.00317459 -0.00269048 0.99999134 0.48326353] [ 0. 0. 0. 1. ]] SLAMing on 136.112557844 meters 0.2919648342097696 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:0.48 [[ 0.99999132 -0.00201289 0.00364841 0.0946289 ] [ 0.00199942 0.99999118 0.00369261 -0.10956072] [-0.00365581 -0.00368529 0.99998653 0.48441755] [ 0. 0. 0. 1. ]] SLAMing on 136.142557844 meters 0.29294689157519604 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.11, Z:0.48 [[ 0.99999158 -0.0020845 0.00353416 0.09505424] [ 0.00207215 0.99999175 0.00349409 -0.10878291] [-0.00354141 -0.00348674 0.99998765 0.48407271] [ 0. 0. 0. 1. ]] SLAMing on 136.172557844 meters 0.29065844658907564 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.49 [[ 9.99993644e-01 3.50052782e-03 6.76776756e-04 7.24384999e-02] [-3.50093439e-03 9.99993691e-01 6.00507385e-04 -1.07013383e-01] [-6.74670394e-04 -6.02872919e-04 9.99999591e-01 4.85885232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202557844 meters 0.29357012992953396 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:0.48 [[ 9.99978546e-01 5.27105911e-03 3.88883433e-03 1.15091524e-01] [-5.27306518e-03 9.99985969e-01 5.05781240e-04 -1.01545355e-01] [-3.88611376e-03 -5.26276466e-04 9.99992311e-01 4.84397629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232557844 meters 0.2929595996540827 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.99999377 -0.00282366 0.00211663 0.09385826] [ 0.00281824 0.99999275 0.00256095 -0.09991957] [-0.00212385 -0.00255497 0.99999448 0.48547259] [ 0. 0. 0. 1. ]] SLAMing on 136.262557844 meters 0.29248753272582995 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.9999933 -0.00292538 0.00220034 0.09370847] [ 0.0029204 0.99999318 0.00226047 -0.09870806] [-0.00220694 -0.00225403 0.99999502 0.48529777] [ 0. 0. 0. 1. ]] SLAMing on 136.29255784400002 meters 0.29341929402101924 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.99999296 -0.00302136 0.00222686 0.09366951] [ 0.00301693 0.99999347 0.00199197 -0.09761985] [-0.00223287 -0.00198524 0.99999554 0.48520989] [ 0. 0. 0. 1. ]] SLAMing on 136.32255784400002 meters 0.29293000821298354 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.9999925 -0.00311587 0.00230043 0.09339482] [ 0.00311188 0.99999366 0.0017334 -0.09653256] [-0.00230582 -0.00172623 0.99999585 0.48538583] [ 0. 0. 0. 1. ]] SLAMing on 136.35255784400002 meters 0.2919450925963192 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.99999188 -0.00321587 0.00242738 0.09273459] [ 0.00321231 0.99999376 0.00146738 -0.09532805] [-0.00243208 -0.00145957 0.99999598 0.48615582] [ 0. 0. 0. 1. ]] SLAMing on 136.38255784400002 meters 0.29165163566941904 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.99999164 -0.00322728 0.00251056 0.09243402] [ 0.00322369 0.99999378 0.00143162 -0.09516253] [-0.00251516 -0.00142351 0.99999582 0.48635483] [ 0. 0. 0. 1. ]] SLAMing on 136.412557844 meters 0.29063739341570616 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:0.49 [[ 0.99999177 -0.00323629 0.00244819 0.09269592] [ 0.00323285 0.99999378 0.00140894 -0.09510205] [-0.00245273 -0.00140101 0.99999601 0.4861024 ] [ 0. 0. 0. 1. ]] SLAMing on 136.442557844 meters 0.2918941669072776 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.09, Z:0.49 [[ 0.99999191 -0.00327851 0.00233043 0.09315181] [ 0.0032755 0.99999379 0.00129708 -0.09468816] [-0.00233467 -0.00128943 0.99999644 0.48570535] [ 0. 0. 0. 1. ]] SLAMing on 136.472557844 meters 0.2929546733566009 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:0.48 [[ 9.99998168e-01 -1.74203717e-03 7.92686157e-04 9.89142649e-02] [ 1.73989618e-03 9.99994859e-01 2.69364670e-03 -9.56141876e-02] [-7.97374514e-04 -2.69226258e-03 9.99996058e-01 4.82570677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502557844 meters 0.2935189400810921 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.09, Z:0.48 [[ 0.99996498 0.00818097 0.00176263 0.12039457] [-0.00818436 0.99996465 0.00192783 -0.09428875] [-0.0017468 -0.00194219 0.99999659 0.48227773] [ 0. 0. 0. 1. ]] SLAMing on 136.532557844 meters 0.2916175762372745 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.09, Z:0.48 [[ 0.9999779 0.00643901 -0.00165566 0.07613689] [-0.00643645 0.99997809 0.00154964 -0.09462436] [ 0.00166561 -0.00153895 0.99999743 0.48455963] [ 0. 0. 0. 1. ]] SLAMing on 136.562557844 meters 0.29288280155795965 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.09, Z:0.48 [[ 9.99997146e-01 -2.22856343e-03 -8.60784849e-04 9.72264879e-02] [ 2.22959822e-03 9.99996791e-01 1.20306398e-03 -8.75039858e-02] [ 8.58100983e-04 -1.20497975e-03 9.99998906e-01 4.84043820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592557844 meters 0.292457549944844 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.09, Z:0.48 [[ 9.99996861e-01 -2.37812253e-03 -7.89056756e-04 9.70933011e-02] [ 2.37874966e-03 9.99996855e-01 7.94810152e-04 -8.58477538e-02] [ 7.87164119e-04 -7.96684626e-04 9.99999373e-01 4.83900082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622557844 meters 0.29305248689850527 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996504e-01 -2.58350956e-03 -5.64218522e-04 9.65013317e-02] [ 2.58367828e-03 9.99996618e-01 2.98505503e-04 -8.37927084e-02] [ 5.63445422e-04 -2.99962219e-04 9.99999796e-01 4.83820262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652557844 meters 0.2930920104982726 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996379e-01 -2.63538967e-03 -5.43980628e-04 9.63658751e-02] [ 2.63547680e-03 9.99996514e-01 1.59522290e-04 -8.32074462e-02] [ 5.43558329e-04 -1.60955360e-04 9.99999839e-01 4.83995341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682557844 meters 0.2930727909513588 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996269e-01 -2.68709850e-03 -4.91359307e-04 9.62161914e-02] [ 2.68710586e-03 9.99996390e-01 1.43251732e-05 -8.26122706e-02] [ 4.91319040e-04 -1.56454542e-05 9.99999879e-01 4.84015677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712557844 meters 0.29267388593642135 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996298e-01 -2.69003479e-03 -4.08560062e-04 9.59487574e-02] [ 2.69003512e-03 9.99996382e-01 2.47768969e-07 -8.25440973e-02] [ 4.08557917e-04 -1.34680897e-06 9.99999917e-01 4.84141073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742557844 meters 0.292038550804942 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996250e-01 -2.70892225e-03 -4.01129439e-04 9.61007871e-02] [ 2.70890190e-03 9.99996330e-01 -5.12726500e-05 -8.23590657e-02] [ 4.01266860e-04 5.01858374e-05 9.99999918e-01 4.83746117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.772557844 meters 0.29151014324071023 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996087e-01 -2.75013393e-03 -5.13156738e-04 9.64720005e-02] [ 2.75005155e-03 9.99996206e-01 -1.61181844e-04 -8.19395112e-02] [ 5.13598062e-04 1.59770006e-04 9.99999855e-01 4.83527738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802557844 meters 0.29127522535161005 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996053e-01 -2.75447283e-03 -5.54670753e-04 9.65362555e-02] [ 2.75437709e-03 9.99996192e-01 -1.73304025e-04 -8.18863365e-02] [ 5.55146002e-04 1.71775569e-04 9.99999831e-01 4.83625830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.832557844 meters 0.2921268843101231 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99996010e-01 -2.74874524e-03 -6.51305385e-04 9.67079791e-02] [ 2.74864389e-03 9.99996210e-01 -1.56454420e-04 -8.19500010e-02] [ 6.51732970e-04 1.54663589e-04 9.99999776e-01 4.83803848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862557844 meters 0.2920838399945521 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99995981e-01 -2.76099012e-03 -6.44660808e-04 9.66024339e-02] [ 2.76086796e-03 9.99996171e-01 -1.90302107e-04 -8.18034775e-02] [ 6.45183761e-04 1.88521519e-04 9.99999774e-01 4.84002905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892557844 meters 0.2926417394089052 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99995814e-01 -2.81971204e-03 -6.48542317e-04 9.66624131e-02] [ 2.81948982e-03 9.99995966e-01 -3.43314036e-04 -8.11779547e-02] [ 6.49507748e-04 3.41484041e-04 9.99999731e-01 4.83887418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922557844 meters 0.2917177035140779 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99995200e-01 -3.04857194e-03 -5.53588016e-04 9.67341599e-02] [ 3.04805327e-03 9.99994917e-01 -9.35355830e-04 -7.87873904e-02] [ 5.56436702e-04 9.33663974e-04 9.99999409e-01 4.83160986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952557844 meters 0.29296626625964417 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99994876e-01 -3.14914137e-03 -5.75253074e-04 9.68528657e-02] [ 3.14844728e-03 9.99994319e-01 -1.20352660e-03 -7.76962432e-02] [ 5.79039882e-04 1.20170928e-03 9.99999110e-01 4.83011178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982557844 meters 0.29291950754155266 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.48 [[ 9.99994568e-01 -3.25561883e-03 -5.13835180e-04 9.66607035e-02] [ 3.25485307e-03 9.99993602e-01 -1.48415243e-03 -7.65373757e-02] [ 5.18663727e-04 1.48247191e-03 9.99998767e-01 4.83074804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012557844 meters 0.2906500908025375 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.49 [[ 0.99999416 0.00236097 -0.00247109 0.07237102] [-0.00237204 0.99998713 -0.00448568 -0.07522445] [ 0.00246047 0.00449151 0.99998689 0.48591296] [ 0. 0. 0. 1. ]] SLAMing on 137.04255784400002 meters 0.2919220107605194 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.07, Z:0.49 [[ 9.99997586e-01 -2.10753281e-03 6.21941945e-04 9.26249823e-02] [ 2.10797716e-03 9.99997523e-01 -7.14663917e-04 -7.17623850e-02] [-6.20434227e-04 7.15973231e-04 9.99999551e-01 4.86123088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07255784400002 meters 0.2903571017896854 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.49 [[ 9.99983081e-01 5.76291617e-03 -7.92021031e-04 7.27843394e-02] [-5.76438215e-03 9.99981654e-01 -1.86129507e-03 -7.49540400e-02] [ 7.81280013e-04 1.86582909e-03 9.99997954e-01 4.85659693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10255784400002 meters 0.2898865563815888 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.49 [[ 9.99983396e-01 5.70273600e-03 -8.28503799e-04 7.29053949e-02] [-5.70440618e-03 9.99981674e-01 -2.02771213e-03 -7.42867424e-02] [ 8.16925109e-04 2.03240458e-03 9.99997601e-01 4.85582727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13255784400002 meters 0.29148177251562035 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.48 [[ 9.99998494e-01 -2.60876596e-04 1.71563396e-03 9.62674614e-02] [ 2.60075961e-04 9.99999857e-01 4.66876326e-04 -7.40187188e-02] [-1.71575552e-03 -4.66429428e-04 9.99998419e-01 4.82795840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters 0.29097345147872467 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.48 [[ 9.99998523e-01 -2.98788536e-04 1.69268712e-03 9.63741006e-02] [ 2.98173124e-04 9.99999889e-01 3.63811640e-04 -7.36048840e-02] [-1.69279564e-03 -3.63306389e-04 9.99998501e-01 4.82680577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192557844 meters 0.2914114896145367 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.48 [[ 9.99998359e-01 -3.74797894e-04 1.77233441e-03 9.58988617e-02] [ 3.74510249e-04 9.99999917e-01 1.62626084e-04 -7.27046062e-02] [-1.77239521e-03 -1.61962060e-04 9.99998416e-01 4.83312138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222557844 meters 0.2900937451630068 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.48 [[ 9.99993421e-01 -1.33138259e-03 3.37416598e-03 5.57537919e-02] [ 1.32946581e-03 9.99998954e-01 5.70254117e-04 -7.48825694e-02] [-3.37492168e-03 -5.65764527e-04 9.99994145e-01 4.80725136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252557844 meters 0.2903468266704601 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.48 [[ 9.99993594e-01 -1.35663404e-03 3.31239925e-03 5.59073676e-02] [ 1.35496971e-03 9.99998955e-01 5.04649103e-04 -7.46148416e-02] [-3.31308041e-03 -5.00157670e-04 9.99994387e-01 4.80736467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282557844 meters 0.28910632984420664 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.48 [[ 9.99993307e-01 -1.91063607e-03 3.12015052e-03 1.96644357e-02] [ 1.90812767e-03 9.99997854e-01 8.06713019e-04 -7.53474747e-02] [-3.12168516e-03 -8.00753974e-04 9.99994807e-01 4.76033298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312557844 meters 0.2889125672223522 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:0.48 [[ 9.99993246e-01 -1.96228371e-03 3.10772576e-03 1.98256218e-02] [ 1.96023011e-03 9.99997858e-01 6.63712597e-04 -7.47761220e-02] [-3.10902150e-03 -6.57616256e-04 9.99994951e-01 4.75711467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342557844 meters 0.28821480685012335 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:0.48 [[ 9.99993163e-01 -2.01547216e-03 3.10029054e-03 1.98618319e-02] [ 2.01388090e-03 9.99997839e-01 5.16295464e-04 -7.41763343e-02] [-3.10132442e-03 -5.10048318e-04 9.99995061e-01 4.75664883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372557844 meters 0.29100124731045757 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.47 [[ 9.99983227e-01 -6.07640584e-04 5.75982981e-03 6.38621452e-02] [ 6.03901991e-04 9.99999606e-01 6.50797384e-04 -7.13752498e-02] [-5.76022299e-03 -6.47308096e-04 9.99983200e-01 4.73967192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402557844 meters 0.28999351837843057 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.48 [[ 0.99998632 0.00463936 0.00241723 0.04289833] [-0.00463279 0.99998558 -0.00271767 -0.07039593] [-0.00242981 0.00270644 0.99999339 0.47542672] [ 0. 0. 0. 1. ]] SLAMing on 137.432557844 meters 0.2905651460587277 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.48 [[ 0.99998651 0.00462458 0.00236523 0.04313756] [-0.00461806 0.99998554 -0.00275465 -0.07026057] [-0.00237794 0.00274369 0.99999341 0.47517622] [ 0. 0. 0. 1. ]] SLAMing on 137.462557844 meters 0.29058300323984537 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.47 [[ 0.99998813 -0.00453316 0.00178848 0.06669076] [ 0.00453838 0.99998542 -0.00292454 -0.06728235] [-0.0017752 0.00293262 0.99999412 0.4743189 ] [ 0. 0. 0. 1. ]] SLAMing on 137.492557844 meters 0.2903358931279392 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.47 [[ 0.99998825 -0.00447997 0.00185134 0.06657822] [ 0.00448512 0.99998606 -0.00278643 -0.0678557 ] [-0.00183883 0.0027947 0.9999944 0.47420982] [ 0. 0. 0. 1. ]] SLAMing on 137.522557844 meters 0.29014381807377454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.47 [[ 0.9999883 -0.00443411 0.00193156 0.06633726] [ 0.00443925 0.99998659 -0.00266546 -0.06834184] [-0.00191971 0.00267401 0.99999458 0.47430304] [ 0. 0. 0. 1. ]] SLAMing on 137.552557844 meters 0.2900739504275747 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.47 [[ 0.99998823 -0.00439143 0.00206253 0.0659795 ] [ 0.00439669 0.99998707 -0.00255514 -0.06878341] [-0.00205128 0.00256418 0.99999461 0.47436307] [ 0. 0. 0. 1. ]] SLAMing on 137.582557844 meters 0.2904182393142484 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:0.47 [[ 0.99998836 -0.00434699 0.00209409 0.06595827] [ 0.00435209 0.99998756 -0.0024386 -0.06927237] [-0.00208346 0.00244769 0.99999483 0.47422905] [ 0. 0. 0. 1. ]] SLAMing on 137.612557844 meters 0.289892380253992 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.48 [[ 9.99999668e-01 4.85178468e-04 -6.54682208e-04 4.43628387e-02] [-4.89067738e-04 9.99982157e-01 -5.95367527e-03 -7.10872630e-02] [ 6.51781932e-04 5.95399348e-03 9.99982062e-01 4.75244427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642557844 meters 0.2910616627326524 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.47 [[ 9.99994338e-01 -2.25254831e-03 2.50000808e-03 6.98642753e-02] [ 2.25351588e-03 9.99997387e-01 -3.84277380e-04 -7.61039690e-02] [-2.49913594e-03 3.89909012e-04 9.99996801e-01 4.70538508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672557844 meters 0.29147015389083614 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.47 [[ 9.99994667e-01 -2.21293078e-03 2.40167869e-03 7.02085246e-02] [ 2.21358846e-03 9.99997513e-01 -2.71215900e-04 -7.65916062e-02] [-2.40107254e-03 2.76530782e-04 9.99997079e-01 4.70336655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702557844 meters 0.2906758518622427 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.47 [[ 9.99995436e-01 2.99961522e-03 -3.59685467e-04 4.74361503e-02] [-3.00079630e-03 9.99989955e-01 -3.32932729e-03 -7.70042008e-02] [ 3.49695154e-04 3.33039144e-03 9.99994393e-01 4.72345244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732557844 meters 0.29239904295778274 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.47 [[ 9.99994727e-01 -2.08800868e-03 2.48716458e-03 6.97358421e-02] [ 2.08763081e-03 9.99997809e-01 1.54516630e-04 -7.83198594e-02] [-2.48748177e-03 -1.49323534e-04 9.99996895e-01 4.70623444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762557844 meters 0.290831461467285 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.47 [[ 0.99999295 0.00339777 0.00159554 0.04508953] [-0.00339316 0.99999008 -0.00288595 -0.08009053] [-0.00160533 0.00288052 0.99999456 0.47296124] [ 0. 0. 0. 1. ]] SLAMing on 137.79255784400002 meters 0.29118795207990644 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998728 -0.00414724 0.0028713 0.0641529 ] [ 0.00415125 0.99999041 -0.00139254 -0.07684047] [-0.0028655 0.00140444 0.99999491 0.4743447 ] [ 0. 0. 0. 1. ]] SLAMing on 137.82255784400002 meters 0.29163677439207675 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998785 -0.00404145 0.00282148 0.06430783] [ 0.00404458 0.99999121 -0.00110314 -0.07803743] [-0.002817 0.00111454 0.99999541 0.47430373] [ 0. 0. 0. 1. ]] SLAMing on 137.85255784400002 meters 0.28987144005928484 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.48 [[ 9.99999385e-01 9.95169826e-04 4.89225609e-04 4.07206588e-02] [-9.93137897e-04 9.99990953e-01 -4.13620176e-03 -7.95402607e-02] [-4.93337406e-04 4.13571334e-03 9.99991326e-01 4.76417783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88255784400002 meters 0.29082863878402143 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.48 [[ 9.99999050e-01 1.26193714e-03 5.55305251e-04 4.03552567e-02] [-1.26011313e-03 9.99993850e-01 -3.27287818e-03 -8.29378858e-02] [-5.59432003e-04 3.27217532e-03 9.99994490e-01 4.76932792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91255784400002 meters 0.28886164968906364 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.48 [[ 9.99962357e-01 -8.66930548e-03 -3.56632069e-04 1.88049767e-02] [ 8.66832227e-03 9.99958860e-01 -2.67180024e-03 -8.40309106e-02] [ 3.79780050e-04 2.66860827e-03 9.99996367e-01 4.77321081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942557844 meters 0.28886164968906364 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.48 [[ 9.99991015e-01 -4.21002553e-03 -4.95082256e-04 1.90160683e-02] [ 4.21100597e-03 9.99989141e-01 1.99627025e-03 -8.55887418e-02] [ 4.86672531e-04 -1.99833711e-03 9.99997885e-01 4.77489077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972557844 meters 0.2908081404857869 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.48 [[ 0.99999587 0.00208709 0.00197748 0.04097074] [-0.00208454 0.999997 -0.00128674 -0.08638249] [-0.00198016 0.00128261 0.99999722 0.47605105] [ 0. 0. 0. 1. ]] SLAMing on 138.002557844 meters 0.28988551825446895 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.48 [[ 0.99999565 0.00218772 0.00198073 0.0408876 ] [-0.00218572 0.9999971 -0.0010087 -0.08750082] [-0.00198293 0.00100437 0.99999753 0.47621816] [ 0. 0. 0. 1. ]] SLAMing on 138.032557844 meters 0.2895012821190356 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.48 [[ 9.99995469e-01 2.32758566e-03 1.90910471e-03 4.12342660e-02] [-2.32642577e-03 9.99997108e-01 -6.09557100e-04 -8.91591137e-02] [-1.91051799e-03 6.05112948e-04 9.99997992e-01 4.75812683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062557844 meters 0.2897101557664999 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.48 [[ 9.99995345e-01 2.38244355e-03 1.90632463e-03 4.12550894e-02] [-2.38157346e-03 9.99997059e-01 -4.58564000e-04 -8.97841879e-02] [-1.90741153e-03 4.54021814e-04 9.99998078e-01 4.75777200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092557844 meters 0.29045898018795774 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.48 [[ 9.99995225e-01 2.46049689e-03 1.86988068e-03 4.12226064e-02] [-2.46005707e-03 9.99996946e-01 -2.37473230e-04 -9.06658695e-02] [-1.87045927e-03 2.32872083e-04 9.99998224e-01 4.76075022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters 0.291604136399507 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.09, Z:0.48 [[ 0.99999547 0.00270619 0.00131405 0.08004887] [-0.00270459 0.99999561 -0.00121445 -0.09072683] [-0.00131733 0.0012109 0.9999984 0.47932974] [ 0. 0. 0. 1. ]] SLAMing on 138.152557844 meters 0.2897889761423453 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.09, Z:0.48 [[ 0.99998672 -0.00467534 -0.00216753 0.05994373] [ 0.00467834 0.9999881 0.00138265 -0.09377654] [ 0.00216104 -0.00139278 0.9999967 0.48088017] [ 0. 0. 0. 1. ]] SLAMing on 138.182557844 meters 0.2907060255617409 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 0.99998651 -0.00448092 -0.00262747 0.06135641] [ 0.00448639 0.99998777 0.00208011 -0.09670118] [ 0.00261811 -0.00209187 0.99999438 0.4801829 ] [ 0. 0. 0. 1. ]] SLAMing on 138.212557844 meters 0.2913316012437894 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.10, Z:0.48 [[ 0.99998561 0.00495127 -0.00206373 0.08098232] [-0.00494831 0.99998673 0.00143581 -0.10273987] [ 0.00207081 -0.00142558 0.99999684 0.48082263] [ 0. 0. 0. 1. ]] SLAMing on 138.242557844 meters 0.28995650652795135 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 0.99998465 -0.00427948 -0.00351818 0.06098168] [ 0.00428947 0.99998678 0.00283635 -0.10328383] [ 0.003506 -0.00285139 0.99998979 0.48043812] [ 0. 0. 0. 1. ]] SLAMing on 138.272557844 meters 0.2887809112498505 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.48 [[ 9.99995662e-01 7.51726439e-04 -2.84803730e-03 3.63044384e-02] [-7.51972031e-04 9.99999714e-01 -8.51623331e-05 -1.10478248e-01] [ 2.84797246e-03 8.73036080e-05 9.99995941e-01 4.82197315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302557844 meters 0.28981133086220556 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 0.99999168 -0.0038901 0.00122374 0.05827479] [ 0.00388594 0.99998674 0.0033787 -0.11505186] [-0.00123687 -0.00337391 0.99999354 0.47981176] [ 0. 0. 0. 1. ]] SLAMing on 138.332557844 meters 0.2898292829535919 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 0.99999212 -0.00381035 0.00111129 0.05861283] [ 0.00380634 0.9999863 0.00359429 -0.11594185] [-0.00112497 -0.00359003 0.99999292 0.47970419] [ 0. 0. 0. 1. ]] SLAMing on 138.362557844 meters 0.29021334256509584 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99992469e-01 -3.76808042e-03 9.28966553e-04 5.92259420e-02] [ 3.76460027e-03 9.99985995e-01 3.71996496e-03 -1.16474668e-01] [-9.42970670e-04 -3.71643976e-03 9.99992649e-01 4.79317417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392557844 meters 0.2906119813166972 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:0.48 [[ 9.99992723e-01 -3.74636418e-03 7.20051203e-04 5.99772605e-02] [ 3.74360821e-03 9.99985805e-01 3.79143733e-03 -1.16791694e-01] [-7.34245087e-04 -3.78871415e-03 9.99992553e-01 4.78728391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422557844 meters 0.2900462991601243 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99992359e-01 3.79254636e-03 -9.47499087e-04 4.03688711e-02] [-3.78994564e-03 9.99989087e-01 2.73170979e-03 -1.20246628e-01] [ 9.57848883e-04 -2.72809795e-03 9.99995820e-01 4.77298979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452557844 meters 0.2895340278427401 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99992366e-01 3.78753829e-03 -9.60005108e-04 4.04656420e-02] [-3.78491416e-03 9.99989136e-01 2.72068625e-03 -1.20213082e-01] [ 9.70299382e-04 -2.71703194e-03 9.99995838e-01 4.77140226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482557844 meters 0.2892926076969798 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99992474e-01 3.82028102e-03 -6.76422146e-04 3.96912441e-02] [-3.81836707e-03 9.99988766e-01 2.80855368e-03 -1.20519001e-01] [ 6.87144012e-04 -2.80594971e-03 9.99995827e-01 4.77392373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512557844 meters 0.29003803369996184 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99992622e-01 3.79929621e-03 -5.66084139e-04 3.94344800e-02] [-3.79772751e-03 9.99989016e-01 2.74690404e-03 -1.20269132e-01] [ 5.76514223e-04 -2.74473394e-03 9.99996067e-01 4.77343475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54255784400002 meters 0.289988413753421 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99992764e-01 3.76459094e-03 -5.48143207e-04 3.93641471e-02] [-3.76312458e-03 9.99989403e-01 2.65203442e-03 -1.19878779e-01] [ 5.58121223e-04 -2.64995250e-03 9.99996333e-01 4.77400010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57255784400002 meters 0.2903420619931567 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 0.99999089 -0.00405937 0.00131994 0.0579608 ] [ 0.00405472 0.99998565 0.00350266 -0.11473101] [-0.00133414 -0.00349728 0.99999299 0.47804033] [ 0. 0. 0. 1. ]] SLAMing on 138.60255784400002 meters 0.29046261626468417 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.48 [[ 9.99996919e-01 1.62449103e-03 -1.87710836e-03 3.69396732e-02] [-1.62335565e-03 9.99998499e-01 6.06222492e-04 -1.13612167e-01] [ 1.87809035e-03 -6.03173410e-04 9.99998054e-01 4.79818055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63255784400002 meters 0.2905312598030781 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99982728e-01 -5.87676340e-03 8.63337325e-05 5.55936021e-02] [ 5.87661121e-03 9.99981341e-01 1.66841226e-03 -1.08293546e-01] [-9.61369857e-05 -1.66787610e-03 9.99998604e-01 4.80704542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66255784400002 meters 0.290982630261174 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99982386e-01 -5.93459683e-03 8.55891124e-05 5.57061306e-02] [ 5.93446064e-03 9.99981247e-01 1.51225792e-03 -1.07669686e-01] [-9.45621484e-05 -1.51172336e-03 9.99998853e-01 4.80440034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692557844 meters 0.29071177232825274 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99982078e-01 -5.98680988e-03 3.91481170e-05 5.59025666e-02] [ 5.98675049e-03 9.99981137e-01 1.37304666e-03 -1.07111548e-01] [-4.73675479e-05 -1.37278768e-03 9.99999057e-01 4.80245256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722557844 meters 0.2908753331090319 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99981549e-01 -6.07376410e-03 -1.04484472e-04 5.62731771e-02] [ 6.07388113e-03 9.99980882e-01 1.15881567e-03 -1.06234189e-01] [ 9.74441013e-05 -1.15942891e-03 9.99999323e-01 4.80246998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752557844 meters 0.2910799588447969 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99981543e-01 -6.07554526e-03 -3.26775164e-05 5.59299057e-02] [ 6.07557882e-03 9.99980882e-01 1.15004305e-03 -1.06162294e-01] [ 2.56897530e-05 -1.15022036e-03 9.99999338e-01 4.80610639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782557844 meters 0.2893742650814273 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.48 [[ 9.99998061e-01 1.96879260e-03 -2.92284974e-05 3.58337050e-02] [-1.96878240e-03 9.99998002e-01 3.45082391e-04 -1.10506047e-01] [ 2.99078347e-05 -3.45024178e-04 9.99999940e-01 4.80006400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812557844 meters 0.28899755943685856 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.48 [[ 9.99998031e-01 1.98421842e-03 3.23910938e-05 3.55489243e-02] [-1.98423073e-03 9.99997957e-01 3.84723097e-04 -1.10641781e-01] [-3.16276530e-05 -3.84786611e-04 9.99999925e-01 4.80339180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842557844 meters 0.29074873696738723 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99980206e-01 -6.29095154e-03 1.06865837e-04 5.81489946e-02] [ 6.29087231e-03 9.99979949e-01 7.26302510e-04 -1.07294855e-01] [-1.11432828e-04 -7.25615854e-04 9.99999731e-01 4.80347078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872557844 meters 0.28985381526561654 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99980349e-01 -6.26894608e-03 3.56921356e-05 5.84321373e-02] [ 6.26891597e-03 9.99980039e-01 7.89110216e-04 -1.07579734e-01] [-4.06383126e-05 -7.88870958e-04 9.99999688e-01 4.80118204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902557844 meters 0.29066386133460115 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99980447e-01 -6.25308509e-03 -6.80106704e-05 5.87763092e-02] [ 6.25313995e-03 9.99980097e-01 8.38769797e-04 -1.07811350e-01] [ 6.27644179e-05 -8.39178677e-04 9.99999646e-01 4.79931530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932557844 meters 0.2913612126645378 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99980513e-01 -6.23932345e-03 -2.12330749e-04 5.92011295e-02] [ 6.23950841e-03 9.99980145e-01 8.81876865e-04 -1.08009792e-01] [ 2.06824218e-04 -8.83184520e-04 9.99999589e-01 4.79811398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962557844 meters 0.2916009848222008 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99980155e-01 -6.28712213e-03 -4.01622525e-04 5.97010243e-02] [ 6.28742556e-03 9.99979946e-01 7.58767494e-04 -1.07523054e-01] [ 3.96844007e-04 -7.61277608e-04 9.99999631e-01 4.79765171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.992557844 meters 0.2916042380222843 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99979860e-01 -6.33313596e-03 -4.12317556e-04 5.97563118e-02] [ 6.33339621e-03 9.99979744e-01 6.32966187e-04 -1.07019152e-01] [ 4.08300543e-04 -6.35564809e-04 9.99999715e-01 4.79694686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.022557844 meters 0.2910197629511386 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99979549e-01 -6.38169919e-03 -4.18249988e-04 5.97604145e-02] [ 6.38190601e-03 9.99979513e-01 4.95055799e-04 -1.06460951e-01] [ 4.15082122e-04 -4.97714906e-04 9.99999790e-01 4.79717863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052557844 meters 0.2911668573364043 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 9.99979151e-01 -6.44168651e-03 -4.50171401e-04 5.99642510e-02] [ 6.44183485e-03 9.99979197e-01 3.28845997e-04 -1.05813233e-01] [ 4.48043714e-04 -3.31739071e-04 9.99999845e-01 4.79414102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082557844 meters 0.2924704771992881 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 9.99978563e-01 -6.52147434e-03 -5.86871243e-04 6.04450685e-02] [ 6.52154312e-03 9.99978728e-01 1.15360448e-04 -1.04968633e-01] [ 5.86106439e-04 -1.19185281e-04 9.99999821e-01 4.79096239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112557844 meters 0.29233729687675813 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 9.99978033e-01 -6.59579461e-03 -6.54864244e-04 6.07575860e-02] [ 6.59573962e-03 9.99978244e-01 -8.60963751e-05 -1.04176787e-01] [ 6.55417871e-04 8.17751698e-05 9.99999782e-01 4.78756555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142557844 meters 0.2917397138519234 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99996467e-01 2.21924352e-03 -1.46336660e-03 3.78217646e-02] [-2.21958466e-03 9.99997510e-01 -2.31538377e-04 -1.04240940e-01] [ 1.46284912e-03 2.34785625e-04 9.99998902e-01 4.79310830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172557844 meters 0.29176583768631553 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99996750e-01 2.13035695e-03 -1.40058882e-03 3.76777761e-02] [-2.13103209e-03 9.99997614e-01 -4.80723770e-04 -1.03224291e-01] [ 1.39956136e-03 4.83706908e-04 9.99998904e-01 4.79264337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202557844 meters 0.29231314745132253 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99996886e-01 2.07444988e-03 -1.38723280e-03 3.77385007e-02] [-2.07532877e-03 9.99997647e-01 -6.32414430e-04 -1.02620402e-01] [ 1.38591763e-03 6.35291425e-04 9.99998838e-01 4.79037838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232557844 meters 0.2929865122213386 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99997040e-01 2.02323149e-03 -1.35154483e-03 3.77201692e-02] [-2.02427326e-03 9.99997655e-01 -7.69881617e-04 -1.02065657e-01] [ 1.34998401e-03 7.72615234e-04 9.99998790e-01 4.78864322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262557844 meters 0.2916533681598305 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99997199e-01 1.97505346e-03 -1.30460463e-03 3.74872421e-02] [-1.97623170e-03 9.99997640e-01 -9.02468970e-04 -1.01498029e-01] [ 1.30281913e-03 9.05044643e-04 9.99998742e-01 4.79122397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29255784400002 meters 0.29123095556486994 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99997311e-01 1.96597729e-03 -1.23031580e-03 3.71852862e-02] [-1.96712628e-03 9.99997630e-01 -9.33386473e-04 -1.01341321e-01] [ 1.22847786e-03 9.35804149e-04 9.99998808e-01 4.79375993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32255784400002 meters 0.29147092665005236 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.48 [[ 9.99997384e-01 1.98299131e-03 -1.14007833e-03 3.68548388e-02] [-1.98401084e-03 9.99997632e-01 -8.93833411e-04 -1.01480899e-01] [ 1.13830317e-03 8.96093000e-04 9.99998951e-01 4.79600709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35255784400002 meters 0.2936494550911058 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 0.99999326 -0.00321784 0.00176975 0.05877206] [ 0.00321362 0.999992 0.00238357 -0.10192663] [-0.0017774 -0.00237786 0.99999559 0.4779896 ] [ 0. 0. 0. 1. ]] SLAMing on 139.38255784400002 meters 0.29190386834559456 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:0.48 [[ 0.99999334 -0.00315282 0.00183573 0.05842292] [ 0.00314811 0.99999177 0.0025605 -0.10260915] [-0.00184379 -0.0025547 0.99999504 0.4784361 ] [ 0. 0. 0. 1. ]] SLAMing on 139.41255784400002 meters 0.28988492594628357 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:0.48 [[ 9.99996902e-01 2.09046409e-03 1.35108756e-03 3.35287475e-02] [-2.09010433e-03 9.99997780e-01 -2.67631295e-04 -1.07403617e-01] [-1.35164404e-03 2.64806552e-04 9.99999051e-01 4.81034103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442557844 meters 0.29133671299613617 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:0.48 [[ 9.99996926e-01 2.15355513e-03 1.22922892e-03 3.38644156e-02] [-2.15345943e-03 9.99997678e-01 -7.91719806e-05 -1.08180582e-01] [-1.22939657e-03 7.65246426e-05 9.99999241e-01 4.80977505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472557844 meters 0.2916633758663661 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 0.99998817 -0.00346714 0.00341251 0.05755415] [ 0.0034574 0.99998994 0.00285651 -0.10916556] [-0.00342238 -0.00284468 0.9999901 0.47817511] [ 0. 0. 0. 1. ]] SLAMing on 139.502557844 meters 0.2916818263622831 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:0.48 [[ 0.99998889 -0.00334214 0.00332423 0.05785163] [ 0.0033315 0.99998932 0.00320331 -0.11059917] [-0.0033349 -0.00319219 0.99998934 0.47802982] [ 0. 0. 0. 1. ]] SLAMing on 139.532557844 meters 0.2903147846994934 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:0.48 [[ 9.99997488e-01 1.70081010e-03 1.45969175e-03 3.44004325e-02] [-1.70062829e-03 9.99998546e-01 -1.25782834e-04 -1.11271061e-01] [-1.45990356e-03 1.23300125e-04 9.99998927e-01 4.80192823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562557844 meters 0.2921350386897947 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.48 [[ 9.99995930e-01 2.59788891e-03 1.17915002e-03 7.20061746e-02] [-2.59682717e-03 9.99996222e-01 -9.01075018e-04 -1.09001548e-01] [-1.18148646e-03 8.98009302e-04 9.99998899e-01 4.84044595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592557844 meters 0.2915340716813442 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.48 [[ 9.99995745e-01 2.66992653e-03 1.17527554e-03 7.17736121e-02] [-2.66909772e-03 9.99996189e-01 -7.06203105e-04 -1.09757789e-01] [-1.17715657e-03 7.03063175e-04 9.99999060e-01 4.84616653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622557844 meters 0.2910608575581296 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.48 [[ 9.99995570e-01 2.87093804e-03 7.85494046e-04 7.28047933e-02] [-2.87091016e-03 9.99995878e-01 -3.66187557e-05 -1.12472874e-01] [-7.85595938e-04 3.43635107e-05 9.99999691e-01 4.84549050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652557844 meters 0.29270980297073784 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.11, Z:0.48 [[ 9.99995220e-01 3.04118882e-03 5.57120463e-04 7.35303658e-02] [-3.04144697e-03 9.99995268e-01 4.63097141e-04 -1.14550229e-01] [-5.55709461e-04 -4.64789380e-04 9.99999738e-01 4.84228321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters 0.29053011463485195 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:0.48 [[ 9.99998832e-01 8.36308511e-04 1.27893576e-03 3.54363112e-02] [-8.37111384e-04 9.99999453e-01 6.27360484e-04 -1.20298955e-01] [-1.27841039e-03 -6.28430363e-04 9.99998985e-01 4.80920401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712557844 meters 0.2925517144499096 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.48 [[ 9.99998954e-01 1.34323950e-03 5.36486825e-04 7.39275383e-02] [-1.34305189e-03 9.99999037e-01 -3.49900651e-04 -1.21132696e-01] [-5.36956309e-04 3.49179755e-04 9.99999795e-01 4.84221410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.742557844 meters 0.29302083677378044 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:0.48 [[ 9.99998729e-01 1.48904481e-03 5.69991729e-04 7.36495955e-02] [-1.48905849e-03 9.99998891e-01 2.35849035e-05 -1.22642109e-01] [-5.69955978e-04 -2.44336246e-05 9.99999837e-01 4.84637208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.772557844 meters 0.29164923160841744 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.48 [[ 9.99998982e-01 6.51257032e-04 1.26920476e-03 3.46628493e-02] [-6.53182111e-04 9.99998636e-01 1.51693680e-03 -1.28663717e-01] [-1.26821511e-03 -1.51776428e-03 9.99998044e-01 4.82643484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802557844 meters 0.29245599093578484 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999184e-01 6.75769950e-04 1.08432960e-03 3.53519348e-02] [-6.77498763e-04 9.99998499e-01 1.59478691e-03 -1.29022012e-01] [-1.08325026e-03 -1.59552024e-03 9.99998140e-01 4.82085328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832557844 meters 0.29245599093578484 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999184e-01 6.75769950e-04 1.08432960e-03 3.53519348e-02] [-6.77498763e-04 9.99998499e-01 1.59478691e-03 -1.29022012e-01] [-1.08325026e-03 -1.59552024e-03 9.99998140e-01 4.82085328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862557844 meters 0.2925202888657053 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999305e-01 6.94864670e-04 9.52121054e-04 3.59886397e-02] [-6.96439775e-04 9.99998388e-01 1.65498013e-03 -1.29331233e-01] [-9.50969532e-04 -1.65564207e-03 9.99998177e-01 4.81289619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892557844 meters 0.2922863966141605 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999408e-01 7.31277743e-04 8.05471703e-04 3.65987528e-02] [-7.32694808e-04 9.99998182e-01 1.76041171e-03 -1.29804728e-01] [-8.04182889e-04 -1.76100083e-03 9.99998126e-01 4.80698882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922557844 meters 0.29263192144526246 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999392e-01 8.08320008e-04 7.49466915e-04 3.66130301e-02] [-8.09795883e-04 9.99997730e-01 1.97102507e-03 -1.30643713e-01] [-7.47871994e-04 -1.97163079e-03 9.99997777e-01 4.81011648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952557844 meters 0.2932459076138735 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999346e-01 8.69586279e-04 7.42271437e-04 3.64352851e-02] [-8.71168478e-04 9.99997344e-01 2.13390946e-03 -1.31275849e-01] [-7.40413847e-04 -2.13455471e-03 9.99997448e-01 4.81466916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982557844 meters 0.2933404858341701 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:0.48 [[ 9.99999289e-01 9.34132424e-04 7.41523037e-04 3.62680413e-02] [-9.35839772e-04 9.99996904e-01 2.30549008e-03 -1.31945003e-01] [-7.39367108e-04 -2.30618239e-03 9.99997067e-01 4.81855344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012557844 meters 0.2919439975803733 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 0.99999702 -0.00139844 0.00200256 -0.00437171] [ 0.00139373 0.99999626 0.00235145 -0.13629068] [-0.00200584 -0.00234865 0.99999523 0.48037702] [ 0. 0. 0. 1. ]] SLAMing on 140.04255784400002 meters 0.29117855800212417 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 0.99999704 -0.00133717 0.00203059 -0.00454715] [ 0.00133206 0.99999594 0.00251879 -0.13695282] [-0.00203395 -0.00251608 0.99999477 0.48063016] [ 0. 0. 0. 1. ]] SLAMing on 140.07255784400002 meters 0.291639570741587 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.14, Z:0.48 [[ 0.99999692 -0.00132285 0.00209821 -0.00482154] [ 0.00131749 0.99999587 0.00255453 -0.13707431] [-0.00210158 -0.00255176 0.99999454 0.48088339] [ 0. 0. 0. 1. ]] SLAMing on 140.10255784400002 meters 0.2927773664796958 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.48 [[ 9.99998944e-01 -3.51168563e-05 1.45282688e-03 3.31744182e-02] [ 3.27369697e-05 9.99998658e-01 1.63809884e-03 -1.32985794e-01] [-1.45288246e-03 -1.63804955e-03 9.99997603e-01 4.84167240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13255784400002 meters 0.2934064903163469 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.48 [[ 9.99998871e-01 -5.00054674e-05 1.50202470e-03 3.29460068e-02] [ 4.76092860e-05 9.99998726e-01 1.59529431e-03 -1.32781057e-01] [-1.50210256e-03 -1.59522100e-03 9.99997599e-01 4.84390205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16255784400002 meters 0.2933425405394286 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.49 [[ 9.99989431e-01 4.54890762e-03 -6.67548043e-04 9.86027814e-03] [-4.55026981e-03 9.99987539e-01 -2.05345294e-03 -1.32790792e-01] [ 6.58198757e-04 2.05646876e-03 9.99997669e-01 4.86158389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192557844 meters 0.29152062198123074 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:0.49 [[ 9.99989190e-01 4.59917887e-03 -6.83058369e-04 9.90600273e-03] [-4.60048183e-03 9.99987578e-01 -1.91837377e-03 -1.33350418e-01] [ 6.74226939e-04 1.92149543e-03 9.99997927e-01 4.86149098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters 0.2922563881176798 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.49 [[ 9.99993889e-01 -3.48812565e-03 -2.33335196e-04 3.18930812e-02] [ 3.48779730e-03 9.99992947e-01 -1.39312530e-03 -1.30981123e-01] [ 2.38192947e-04 1.39230296e-03 9.99999002e-01 4.86228117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252557844 meters 0.2919281322653283 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:0.49 [[ 9.99994026e-01 -3.45023282e-03 -2.09103923e-04 3.17855771e-02] [ 3.44995915e-03 9.99993210e-01 -1.29530200e-03 -1.31377355e-01] [ 2.13571596e-04 1.29457286e-03 9.99999139e-01 4.86329665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282557844 meters 0.2913562527935779 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.14, Z:0.49 [[ 9.99990438e-01 4.28885264e-03 -8.54585016e-04 1.20600901e-02] [-4.29062521e-03 9.99988625e-01 -2.08325669e-03 -1.36497788e-01] [ 8.45640515e-04 2.08690347e-03 9.99997465e-01 4.85319295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312557844 meters 0.29259760349021285 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996634e-01 -1.51435491e-03 2.10681938e-03 3.34327411e-02] [ 1.51322081e-03 9.99998709e-01 5.39786070e-04 -1.36762077e-01] [-2.10763409e-03 -5.36596170e-04 9.99997635e-01 4.83640538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342557844 meters 0.29220744008781885 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996748e-01 -1.48349119e-03 2.07463687e-03 3.35623471e-02] [ 1.48220057e-03 9.99998707e-01 6.23493155e-04 -1.37120410e-01] [-2.07555914e-03 -6.20416099e-04 9.99997654e-01 4.83540282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372557844 meters 0.2922076208351506 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99996769e-01 -1.48053583e-03 2.06640493e-03 3.37101917e-02] [ 1.47923103e-03 9.99998706e-01 6.32818061e-04 -1.37186700e-01] [-2.06733917e-03 -6.29759326e-04 9.99997665e-01 4.83239399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402557844 meters 0.292872592928107 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999615e-01 6.39630018e-05 8.74928820e-04 7.32612812e-02] [-6.37920614e-05 9.99999979e-01 -1.95402917e-04 -1.32974867e-01] [-8.74941300e-04 1.95347028e-04 9.99999598e-01 4.85627527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432557844 meters 0.2926500365143864 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999635e-01 1.38546987e-05 8.54677799e-04 7.34060051e-02] [-1.35750009e-05 9.99999946e-01 -3.27260133e-04 -1.32444988e-01] [-8.54682288e-04 3.27248411e-04 9.99999581e-01 4.85412101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462557844 meters 0.29417794081636367 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999624e-01 3.02035077e-06 8.66734721e-04 7.31652250e-02] [-2.70841511e-06 9.99999935e-01 -3.59898455e-04 -1.32271387e-01] [-8.66735752e-04 3.59895972e-04 9.99999560e-01 4.85916557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.492557844 meters 0.29285697879384115 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999617e-01 -1.70213755e-06 8.75735173e-04 7.29942534e-02] [ 2.03015111e-06 9.99999930e-01 -3.74557184e-04 -1.32185868e-01] [-8.75734474e-04 3.74558818e-04 9.99999546e-01 4.86266472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.522557844 meters 0.29238871111416503 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999552e-01 3.14636032e-05 9.46385696e-04 7.27398390e-02] [-3.11889808e-05 9.99999957e-01 -2.90193656e-04 -1.32517833e-01] [-9.46394786e-04 2.90164009e-04 9.99999510e-01 4.86434107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552557844 meters 0.29300870936986284 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:0.49 [[ 9.99999533e-01 8.91147970e-05 9.62747315e-04 7.26888388e-02] [-8.89824060e-05 9.99999987e-01 -1.37555665e-04 -1.33144088e-01] [-9.62759561e-04 1.37469933e-04 9.99999527e-01 4.86458623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582557844 meters 0.2914904657017276 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99999777 -0.00115103 0.00177195 0.0346676 ] [ 0.00114921 0.99999881 0.00102472 -0.13712454] [-0.00177313 -0.00102268 0.99999791 0.48323332] [ 0. 0. 0. 1. ]] SLAMing on 140.612557844 meters 0.2925576716429496 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99999797 -0.00111832 0.00167785 0.03502678] [ 0.00111644 0.99999875 0.00112207 -0.13755946] [-0.0016791 -0.00112019 0.99999796 0.48294873] [ 0. 0. 0. 1. ]] SLAMing on 140.642557844 meters 0.2919208881578058 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.9999982 -0.00105889 0.00157681 0.03517661] [ 0.00105685 0.9999986 0.00129606 -0.13824869] [-0.00157818 -0.00129439 0.99999792 0.48321606] [ 0. 0. 0. 1. ]] SLAMing on 140.672557844 meters 0.2935261062019158 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.14, Z:0.48 [[ 0.99996899 0.00641358 0.00457061 0.05528762] [-0.00640765 0.99997861 -0.00131182 -0.13792763] [-0.00457893 0.00128249 0.99998869 0.48222452] [ 0. 0. 0. 1. ]] SLAMing on 140.702557844 meters 0.29144797449694626 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99985418e-01 -2.67353824e-03 4.69207042e-03 3.44173803e-02] [ 2.67148013e-03 9.99996333e-01 4.44847866e-04 -1.36316444e-01] [-4.69324253e-03 -4.32306607e-04 9.99988893e-01 4.82094192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732557844 meters 0.2924084930344998 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 9.99985905e-01 -2.58362663e-03 4.63838482e-03 3.45351146e-02] [ 2.58044940e-03 9.99996432e-01 6.90841570e-04 -1.37323085e-01] [-4.64015315e-03 -6.78862715e-04 9.99989004e-01 4.82149052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762557844 meters 0.2921657349546366 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:0.48 [[ 0.99998683 -0.00242281 0.00452382 0.03490052] [ 0.00241768 0.99999643 0.00113904 -0.13918596] [-0.00452656 -0.00112809 0.99998912 0.48202176] [ 0. 0. 0. 1. ]] SLAMing on 140.79255784400002 meters 0.29196106339587674 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.14, Z:0.48 [[ 0.99998784 -0.00223772 0.00439363 0.03521397] [ 0.00223041 0.99999612 0.00166828 -0.14133663] [-0.00439735 -0.00165846 0.99998896 0.48208646] [ 0. 0. 0. 1. ]] SLAMing on 140.82255784400002 meters 0.2939172970616251 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.14, Z:0.48 [[ 0.99996916 0.00481952 0.00620053 0.05706462] [-0.00481179 0.99998763 -0.00126003 -0.14374653] [-0.00620653 0.00123016 0.99997998 0.48057438] [ 0. 0. 0. 1. ]] SLAMing on 140.85255784400002 meters 0.2929831765551051 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.48 [[ 9.99966787e-01 5.19081242e-03 6.28328303e-03 5.64872714e-02] [-5.19078427e-03 9.99986528e-01 -2.07883255e-05 -1.48537409e-01] [-6.28330628e-03 -1.18275317e-05 9.99980260e-01 4.81519286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88255784400002 meters 0.29239294812600264 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.48 [[ 9.99966167e-01 5.38823139e-03 6.21539245e-03 5.64944176e-02] [-5.39156175e-03 9.99985331e-01 5.19193018e-04 -1.50709367e-01] [-6.21250375e-03 -5.52686124e-04 9.99980549e-01 4.81887117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91255784400002 meters 0.2918425136371301 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.48 [[ 9.99965899e-01 5.55802599e-03 6.10820027e-03 5.67379282e-02] [-5.56395628e-03 9.99984066e-01 9.54310125e-04 -1.52484263e-01] [-6.10279886e-03 -9.88263341e-04 9.99980889e-01 4.81963531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942557844 meters 0.29335116471156664 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.48 [[ 0.99996633 0.00566266 0.00593951 0.05726171] [-0.00567006 0.99998317 0.00122966 -0.15362769] [-0.00593245 -0.0012633 0.9999816 0.48175132] [ 0. 0. 0. 1. ]] SLAMing on 140.972557844 meters 0.292532231700679 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.15, Z:0.48 [[ 0.99998091 0.00148046 0.00599827 0.05765781] [-0.00146402 0.99999516 -0.00274524 -0.15455442] [-0.00600231 0.00273641 0.99997824 0.4805593 ] [ 0. 0. 0. 1. ]] SLAMing on 141.002557844 meters 0.2945672114641466 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.15, Z:0.48 [[ 9.99970248e-01 -3.56990270e-03 6.83809774e-03 8.03783797e-02] [ 3.56366980e-03 9.99993224e-01 9.23463109e-04 -1.52934837e-01] [-6.84134808e-03 -8.99066912e-04 9.99976194e-01 4.78888773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032557844 meters 0.292530409979666 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.15, Z:0.48 [[ 0.99996946 -0.00351297 0.00698064 0.07989031] [ 0.00350549 0.99999327 0.00108245 -0.15353896] [-0.0069844 -0.00105794 0.99997505 0.47922712] [ 0. 0. 0. 1. ]] SLAMing on 141.062557844 meters 0.2960469000861947 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.48 [[ 9.99950594e-01 5.31785469e-03 8.39820508e-03 9.83672368e-02] [-5.31267555e-03 9.99985684e-01 -6.38884516e-04 -1.57058201e-01] [-8.40148234e-03 5.94236013e-04 9.99964530e-01 4.80960189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092557844 meters 0.2935892219389808 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.48 [[ 9.99950943e-01 5.40616186e-03 8.29974554e-03 9.84955435e-02] [-5.40287114e-03 9.99985317e-01 -4.18854845e-04 -1.57949521e-01] [-8.30188807e-03 3.73991841e-04 9.99965469e-01 4.81257291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122557844 meters 0.29471988116533554 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.48 [[ 0.99996427 0.00118655 0.00836928 0.09850815] [-0.00114861 0.99998905 -0.00453752 -0.15886074] [-0.00837457 0.00452774 0.99995468 0.48071645] [ 0. 0. 0. 1. ]] SLAMing on 141.152557844 meters 0.29311729521485247 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.48 [[ 0.99996384 0.00134219 0.00839731 0.09843655] [-0.00130793 0.99999081 -0.00408373 -0.16069392] [-0.00840272 0.0040726 0.9999564 0.4807433 ] [ 0. 0. 0. 1. ]] SLAMing on 141.182557844 meters 0.2922854915640822 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:0.48 [[ 0.99996245 0.00149686 0.00853527 0.09793907] [-0.00146605 0.99999239 -0.00361503 -0.16254292] [-0.00854061 0.00360238 0.99995704 0.48116544] [ 0. 0. 0. 1. ]] SLAMing on 141.212557844 meters 0.29480578815016467 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:0.48 [[ 9.99916352e-01 -3.54762070e-03 1.24379561e-02 1.19252071e-01] [ 3.55335206e-03 9.99993591e-01 -4.38726662e-04 -1.66954626e-01] [-1.24363200e-02 4.82886400e-04 9.99922549e-01 4.79325400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.242557844 meters 0.29231108669557915 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.17, Z:0.48 [[ 0.99993205 0.00140164 0.01157293 0.09525746] [-0.00136675 0.9999945 -0.00302133 -0.17384822] [-0.0115771 0.00300531 0.99992847 0.48197952] [ 0. 0. 0. 1. ]] SLAMing on 141.272557844 meters 0.2940821998970464 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.48 [[ 0.99993438 0.00151426 0.01135554 0.09590317] [-0.00148401 0.99999533 -0.0026713 -0.17532472] [-0.01135953 0.00265427 0.99993196 0.48173124] [ 0. 0. 0. 1. ]] SLAMing on 141.302557844 meters 0.29482084617010584 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:0.48 [[ 0.99993621 0.00161919 0.01117854 0.09650379] [-0.00159296 0.99999596 -0.0023546 -0.17667129] [-0.01118231 0.00233664 0.99993475 0.48135417] [ 0. 0. 0. 1. ]] SLAMing on 141.332557844 meters 0.29278920935335295 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.48 [[ 9.99958855e-01 -5.61030123e-03 7.12829989e-03 7.64450181e-02] [ 5.60605844e-03 9.99984097e-01 6.15046422e-04 -1.81410991e-01] [-7.13163712e-03 -5.75059450e-04 9.99974404e-01 4.83898862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362557844 meters 0.29296509606575766 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.18, Z:0.48 [[ 9.99960163e-01 -5.45360399e-03 7.06614325e-03 7.64337277e-02] [ 5.44644685e-03 9.99984636e-01 1.03172506e-03 -1.83093584e-01] [-7.07166131e-03 -9.93198589e-04 9.99974502e-01 4.84311963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392557844 meters 0.29322878317363715 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.48 [[ 0.99996184 -0.00526177 0.00697349 0.07652658] [ 0.00525131 0.99998506 0.00151767 -0.18506432] [-0.00698138 -0.001481 0.99997453 0.48467542] [ 0. 0. 0. 1. ]] SLAMing on 141.422557844 meters 0.2939534723597879 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.48 [[ 0.99996219 -0.00517746 0.00698591 0.07655805] [ 0.00516535 0.99998513 0.00174958 -0.18602261] [-0.00699487 -0.00171343 0.99997407 0.48452915] [ 0. 0. 0. 1. ]] SLAMing on 141.452557844 meters 0.294878174973519 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.19, Z:0.48 [[ 0.99996244 -0.00510593 0.00700339 0.07659501] [ 0.00509243 0.99998514 0.00194474 -0.18683841] [-0.00701321 -0.00190901 0.99997358 0.48434484] [ 0. 0. 0. 1. ]] SLAMing on 141.482557844 meters 0.2934991683088255 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.48 [[ 0.99998143 0.00203875 0.00574298 0.05744943] [-0.00204493 0.99999734 0.00107103 -0.19345657] [-0.00574078 -0.00108276 0.99998294 0.48293681] [ 0. 0. 0. 1. ]] SLAMing on 141.512557844 meters 0.2954701074838084 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.49 [[ 9.99984630e-01 3.47009236e-03 4.32404834e-03 9.65684026e-02] [-3.46848992e-03 9.99993913e-01 -3.78031316e-04 -1.90445720e-01] [-4.32533382e-03 3.63027587e-04 9.99990580e-01 4.85662619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54255784400002 meters 0.2950103855462449 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.49 [[ 9.99984892e-01 3.52143815e-03 4.22092792e-03 9.68357608e-02] [-3.52049406e-03 9.99993776e-01 -2.31078650e-04 -1.91057905e-01] [-4.22171538e-03 2.16215407e-04 9.99991065e-01 4.85662547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57255784400002 meters 0.2952705751747292 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.49 [[ 9.99985266e-01 3.56908038e-03 4.09018190e-03 9.72490667e-02] [-3.56871645e-03 9.99993627e-01 -9.62715516e-05 -1.91635607e-01] [-4.09049944e-03 8.16734337e-05 9.99991631e-01 4.85489306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60255784400002 meters 0.295012971680347 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.49 [[ 9.99985089e-01 3.73486756e-03 3.98408475e-03 9.76887067e-02] [-3.73623470e-03 9.99992964e-01 3.35762738e-04 -1.93474615e-01] [-3.98280269e-03 -3.50643207e-04 9.99992007e-01 4.85122541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63255784400002 meters 0.29595548697563917 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.49 [[ 9.99984936e-01 3.85732758e-03 3.90492560e-03 9.79113291e-02] [-3.85994233e-03 9.99992331e-01 6.62287805e-04 -1.94830799e-01] [-3.90234099e-03 -6.77350616e-04 9.99992156e-01 4.85093063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66255784400002 meters 0.29641569881817714 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.49 [[ 9.99984708e-01 3.94936645e-03 3.87122180e-03 9.79755487e-02] [-3.95291387e-03 9.99991774e-01 9.09135205e-04 -1.95849463e-01] [-3.86759945e-03 -9.24423909e-04 9.99992094e-01 4.85148199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692557844 meters 0.2946447189473866 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.49 [[ 0.99998449 0.00402832 0.00384659 0.09802086] [-0.00403266 0.99999124 0.0011215 -0.19672074] [-0.00384204 -0.00113699 0.99999197 0.48519182] [ 0. 0. 0. 1. ]] SLAMing on 141.722557844 meters 0.2946447189473866 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.49 [[ 0.99998449 0.00402832 0.00384659 0.09802086] [-0.00403266 0.99999124 0.0011215 -0.19672074] [-0.00384204 -0.00113699 0.99999197 0.48519182] [ 0. 0. 0. 1. ]] SLAMing on 141.752557844 meters 0.297287621467195 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:0.48 [[ 0.99997747 -0.00365797 0.00562905 0.11880553] [ 0.00364847 0.9999919 0.00169705 -0.19405294] [-0.00563521 -0.00167648 0.99998272 0.48484636] [ 0. 0. 0. 1. ]] SLAMing on 141.782557844 meters 0.2956421875982249 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.49 [[ 9.99993353e-01 9.57496302e-04 3.51809805e-03 9.50757065e-02] [-9.52951193e-04 9.99998710e-01 -1.29337145e-03 -1.96171944e-01] [-3.51933191e-03 1.29001028e-03 9.99992975e-01 4.87514957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812557844 meters 0.2957650809257454 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:0.49 [[ 9.99967845e-01 -6.06270439e-03 5.24911938e-03 1.14056927e-01] [ 6.06266759e-03 9.99981622e-01 2.29234731e-05 -1.92641875e-01] [-5.24916189e-03 8.90092991e-06 9.99986223e-01 4.88450953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842557844 meters 0.294257717587174 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:0.49 [[ 0.99999339 -0.00166839 0.00323173 0.08980463] [ 0.00167869 0.99999351 -0.00318889 -0.19350598] [-0.00322639 0.00319429 0.99998969 0.49115322] [ 0. 0. 0. 1. ]] SLAMing on 141.872557844 meters 0.2956844521307962 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.19, Z:0.49 [[ 9.99996283e-01 5.38851196e-04 2.67278638e-03 1.27604100e-01] [-5.29208921e-04 9.99993355e-01 -3.60697027e-03 -1.92537567e-01] [-2.67471224e-03 3.60554240e-03 9.99989923e-01 4.94330522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902557844 meters 0.2955629077418632 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.19, Z:0.49 [[ 9.99996555e-01 6.96208547e-04 2.53074724e-03 1.27785265e-01] [-6.88258154e-04 9.99994830e-01 -3.14103443e-03 -1.94386825e-01] [-2.53292097e-03 3.13928180e-03 9.99991865e-01 4.94777572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932557844 meters 0.2955389444272246 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99977543e-01 -6.58876012e-03 -1.22572550e-03 1.07500066e-01] [ 6.58872753e-03 9.99978294e-01 -3.06224392e-05 -1.98635683e-01] [ 1.22590066e-03 2.25457802e-05 9.99999248e-01 4.97020970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962557844 meters 0.2948748924696117 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99978131e-01 -6.47961300e-03 -1.32398717e-03 1.07755042e-01] [ 6.47998707e-03 9.99978966e-01 2.78437204e-04 -1.99908112e-01] [ 1.32215516e-03 -2.87010535e-04 9.99999085e-01 4.97018587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.992557844 meters 0.29613887875220507 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 9.99994704e-01 3.13184575e-03 8.85048956e-04 1.25896755e-01] [-3.13124607e-03 9.99994868e-01 -6.78137991e-04 -2.03266093e-01] [-8.87168238e-04 6.75363093e-04 9.99999378e-01 4.97623372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.022557844 meters 0.295248604707773 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 9.99994295e-01 3.23809018e-03 9.62136536e-04 1.25270141e-01] [-3.23771564e-03 9.99994682e-01 -3.90578273e-04 -2.04341375e-01] [-9.63396147e-04 3.87460920e-04 9.99999461e-01 4.98764684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.052557844 meters 0.29546359401312916 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 9.99994337e-01 3.21611334e-03 9.91520403e-04 1.25050646e-01] [-3.21566730e-03 9.99994728e-01 -4.51124976e-04 -2.04061244e-01] [-9.92966044e-04 4.47934021e-04 9.99999407e-01 4.99105003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082557844 meters 0.295320918447451 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99977954e-01 -6.62022114e-03 -5.14524972e-04 1.07152751e-01] [ 6.62054670e-03 9.99977883e-01 6.33615470e-04 -2.00911215e-01] [ 5.10318917e-04 -6.37007937e-04 9.99999667e-01 4.98136569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.112557844 meters 0.295504280742463 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 9.99992185e-01 3.94836780e-03 -1.99451020e-04 1.28620581e-01] [-3.94833641e-03 9.99992193e-01 1.57513756e-04 -2.01749715e-01] [ 2.00071385e-04 -1.56725026e-04 9.99999968e-01 4.97792742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142557844 meters 0.29465044169280363 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 9.99992487e-01 3.86871610e-03 -2.42438135e-04 1.28941843e-01] [-3.86873180e-03 9.99992514e-01 -6.43290432e-05 -2.00900276e-01] [ 2.42187450e-04 6.52664880e-05 9.99999969e-01 4.97282081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172557844 meters 0.29575863003635244 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99979307e-01 -5.92431908e-03 -2.50760607e-03 1.11658006e-01] [ 5.92627052e-03 9.99982142e-01 7.71493846e-04 -1.96744185e-01] [ 2.50299071e-03 -7.86338634e-04 9.99996558e-01 4.96206885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202557844 meters 0.29639823636045487 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 9.99997681e-01 2.14049410e-03 -2.38874641e-04 1.32321221e-01] [-2.14095566e-03 9.99995809e-01 -1.94901532e-03 -1.95786503e-01] [ 2.34701784e-04 1.94952222e-03 9.99998072e-01 4.94544055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232557844 meters 0.295319090348807 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99978125e-01 -5.41925375e-03 -3.79229826e-03 1.12371260e-01] [ 5.42245589e-03 9.99984950e-01 8.34606327e-04 -1.98108995e-01] [ 3.78771824e-03 -8.55151640e-04 9.99992461e-01 4.96359343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262557844 meters 0.2952910506720818 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 9.99978290e-01 -5.38775598e-03 -3.79357138e-03 1.12385018e-01] [ 5.39127982e-03 9.99985044e-01 9.19285776e-04 -1.98463255e-01] [ 3.78856176e-03 -9.39718023e-04 9.99992382e-01 4.96336264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29255784400002 meters 0.29528203785377266 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:0.50 [[ 0.99997871 -0.00532982 -0.00376568 0.11227261] [ 0.0053339 0.9999852 0.00107506 -0.19908847] [ 0.0037599 -0.00109513 0.99999233 0.49644031] [ 0. 0. 0. 1. ]] SLAMing on 142.32255784400002 meters 0.2959962174504229 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99999612 0.00213499 -0.00178716 0.13387094] [-0.00213854 0.99999574 -0.00198797 -0.19973695] [ 0.00178291 0.00199179 0.99999643 0.4946517 ] [ 0. 0. 0. 1. ]] SLAMing on 142.35255784400002 meters 0.29609426800521144 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99999598 0.00218126 -0.00181382 0.13398541] [-0.00218463 0.99999588 -0.00186169 -0.20027003] [ 0.00180975 0.00186565 0.99999662 0.49454571] [ 0. 0. 0. 1. ]] SLAMing on 142.38255784400002 meters 0.29466310415235136 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99999593 0.00218983 -0.00182757 0.13410906] [-0.00219319 0.9999959 -0.00183859 -0.20038906] [ 0.00182354 0.00184259 0.99999664 0.49434286] [ 0. 0. 0. 1. ]] SLAMing on 142.41255784400002 meters 0.29611846962905525 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99999594 0.00218377 -0.00183065 0.13416011] [-0.00218717 0.99999589 -0.00185398 -0.20033684] [ 0.00182659 0.00185798 0.99999661 0.49424575] [ 0. 0. 0. 1. ]] SLAMing on 142.442557844 meters 0.29663887159877644 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.20, Z:0.49 [[ 9.99996921e-01 -2.43208626e-03 4.92971732e-04 1.56566078e-01] [ 2.43130903e-03 9.99995810e-01 1.57112954e-03 -2.00364973e-01] [-4.96790789e-04 -1.56992614e-03 9.99998644e-01 4.92753560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472557844 meters 0.2957831857911514 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.50 [[ 0.99999778 0.00183595 -0.00103161 0.13181022] [-0.00183767 0.99999693 -0.00166417 -0.20210111] [ 0.00102855 0.00166606 0.99999808 0.49541048] [ 0. 0. 0. 1. ]] SLAMing on 142.502557844 meters 0.29644836476222575 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 0.9999924 -0.00271124 0.00280055 0.15382288] [ 0.00270723 0.9999953 0.00143591 -0.20445663] [-0.00280443 -0.00142832 0.99999505 0.49297485] [ 0. 0. 0. 1. ]] SLAMing on 142.532557844 meters 0.29719475691597186 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:0.49 [[ 0.99999256 -0.00265771 0.00279431 0.15370586] [ 0.00265331 0.99999523 0.00157816 -0.20500988] [-0.00279849 -0.00157074 0.99999485 0.49328026] [ 0. 0. 0. 1. ]] SLAMing on 142.562557844 meters 0.29455183515487976 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:0.49 [[ 0.99999286 -0.00252227 0.00281258 0.1536027 ] [ 0.0025167 0.99999487 0.00197912 -0.20660198] [-0.00281756 -0.00197202 0.99999409 0.49342803] [ 0. 0. 0. 1. ]] SLAMing on 142.592557844 meters 0.2931290358193261 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.50 [[ 0.99999789 0.00162641 0.00125545 0.12927327] [-0.0016248 0.99999786 -0.00128135 -0.20909002] [-0.00125753 0.00127931 0.99999839 0.49564288] [ 0. 0. 0. 1. ]] SLAMing on 142.622557844 meters 0.29433510517239064 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:0.49 [[ 0.99998087 -0.00336202 0.00519194 0.15145398] [ 0.00335403 0.99999318 0.00154592 -0.21321267] [-0.0051971 -0.00152847 0.99998533 0.49279691] [ 0. 0. 0. 1. ]] SLAMing on 142.652557844 meters 0.2957533530881492 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:0.49 [[ 0.99998156 -0.00323075 0.00514264 0.15147378] [ 0.00322085 0.99999295 0.00193278 -0.21474405] [-0.00514885 -0.00191618 0.99998491 0.49304807] [ 0. 0. 0. 1. ]] SLAMing on 142.682557844 meters 0.2931300636196877 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.50 [[ 9.99997544e-01 9.61073877e-04 1.99709936e-03 1.28366299e-01] [-9.58982873e-04 9.99998991e-01 -1.04771457e-03 -2.16068195e-01] [-1.99810428e-03 1.04579681e-03 9.99997457e-01 4.95744973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712557844 meters 0.29406575478243785 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:0.49 [[ 0.99998509 -0.00340612 0.00426793 0.15165514] [ 0.00339572 0.99999126 0.00244105 -0.21738974] [-0.0042762 -0.00242652 0.99998791 0.4937736 ] [ 0. 0. 0. 1. ]] SLAMing on 142.742557844 meters 0.2952230407294206 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:0.49 [[ 0.99998547 -0.00339886 0.00418325 0.15193264] [ 0.00338857 0.99999122 0.00246609 -0.2175125 ] [-0.00419159 -0.00245188 0.99998821 0.49363582] [ 0. 0. 0. 1. ]] SLAMing on 142.772557844 meters 0.29470621510282113 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 0.99998842 0.00361251 0.00317848 0.13259867] [-0.00361671 0.9999926 0.00131433 -0.22148906] [-0.00317371 -0.00132581 0.99999408 0.49214141] [ 0. 0. 0. 1. ]] SLAMing on 142.802557844 meters 0.2944602139417544 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.22, Z:0.49 [[ 0.99998115 -0.00419226 0.00448634 0.15308709] [ 0.0041848 0.99998985 0.00167047 -0.21719315] [-0.00449329 -0.00165166 0.99998854 0.49164436] [ 0. 0. 0. 1. ]] SLAMing on 142.832557844 meters 0.29448551813272655 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99986964e-01 3.05318264e-03 4.09256515e-03 1.32302293e-01] [-3.05678596e-03 9.99994946e-01 8.74489209e-04 -2.21094870e-01] [-4.08987449e-03 -8.86987906e-04 9.99991243e-01 4.90675289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862557844 meters 0.2953149604400655 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99987321e-01 3.02089221e-03 4.02881988e-03 1.32482441e-01] [-3.02410210e-03 9.99995115e-01 7.90878548e-04 -2.20757645e-01] [-4.02641104e-03 -8.03052084e-04 9.99991572e-01 4.90637282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892557844 meters 0.2956560763357265 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99987752e-01 2.99056974e-03 3.94366657e-03 1.32793401e-01] [-2.99340890e-03 9.99995265e-01 7.14223349e-04 -2.20476296e-01] [-3.94151196e-03 -7.26019608e-04 9.99991969e-01 4.90419836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922557844 meters 0.2964419931563012 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99988031e-01 2.96261671e-03 3.89377609e-03 1.32989607e-01] [-2.96513428e-03 9.99995399e-01 6.40949888e-04 -2.20197943e-01] [-3.89185928e-03 -6.52487786e-04 9.99992214e-01 4.90262321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952557844 meters 0.2966662254205949 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99987775e-01 2.93874560e-03 3.97666444e-03 1.32876914e-01] [-2.94103454e-03 9.99995513e-01 5.69868691e-04 -2.19927518e-01] [-3.97497190e-03 -5.81557232e-04 9.99991931e-01 4.90024950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982557844 meters 0.29688634380512985 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99987195e-01 2.89631069e-03 4.14993279e-03 1.32387550e-01] [-2.89820434e-03 9.99995699e-01 4.50365920e-04 -2.19401741e-01] [-4.14861054e-03 -4.62387507e-04 9.99991288e-01 4.90126355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012557844 meters 0.29429410051949106 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99989295e-01 4.45986375e-04 4.60547039e-03 9.25194502e-02] [-4.50539659e-04 9.99999411e-01 9.87678414e-04 -2.20501946e-01] [-4.60502718e-03 -9.89742788e-04 9.99988907e-01 4.88769114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04255784400002 meters 0.2953359111916938 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99989611e-01 3.81968372e-04 4.54214634e-03 9.27674326e-02] [-3.85693037e-04 9.99999590e-01 8.19175371e-04 -2.19840362e-01] [-4.54183157e-03 -8.20918735e-04 9.99989349e-01 4.88566783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07255784400002 meters 0.2952550157993461 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99989967e-01 2.50209961e-04 4.47261027e-03 9.31999455e-02] [-2.52346654e-04 9.99999854e-01 4.77170437e-04 -2.18488514e-01] [-4.47249022e-03 -4.78294297e-04 9.99989884e-01 4.87971565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10255784400002 meters 0.29399001383805745 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99990077e-01 2.13745371e-04 4.44965936e-03 9.33265802e-02] [-2.15432388e-04 9.99999905e-01 3.78658133e-04 -2.18100066e-01] [-4.44957800e-03 -3.79612976e-04 9.99990029e-01 4.87814266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13255784400002 meters 0.29527422389457664 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99990198e-01 2.21085049e-04 4.42200561e-03 9.32791557e-02] [-2.22858631e-04 9.99999895e-01 4.00592000e-04 -2.18159107e-01] [-4.42191658e-03 -4.01573556e-04 9.99990143e-01 4.88095809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16255784400002 meters 0.29410979237706086 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99990206e-01 2.38077092e-04 4.41948692e-03 9.30944717e-02] [-2.40060890e-04 9.99999871e-01 4.48350053e-04 -2.18304933e-01] [-4.41937961e-03 -4.49406608e-04 9.99990134e-01 4.88575939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192557844 meters 0.2951747506442918 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99990424e-01 2.25190689e-04 4.37056499e-03 9.32088754e-02] [-2.27004036e-04 9.99999888e-01 4.14408323e-04 -2.18166323e-01] [-4.37047118e-03 -4.15396491e-04 9.99990363e-01 4.88603983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222557844 meters 0.29399344876949873 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.49 [[ 9.99990725e-01 2.41334170e-04 4.30028388e-03 9.34504251e-02] [-2.43323802e-04 9.99999864e-01 4.62157469e-04 -2.18385705e-01] [-4.30017176e-03 -4.63199544e-04 9.99990647e-01 4.88462433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252557844 meters 0.2961326812053022 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 0.99999372 0.00156392 0.00318123 0.13271723] [-0.00155974 0.99999792 -0.00131676 -0.21548116] [-0.00318328 0.00131179 0.99999407 0.49035172] [ 0. 0. 0. 1. ]] SLAMing on 143.282557844 meters 0.2961380111710897 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 0.99999333 0.00157052 0.00329612 0.13234548] [-0.00156622 0.99999792 -0.00130694 -0.21549533] [-0.00329817 0.00130177 0.99999371 0.49051426] [ 0. 0. 0. 1. ]] SLAMing on 143.312557844 meters 0.29315798467241067 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:0.49 [[ 0.99997994 -0.00592112 0.00225121 0.11018526] [ 0.00591643 0.99998033 0.0020837 -0.21503455] [-0.0022635 -0.00207034 0.9999953 0.49250362] [ 0. 0. 0. 1. ]] SLAMing on 143.342557844 meters 0.29544649841745024 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.49 [[ 9.99987134e-01 3.53163484e-03 3.64123928e-03 1.28815099e-01] [-3.53330673e-03 9.99993655e-01 4.52825598e-04 -2.15830969e-01] [-3.63961697e-03 -4.65685387e-04 9.99993268e-01 4.93370031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372557844 meters 0.2944335989605414 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.49 [[ 9.99988122e-01 3.42424547e-03 3.46856428e-03 1.29338201e-01] [-3.42483329e-03 9.99994122e-01 1.63545467e-04 -2.14686263e-01] [-3.46798388e-03 -1.75422779e-04 9.99993971e-01 4.93165931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters 0.2938003860414583 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.21, Z:0.49 [[ 9.99988833e-01 3.29828387e-03 3.38444011e-03 1.29620860e-01] [-3.29768015e-03 9.99994546e-01 -1.83945571e-04 -2.13295029e-01] [-3.38502836e-03 1.72782716e-04 9.99994256e-01 4.92997025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432557844 meters 0.296232327487812 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.21, Z:0.49 [[ 9.99980726e-01 -4.00965650e-03 4.74030014e-03 1.48354702e-01] [ 4.00721149e-03 9.99991833e-01 5.25178733e-04 -2.07093509e-01] [-4.74236721e-03 -5.06173226e-04 9.99988627e-01 4.93844647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462557844 meters 0.29544891320811395 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 9.99977107e-01 -4.17651873e-03 5.32369080e-03 1.46857325e-01] [ 4.17719581e-03 9.99991269e-01 -1.16069441e-04 -2.04438966e-01] [-5.32315955e-03 1.38304883e-04 9.99985822e-01 4.93974682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.492557844 meters 0.29481459973991847 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 9.99976218e-01 -4.27308643e-03 5.41327837e-03 1.46614652e-01] [ 4.27530052e-03 9.99990782e-01 -3.97505721e-04 -2.03280695e-01] [-5.41152989e-03 4.20639660e-04 9.99985269e-01 4.94002739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.522557844 meters 0.29356243932935877 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 9.99976096e-01 -4.40410724e-03 5.33013805e-03 1.46905731e-01] [ 4.40822959e-03 9.99989993e-01 -7.61903807e-04 -2.01822505e-01] [-5.32672921e-03 7.85382067e-04 9.99985504e-01 4.93814315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552557844 meters 0.2950962342892991 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 0.99997628 -0.00455346 0.00516853 0.14743784] [ 0.00455962 0.99998891 -0.00118093 -0.20015952] [-0.00516309 0.00120447 0.99998595 0.49349532] [ 0. 0. 0. 1. ]] SLAMing on 143.582557844 meters 0.2939516889341736 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:0.49 [[ 0.99997594 -0.00490833 0.00490233 0.14840799] [ 0.00491896 0.99998557 -0.00215922 -0.19624831] [-0.00489166 0.00218328 0.99998565 0.49290209] [ 0. 0. 0. 1. ]] SLAMing on 143.612557844 meters 0.294426095458146 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99998994 0.00281263 0.00349498 0.12717257] [-0.00280274 0.99999206 -0.00283143 -0.19774013] [-0.00350291 0.0028216 0.99998988 0.49323766] [ 0. 0. 0. 1. ]] SLAMing on 143.642557844 meters 0.294426095458146 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.20, Z:0.49 [[ 0.99998994 0.00281263 0.00349498 0.12717257] [-0.00280274 0.99999206 -0.00283143 -0.19774013] [-0.00350291 0.0028216 0.99998988 0.49323766] [ 0. 0. 0. 1. ]] SLAMing on 143.672557844 meters 0.2955680576178482 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.19, Z:0.50 [[ 0.99998108 0.00488426 0.00373883 0.1651732 ] [-0.00486961 0.99998047 -0.00391688 -0.19105379] [-0.00375788 0.0038986 0.99998534 0.49527005] [ 0. 0. 0. 1. ]] SLAMing on 143.702557844 meters 0.29428035609464365 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 0.999973 -0.00527487 0.00511623 0.14316378] [ 0.00529398 0.99997903 -0.00373002 -0.18459105] [-0.00509645 0.003757 0.99997996 0.49489949] [ 0. 0. 0. 1. ]] SLAMing on 143.732557844 meters 0.2941745769454957 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.50 [[ 0.9999724 -0.00533375 0.00517234 0.14294737] [ 0.00535392 0.99997809 -0.00389344 -0.18390148] [-0.00515146 0.00392103 0.99997904 0.49506416] [ 0. 0. 0. 1. ]] SLAMing on 143.762557844 meters 0.2950130510204092 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.50 [[ 0.99997263 -0.00532304 0.00513775 0.14305809] [ 0.00534293 0.99997826 -0.00386468 -0.18402767] [-0.00511707 0.00389202 0.99997933 0.49501742] [ 0. 0. 0. 1. ]] SLAMing on 143.79255784400002 meters 0.29411420694495183 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 0.9999729 -0.00532588 0.00508314 0.14330892] [ 0.00534559 0.99997822 -0.00387087 -0.18403118] [-0.00506241 0.00389794 0.99997959 0.49476504] [ 0. 0. 0. 1. ]] SLAMing on 143.82255784400002 meters 0.29376412649174777 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 9.99988102e-01 -1.03342023e-03 4.76740307e-03 1.43949564e-01] [ 1.03116482e-03 9.99999355e-01 4.75522533e-04 -1.84402798e-01] [-4.76789141e-03 -4.70600897e-04 9.99988523e-01 4.94970350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85255784400002 meters 0.2937388824406405 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 9.99987991e-01 -1.16279532e-03 4.76075719e-03 1.44098559e-01] [ 1.16222361e-03 9.99999317e-01 1.22853642e-04 -1.82981676e-01] [-4.76089679e-03 -1.17319103e-04 9.99988660e-01 4.94664465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88255784400002 meters 0.29406753481482095 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 9.99988194e-01 -1.28212654e-03 4.68705705e-03 1.44450357e-01] [ 1.28309308e-03 9.99999156e-01 -2.03213018e-04 -1.81689312e-01] [-4.68679255e-03 2.09224549e-04 9.99988995e-01 4.94279157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91255784400002 meters 0.2934827952336132 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 9.99988160e-01 -1.39781446e-03 4.66108766e-03 1.44683935e-01] [ 1.40027791e-03 9.99998882e-01 -5.25292740e-04 -1.80419247e-01] [-4.66034818e-03 5.31813338e-04 9.99988999e-01 4.93879883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters 0.29570177163314537 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:0.49 [[ 9.99987839e-01 -1.47351355e-03 4.70640212e-03 1.44577811e-01] [ 1.47700142e-03 9.99998637e-01 -7.37701528e-04 -1.79555521e-01] [-4.70530870e-03 7.44643920e-04 9.99988653e-01 4.93853655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972557844 meters 0.2934743139068177 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:0.50 [[ 0.99998978 0.00371427 0.00257632 0.11984932] [-0.00370473 0.99998629 -0.0037013 -0.17718605] [-0.00259003 0.00369172 0.99998983 0.4979297 ] [ 0. 0. 0. 1. ]] SLAMing on 144.002557844 meters 0.2939997470716033 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998466 -0.00355766 0.00424538 0.13917775] [ 0.0035694 0.99998982 -0.0027618 -0.1733504 ] [-0.00423551 0.00277691 0.99998717 0.49923824] [ 0. 0. 0. 1. ]] SLAMing on 144.032557844 meters 0.2932801844251871 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998485 -0.00355367 0.0042039 0.13926936] [ 0.00356525 0.99998986 -0.00275003 -0.17339973] [-0.00419408 0.00276497 0.99998738 0.49927299] [ 0. 0. 0. 1. ]] SLAMing on 144.062557844 meters 0.2936646554840424 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998486 -0.00358855 0.00417057 0.13944426] [ 0.00360042 0.99998948 -0.00284214 -0.17304296] [-0.00416032 0.00285711 0.99998726 0.49906845] [ 0. 0. 0. 1. ]] SLAMing on 144.092557844 meters 0.29314053793235645 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998461 -0.00367894 0.00415291 0.13966554] [ 0.00369175 0.99998844 -0.00307975 -0.17210257] [-0.00414154 0.00309503 0.99998663 0.49866092] [ 0. 0. 0. 1. ]] SLAMing on 144.122557844 meters 0.29429527005522826 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998482 -0.00367129 0.00410792 0.13980906] [ 0.00368385 0.99998855 -0.00305557 -0.17221195] [-0.00409665 0.00307065 0.99998689 0.49859183] [ 0. 0. 0. 1. ]] SLAMing on 144.152557844 meters 0.2934051700499726 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998526 -0.00364658 0.00402175 0.1399499 ] [ 0.0036586 0.99998885 -0.00298549 -0.1724903 ] [-0.00401082 0.00300016 0.99998746 0.49877847] [ 0. 0. 0. 1. ]] SLAMing on 144.182557844 meters 0.2938341847861867 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998547 -0.00362128 0.00399317 0.139938 ] [ 0.00363294 0.99998915 -0.00291704 -0.1727609 ] [-0.00398256 0.0029315 0.99998777 0.49897798] [ 0. 0. 0. 1. ]] SLAMing on 144.212557844 meters 0.2936494126733006 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998533 -0.00361776 0.00403201 0.13971993] [ 0.0036295 0.99998918 -0.00290905 -0.17276737] [-0.00402144 0.00292364 0.99998764 0.49926222] [ 0. 0. 0. 1. ]] SLAMing on 144.242557844 meters 0.2949938429775831 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998496 -0.00364689 0.00409512 0.13954569] [ 0.00365916 0.99998882 -0.00299401 -0.17241484] [-0.00408415 0.00300895 0.99998713 0.49929683] [ 0. 0. 0. 1. ]] SLAMing on 144.272557844 meters 0.2940915407022849 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998482 -0.00371797 0.00406744 0.13975697] [ 0.00373095 0.99998795 -0.00318965 -0.17164458] [-0.00405553 0.00320478 0.99998664 0.49896095] [ 0. 0. 0. 1. ]] SLAMing on 144.302557844 meters 0.29534179727768417 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998483 -0.00379594 0.00399169 0.14008586] [ 0.00380955 0.99998694 -0.00340672 -0.17079762] [-0.0039787 0.00342187 0.99998623 0.49861356] [ 0. 0. 0. 1. ]] SLAMing on 144.332557844 meters 0.29557007705736005 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 0.99998468 -0.0039074 0.00391986 0.14040998] [ 0.00392197 0.99998541 -0.00371556 -0.16957199] [-0.00390528 0.00373087 0.99998541 0.49827157] [ 0. 0. 0. 1. ]] SLAMing on 144.362557844 meters 0.2955743009000388 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 9.99992533e-01 2.46241383e-04 3.85647288e-03 1.40638125e-01] [-2.46937540e-04 9.99999953e-01 1.80041197e-04 -1.67814091e-01] [-3.85642837e-03 -1.80992161e-04 9.99992548e-01 4.98038520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392557844 meters 0.2959421292635678 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 9.99992484e-01 1.14533137e-04 3.87545137e-03 1.40448938e-01] [-1.13887390e-04 9.99999980e-01 -1.66845427e-04 -1.66348180e-01] [-3.87547040e-03 1.66402808e-04 9.99992476e-01 4.98349641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422557844 meters 0.29508092099489164 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:0.50 [[ 9.99992279e-01 3.29092041e-05 3.92959514e-03 1.40189198e-01] [-3.14110462e-05 9.99999927e-01 -3.81311053e-04 -1.65428437e-01] [-3.92960740e-03 3.81184676e-04 9.99992206e-01 4.98613022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452557844 meters 0.2956559618217176 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.16, Z:0.50 [[ 9.99992094e-01 -3.41893430e-05 3.97634298e-03 1.39981978e-01] [ 3.64132240e-05 9.99999843e-01 -5.59206907e-04 -1.64670792e-01] [-3.97632324e-03 5.59347278e-04 9.99991938e-01 4.98799250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482557844 meters 0.2955404651856307 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.16, Z:0.50 [[ 9.99992028e-01 -1.31482303e-04 3.99083738e-03 1.39910295e-01] [ 1.34755275e-04 9.99999655e-01 -8.19863754e-04 -1.63598561e-01] [-3.99072821e-03 8.20395005e-04 9.99991700e-01 4.98858041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512557844 meters 0.29307012173999913 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.17, Z:0.50 [[ 9.99989389e-01 -1.74028679e-03 4.26541642e-03 1.02646892e-01] [ 1.74107303e-03 9.99998468e-01 -1.80623382e-04 -1.65707350e-01] [-4.26509555e-03 1.88047867e-04 9.99990887e-01 4.95577586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54255784400002 meters 0.29340760693530915 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.17, Z:0.50 [[ 9.99989493e-01 -1.78435489e-03 4.22246458e-03 1.02812303e-01] [ 1.78565129e-03 9.99998360e-01 -3.03274859e-04 -1.65219858e-01] [-4.22191651e-03 3.10811522e-04 9.99991039e-01 4.95436008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57255784400002 meters 0.29586630980614376 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.16, Z:0.50 [[ 9.99993704e-01 -1.10957710e-05 3.54854361e-03 1.42279751e-01] [ 1.48680958e-05 9.99999435e-01 -1.06303823e-03 -1.61960053e-01] [-3.54852981e-03 1.06308430e-03 9.99993139e-01 4.97404677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60255784400002 meters 0.2941056688644225 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.16, Z:0.50 [[ 9.99990112e-01 4.42577376e-03 -4.34689306e-04 1.20408171e-01] [-4.42771918e-03 9.99979703e-01 -4.58136369e-03 -1.57520672e-01] [ 4.14404404e-04 4.58324307e-03 9.99989411e-01 4.99800871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63255784400002 meters 0.29512609080514285 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.16, Z:0.50 [[ 9.99990558e-01 4.31779684e-03 -4.90526083e-04 1.20657457e-01] [-4.32013276e-03 9.99978833e-01 -4.86524248e-03 -1.56377231e-01] [ 4.69508571e-04 4.86731568e-03 9.99988044e-01 4.99572469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66255784400002 meters 0.2963985497544124 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.16, Z:0.50 [[ 9.99990954e-01 4.22250000e-03 -5.12137852e-04 1.20869419e-01] [-4.22506493e-03 9.99977992e-01 -5.11511529e-03 -1.55384239e-01] [ 4.90528007e-04 5.11723283e-03 9.99986787e-01 4.99228348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692557844 meters 0.2952555503397979 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 0.99998453 -0.00521627 -0.00193321 0.1022302 ] [ 0.00520819 0.99997778 -0.0041602 -0.15073632] [ 0.00195487 0.00415007 0.99998948 0.49825117] [ 0. 0. 0. 1. ]] SLAMing on 144.722557844 meters 0.2945409132646443 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 9.99997595e-01 -8.51633479e-04 -2.02122731e-03 1.02216613e-01] [ 8.52029497e-04 9.99999618e-01 1.95076457e-04 -1.50887777e-01] [ 2.02106040e-03 -1.96798133e-04 9.99997938e-01 4.98687606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752557844 meters 0.2946094209099742 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 9.99997696e-01 -9.97499244e-04 -1.90103146e-03 1.01772324e-01] [ 9.97112170e-04 9.99999482e-01 -2.04549524e-04 -1.49198036e-01] [ 1.90123452e-03 2.02653511e-04 9.99998172e-01 4.98999379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782557844 meters 0.2958419056696354 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.50 [[ 9.99984925e-01 -5.40659644e-03 9.58521102e-04 1.24205432e-01] [ 5.40347402e-03 9.99980182e-01 3.23073714e-03 -1.48561697e-01] [-9.75969398e-04 -3.22550909e-03 9.99994322e-01 4.97467334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812557844 meters 0.2946198909256194 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.50 [[ 0.99998444 -0.00547467 0.00107501 0.12388361] [ 0.00547138 0.9999804 0.00304358 -0.1477821 ] [-0.00109165 -0.00303766 0.99999479 0.49750986] [ 0. 0. 0. 1. ]] SLAMing on 144.842557844 meters 0.2951461766415492 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.50 [[ 0.99998406 -0.00552816 0.00114607 0.12372182] [ 0.00552481 0.99998053 0.00289992 -0.14718829] [-0.00116208 -0.00289354 0.99999514 0.49745088] [ 0. 0. 0. 1. ]] SLAMing on 144.872557844 meters 0.29422142677408214 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 9.99998137e-01 1.90636236e-03 3.02616058e-04 1.04208019e-01] [-1.90686657e-03 9.99996780e-01 1.67471022e-03 -1.50582627e-01] [-2.99422479e-04 -1.67528414e-03 9.99998552e-01 4.96217155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902557844 meters 0.29380911124608194 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 9.99998434e-01 1.74577904e-03 2.88804837e-04 1.04308478e-01] [-1.74612878e-03 9.99997737e-01 1.21520430e-03 -1.48729037e-01] [-2.86682705e-04 -1.21570669e-03 9.99999220e-01 4.96051952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932557844 meters 0.29417114218312573 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.50 [[ 9.99998674e-01 1.61812367e-03 1.81364284e-04 1.04701386e-01] [-1.61827885e-03 9.99998322e-01 8.58796671e-04 -1.47319104e-01] [-1.79974341e-04 -8.59089030e-04 9.99999615e-01 4.95750695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962557844 meters 0.2954362395478851 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.14, Z:0.49 [[ 9.99994264e-01 -3.23990261e-03 9.87645373e-04 1.29209859e-01] [ 3.23596328e-03 9.99986906e-01 3.96444465e-03 -1.44337019e-01] [-1.00047685e-03 -3.96122592e-03 9.99991654e-01 4.93921732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.992557844 meters 0.2953483724523328 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.14, Z:0.49 [[ 9.99993902e-01 -3.34857704e-03 9.91635377e-04 1.29306283e-01] [ 3.34493007e-03 9.99987719e-01 3.65682542e-03 -1.43112272e-01] [-1.00386836e-03 -3.65348617e-03 9.99992822e-01 4.93656293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.022557844 meters 0.29612582800402 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.14, Z:0.49 [[ 0.99999318 -0.0035292 0.00108869 0.12910965] [ 0.00352578 0.9999889 0.00312678 -0.14098013] [-0.00109971 -0.00312292 0.99999452 0.49353239] [ 0. 0. 0. 1. ]] SLAMing on 145.052557844 meters 0.2956075906878232 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.14, Z:0.49 [[ 0.99999292 -0.00359574 0.00111024 0.12908322] [ 0.00359246 0.9999892 0.00294752 -0.14024483] [-0.00112082 -0.00294351 0.99999504 0.49345521] [ 0. 0. 0. 1. ]] SLAMing on 145.082557844 meters 0.29568036781316404 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.14, Z:0.49 [[ 0.99999261 -0.00365917 0.00117925 0.12891218] [ 0.00365588 0.99998946 0.00277728 -0.13954131] [-0.0011894 -0.00277295 0.99999545 0.49343161] [ 0. 0. 0. 1. ]] SLAMing on 145.112557844 meters 0.29525959920485967 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:0.49 [[ 0.99997807 0.00576103 0.00326588 0.14746863] [-0.00576615 0.99998216 0.00155979 -0.13979079] [-0.00325683 -0.00157859 0.99999345 0.49408678] [ 0. 0. 0. 1. ]] SLAMing on 145.142557844 meters 0.2965008879759978 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:0.49 [[ 0.99997811 0.00565292 0.00343823 0.14694389] [-0.00565724 0.99998322 0.00124715 -0.13846679] [-0.00343112 -0.00126657 0.99999331 0.49427807] [ 0. 0. 0. 1. ]] SLAMing on 145.172557844 meters 0.29658843654575273 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.14, Z:0.49 [[ 9.99978329e-01 5.53025487e-03 3.57172820e-03 1.46523588e-01] [-5.53346701e-03 9.99984294e-01 8.90068825e-04 -1.36976345e-01] [-3.56674980e-03 -9.09813577e-04 9.99993225e-01 4.94463526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202557844 meters 0.29546029222123876 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.49 [[ 9.99979295e-01 5.27473233e-03 3.68601450e-03 1.46473473e-01] [-5.27485309e-03 9.99986088e-01 2.30395644e-05 -1.33625822e-01] [-3.68584169e-03 -4.24822723e-05 9.99993206e-01 4.93856394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232557844 meters 0.29580973178273656 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.49 [[ 9.99980338e-01 5.09312738e-03 3.65846861e-03 1.46825922e-01] [-5.09132165e-03 9.99986913e-01 -5.02721078e-04 -1.31558126e-01] [-3.66098115e-03 4.84084753e-04 9.99993181e-01 4.93194805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262557844 meters 0.2948323834256732 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999658 -0.00228441 0.00127264 0.12610434] [ 0.0022817 0.99999515 0.0021211 -0.12940116] [-0.00127748 -0.00211819 0.99999694 0.49428209] [ 0. 0. 0. 1. ]] SLAMing on 145.29255784400002 meters 0.29512924722825534 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999626 -0.00243829 0.00124051 0.12626459] [ 0.00243618 0.99999558 0.00170187 -0.12769508] [-0.00124465 -0.00169884 0.99999778 0.49409243] [ 0. 0. 0. 1. ]] SLAMing on 145.32255784400002 meters 0.2960314986573029 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.49 [[ 9.99984426e-01 5.54630976e-03 6.21243200e-04 1.48503120e-01] [-5.54533174e-03 9.99983400e-01 -1.56510762e-03 -1.25805433e-01] [-6.29913458e-04 1.56163825e-03 9.99998582e-01 4.94206035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35255784400002 meters 0.295348735853813 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99993090e-01 -3.70669447e-03 -2.82063351e-04 1.29089846e-01] [ 3.70658677e-03 9.99993058e-01 -3.81428745e-04 -1.22778873e-01] [ 2.83475232e-04 3.80380617e-04 9.99999887e-01 4.93011915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38255784400002 meters 0.2965046566068587 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99993108e-01 -3.70849284e-03 -1.77876619e-04 1.28687642e-01] [ 3.70842311e-03 9.99993047e-01 -3.90778041e-04 -1.22705339e-01] [ 1.79324580e-04 3.90115706e-04 9.99999908e-01 4.93310058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41255784400002 meters 0.2961924857490653 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99993120e-01 -3.70898024e-03 -5.43997458e-05 1.28198919e-01] [ 3.70895842e-03 9.99993043e-01 -3.95816042e-04 -1.22639224e-01] [ 5.58674412e-05 3.95611552e-04 9.99999920e-01 4.93690287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442557844 meters 0.29631498200033063 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99993062e-01 -3.72388393e-03 9.46254307e-05 1.27799716e-01] [ 3.72392532e-03 9.99992969e-01 -4.41044908e-04 -1.22443192e-01] [-9.29823653e-05 4.41394226e-04 9.99999898e-01 4.93722506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472557844 meters 0.29583072452881237 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99992874e-01 3.73168752e-03 -5.70488993e-04 1.08848471e-01] [-3.73269154e-03 9.99991469e-01 -1.76909941e-03 -1.26826139e-01] [ 5.63882400e-04 1.77121626e-03 9.99998272e-01 4.92239648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502557844 meters 0.2986042712169064 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999624 -0.00171417 0.00214085 0.13073406] [ 0.00171192 0.99999798 0.00105192 -0.12557136] [-0.00214265 -0.00104825 0.99999716 0.49072421] [ 0. 0. 0. 1. ]] SLAMing on 145.532557844 meters 0.2986042712169064 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999624 -0.00171417 0.00214085 0.13073406] [ 0.00171192 0.99999798 0.00105192 -0.12557136] [-0.00214265 -0.00104825 0.99999716 0.49072421] [ 0. 0. 0. 1. ]] SLAMing on 145.562557844 meters 0.2969198717746829 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99996356e-01 -1.75335172e-03 2.05277222e-03 1.30905961e-01] [ 1.75138861e-03 9.99998008e-01 9.57727767e-04 -1.25177020e-01] [-2.05444736e-03 -9.54129075e-04 9.99997434e-01 4.90851954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592557844 meters 0.29697219679625964 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999649 -0.00173115 0.00200378 0.13096256] [ 0.00172912 0.99999799 0.00101618 -0.12540757] [-0.00200553 -0.00101272 0.99999748 0.49101288] [ 0. 0. 0. 1. ]] SLAMing on 145.622557844 meters 0.2958997832312869 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999679 -0.00171549 0.00186354 0.13136433] [ 0.00171351 0.99999796 0.00106511 -0.12562616] [-0.00186537 -0.00106192 0.9999977 0.49091033] [ 0. 0. 0. 1. ]] SLAMing on 145.652557844 meters 0.2966552572630143 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999743 -0.0016755 0.00152716 0.13227602] [ 0.00167364 0.99999786 0.00121784 -0.1262858 ] [-0.0015292 -0.00121528 0.99999809 0.49068185] [ 0. 0. 0. 1. ]] SLAMing on 145.682557844 meters 0.2964662209605805 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.9999975 -0.00158712 0.00157224 0.13209618] [ 0.00158482 0.99999767 0.00146633 -0.12727662] [-0.00157456 -0.00146384 0.99999769 0.49084223] [ 0. 0. 0. 1. ]] SLAMing on 145.712557844 meters 0.2952269874449056 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99995693e-01 2.92928182e-03 -1.82787904e-04 1.07749579e-01] [-2.92962742e-03 9.99993865e-01 -1.92002786e-03 -1.28299655e-01] [ 1.77162480e-04 1.92055509e-03 9.99998140e-01 4.92961327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.742557844 meters 0.29672940937026926 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99986850e-01 -5.10685831e-03 4.68219889e-04 1.29590972e-01] [ 5.10744122e-03 9.99986173e-01 -1.25231934e-03 -1.26659280e-01] [-4.61817998e-04 1.25469428e-03 9.99999106e-01 4.93337151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.772557844 meters 0.2962787023449574 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99987589e-01 -4.97338452e-03 2.96677150e-04 1.30042979e-01] [ 4.97363982e-03 9.99987256e-01 -8.66086594e-04 -1.28247918e-01] [-2.92365988e-04 8.67551409e-04 9.99999581e-01 4.93313079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802557844 meters 0.2960580288027091 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99988797e-01 -4.73228524e-03 1.02751254e-04 1.30519339e-01] [ 4.73230368e-03 9.99988786e-01 -1.79979022e-04 -1.31049946e-01] [-1.01898390e-04 1.80463256e-04 9.99999979e-01 4.93372487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832557844 meters 0.2966124366525548 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989152e-01 -4.65737195e-03 6.82545614e-05 1.30622742e-01] [ 4.65737078e-03 9.99989154e-01 1.71912964e-05 -1.31869632e-01] [-6.83338874e-05 -1.68732232e-05 9.99999998e-01 4.93340734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862557844 meters 0.2971695369176895 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989317e-01 -4.62175881e-03 7.34008594e-05 1.30668052e-01] [ 4.62175047e-03 9.99989313e-01 1.13402587e-04 -1.32275062e-01] [-7.39241944e-05 -1.13062135e-04 9.99999991e-01 4.93208906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892557844 meters 0.29662531439346573 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989453e-01 -4.59211097e-03 7.47122070e-05 1.30746678e-01] [ 4.59209629e-03 9.99989437e-01 1.95450430e-04 -1.32621246e-01] [-7.56089479e-05 -1.95105283e-04 9.99999978e-01 4.93018068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922557844 meters 0.29625924227393047 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989539e-01 -4.57330736e-03 8.58161552e-05 1.30741329e-01] [ 4.57328629e-03 9.99989513e-01 2.44098435e-04 -1.32824800e-01] [-8.69315924e-05 -2.43703420e-04 9.99999967e-01 4.92966228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952557844 meters 0.29766659160726927 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989581e-01 -4.56478368e-03 2.81551917e-05 1.30833192e-01] [ 4.56477598e-03 9.99989546e-01 2.67591709e-04 -1.32915972e-01] [-2.93763956e-05 -2.67460399e-04 9.99999964e-01 4.93093989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982557844 meters 0.29693597877097866 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 9.99989390e-01 -4.60652026e-03 8.11706578e-06 1.30778419e-01] [ 4.60651900e-03 9.99989379e-01 1.48863291e-04 -1.32419730e-01] [-8.80272134e-06 -1.48824321e-04 9.99999989e-01 4.93339569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012557844 meters 0.2958033067650844 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99994176e-01 3.27289194e-03 -9.67233040e-04 1.09683974e-01] [-3.27343931e-03 9.99994483e-01 -5.64872852e-04 -1.34627869e-01] [ 9.65378936e-04 5.68035741e-04 9.99999373e-01 4.92754808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04255784400002 meters 0.2955533208992103 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99994559e-01 3.18007682e-03 -8.77246833e-04 1.09449655e-01] [-3.18080804e-03 9.99994594e-01 -8.33410227e-04 -1.33526567e-01] [ 8.74591782e-04 8.36196046e-04 9.99999268e-01 4.92766548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07255784400002 meters 0.2979794343740868 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999752 -0.00140694 0.00172515 0.13241648] [ 0.00140266 0.99999595 0.00247555 -0.13260324] [-0.00172863 -0.00247312 0.99999545 0.49109952] [ 0. 0. 0. 1. ]] SLAMing on 146.10255784400002 meters 0.29681973958965896 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999711 -0.00147679 0.00189563 0.13184619] [ 0.00147247 0.99999632 0.0022781 -0.13174666] [-0.00189898 -0.00227531 0.99999561 0.49142499] [ 0. 0. 0. 1. ]] SLAMing on 146.13255784400002 meters 0.29675408027446515 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999666 -0.00159242 0.0020361 0.13135002] [ 0.00158846 0.99999685 0.00194327 -0.13032755] [-0.00203919 -0.00194003 0.99999604 0.49174702] [ 0. 0. 0. 1. ]] SLAMing on 146.16255784400002 meters 0.2968867152360617 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.9999966 -0.001695 0.00197917 0.13162904] [ 0.0016917 0.99999718 0.00166734 -0.12921864] [-0.00198199 -0.00166399 0.99999665 0.4914336 ] [ 0. 0. 0. 1. ]] SLAMing on 146.192557844 meters 0.2963532301453074 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.49 [[ 0.99999642 -0.00180432 0.00197674 0.13177929] [ 0.00180162 0.99999745 0.00136369 -0.12800275] [-0.00197919 -0.00136013 0.99999712 0.49108609] [ 0. 0. 0. 1. ]] SLAMing on 146.222557844 meters 0.2957082660554559 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99983104e-01 5.78521238e-03 5.68938732e-04 1.11551640e-01] [-5.78534117e-03 9.99983239e-01 2.24989608e-04 -1.30001903e-01] [-5.67627584e-04 -2.28277311e-04 9.99999813e-01 4.90360213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252557844 meters 0.29585558365730746 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99984440e-01 5.55771379e-03 4.81144091e-04 1.11850654e-01] [-5.55749046e-03 9.99984449e-01 -4.64257579e-04 -1.27239889e-01] [-4.83716819e-04 4.61576402e-04 9.99999776e-01 4.90181459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282557844 meters 0.29748168539695774 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996796e-01 -2.19580362e-03 1.25936848e-03 1.31655939e-01] [ 2.19559854e-03 9.99997576e-01 1.64203463e-04 -1.20642236e-01] [-1.25972598e-03 -1.61437870e-04 9.99999194e-01 4.90917643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312557844 meters 0.29640256075504195 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996673e-01 -2.27701471e-03 1.21245536e-03 1.31810821e-01] [ 2.27707603e-03 9.99997406e-01 -4.91976889e-05 -1.19769743e-01] [-1.21234019e-03 5.19583782e-05 9.99999264e-01 4.90837018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342557844 meters 0.29576611217556337 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996552e-01 -2.31429561e-03 1.24112545e-03 1.31662514e-01] [ 2.31448660e-03 9.99997310e-01 -1.52470645e-04 -1.19326825e-01] [-1.24076925e-03 1.55342687e-04 9.99999218e-01 4.91009250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372557844 meters 0.29656524704579995 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996469e-01 -2.31890877e-03 1.29767438e-03 1.31403626e-01] [ 2.31913062e-03 9.99997296e-01 -1.69478637e-04 -1.19228370e-01] [-1.29727787e-03 1.72487515e-04 9.99999144e-01 4.91283042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters 0.2969308062562948 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996358e-01 -2.31939373e-03 1.37995793e-03 1.31104280e-01] [ 2.31963765e-03 9.99997294e-01 -1.75184761e-04 -1.19179878e-01] [-1.37954787e-03 1.78385126e-04 9.99999033e-01 4.91490552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432557844 meters 0.2980207062758893 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99996179e-01 -2.33661412e-03 1.47724537e-03 1.30644148e-01] [ 2.33694526e-03 9.99997245e-01 -2.22473917e-04 -1.18939517e-01] [-1.47672147e-03 2.25925309e-04 9.99998884e-01 4.91965563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462557844 meters 0.2955562266703332 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.49 [[ 0.99999526 0.00267505 -0.00152242 0.10751919] [-0.00268 0.99999111 -0.00325401 -0.11791778] [ 0.00151371 0.00325807 0.99999355 0.49452004] [ 0. 0. 0. 1. ]] SLAMing on 146.492557844 meters 0.29693797141652256 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.50 [[ 0.99998784 -0.00481937 -0.00104585 0.12690735] [ 0.00481714 0.99998616 -0.00211737 -0.11325901] [ 0.00105604 0.00211231 0.99999721 0.49587197] [ 0. 0. 0. 1. ]] SLAMing on 146.522557844 meters 0.29702850120538277 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.50 [[ 0.99998777 -0.00480484 -0.00117463 0.1274748 ] [ 0.0048024 0.99998633 -0.00207027 -0.11350841] [ 0.00118456 0.0020646 0.99999717 0.495272 ] [ 0. 0. 0. 1. ]] SLAMing on 146.552557844 meters 0.29692886650355665 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.49 [[ 0.99998775 -0.00478404 -0.00127039 0.12790154] [ 0.00478148 0.99998655 -0.00201059 -0.11379097] [ 0.00127999 0.00200449 0.99999717 0.49485066] [ 0. 0. 0. 1. ]] SLAMing on 146.582557844 meters 0.29613038529632707 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.49 [[ 0.99998766 -0.00478261 -0.00134571 0.12820585] [ 0.00477991 0.99998657 -0.00200335 -0.1138396 ] [ 0.00135528 0.0019969 0.99999709 0.49459064] [ 0. 0. 0. 1. ]] SLAMing on 146.612557844 meters 0.29728936743396 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.49 [[ 0.99998765 -0.0047712 -0.00138973 0.12820605] [ 0.00476846 0.99998669 -0.00197075 -0.11395775] [ 0.00139912 0.0019641 0.99999709 0.49485309] [ 0. 0. 0. 1. ]] SLAMing on 146.642557844 meters 0.29683922688126774 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.50 [[ 0.9999879 -0.0047321 -0.00134674 0.12788807] [ 0.00472958 0.99998707 -0.00186879 -0.11434773] [ 0.00135557 0.0018624 0.99999735 0.49534295] [ 0. 0. 0. 1. ]] SLAMing on 146.672557844 meters 0.2961818230847147 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.11, Z:0.50 [[ 0.99998827 -0.00468519 -0.00123119 0.12742002] [ 0.00468303 0.9999875 -0.00174913 -0.11481075] [ 0.00123937 0.00174335 0.99999771 0.49575706] [ 0. 0. 0. 1. ]] SLAMing on 146.702557844 meters 0.29649900348407465 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 0.9999888 -0.0046057 -0.00108977 0.12692156] [ 0.00460402 0.99998821 -0.00154378 -0.11562461] [ 0.00109686 0.00153874 0.99999821 0.49610992] [ 0. 0. 0. 1. ]] SLAMing on 146.732557844 meters 0.2967077945411638 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 0.99998913 -0.00453702 -0.00107223 0.12699635] [ 0.00453556 0.99998878 -0.00136524 -0.11639135] [ 0.00107841 0.00136036 0.99999849 0.49584289] [ 0. 0. 0. 1. ]] SLAMing on 146.762557844 meters 0.2960796618664794 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 0.99998943 -0.00444013 -0.00119479 0.12742153] [ 0.00443882 0.99998955 -0.00109603 -0.1175479 ] [ 0.00119965 0.00109072 0.99999869 0.49560426] [ 0. 0. 0. 1. ]] SLAMing on 146.79255784400002 meters 0.2968465165118235 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 9.99989663e-01 -4.32274124e-03 -1.40968199e-03 1.28100269e-01] [ 4.32168323e-03 9.99990378e-01 -7.52717741e-04 -1.19024761e-01] [ 1.41292223e-03 7.46617761e-04 9.99998723e-01 4.95309562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82255784400002 meters 0.2966684184669441 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99989655e-01 -4.23236778e-03 -1.66614673e-03 1.28882771e-01] [ 4.23157906e-03 9.99990933e-01 -4.76625403e-04 -1.20229442e-01] [ 1.66814888e-03 4.69570041e-04 9.99998498e-01 4.94973969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85255784400002 meters 0.2960665057037102 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 9.99989719e-01 -4.13685711e-03 -1.85717683e-03 1.29419315e-01] [ 4.13650498e-03 9.99991426e-01 -1.93407648e-04 -1.21418045e-01] [ 1.85796101e-03 1.85723438e-04 9.99998257e-01 4.94847681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88255784400002 meters 0.29613010310356574 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 9.99990774e-01 -3.94861115e-03 -1.69107444e-03 1.28716551e-01] [ 3.94925464e-03 9.99992130e-01 3.77348219e-04 -1.23704826e-01] [ 1.68957113e-03 -3.84023221e-04 9.99998499e-01 4.95650319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91255784400002 meters 0.29633147798317766 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.50 [[ 9.99991425e-01 -3.82157588e-03 -1.59527752e-03 1.28190093e-01] [ 3.82274722e-03 9.99992425e-01 7.31852217e-04 -1.25151894e-01] [ 1.59246860e-03 -7.37944284e-04 9.99998460e-01 4.96382830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters 0.296057394669854 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.50 [[ 9.99991883e-01 -3.73456607e-03 -1.51198932e-03 1.27770915e-01] [ 3.73603399e-03 9.99992551e-01 9.69195872e-04 -1.26110118e-01] [ 1.50835853e-03 -9.74836849e-04 9.99998387e-01 4.96888423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972557844 meters 0.2965448737417345 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.50 [[ 0.99999206 -0.00368623 -0.00151445 0.12773156] [ 0.00368789 0.9999926 0.00109734 -0.12663106] [ 0.0015104 -0.00110292 0.99999825 0.49699421] [ 0. 0. 0. 1. ]] SLAMing on 147.002557844 meters 0.29678566169197734 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.50 [[ 9.99984628e-01 5.48124094e-03 -8.36835687e-04 1.47204594e-01] [-5.48145382e-03 9.99984945e-01 -2.52299514e-04 -1.29517277e-01] [ 8.35440174e-04 2.56882711e-04 9.99999618e-01 4.97939018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032557844 meters 0.2960860236764486 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.50 [[ 0.99998955 -0.00375183 -0.0026128 0.12914583] [ 0.00375455 0.99999241 0.00103885 -0.12719175] [ 0.00260888 -0.00104865 0.99999605 0.49665491] [ 0. 0. 0. 1. ]] SLAMing on 147.062557844 meters 0.2970810048026152 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.50 [[ 9.99990086e-01 -3.78930829e-03 -2.33869739e-03 1.28295374e-01] [ 3.79143603e-03 9.99992402e-01 9.06034685e-04 -1.26564981e-01] [ 2.33524637e-03 -9.14892723e-04 9.99996855e-01 4.97119775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092557844 meters 0.2959779155831933 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99997191e-01 2.15554278e-03 9.86127756e-04 1.10023851e-01] [-2.15500349e-03 9.99997528e-01 -5.47616720e-04 -1.28036081e-01] [-9.87305730e-04 5.45490073e-04 9.99999364e-01 4.93759872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters 0.2952184121362658 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.49 [[ 9.99997115e-01 2.12711331e-03 1.11629022e-03 1.09664871e-01] [-2.12640556e-03 9.99997538e-01 -6.34817367e-04 -1.27665121e-01] [-1.11763780e-03 6.32441850e-04 9.99999175e-01 4.93839142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152557844 meters 0.29676029472062987 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.50 [[ 9.99994885e-01 3.19634528e-03 1.13836729e-04 1.48942203e-01] [-3.19611587e-03 9.99992969e-01 -1.96144387e-03 -1.22978795e-01] [-1.20105380e-04 1.96107000e-03 9.99998070e-01 4.96436269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters 0.2960829448232888 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 0.99997767 -0.00560668 -0.00363552 0.13096139] [ 0.00560279 0.99998372 -0.00108049 -0.12204584] [ 0.00364152 0.00106009 0.99999281 0.49597639] [ 0. 0. 0. 1. ]] SLAMing on 147.212557844 meters 0.29497692754677707 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.13, Z:0.50 [[ 0.99998425 0.00221651 -0.00515717 0.11122997] [-0.002226 0.99999584 -0.00183496 -0.1259345 ] [ 0.00515308 0.00184641 0.99998502 0.49538122] [ 0. 0. 0. 1. ]] SLAMing on 147.242557844 meters 0.2960966585393664 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.50 [[ 0.99999076 -0.00343722 -0.00258139 0.13112857] [ 0.00343997 0.99999352 0.00105934 -0.12372382] [ 0.00257773 -0.00106821 0.99999611 0.49504228] [ 0. 0. 0. 1. ]] SLAMing on 147.272557844 meters 0.2972228525242073 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.49 [[ 9.99975790e-01 6.85102936e-03 -1.21793806e-03 1.52073493e-01] [-6.84996680e-03 9.99976156e-01 8.74472363e-04 -1.24219006e-01] [ 1.22390006e-03 -8.66108356e-04 9.99998876e-01 4.94698172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302557844 meters 0.29613833720742117 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 0.99999447 -0.00249394 -0.00219853 0.13324429] [ 0.00249839 0.99999484 0.00202073 -0.12053628] [ 0.00219348 -0.00202621 0.99999554 0.4934686 ] [ 0. 0. 0. 1. ]] SLAMing on 147.332557844 meters 0.29708395694678613 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 0.99999423 -0.00254978 -0.00224543 0.1334162 ] [ 0.00255399 0.99999498 0.00187398 -0.11994406] [ 0.00224064 -0.0018797 0.99999572 0.49333974] [ 0. 0. 0. 1. ]] SLAMing on 147.362557844 meters 0.2965046881642722 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.49 [[ 9.99978389e-01 4.74412875e-03 -4.55140460e-03 1.14343966e-01] [-4.74139039e-03 9.99988572e-01 6.12252283e-04 -1.22288991e-01] [ 4.55425719e-03 -5.90659065e-04 9.99989455e-01 4.91878079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392557844 meters 0.29833906700150303 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 0.99998948 -0.00288788 -0.00356487 0.13444462] [ 0.00289325 0.99999468 0.00150366 -0.11686145] [ 0.00356051 -0.00151395 0.99999252 0.49210887] [ 0. 0. 0. 1. ]] SLAMing on 147.422557844 meters 0.2977635083245908 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.49 [[ 9.99977719e-01 4.52131967e-03 -4.91113775e-03 1.15497721e-01] [-4.52004922e-03 9.99989748e-01 2.69755939e-04 -1.20701934e-01] [ 4.91230706e-03 -2.47551344e-04 9.99987904e-01 4.90322859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452557844 meters 0.2977635083245908 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.49 [[ 9.99977719e-01 4.52131967e-03 -4.91113775e-03 1.15497721e-01] [-4.52004922e-03 9.99989748e-01 2.69755939e-04 -1.20701934e-01] [ 4.91230706e-03 -2.47551344e-04 9.99987904e-01 4.90322859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482557844 meters 0.2963336264972778 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.49 [[ 9.99977751e-01 4.55670501e-03 -4.87176551e-03 1.15335415e-01] [-4.55500341e-03 9.99989561e-01 3.60315757e-04 -1.21063429e-01] [ 4.87335650e-03 -3.38116832e-04 9.99988068e-01 4.90464109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512557844 meters 0.29769004665031606 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.12, Z:0.49 [[ 0.99999312 -0.0028454 -0.00237804 0.13391782] [ 0.00284873 0.99999497 0.0013962 -0.11760168] [ 0.00237406 -0.00140297 0.9999962 0.49166412] [ 0. 0. 0. 1. ]] SLAMing on 147.54255784400002 meters 0.2964819137572962 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.12, Z:0.49 [[ 9.99985819e-01 4.83420965e-03 -2.23425172e-03 1.13099202e-01] [-4.83299188e-03 9.99988170e-01 5.50125102e-04 -1.21775077e-01] [ 2.23688470e-03 -5.39319180e-04 9.99997353e-01 4.90772574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57255784400002 meters 0.29868363776322293 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.49 [[ 9.99999983e-01 8.48257801e-05 -1.65584443e-04 1.36914186e-01] [-8.42039111e-05 9.99992958e-01 3.75200130e-03 -1.20844225e-01] [ 1.65901544e-04 -3.75198729e-03 9.99992948e-01 4.88792280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60255784400002 meters 0.29731579061625846 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.49 [[ 9.99999976e-01 -2.38950706e-06 -2.21039248e-04 1.37267094e-01] [ 3.16667485e-06 9.99993819e-01 3.51603840e-03 -1.19906199e-01] [ 2.21029480e-04 -3.51603901e-03 9.99993794e-01 4.88289162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63255784400002 meters 0.29750150197722836 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.49 [[ 9.99999963e-01 -8.10278041e-05 -2.58396305e-04 1.37641226e-01] [ 8.18798306e-05 9.99994555e-01 3.29905908e-03 -1.19062596e-01] [ 2.58127582e-04 -3.29908012e-03 9.99994525e-01 4.87605395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66255784400002 meters 0.2989364811564227 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:0.49 [[ 9.99944878e-01 1.04995395e-02 3.46930466e-05 1.60857750e-01] [-1.04995965e-02 9.99940200e-01 3.05858191e-03 -1.17717818e-01] [-2.57727025e-06 -3.05877757e-03 9.99995322e-01 4.86118907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692557844 meters 0.2982100471048632 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.49 [[ 9.99998758e-01 8.77406067e-04 -1.30948981e-03 1.41663897e-01] [-8.72338898e-04 9.99992150e-01 3.86514233e-03 -1.14574734e-01] [ 1.31287083e-03 -3.86399521e-03 9.99991673e-01 4.85285162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters 0.2976979934615815 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.49 [[ 9.99998719e-01 8.29939318e-04 -1.36887077e-03 1.41890310e-01] [-8.24813817e-04 9.99992664e-01 3.74065233e-03 -1.14077961e-01] [ 1.37196524e-03 -3.73951848e-03 9.99992067e-01 4.85108887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752557844 meters 0.29801260970756777 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 9.99998630e-01 7.47413675e-04 -1.47698688e-03 1.42211902e-01] [-7.42219636e-04 9.99993550e-01 3.51407006e-03 -1.13171894e-01] [ 1.47960382e-03 -3.51296899e-03 9.99992735e-01 4.84969477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782557844 meters 0.2981450474084957 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.49 [[ 9.99998743e-01 7.07668224e-04 -1.41853275e-03 1.41942350e-01] [-7.02841606e-04 9.99993972e-01 3.40015824e-03 -1.12676424e-01] [ 1.42093038e-03 -3.39915697e-03 9.99993213e-01 4.85253352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812557844 meters 0.2972079442007797 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.49 [[ 9.99998907e-01 7.04086559e-04 -1.30043282e-03 1.41460116e-01] [-6.99685630e-04 9.99994038e-01 3.38156347e-03 -1.12556255e-01] [ 1.30280598e-03 -3.38064988e-03 9.99993437e-01 4.85707002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters 0.29657061284303166 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.49 [[ 9.99981727e-01 5.31467447e-03 -2.88086681e-03 1.17083883e-01] [-5.31523916e-03 9.99985856e-01 -1.88396400e-04 -1.12785596e-01] [ 2.87982480e-03 2.03705454e-04 9.99995833e-01 4.87896434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872557844 meters 0.2978813850994526 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.49 [[ 9.99999930e-01 -2.55628981e-04 2.72933369e-04 1.38972645e-01] [ 2.54957984e-04 9.99996952e-01 2.45567713e-03 -1.12587512e-01] [-2.73560280e-04 -2.45560737e-03 9.99996948e-01 4.86143951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902557844 meters 0.29643638415829915 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.12, Z:0.48 [[ 9.99997797e-01 -1.93969154e-03 8.02119563e-04 1.00900964e-01] [ 1.93728798e-03 9.99993664e-01 2.98651634e-03 -1.16324823e-01] [-8.07907401e-04 -2.98495582e-03 9.99995219e-01 4.83077057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932557844 meters 0.2966923432688424 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.12, Z:0.48 [[ 9.99997860e-01 -1.89744762e-03 8.24511324e-04 1.00856504e-01] [ 1.89488217e-03 9.99993396e-01 3.10120700e-03 -1.16795997e-01] [-8.30390257e-04 -3.09963801e-03 9.99994851e-01 4.83050281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962557844 meters 0.2963851406182597 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.12, Z:0.48 [[ 9.99997836e-01 -1.88952910e-03 8.70912664e-04 1.00653429e-01] [ 1.88680357e-03 9.99993353e-01 3.11978035e-03 -1.16856125e-01] [-8.76801791e-04 -3.11813036e-03 9.99994754e-01 4.83252096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.992557844 meters 0.2964023037982075 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.48 [[ 0.99996868 0.00719761 0.00329188 0.11933509] [-0.0072042 0.99997206 0.00199357 -0.11835501] [-0.00327743 -0.00201722 0.99999259 0.48381494] [ 0. 0. 0. 1. ]] SLAMing on 148.022557844 meters 0.29667213085591027 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.48 [[ 0.99996906 0.0071363 0.00330813 0.11925321] [-0.00714238 0.99997282 0.00182902 -0.11766513] [-0.00329499 -0.00185259 0.99999286 0.48390598] [ 0. 0. 0. 1. ]] SLAMing on 148.052557844 meters 0.2960869154504667 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.48 [[ 0.99997002 0.0070074 0.0032948 0.11951058] [-0.00701212 0.9999744 0.00142146 -0.11608062] [-0.00328476 -0.00144452 0.99999356 0.48332027] [ 0. 0. 0. 1. ]] SLAMing on 148.082557844 meters 0.2970539327453961 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 9.99990726e-01 -8.06830404e-04 4.23057223e-03 1.38520981e-01] [ 7.97477501e-04 9.99997236e-01 2.21201013e-03 -1.10107954e-01] [-4.23234525e-03 -2.20861583e-03 9.99988605e-01 4.84092856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112557844 meters 0.2967475871918482 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 9.99990123e-01 -9.14357603e-04 4.34946212e-03 1.38202875e-01] [ 9.06151870e-04 9.99997807e-01 1.88820535e-03 -1.08785462e-01] [-4.35117907e-03 -1.88424543e-03 9.99988758e-01 4.84114707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142557844 meters 0.29616298564312804 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 0.99998962 -0.00101422 0.00444137 0.13796849] [ 0.00100711 0.99999821 0.00160178 -0.10760998] [-0.00444299 -0.00159729 0.99998885 0.48411146] [ 0. 0. 0. 1. ]] SLAMing on 148.172557844 meters 0.2955978342326492 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 0.99998941 -0.00109145 0.00447011 0.13789964] [ 0.00108526 0.99999845 0.00138825 -0.10673408] [-0.00447162 -0.00138338 0.99998905 0.48408776] [ 0. 0. 0. 1. ]] SLAMing on 148.202557844 meters 0.2961281779362544 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.48 [[ 0.99998948 -0.00116037 0.00443731 0.13804094] [ 0.00115504 0.99999861 0.00120281 -0.1059815 ] [-0.0044387 -0.00119768 0.99998943 0.48394146] [ 0. 0. 0. 1. ]] SLAMing on 148.232557844 meters 0.29664990959189125 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.48 [[ 9.99989180e-01 -1.30996373e-03 4.46366485e-03 1.38391903e-01] [ 1.30631816e-03 9.99998811e-01 8.19538697e-04 -1.04416960e-01] [-4.46473311e-03 -8.13698863e-04 9.99989702e-01 4.82954486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262557844 meters 0.2974980972687775 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.48 [[ 9.99989238e-01 -1.36055128e-03 4.43532139e-03 1.38583322e-01] [ 1.35754322e-03 9.99998847e-01 6.81145835e-04 -1.03880991e-01] [-4.43624301e-03 -6.75117365e-04 9.99989932e-01 4.82656796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29255784400002 meters 0.2948649107684186 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.11, Z:0.48 [[ 0.99998481 -0.00269705 0.00480745 0.10026924] [ 0.00269035 0.9999954 0.00140021 -0.10780007] [-0.00481121 -0.00138725 0.99998746 0.4800487 ] [ 0. 0. 0. 1. ]] SLAMing on 148.32255784400002 meters 0.29642572813767437 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.48 [[ 9.99967064e-01 6.31367350e-03 5.09990658e-03 1.19656773e-01] [-6.31382847e-03 9.99980067e-01 1.42873652e-05 -1.12759707e-01] [-5.09971472e-03 -4.64868300e-05 9.99986995e-01 4.81411186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35255784400002 meters 0.2959092965999896 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.48 [[ 9.99967278e-01 6.36599541e-03 4.99161095e-03 1.19863691e-01] [-6.36701723e-03 9.99979713e-01 1.88843870e-04 -1.13440649e-01] [-4.99030750e-03 -2.20619364e-04 9.99987524e-01 4.81566625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38255784400002 meters 0.29500289436963456 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.11, Z:0.48 [[ 0.99999005 -0.00286206 0.00342104 0.10067353] [ 0.00285675 0.99999471 0.00155514 -0.11346743] [-0.00342547 -0.00154535 0.99999294 0.48066884] [ 0. 0. 0. 1. ]] SLAMing on 148.41255784400002 meters 0.2971417311271645 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.48 [[ 0.99997301 0.00410364 0.00609383 0.12272119] [-0.00409605 0.99999082 -0.0012573 -0.1128428 ] [-0.00609894 0.0012323 0.99998064 0.47821769] [ 0. 0. 0. 1. ]] SLAMing on 148.442557844 meters 0.295814162936839 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.48 [[ 0.99997245 0.00415667 0.00614944 0.12256737] [-0.00414989 0.99999077 -0.00111584 -0.11342471] [-0.00615402 0.00109029 0.99998047 0.47824002] [ 0. 0. 0. 1. ]] SLAMing on 148.472557844 meters 0.29520008087951544 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.48 [[ 9.99971646e-01 4.19885951e-03 6.25118589e-03 1.22235498e-01] [-4.19267626e-03 9.99990709e-01 -1.00190917e-03 -1.13877995e-01] [-6.25533468e-03 9.75671558e-04 9.99979959e-01 4.78420571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502557844 meters 0.2966425939029279 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.48 [[ 9.99950571e-01 -4.25313984e-04 9.93350097e-03 1.43944201e-01] [ 4.00646383e-04 9.99996832e-01 2.48513156e-03 -1.16610987e-01] [-9.93452646e-03 -2.48102891e-03 9.99947573e-01 4.76915101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532557844 meters 0.2949723257769927 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.48 [[ 9.99962823e-01 4.67159232e-03 7.24763560e-03 1.21355639e-01] [-4.66646055e-03 9.99988849e-01 -7.24810422e-04 -1.16654084e-01] [-7.25094080e-03 6.90962671e-04 9.99973473e-01 4.79229490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters 0.2946233042400438 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.12, Z:0.48 [[ 9.99964063e-01 4.66384147e-03 7.07960681e-03 1.21819214e-01] [-4.65871728e-03 9.99988874e-01 -7.40114556e-04 -1.16600800e-01] [-7.08297982e-03 7.07106072e-04 9.99974665e-01 4.79130015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592557844 meters 0.29688254137370423 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.48 [[ 0.99997503 -0.00431139 0.00559892 0.14614471] [ 0.00431729 0.99999014 -0.0010432 -0.1125765 ] [-0.00559437 0.00106734 0.99998378 0.47741529] [ 0. 0. 0. 1. ]] SLAMing on 148.622557844 meters 0.2964897042339876 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.48 [[ 9.99975246e-01 -4.27988015e-03 5.58487498e-03 1.46319476e-01] [ 4.28528535e-03 9.99990361e-01 -9.56220995e-04 -1.12962819e-01] [-5.58072864e-03 9.80130108e-04 9.99983947e-01 4.77087703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652557844 meters 0.2951576176433316 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.48 [[ 9.99974927e-01 -4.22973646e-03 5.67923549e-03 1.46078986e-01] [ 4.23445711e-03 9.99990699e-01 -8.19445044e-04 -1.13519340e-01] [-5.67571663e-03 8.43472978e-04 9.99983537e-01 4.77098135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682557844 meters 0.2966778160169687 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.48 [[ 9.99986078e-01 -1.58850731e-03 5.03197430e-03 1.84449004e-01] [ 1.58818833e-03 9.99998737e-01 6.73851772e-05 -1.12853020e-01] [-5.03207498e-03 -5.93925161e-05 9.99987337e-01 4.80414696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712557844 meters 0.29588357892429545 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.11, Z:0.48 [[ 0.99999092 0.00391067 0.00169369 0.16282005] [-0.00390612 0.99998877 -0.0026848 -0.11257495] [-0.00170417 0.00267816 0.99999496 0.48271501] [ 0. 0. 0. 1. ]] SLAMing on 148.742557844 meters 0.2960138740233366 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 9.99993263e-01 -1.98678980e-03 3.08656106e-03 1.85098521e-01] [ 1.98690377e-03 9.99998026e-01 -3.38588621e-05 -1.11005745e-01] [-3.08648769e-03 3.99913338e-05 9.99995236e-01 4.81860709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.772557844 meters 0.2960585855314166 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 9.99993634e-01 -2.01818543e-03 2.94252001e-03 1.85528218e-01] [ 2.01855604e-03 9.99997955e-01 -1.22983934e-04 -1.10668820e-01] [-2.94226579e-03 1.28922793e-04 9.99995663e-01 4.81662133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802557844 meters 0.296418028180415 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 9.99993562e-01 -2.06348866e-03 2.93579215e-03 1.85641821e-01] [ 2.06424375e-03 9.99997837e-01 -2.54195016e-04 -1.10159050e-01] [-2.93526127e-03 2.60253570e-04 9.99995658e-01 4.81415584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832557844 meters 0.296705506725874 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 9.99993195e-01 -2.11562143e-03 3.02234489e-03 1.85492821e-01] [ 2.11688037e-03 9.99997674e-01 -4.13406406e-04 -1.09529330e-01] [-3.02146325e-03 4.19801535e-04 9.99995347e-01 4.81235677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862557844 meters 0.2959540210383966 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 9.99992738e-01 -2.15177390e-03 3.14532409e-03 1.85180667e-01] [ 2.15343208e-03 9.99997544e-01 -5.23896094e-04 -1.09074266e-01] [-3.14418906e-03 5.30665531e-04 9.99994916e-01 4.81231970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.892557844 meters 0.2962035579250263 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.48 [[ 9.99991946e-01 -2.23166383e-03 3.33568243e-03 1.84504923e-01] [ 2.23424119e-03 9.99997208e-01 -7.69136106e-04 -1.08024713e-01] [-3.33395667e-03 7.76582631e-04 9.99994141e-01 4.81744424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922557844 meters 0.2959193340169537 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.48 [[ 9.99991668e-01 -2.26686435e-03 3.39477983e-03 1.84258441e-01] [ 2.26982574e-03 9.99997047e-01 -8.68737189e-04 -1.07591083e-01] [-3.39280050e-03 8.76435509e-04 9.99993860e-01 4.81962393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.952557844 meters 0.29524703893044546 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.48 [[ 0.99999148 -0.00232754 0.0034085 0.18426515] [ 0.00233107 0.99999675 -0.00103115 -0.10692922] [-0.00340609 0.00103909 0.99999366 0.48185755] [ 0. 0. 0. 1. ]] SLAMing on 148.982557844 meters 0.2956575898353211 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.48 [[ 0.99999156 -0.00243161 0.00331063 0.1848602 ] [ 0.00243597 0.99999617 -0.00131576 -0.10579621] [-0.00330742 0.00132381 0.99999365 0.48094472] [ 0. 0. 0. 1. ]] SLAMing on 149.012557844 meters 0.29607827062371345 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.48 [[ 0.99999189 -0.00247722 0.00317508 0.18529837] [ 0.00248179 0.99999589 -0.0014353 -0.10533483] [-0.00317151 0.00144316 0.99999393 0.48071818] [ 0. 0. 0. 1. ]] SLAMing on 149.04255784400002 meters 0.29613560861465504 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.10, Z:0.48 [[ 0.99999181 -0.00252261 0.00316512 0.18530077] [ 0.00252756 0.99999559 -0.00155887 -0.10482135] [-0.00316117 0.00156686 0.99999378 0.48076825] [ 0. 0. 0. 1. ]] SLAMing on 149.07255784400002 meters 0.29740113980142446 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:0.48 [[ 9.99996198e-01 -9.49797169e-04 2.58870599e-03 2.22679502e-01] [ 9.55122494e-04 9.99997429e-01 -2.05667864e-03 -1.00830298e-01] [-2.58674591e-03 2.05914335e-03 9.99994534e-01 4.84629749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10255784400002 meters 0.297632493165889 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:0.48 [[ 9.99996034e-01 -9.91684177e-04 2.63583688e-03 2.22426522e-01] [ 9.97398138e-04 9.99997154e-01 -2.16736820e-03 -1.00345834e-01] [-2.63368004e-03 2.16998858e-03 9.99994177e-01 4.84922733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13255784400002 meters 0.2959956792796743 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.48 [[ 9.99989518e-01 -1.20361268e-03 4.41755682e-03 1.82338871e-01] [ 1.20616048e-03 9.99999108e-01 -5.74126048e-04 -1.00804282e-01] [-4.41686186e-03 5.79448313e-04 9.99990078e-01 4.82231342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16255784400002 meters 0.29487721792539434 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.48 [[ 9.99989089e-01 -1.34213625e-03 4.47436121e-03 1.82251106e-01] [ 1.34642804e-03 9.99998636e-01 -9.56321348e-04 -9.92469552e-02] [-4.47307160e-03 9.62335320e-04 9.99989533e-01 4.82087304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192557844 meters 0.2965414632421781 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.48 [[ 0.99998859 -0.00148431 0.00454076 0.18209193] [ 0.00149047 0.99999797 -0.00135343 -0.09762276] [-0.00453875 0.00136019 0.99998877 0.4820503 ] [ 0. 0. 0. 1. ]] SLAMing on 149.222557844 meters 0.29664946773384715 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.48 [[ 0.99998818 -0.0016553 0.00457164 0.18203498] [ 0.00166371 0.99999693 -0.00183438 -0.09566943] [-0.00456859 0.00184197 0.99998787 0.48199053] [ 0. 0. 0. 1. ]] SLAMing on 149.252557844 meters 0.29494678702857574 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.48 [[ 9.99991073e-01 4.18631924e-03 5.73030362e-04 1.60684344e-01] [-4.18360570e-03 9.99980403e-01 -4.65743848e-03 -8.87151780e-02] [-5.92516657e-04 4.65499957e-03 9.99988990e-01 4.84096487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282557844 meters 0.29717657863834385 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.48 [[ 9.99998764e-01 -9.28360426e-04 1.26861225e-03 1.85029584e-01] [ 9.30421211e-04 9.99998247e-01 -1.62481732e-03 -8.47148391e-02] [-1.26710161e-03 1.62599566e-03 9.99997875e-01 4.82291351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312557844 meters 0.2949565709801802 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.48 [[ 0.99999716 -0.00166054 0.00170918 0.14731752] [ 0.00166243 0.99999801 -0.00110412 -0.0857405 ] [-0.00170735 0.00110696 0.99999793 0.47854467] [ 0. 0. 0. 1. ]] SLAMing on 149.342557844 meters 0.2949565709801802 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.48 [[ 0.99999716 -0.00166054 0.00170918 0.14731752] [ 0.00166243 0.99999801 -0.00110412 -0.0857405 ] [-0.00170735 0.00110696 0.99999793 0.47854467] [ 0. 0. 0. 1. ]] SLAMing on 149.372557844 meters 0.295548140979602 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 0.99999691 -0.00180886 0.00170352 0.14749965] [ 0.00181143 0.99999722 -0.00150897 -0.08410025] [-0.00170079 0.00151205 0.99999741 0.47812807] [ 0. 0. 0. 1. ]] SLAMing on 149.402557844 meters 0.2978988526926404 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.48 [[ 0.9999761 -0.00680136 0.00124112 0.17185596] [ 0.00679947 0.99997573 0.00152031 -0.07686499] [-0.00125143 -0.00151183 0.99999807 0.47722621] [ 0. 0. 0. 1. ]] SLAMing on 149.432557844 meters 0.2961704175621085 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.48 [[ 0.99997516 -0.00694326 0.00121601 0.17194311] [ 0.00694186 0.99997524 0.00114916 -0.0753482 ] [-0.00122396 -0.00114069 0.9999986 0.47716128] [ 0. 0. 0. 1. ]] SLAMing on 149.462557844 meters 0.29464598256633084 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 9.99998676e-01 1.62601592e-03 5.90714395e-05 1.49819686e-01] [-1.62606653e-03 9.99998302e-01 8.67080915e-04 -7.75870698e-02] [-5.76614518e-05 -8.67175821e-04 9.99999622e-01 4.77982015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.492557844 meters 0.2967928178407768 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:0.48 [[ 0.99999256 -0.00337366 0.00186901 0.17302937] [ 0.00336599 0.99998596 0.00409277 -0.0747563 ] [-0.0018828 -0.00408645 0.99998988 0.47668873] [ 0. 0. 0. 1. ]] SLAMing on 149.522557844 meters 0.29456828456963874 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.48 [[ 9.99998781e-01 1.45222850e-03 -5.73857251e-04 1.49834839e-01] [-1.45201281e-03 9.99998875e-01 3.76098902e-04 -7.28416502e-02] [ 5.74402787e-04 -3.75265195e-04 9.99999765e-01 4.78744634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552557844 meters 0.295850538192499 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:0.48 [[ 0.99998961 -0.0039 0.00235908 0.17238321] [ 0.00389256 0.99998747 0.00314684 -0.07122982] [-0.00237132 -0.00313763 0.99999227 0.47679262] [ 0. 0. 0. 1. ]] SLAMing on 149.582557844 meters 0.29565815973774123 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 0.99999177 0.00379112 0.00144354 0.15327067] [-0.00379373 0.99999117 0.00180834 -0.07509191] [-0.00143667 -0.0018138 0.99999732 0.47572708] [ 0. 0. 0. 1. ]] SLAMing on 149.612557844 meters 0.29510796816789814 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.48 [[ 0.99999204 0.0037292 0.00141676 0.15334071] [-0.00373153 0.99999168 0.00164601 -0.07442472] [-0.00141061 -0.00165129 0.99999764 0.47572161] [ 0. 0. 0. 1. ]] SLAMing on 149.642557844 meters 0.2962745176942465 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:0.48 [[ 0.99998988 -0.00390953 0.00222412 0.17263975] [ 0.00390343 0.99998862 0.00274165 -0.06860787] [-0.00223481 -0.00273294 0.99999377 0.4769749 ] [ 0. 0. 0. 1. ]] SLAMing on 149.672557844 meters 0.29683124954115897 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:0.48 [[ 0.99998948 -0.00397089 0.0022976 0.17240566] [ 0.00396497 0.99998882 0.0025777 -0.06792526] [-0.00230781 -0.00256857 0.99999404 0.47706226] [ 0. 0. 0. 1. ]] SLAMing on 149.702557844 meters 0.2942511002911715 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.48 [[ 0.99998581 0.00440442 0.00299668 0.14986176] [-0.00441001 0.99998854 0.00186348 -0.07025578] [-0.00298844 -0.00187667 0.99999377 0.47712317] [ 0. 0. 0. 1. ]] SLAMing on 149.732557844 meters 0.2964738412694947 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.48 [[ 0.99998488 -0.00355472 0.00419594 0.16939075] [ 0.00354406 0.99999048 0.00254486 -0.06417312] [-0.00420495 -0.00252995 0.99998796 0.47784817] [ 0. 0. 0. 1. ]] SLAMing on 149.762557844 meters 0.2933018716433475 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.48 [[ 9.99997930e-01 1.79584236e-03 9.56799640e-04 1.48007963e-01] [-1.79501083e-03 9.99998011e-01 -8.69230278e-04 -6.15629600e-02] [-9.58358738e-04 8.67511013e-04 9.99999164e-01 4.79486804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79255784400002 meters 0.2956626163329686 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.48 [[ 0.9999918 -0.00346508 0.00209562 0.17264732] [ 0.0034614 0.99999247 0.00175696 -0.05667329] [-0.0021017 -0.00174969 0.99999626 0.47711809] [ 0. 0. 0. 1. ]] SLAMing on 149.82255784400002 meters 0.2938377578454428 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.48 [[ 9.99998037e-01 1.78885653e-03 -8.51592696e-04 1.50095123e-01] [-1.79021515e-03 9.99997122e-01 -1.59730147e-03 -5.42130463e-02] [ 8.48732902e-04 1.59882287e-03 9.99998362e-01 4.79108845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85255784400002 meters 0.2951607831228332 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.48 [[ 9.99998199e-01 1.69559858e-03 -8.52074701e-04 1.50159427e-01] [-1.69716799e-03 9.99996859e-01 -1.84454360e-03 -5.32042239e-02] [ 8.48944419e-04 1.84598640e-03 9.99997936e-01 4.78968658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88255784400002 meters 0.2928653062287415 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:0.48 [[ 0.99998086 -0.00515492 -0.00342082 0.12880501] [ 0.00515871 0.99998609 0.00110129 -0.05395485] [ 0.00341509 -0.00111892 0.99999354 0.48024357] [ 0. 0. 0. 1. ]] SLAMing on 149.91255784400002 meters 0.2940578649758511 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.48 [[ 9.99991337e-01 3.97790222e-03 -1.22563628e-03 1.48051186e-01] [-3.97769703e-03 9.99992075e-01 1.69802929e-04 -5.55496855e-02] [ 1.22630203e-03 -1.64926248e-04 9.99999234e-01 4.80516749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942557844 meters 0.29493108569632726 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990624e-01 -4.32937516e-03 -9.59309007e-05 1.69310463e-01] [ 4.32943487e-03 9.99990429e-01 6.31170329e-04 -5.18687256e-02] [ 9.31974094e-05 -6.31579738e-04 9.99999796e-01 4.81131046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972557844 meters 0.29443937898955375 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990712e-01 -4.30879575e-03 -1.02548956e-04 1.69311396e-01] [ 4.30886490e-03 9.99990483e-01 6.83888744e-04 -5.20855161e-02] [ 9.96012430e-05 -6.84324261e-04 9.99999761e-01 4.81169278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002557844 meters 0.2935909010771072 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990704e-01 -4.31144148e-03 -6.56682149e-05 1.69193465e-01] [ 4.31148488e-03 9.99990477e-01 6.75700672e-04 -5.20482250e-02] [ 6.27543456e-05 -6.75977518e-04 9.99999770e-01 4.81217861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032557844 meters 0.29284767499979175 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.48 [[ 9.99990920e-01 3.96001437e-03 -1.57444180e-03 1.48499249e-01] [-3.95990596e-03 9.99992157e-01 7.19712260e-05 -5.46774063e-02] [ 1.57471446e-03 -6.57359310e-05 9.99998758e-01 4.81001316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062557844 meters 0.2939233689881421 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99998733e-01 -1.57875231e-03 2.04303494e-04 1.71291844e-01] [ 1.57810712e-03 9.99993886e-01 3.12053362e-03 -5.27610585e-02] [-2.09228794e-04 -3.12020725e-03 9.99995110e-01 4.79545329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092557844 meters 0.2939109168702075 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99998564e-01 -1.67050639e-03 2.86854672e-04 1.71088056e-01] [ 1.66967458e-03 9.99994471e-01 2.87594344e-03 -5.17471191e-02] [-2.91657367e-04 -2.87546035e-03 9.99995823e-01 4.79514502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters 0.2939901021603124 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99998444e-01 -1.73744845e-03 3.05228094e-04 1.71070391e-01] [ 1.73661874e-03 9.99994853e-01 2.69788530e-03 -5.10174178e-02] [-3.09913960e-04 -2.69735104e-03 9.99996314e-01 4.79437498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152557844 meters 0.29351764103837125 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99998314e-01 -1.81922139e-03 2.48858107e-04 1.71304819e-01] [ 1.81859821e-03 9.99995267e-01 2.48185874e-03 -5.01433134e-02] [-2.53371980e-04 -2.48140198e-03 9.99996889e-01 4.79220968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters 0.29643407074277633 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.48 [[ 9.99964138e-01 8.46689299e-03 1.87742236e-04 1.94333836e-01] [-8.46733055e-03 9.99961108e-01 2.46721620e-03 -5.12972714e-02] [-1.66845279e-04 -2.46871739e-03 9.99996939e-01 4.78248661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212557844 meters 0.2938570062667595 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 0.99999893 -0.00103206 -0.00104059 0.17347273] [ 0.00103523 0.99999483 0.00304296 -0.0491775 ] [ 0.00103744 -0.00304404 0.99999483 0.4779299 ] [ 0. 0. 0. 1. ]] SLAMing on 150.242557844 meters 0.29432474102679224 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99998935e-01 -9.92473315e-04 -1.07002031e-03 1.73485619e-01] [ 9.95845681e-04 9.99994525e-01 3.15577152e-03 -4.96263104e-02] [ 1.06688243e-03 -3.15683373e-03 9.99994448e-01 4.78083651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.272557844 meters 0.2943951626791528 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99999008e-01 -9.08838215e-04 -1.07591987e-03 1.73376177e-01] [ 9.12489370e-04 9.99993811e-01 3.39790593e-03 -5.05811042e-02] [ 1.07282506e-03 -3.39888433e-03 9.99993648e-01 4.78392363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302557844 meters 0.2948547867529628 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99999090e-01 -8.10788983e-04 -1.07838560e-03 1.73294848e-01] [ 8.14757115e-04 9.99992881e-01 3.68436198e-03 -5.17216639e-02] [ 1.07539069e-03 -3.68523725e-03 9.99992631e-01 4.78619516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332557844 meters 0.2930929149494847 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.48 [[ 9.99987635e-01 3.85945009e-03 -3.13609565e-03 1.49808166e-01] [-3.85902856e-03 9.99992544e-01 1.40451602e-04 -5.29214976e-02] [ 3.13661433e-03 -1.28347583e-04 9.99995073e-01 4.80112956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362557844 meters 0.29312254085844996 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.48 [[ 9.99986309e-01 4.00453751e-03 -3.36824195e-03 1.50704388e-01] [-4.00247707e-03 9.99991799e-01 6.18244069e-04 -5.49363379e-02] [ 3.37069011e-03 -6.04754293e-04 9.99994136e-01 4.79195262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392557844 meters 0.29485559815618323 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.48 [[ 9.99985768e-01 4.06487676e-03 -3.45556963e-03 1.51031398e-01] [-4.06218706e-03 9.99991441e-01 7.85030369e-04 -5.56343809e-02] [ 3.45873111e-03 -7.70982026e-04 9.99993721e-01 4.78945136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422557844 meters 0.29232520076549773 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.48 [[ 9.99985434e-01 4.11675673e-03 -3.49056018e-03 1.51012001e-01] [-4.11356120e-03 9.99991114e-01 9.22162674e-04 -5.61891825e-02] [ 3.49432548e-03 -9.07790609e-04 9.99993483e-01 4.79195069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452557844 meters 0.29539676812463417 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.48 [[ 9.99987485e-01 4.98043007e-03 -4.75052091e-04 1.93481848e-01] [-4.98013647e-03 9.99987409e-01 6.17223279e-04 -5.36362423e-02] [ 4.78120147e-04 -6.14849730e-04 9.99999697e-01 4.78754752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482557844 meters 0.2946356901855157 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.48 [[ 9.99987886e-01 4.92119190e-03 -9.95745694e-05 1.92363776e-01] [-4.92115249e-03 9.99987814e-01 3.92233077e-04 -5.26315138e-02] [ 1.01503610e-04 -3.91738304e-04 9.99999918e-01 4.79252208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512557844 meters 0.2937388577029632 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990440e-01 -4.36221035e-03 -3.01703401e-04 1.72606607e-01] [ 4.36262656e-03 9.99989514e-01 1.39293161e-03 -4.89862975e-02] [ 2.95623976e-04 -1.39423452e-03 9.99998984e-01 4.78103981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54255784400002 meters 0.2935427825230552 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990287e-01 -4.40285688e-03 -2.03564652e-04 1.72385109e-01] [ 4.40311388e-03 9.99989487e-01 1.27975782e-03 -4.85255116e-02] [ 1.97927921e-04 -1.28064171e-03 9.99999160e-01 4.78030323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57255784400002 meters 0.2939804417202522 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990310e-01 -4.39429586e-03 -2.63294446e-04 1.72578333e-01] [ 4.39463554e-03 9.99989494e-01 1.30369794e-03 -4.86290810e-02] [ 2.57562845e-04 -1.30484239e-03 9.99999116e-01 4.77938857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60255784400002 meters 0.2944141657961926 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990484e-01 -4.35349979e-03 -2.82588989e-04 1.72690019e-01] [ 4.35389484e-03 9.99989524e-01 1.41274329e-03 -4.90933082e-02] [ 2.76435651e-04 -1.41396021e-03 9.99998962e-01 4.77801604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63255784400002 meters 0.29313524678801994 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.48 [[ 9.99990721e-01 -4.29945696e-03 -2.69500991e-04 1.72637690e-01] [ 4.29987171e-03 9.99989542e-01 1.55772261e-03 -4.96860054e-02] [ 2.62800811e-04 -1.55886698e-03 9.99998750e-01 4.77853018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66255784400002 meters 0.2933910466015967 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.48 [[ 9.99987434e-01 4.68111264e-03 1.79435970e-03 1.90826918e-01] [-4.68230689e-03 9.99988819e-01 6.61935793e-04 -5.42434825e-02] [-1.79124104e-03 -6.70329218e-04 9.99998171e-01 4.79104309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692557844 meters 0.2925894780541467 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.48 [[ 9.99987022e-01 4.74609590e-03 1.85221049e-03 1.90528149e-01] [-4.74765562e-03 9.99988378e-01 8.38595246e-04 -5.49437230e-02] [-1.84820891e-03 -8.47378020e-04 9.99997933e-01 4.79463331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722557844 meters 0.2942043927937226 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.48 [[ 0.99999089 -0.00313886 0.00289151 0.21091579] [ 0.00313338 0.99999329 0.00189874 -0.05194837] [-0.00289745 -0.00188967 0.99999402 0.48024635] [ 0. 0. 0. 1. ]] SLAMing on 150.752557844 meters 0.2934994253500771 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.48 [[ 0.99999116 -0.0030825 0.00285912 0.21105097] [ 0.00307665 0.99999317 0.00204926 -0.052579 ] [-0.00286542 -0.00204044 0.99999381 0.48013628] [ 0. 0. 0. 1. ]] SLAMing on 150.782557844 meters 0.29371710365077514 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:0.48 [[ 0.99999184 -0.00295628 0.00275205 0.21171768] [ 0.0029497 0.99999279 0.00239121 -0.05411491] [-0.0027591 -0.00238307 0.99999335 0.47919263] [ 0. 0. 0. 1. ]] SLAMing on 150.812557844 meters 0.2944272980194739 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.48 [[ 0.99999247 -0.00287998 0.0025997 0.21231986] [ 0.00287324 0.99999251 0.00259274 -0.05500134] [-0.00260715 -0.00258525 0.99999326 0.47872609] [ 0. 0. 0. 1. ]] SLAMing on 150.842557844 meters 0.29380306113945653 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.48 [[ 0.99999296 -0.00282384 0.00247252 0.21280562] [ 0.00281707 0.99999228 0.00273879 -0.05563285] [-0.00248023 -0.00273181 0.99999319 0.47838012] [ 0. 0. 0. 1. ]] SLAMing on 150.872557844 meters 0.29335771158441515 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.48 [[ 0.99998778 0.00474603 0.00138219 0.19391518] [-0.00474815 0.99998755 0.00153593 -0.06051845] [-0.00137488 -0.00154248 0.99999787 0.47664462] [ 0. 0. 0. 1. ]] SLAMing on 150.902557844 meters 0.29363219311009686 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.48 [[ 0.99998741 0.00480239 0.00145813 0.19375787] [-0.00480484 0.99998704 0.00168311 -0.06112958] [-0.00145003 -0.0016901 0.99999752 0.47656143] [ 0. 0. 0. 1. ]] SLAMing on 150.932557844 meters 0.2939463081103204 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.48 [[ 0.99998691 0.00486818 0.0015744 0.1933875 ] [-0.00487109 0.99998642 0.00185052 -0.06180484] [-0.00156537 -0.00185817 0.99999705 0.47673536] [ 0. 0. 0. 1. ]] SLAMing on 150.962557844 meters 0.29363330874839894 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:0.48 [[ 0.9999866 0.00492948 0.00157895 0.19343677] [-0.00493265 0.99998581 0.00201111 -0.06247752] [-0.00156901 -0.00201887 0.99999673 0.47660194] [ 0. 0. 0. 1. ]] SLAMing on 150.992557844 meters 0.2925924087149282 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.48 [[ 9.99991393e-01 -4.13645693e-03 -3.20439325e-04 1.73624874e-01] [ 4.13742374e-03 9.99986705e-01 3.07766086e-03 -6.16769478e-02] [ 3.07704453e-04 -3.07896017e-03 9.99995213e-01 4.76024924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.022557844 meters 0.293835258535526 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.48 [[ 9.99991606e-01 -4.07434930e-03 -4.34086079e-04 1.73989694e-01] [ 4.07574122e-03 9.99986395e-01 3.25542698e-03 -6.24240940e-02] [ 4.20816427e-04 -3.25716887e-03 9.99994607e-01 4.75854778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052557844 meters 0.29249183518911354 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.48 [[ 9.99992242e-01 -3.91710641e-03 -4.14919811e-04 1.73849267e-01] [ 3.91863105e-03 9.99985329e-01 3.73979106e-03 -6.43380977e-02] [ 4.00264564e-04 -3.74138796e-03 9.99992921e-01 4.76130118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082557844 meters 0.29282429164785734 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:0.48 [[ 9.99992710e-01 -3.79673366e-03 -4.05333741e-04 1.73679202e-01] [ 3.79836357e-03 9.99984385e-01 4.09911219e-03 -6.57480206e-02] [ 3.89764174e-04 -4.10062191e-03 9.99991516e-01 4.76516427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112557844 meters 0.29147162040093366 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.48 [[ 9.99997927e-01 1.08247481e-03 -1.72448088e-03 1.50129499e-01] [-1.08120894e-03 9.99999146e-01 7.34819205e-04 -6.85136786e-02] [ 1.72527483e-03 -7.32953157e-04 9.99998243e-01 4.77877640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142557844 meters 0.29471249303345104 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:0.48 [[ 0.99999057 -0.00398662 -0.00172036 0.21304376] [ 0.00398894 0.99999114 0.00134754 -0.0672938 ] [ 0.00171497 -0.00135439 0.99999761 0.47812251] [ 0. 0. 0. 1. ]] SLAMing on 151.172557844 meters 0.2926889588058939 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.48 [[ 0.99999655 -0.0013653 -0.0022456 0.15808842] [ 0.00136856 0.99999801 0.00145053 -0.07373152] [ 0.00224361 -0.0014536 0.99999643 0.47694276] [ 0. 0. 0. 1. ]] SLAMing on 151.202557844 meters 0.2934264896596124 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.47 [[ 9.99982357e-01 5.88146770e-03 8.32817525e-04 1.79574324e-01] [-5.88069981e-03 9.99982284e-01 -9.21501598e-04 -7.29493219e-02] [-8.38222553e-04 9.16587790e-04 9.99999229e-01 4.74811222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232557844 meters 0.29157692043586986 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.48 [[ 0.99999675 -0.00142893 -0.0021122 0.15834512] [ 0.00143241 0.99999762 0.00164758 -0.07440538] [ 0.00210984 -0.0016506 0.99999641 0.47661248] [ 0. 0. 0. 1. ]] SLAMing on 151.262557844 meters 0.29157692043586986 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.48 [[ 0.99999675 -0.00142893 -0.0021122 0.15834512] [ 0.00143241 0.99999762 0.00164758 -0.07440538] [ 0.00210984 -0.0016506 0.99999641 0.47661248] [ 0. 0. 0. 1. ]] SLAMing on 151.29255784400002 meters 0.29430249621093735 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.48 [[ 9.99985679e-01 5.35125940e-03 -7.86612155e-05 1.80475643e-01] [-5.35137089e-03 9.99984567e-01 -1.49287038e-03 -7.40624495e-02] [ 7.06712649e-05 1.49326995e-03 9.99998883e-01 4.75212109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32255784400002 meters 0.29443545810321153 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.48 [[ 9.99985306e-01 5.41659794e-03 -2.20498665e-04 1.80786042e-01] [-5.41688507e-03 9.99984453e-01 -1.32311777e-03 -7.47586345e-02] [ 2.13328440e-04 1.32429274e-03 9.99999100e-01 4.75345144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35255784400002 meters 0.29310074684376186 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.48 [[ 9.99984279e-01 5.60278590e-03 -2.23786738e-04 1.80637905e-01] [-5.60297308e-03 9.99983946e-01 -8.44751762e-04 -7.67092698e-02] [ 2.19050183e-04 8.45992353e-04 9.99999618e-01 4.75701618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38255784400002 meters 0.29326594016845614 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.48 [[ 9.99983834e-01 5.68180758e-03 -2.19722667e-04 1.80615844e-01] [-5.68194621e-03 9.99983656e-01 -6.35534667e-04 -7.75707221e-02] [ 2.16108090e-04 6.36772846e-04 9.99999774e-01 4.75721611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41255784400002 meters 0.29452817606820847 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.48 [[ 9.99983313e-01 5.77161340e-03 -2.47512723e-04 1.80612295e-01] [-5.77171211e-03 9.99983264e-01 -3.99994103e-04 -7.85313023e-02] [ 2.45199969e-04 4.01416001e-04 9.99999889e-01 4.75886192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442557844 meters 0.2922909071874469 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99990173e-01 -4.23696379e-03 -1.30475989e-03 1.59425327e-01] [ 4.23705402e-03 9.99991021e-01 6.63995275e-05 -7.74364564e-02] [ 1.30446685e-03 -7.19272131e-05 9.99999147e-01 4.76551395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472557844 meters 0.2927527234176105 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99991136e-01 -4.09772420e-03 -9.67514272e-04 1.58327815e-01] [ 4.09818282e-03 9.99991491e-01 4.72509948e-04 -7.89564259e-02] [ 9.65569824e-04 -4.76470811e-04 9.99999420e-01 4.77411338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters 0.29244150912788053 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99991396e-01 -4.06179517e-03 -8.42433698e-04 1.58036313e-01] [ 4.06228071e-03 9.99991583e-01 5.75443597e-04 -7.93662850e-02] [ 8.40089273e-04 -5.78860848e-04 9.99999480e-01 4.77364810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532557844 meters 0.2911366412250796 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:0.48 [[ 9.99991476e-01 3.56920413e-03 -2.07594350e-03 1.37703936e-01] [-3.57009062e-03 9.99993538e-01 -4.23477432e-04 -8.25850864e-02] [ 2.07441861e-03 4.30885128e-04 9.99997756e-01 4.75876570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562557844 meters 0.29315933023505253 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 0.99998056 -0.0026055 -0.00566549 0.15505117] [ 0.00261128 0.99999608 0.0010124 -0.08151106] [ 0.00566283 -0.00102717 0.99998344 0.47925612] [ 0. 0. 0. 1. ]] SLAMing on 151.592557844 meters 0.29354557768313433 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99977714e-01 -2.66447104e-03 -6.12151198e-03 1.56444419e-01] [ 2.66959630e-03 9.99996093e-01 8.29235479e-04 -8.08626090e-02] [ 6.11927859e-03 -8.45558964e-04 9.99980920e-01 4.78443701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622557844 meters 0.2932414180250098 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99978823e-01 -2.70677907e-03 -5.91839128e-03 1.55876009e-01] [ 2.71094301e-03 9.99996083e-01 6.95649069e-04 -8.02894106e-02] [ 5.91648513e-03 -7.11678759e-04 9.99982244e-01 4.78567017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652557844 meters 0.29401909966788375 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99979840e-01 -2.76225604e-03 -5.71742757e-03 1.55185227e-01] [ 2.76532656e-03 9.99996036e-01 5.29209106e-04 -7.95197376e-02] [ 5.71594310e-03 -5.45008992e-04 9.99983515e-01 4.79018514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters 0.2927905405048806 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 9.99980955e-01 -2.79795119e-03 -5.50093785e-03 1.54440651e-01] [ 2.80029924e-03 9.99995991e-01 4.19189386e-04 -7.89839476e-02] [ 5.49974293e-03 -4.34585675e-04 9.99984782e-01 4.79502116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712557844 meters 0.29216077033149845 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 9.99981746e-01 -2.81723445e-03 -5.34514213e-03 1.54084900e-01] [ 2.81920271e-03 9.99995961e-01 3.60735227e-04 -7.87405022e-02] [ 5.34410426e-03 -3.75797681e-04 9.99985650e-01 4.79396433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.742557844 meters 0.29411442122095866 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:0.48 [[ 9.99981142e-01 -2.82899624e-03 -5.45088759e-03 1.54617424e-01] [ 2.83085387e-03 9.99995938e-01 3.33109942e-04 -7.86971995e-02] [ 5.44992308e-03 -3.48534327e-04 9.99985088e-01 4.78786268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.772557844 meters 0.29343573955991575 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99980385e-01 -2.83341916e-03 -5.58582283e-03 1.55126605e-01] [ 2.83529870e-03 9.99995927e-01 3.28594139e-04 -7.87295904e-02] [ 5.58486903e-03 -3.44425169e-04 9.99984345e-01 4.78387135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802557844 meters 0.29263586555427096 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.48 [[ 9.99978965e-01 -2.77605365e-03 -5.86207329e-03 1.55694204e-01] [ 2.77921865e-03 9.99995997e-01 5.31834738e-04 -7.95186384e-02] [ 5.86057342e-03 -5.48115534e-04 9.99982676e-01 4.78704336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832557844 meters 0.29162903142911095 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:0.48 [[ 0.99997406 0.00252725 -0.00674475 0.13189306] [-0.00254383 0.99999376 -0.00245111 -0.08339393] [ 0.00673851 0.0024682 0.99997425 0.48026398] [ 0. 0. 0. 1. ]] SLAMing on 151.862557844 meters 0.2918736287425187 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:0.48 [[ 0.99997241 0.00263639 -0.0069453 0.1323177 ] [-0.00265113 0.99999425 -0.00211455 -0.08473352] [ 0.00693968 0.0021329 0.99997365 0.48044705] [ 0. 0. 0. 1. ]] SLAMing on 151.892557844 meters 0.29205017647853015 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:0.48 [[ 0.99997134 0.00276425 -0.00704832 0.13258047] [-0.00277661 0.99999462 -0.00174432 -0.08624487] [ 0.00704346 0.00176384 0.99997364 0.48044501] [ 0. 0. 0. 1. ]] SLAMing on 151.922557844 meters 0.2934593018488806 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:0.48 [[ 0.99999114 -0.00253142 -0.00336213 0.15495141] [ 0.0025359 0.9999959 0.00132673 -0.09104297] [ 0.00335876 -0.00133525 0.99999347 0.47788208] [ 0. 0. 0. 1. ]] SLAMing on 151.952557844 meters 0.2923474388703496 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.48 [[ 9.99979105e-01 4.97736509e-03 -4.12501154e-03 1.35394144e-01] [-4.97682263e-03 9.99987605e-01 1.41759564e-04 -9.59000616e-02] [ 4.12566600e-03 -1.21227151e-04 9.99991482e-01 4.76401036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982557844 meters 0.2931875839533115 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99997332e-01 8.74875451e-05 -2.30841467e-03 1.59553790e-01] [-7.98166586e-05 9.99994476e-01 3.32289353e-03 -9.47443822e-02] [ 2.30869263e-03 -3.32270041e-03 9.99991815e-01 4.74327841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012557844 meters 0.2940176057037648 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99997072e-01 -2.11863421e-05 -2.41989581e-03 1.59980468e-01] [ 2.84794721e-05 9.99995458e-01 3.01382513e-03 -9.35287272e-02] [ 2.41982097e-03 -3.01388522e-03 9.99992530e-01 4.73953947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04255784400002 meters 0.2936277418898874 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99996261e-01 -2.49739942e-04 -2.72305998e-03 1.61072836e-01] [ 2.55774026e-04 9.99997512e-01 2.21579732e-03 -9.05246508e-02] [ 2.72249983e-03 -2.21648552e-03 9.99993838e-01 4.72917507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07255784400002 meters 0.29387559645315625 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99996169e-01 -4.11330765e-04 -2.73730782e-03 1.61224922e-01] [ 4.16124628e-04 9.99998380e-01 1.75096678e-03 -8.86560340e-02] [ 2.73658316e-03 -1.75209914e-03 9.99994721e-01 4.72608500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10255784400002 meters 0.2937198559363398 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99995969e-01 -5.66486547e-04 -2.78235748e-03 1.61512037e-01] [ 5.70162147e-04 9.99998966e-01 1.32042262e-03 -8.69270809e-02] [ 2.78160660e-03 -1.32200369e-03 9.99995257e-01 4.72200628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13255784400002 meters 0.2935091415807414 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.47 [[ 9.99995862e-01 -7.07728870e-04 -2.78847657e-03 1.61667550e-01] [ 7.10360578e-04 9.99999303e-01 9.42902369e-04 -8.53927540e-02] [ 2.78780730e-03 -9.44879290e-04 9.99995668e-01 4.71872613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16255784400002 meters 0.294988754870237 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99995856e-01 -7.77991971e-04 -2.77183106e-03 1.61662676e-01] [ 7.80093720e-04 9.99999409e-01 7.57252724e-04 -8.46268182e-02] [ 2.77124029e-03 -7.59411874e-04 9.99995872e-01 4.71773845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19255784400002 meters 0.2939232949992323 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99996300e-01 -8.56995542e-04 -2.58193132e-03 1.60854389e-01] [ 8.58361816e-04 9.99999492e-01 5.28105654e-04 -8.35888722e-02] [ 2.58147742e-03 -5.30319931e-04 9.99996527e-01 4.72662649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222557844 meters 0.29386919238371195 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99996495e-01 -8.97226706e-04 -2.49083670e-03 1.60468241e-01] [ 8.98273521e-04 9.99999509e-01 4.19179522e-04 -8.30902571e-02] [ 2.49045938e-03 -4.21415505e-04 9.99996810e-01 4.73006678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252557844 meters 0.2933442552880196 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99996760e-01 -9.06757382e-04 -2.37854409e-03 1.60180977e-01] [ 9.07689840e-04 9.99999512e-01 3.90978721e-04 -8.29662860e-02] [ 2.37818841e-03 -3.93136434e-04 9.99997095e-01 4.73001532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282557844 meters 0.2918737214067491 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99996616e-01 -9.32959586e-04 -2.42855612e-03 1.60347101e-01] [ 9.33737293e-04 9.99999513e-01 3.19119941e-04 -8.26858515e-02] [ 2.42825721e-03 -3.21386495e-04 9.99997000e-01 4.72902744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312557844 meters 0.2928166912274217 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99995935e-01 -9.75509034e-04 -2.67938701e-03 1.61178541e-01] [ 9.76062113e-04 9.99999503e-01 2.05120400e-04 -8.22949382e-02] [ 2.67918558e-03 -2.07734814e-04 9.99996389e-01 4.72334938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters 0.2935625647535379 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99995771e-01 -1.03123463e-03 -2.71933358e-03 1.61390478e-01] [ 1.03139958e-03 9.99999466e-01 5.92564280e-05 -8.17165662e-02] [ 2.71927102e-03 -6.20608969e-05 9.99996301e-01 4.72080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372557844 meters 0.2934387835566173 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:0.47 [[ 9.99965437e-01 7.46569135e-03 -3.65906719e-03 1.39480947e-01] [-7.46748472e-03 9.99972004e-01 -4.76699529e-04 -8.16724190e-02] [ 3.65540586e-03 5.04007082e-04 9.99993192e-01 4.71709158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters 0.293283037217232 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:0.47 [[ 9.99966251e-01 7.37795651e-03 -3.61424208e-03 1.39409805e-01] [-7.38058035e-03 9.99972509e-01 -7.13173181e-04 -8.06999072e-02] [ 3.60888096e-03 7.39824317e-04 9.99993214e-01 4.71608723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432557844 meters 0.2946873619083658 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.47 [[ 9.99998003e-01 1.79565146e-03 -8.77293949e-04 1.62693310e-01] [-1.79403486e-03 9.99996698e-01 1.84003491e-03 -7.97709999e-02] [ 8.80595113e-04 -1.83845734e-03 9.99997922e-01 4.69059902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters 0.2937943811809847 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999885e-01 2.67077773e-04 -3.97267333e-04 1.24061319e-01] [-2.66392918e-04 9.99998480e-01 1.72297155e-03 -8.08357209e-02] [ 3.97726897e-04 -1.72286553e-03 9.99998437e-01 4.65996526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.492557844 meters 0.29343036136739825 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999897e-01 1.72967958e-04 -4.20003834e-04 1.24237024e-01] [-1.72345953e-04 9.99998889e-01 1.48053730e-03 -7.98486385e-02] [ 4.20259453e-04 -1.48046477e-03 9.99998816e-01 4.65734602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.522557844 meters 0.29388195370802805 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999964e-01 7.73467692e-05 -2.55147079e-04 1.23786149e-01] [-7.70287358e-05 9.99999220e-01 1.24624530e-03 -7.88490256e-02] [ 2.55243273e-04 -1.24622561e-03 9.99999191e-01 4.65759185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552557844 meters 0.29360203600210466 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999976e-01 7.98533548e-05 -2.02328325e-04 1.23494870e-01] [-7.96006448e-05 9.99999217e-01 1.24870991e-03 -7.88359859e-02] [ 2.02427881e-04 -1.24869378e-03 9.99999200e-01 4.66140213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582557844 meters 0.29379293470724094 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999983e-01 8.22736763e-05 -1.65886634e-04 1.23248337e-01] [-8.20658745e-05 9.99999213e-01 1.25229158e-03 -7.88252439e-02] [ 1.65989534e-04 -1.25227795e-03 9.99999202e-01 4.66512641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612557844 meters 0.2937416935451107 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999976e-01 5.20980160e-05 -2.12859030e-04 1.23321515e-01] [-5.18482978e-05 9.99999311e-01 1.17299953e-03 -7.84912697e-02] [ 2.12919994e-04 -1.17298847e-03 9.99999289e-01 4.66624817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642557844 meters 0.29370497009051644 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:0.47 [[ 9.99999945e-01 7.93767095e-06 -3.30321890e-04 1.23760887e-01] [-7.58691555e-06 9.99999436e-01 1.06184709e-03 -7.80573699e-02] [ 3.30330132e-04 -1.06184453e-03 9.99999382e-01 4.66303570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672557844 meters 0.29256545532593714 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.47 [[ 0.99998142 0.00456292 -0.00404243 0.10331741] [-0.00457467 0.99998533 -0.00290103 -0.07537495] [ 0.00402913 0.00291947 0.99998762 0.46678883] [ 0. 0. 0. 1. ]] SLAMing on 152.702557844 meters 0.292345129783579 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998137 0.00450936 -0.00411381 0.10365808] [-0.00452189 0.99998515 -0.0030402 -0.07483433] [ 0.00410004 0.00305875 0.99998692 0.46640846] [ 0. 0. 0. 1. ]] SLAMing on 152.732557844 meters 0.29296053823604185 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998196 0.00441873 -0.00406967 0.10365669] [-0.00443211 0.99998478 -0.00328605 -0.07383431] [ 0.00405508 0.00330403 0.99998632 0.46614617] [ 0. 0. 0. 1. ]] SLAMing on 152.762557844 meters 0.2924223935206605 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998287 0.00435234 -0.00391382 0.10314122] [-0.00436597 0.99998441 -0.00347971 -0.0729969 ] [ 0.00389862 0.00349674 0.99998629 0.46643009] [ 0. 0. 0. 1. ]] SLAMing on 152.79255784400002 meters 0.2927682721042846 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.999984 0.00424212 -0.00374186 0.1024476 ] [-0.00425636 0.9999837 -0.0038058 -0.0715618 ] [ 0.00372565 0.00382167 0.99998576 0.46706317] [ 0. 0. 0. 1. ]] SLAMing on 152.82255784400002 meters 0.29226604488995134 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998423 0.00419195 -0.00373807 0.10252976] [-0.00420667 0.99998339 -0.00393895 -0.07102307] [ 0.00372149 0.00395461 0.99998526 0.46684923] [ 0. 0. 0. 1. ]] SLAMing on 152.85255784400002 meters 0.29304844331929747 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998417 0.00415517 -0.00379511 0.10279155] [-0.00417049 0.99998316 -0.00403548 -0.07064743] [ 0.00377828 0.00405124 0.99998466 0.46658075] [ 0. 0. 0. 1. ]] SLAMing on 152.88255784400002 meters 0.29192716440459343 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99997627 -0.00460253 -0.00512575 0.08362053] [ 0.00458903 0.99998598 -0.00264271 -0.06839656] [ 0.00513784 0.00261912 0.99998337 0.46502294] [ 0. 0. 0. 1. ]] SLAMing on 152.91255784400002 meters 0.29300377132297156 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99997733 -0.00457519 -0.00494001 0.08301315] [ 0.00456252 0.99998628 -0.00257285 -0.06865618] [ 0.00495171 0.00255025 0.99998449 0.46539649] [ 0. 0. 0. 1. ]] SLAMing on 152.94255784400002 meters 0.2923626570459113 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99997773 -0.00451581 -0.00491481 0.08269766] [ 0.00450402 0.99998696 -0.00240745 -0.0692979 ] [ 0.00492562 0.00238526 0.99998502 0.4660253 ] [ 0. 0. 0. 1. ]] SLAMing on 152.972557844 meters 0.2920937224137869 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99997816 -0.00444212 -0.00489263 0.082448 ] [ 0.00443138 0.99998775 -0.00220482 -0.07010883] [ 0.00490237 0.0021831 0.9999856 0.46649008] [ 0. 0. 0. 1. ]] SLAMing on 153.002557844 meters 0.29291570575311254 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 0.99998634 0.00443735 -0.00276139 0.10117764] [-0.00444636 0.99998478 -0.0032652 -0.07336101] [ 0.00274686 0.00327743 0.99999086 0.46753763] [ 0. 0. 0. 1. ]] SLAMing on 153.032557844 meters 0.2918537797231342 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99998322 -0.00455967 -0.00357368 0.08101138] [ 0.00455252 0.99998763 -0.00200547 -0.07127447] [ 0.00358278 0.00198917 0.9999916 0.46674443] [ 0. 0. 0. 1. ]] SLAMing on 153.062557844 meters 0.29277088140716107 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 9.99989611e-01 4.48256907e-03 -8.27352092e-04 1.00497616e-01] [-4.48468587e-03 9.99986629e-01 -2.57465059e-03 -7.33494946e-02] [ 8.15799981e-04 2.57833426e-03 9.99996343e-01 4.67038724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092557844 meters 0.2923506780234493 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 9.99989386e-01 4.53160058e-03 -8.31689074e-04 1.00497921e-01] [-4.53362050e-03 9.99986739e-01 -2.44309237e-03 -7.38915666e-02] [ 8.20606926e-04 2.44683700e-03 9.99996670e-01 4.67060033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122557844 meters 0.29131704215663934 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 9.99989108e-01 4.57997182e-03 -8.98437741e-04 1.00663520e-01] [-4.58203911e-03 9.99986828e-01 -2.31258892e-03 -7.44280857e-02] [ 8.87834315e-04 2.31668041e-03 9.99996922e-01 4.67070566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152557844 meters 0.29131704215663934 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.07, Z:0.47 [[ 9.99989108e-01 4.57997182e-03 -8.98437741e-04 1.00663520e-01] [-4.58203911e-03 9.99986828e-01 -2.31258892e-03 -7.44280857e-02] [ 8.87834315e-04 2.31668041e-03 9.99996922e-01 4.67070566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters 0.2916222389287817 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.47 [[ 9.99988704e-01 4.65324242e-03 -9.69374821e-04 1.00940454e-01] [-4.65528919e-03 9.99986917e-01 -2.11998962e-03 -7.52418645e-02] [ 9.59497313e-04 2.12447839e-03 9.99997283e-01 4.66859711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212557844 meters 0.29200084719022856 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.47 [[ 0.99998809 0.00477176 -0.00102577 0.10130049] [-0.0047736 0.999987 -0.00179283 -0.07660373] [ 0.0010172 0.0017977 0.99999787 0.46633915] [ 0. 0. 0. 1. ]] SLAMing on 153.242557844 meters 0.2931383972689714 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.47 [[ 0.99998787 0.00480851 -0.00106958 0.10145507] [-0.00481031 0.999987 -0.00169317 -0.07701811] [ 0.00106142 0.00169829 0.99999799 0.46624045] [ 0. 0. 0. 1. ]] SLAMing on 153.272557844 meters 0.2909039140505893 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998703 -0.00190927 -0.0047212 0.07961584] [ 0.00191432 0.9999976 0.00106618 -0.08063828] [ 0.00471915 -0.0010752 0.99998829 0.46873519] [ 0. 0. 0. 1. ]] SLAMing on 153.302557844 meters 0.2925276293541397 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998668 -0.00189102 -0.00480314 0.07998566] [ 0.0018964 0.99999758 0.00111739 -0.0808771 ] [ 0.00480101 -0.00112648 0.99998784 0.46835181] [ 0. 0. 0. 1. ]] SLAMing on 153.332557844 meters 0.2941054286719475 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998548 -0.00192519 -0.00503388 0.08087185] [ 0.00193034 0.99999762 0.00101833 -0.08050855] [ 0.00503191 -0.00102804 0.99998681 0.4674038 ] [ 0. 0. 0. 1. ]] SLAMing on 153.362557844 meters 0.29274243974143305 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998562 -0.00192222 -0.00500562 0.08092332] [ 0.00192739 0.99999761 0.00102798 -0.08056288] [ 0.00500363 -0.00103761 0.99998694 0.46710881] [ 0. 0. 0. 1. ]] SLAMing on 153.392557844 meters 0.29303768152345744 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998591 -0.00190127 -0.00495544 0.08085094] [ 0.00190666 0.99999759 0.00108408 -0.08079857] [ 0.00495336 -0.00109351 0.99998713 0.46698058] [ 0. 0. 0. 1. ]] SLAMing on 153.422557844 meters 0.2936757745924453 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.99998617 -0.00186354 -0.0049187 0.08078393] [ 0.00186939 0.99999755 0.00118359 -0.08121381] [ 0.00491649 -0.00119277 0.9999872 0.46692042] [ 0. 0. 0. 1. ]] SLAMing on 153.452557844 meters 0.2942782141662296 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 0.9999862 -0.00183755 -0.0049208 0.08084606] [ 0.00184372 0.99999752 0.00125024 -0.08149972] [ 0.00491849 -0.0012593 0.99998711 0.46679711] [ 0. 0. 0. 1. ]] SLAMing on 153.482557844 meters 0.29343008424060735 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998039 0.00343175 -0.00523881 0.05731001] [-0.00344332 0.99999165 -0.00220117 -0.0836248 ] [ 0.00523121 0.00221917 0.99998385 0.46767548] [ 0. 0. 0. 1. ]] SLAMing on 153.512557844 meters 0.2934483367951375 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998089 0.00339699 -0.00516498 0.05709905] [-0.0034089 0.99999155 -0.00229876 -0.08321207] [ 0.00515713 0.00231632 0.99998402 0.46772013] [ 0. 0. 0. 1. ]] SLAMing on 153.54255784400002 meters 0.2942228755192637 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:0.47 [[ 9.99995555e-01 -1.72006439e-03 -2.43548018e-03 7.88607861e-02] [ 1.72249241e-03 9.99998021e-01 9.95193065e-04 -8.22818624e-02] [ 2.43376357e-03 -9.99383738e-04 9.99996539e-01 4.66472663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57255784400002 meters 0.29374394220489825 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998208 0.00366587 -0.00473225 0.05845327] [-0.00367801 0.99998996 -0.00255897 -0.08300417] [ 0.00472282 0.00257633 0.99998553 0.46649555] [ 0. 0. 0. 1. ]] SLAMing on 153.60255784400002 meters 0.29411171537740555 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998211 0.00360409 -0.00477471 0.05868716] [-0.00361709 0.99998977 -0.00271733 -0.08237454] [ 0.00476487 0.00273455 0.99998491 0.46621297] [ 0. 0. 0. 1. ]] SLAMing on 153.63255784400002 meters 0.29275110130440235 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99965588e-01 -3.05636938e-03 -7.71240486e-03 3.73157166e-02] [ 3.05892382e-03 9.99995270e-01 3.19438153e-04 -8.35474513e-02] [ 7.71139206e-03 -3.43018820e-04 9.99970208e-01 4.67513304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66255784400002 meters 0.2935125571809634 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99965139e-01 -3.11825647e-03 -7.74579740e-03 3.74988007e-02] [ 3.11957734e-03 9.99995122e-01 1.58450718e-04 -8.29057701e-02] [ 7.74526552e-03 -1.82608809e-04 9.99969988e-01 4.67276829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69255784400002 meters 0.2956537255648523 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99965036e-01 -3.19366452e-03 -7.72829307e-03 3.75708342e-02] [ 3.19344867e-03 9.99994900e-01 -4.02702954e-05 -8.21091011e-02] [ 7.72838227e-03 1.55889802e-05 9.99970135e-01 4.66997491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters 0.29168081337419294 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.47 [[ 0.99993763 0.00245667 -0.01089494 0.01529313] [-0.00248952 0.99999239 -0.00300238 -0.07931844] [ 0.01088748 0.00302932 0.99993614 0.46894736] [ 0. 0. 0. 1. ]] SLAMing on 153.752557844 meters 0.29353425202401423 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99957630e-01 -2.44730670e-03 -8.87405250e-03 3.85787733e-02] [ 2.45066455e-03 9.99996930e-01 3.67535388e-04 -7.76922943e-02] [ 8.87312578e-03 -3.89267141e-04 9.99960557e-01 4.67471595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters 0.2932197911302136 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99957417e-01 -2.50940596e-03 -8.88069811e-03 3.86113402e-02] [ 2.51133539e-03 9.99996825e-01 2.06116419e-04 -7.70259917e-02] [ 8.88015269e-03 -2.28410054e-04 9.99960545e-01 4.67427369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812557844 meters 0.29323386667558393 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99958147e-01 -2.54152635e-03 -8.78891584e-03 3.82919711e-02] [ 2.54266608e-03 9.99996760e-01 1.18506493e-04 -7.66463788e-02] [ 8.78858618e-03 -1.40848811e-04 9.99961370e-01 4.67609704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters 0.2927268541733693 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.47 [[ 9.99959406e-01 -2.54122124e-03 -8.64459070e-03 3.77287147e-02] [ 2.54228866e-03 9.99996762e-01 1.12492437e-04 -7.65820328e-02] [ 8.64427684e-03 -1.34464915e-04 9.99962629e-01 4.68097530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872557844 meters 0.2950787833839826 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.47 [[ 0.99998326 0.00294465 -0.00497995 0.05815346] [-0.00296362 0.99998836 -0.00380706 -0.07469242] [ 0.00496868 0.00382176 0.99998035 0.46724271] [ 0. 0. 0. 1. ]] SLAMing on 153.902557844 meters 0.29375811360377263 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.47 [[ 0.99998329 0.00295679 -0.00496751 0.05818558] [-0.00297556 0.99998844 -0.00377723 -0.07482673] [ 0.00495629 0.00379195 0.99998053 0.46709679] [ 0. 0. 0. 1. ]] SLAMing on 153.932557844 meters 0.29309816212610984 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.9999831 0.00298521 -0.00498832 0.05830537] [-0.00300369 0.99998863 -0.00370276 -0.07514926] [ 0.00497721 0.00371768 0.9999807 0.46695222] [ 0. 0. 0. 1. ]] SLAMing on 153.962557844 meters 0.2927368712087868 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.47 [[ 0.99998289 0.00299747 -0.00502333 0.05850667] [-0.00301592 0.99998872 -0.00366954 -0.0753056 ] [ 0.00501227 0.00368463 0.99998065 0.46670475] [ 0. 0. 0. 1. ]] SLAMing on 153.992557844 meters 0.29390226650042106 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99998335 -0.00466191 -0.00340028 0.07730471] [ 0.00465297 0.99998571 -0.00263256 -0.06933092] [ 0.0034125 0.0026167 0.99999075 0.46773635] [ 0. 0. 0. 1. ]] SLAMing on 154.022557844 meters 0.29284641661547195 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 0.99998357 -0.00469578 -0.00328839 0.07691488] [ 0.00468681 0.99998529 -0.00272989 -0.06890776] [ 0.00330116 0.00271443 0.99999087 0.46797973] [ 0. 0. 0. 1. ]] SLAMing on 154.052557844 meters 0.2915771163016336 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.47 [[ 0.99998869 0.00331223 -0.00341221 0.05617138] [-0.00332497 0.99998749 -0.00373735 -0.07206734] [ 0.00339979 0.00374865 0.99998719 0.46701555] [ 0. 0. 0. 1. ]] SLAMing on 154.082557844 meters 0.2933034858243565 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.47 [[ 9.99995525e-01 -1.98178718e-03 -2.24121499e-03 7.91895650e-02] [ 1.98087829e-03 9.99997955e-01 -4.07683634e-04 -6.97845757e-02] [ 2.24201835e-03 4.03242236e-04 9.99997405e-01 4.65931465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112557844 meters 0.2922982994985422 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.47 [[ 0.99996849 0.00585464 -0.00536049 0.05905516] [-0.00586168 0.99998198 -0.00129862 -0.06817287] [ 0.00535279 0.00133 0.99998479 0.46535349] [ 0. 0. 0. 1. ]] SLAMing on 154.142557844 meters 0.2945430781721443 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:0.46 [[ 9.99991404e-01 3.15248688e-06 -4.14632456e-03 8.35730815e-02] [ 2.40586211e-06 9.99999101e-01 1.34054279e-03 -6.61068142e-02] [ 4.14632506e-03 -1.34054124e-03 9.99990505e-01 4.62951627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.172557844 meters 0.29209079004500726 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.46 [[ 9.99992005e-01 -2.07683651e-03 -3.41726015e-03 4.40134297e-02] [ 2.07895327e-03 9.99997649e-01 6.15995592e-04 -6.84359230e-02] [ 3.41597280e-03 -6.23094991e-04 9.99993971e-01 4.60156511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202557844 meters 0.29332124490837347 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.46 [[ 9.99991840e-01 4.00090303e-03 -5.58566339e-04 6.49875435e-02] [-4.00256550e-03 9.99987467e-01 -3.00761393e-03 -6.70165409e-02] [ 5.46526167e-04 3.00982509e-03 9.99995321e-01 4.59404837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232557844 meters 0.2928964797785683 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.46 [[ 9.99983698e-01 -5.70986333e-03 1.76018029e-05 4.15549461e-02] [ 5.70988886e-03 9.99980977e-01 -2.33317870e-03 -6.61497978e-02] [-4.27933648e-06 2.33324117e-03 9.99997278e-01 4.59491516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262557844 meters 0.2927169023241278 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.46 [[ 0.99998946 0.00429032 0.00163458 0.06161861] [-0.00428652 0.99998812 -0.00232269 -0.07009079] [-0.00164453 0.00231566 0.99999597 0.45908438] [ 0. 0. 0. 1. ]] SLAMing on 154.29255784400002 meters 0.29287261308466583 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.46 [[ 0.99998929 0.00433375 0.00162531 0.06169851] [-0.00433017 0.99998821 -0.00219757 -0.0706053 ] [-0.00163482 0.00219051 0.99999626 0.45895129] [ 0. 0. 0. 1. ]] SLAMing on 154.32255784400002 meters 0.29413965042878737 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.46 [[ 0.99998922 0.00438 0.00154167 0.06185381] [-0.00437683 0.99998831 -0.00205618 -0.07116651] [-0.00155066 0.00204941 0.9999967 0.45908804] [ 0. 0. 0. 1. ]] SLAMing on 154.35255784400002 meters 0.29196975340402553 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99994363e-01 -2.65311972e-03 -2.05771462e-03 4.02666153e-02] [ 2.65441025e-03 9.99996282e-01 6.24686195e-04 -7.55257358e-02] [ 2.05604960e-03 -6.30144693e-04 9.99997688e-01 4.61746095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38255784400002 meters 0.29178139916637424 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99994337e-01 -2.61009914e-03 -2.12449486e-03 4.03374858e-02] [ 2.61174071e-03 9.99996293e-01 7.70277391e-04 -7.60804795e-02] [ 2.12247648e-03 -7.75821658e-04 9.99997447e-01 4.61995356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41255784400002 meters 0.2907538561329365 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99994631e-01 -2.56678898e-03 -2.03690269e-03 4.01704428e-02] [ 2.56860298e-03 9.99996306e-01 8.88452678e-04 -7.65614009e-02] [ 2.03461470e-03 -8.93679902e-04 9.99997531e-01 4.61872341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44255784400002 meters 0.29207300881113774 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.46 [[ 9.99991860e-01 4.03296436e-03 1.24176839e-04 6.23764359e-02] [-4.03267363e-03 9.99989318e-01 -2.25872731e-03 -7.65152979e-02] [-1.33284880e-04 2.25820816e-03 9.99997441e-01 4.59995914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472557844 meters 0.2932299761229644 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.46 [[ 9.99991799e-01 4.04980980e-03 6.16775934e-06 6.27887411e-02] [-4.04978629e-03 9.99989359e-01 -2.20920455e-03 -7.67400079e-02] [-1.51145520e-05 2.20916146e-03 9.99997560e-01 4.59715593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502557844 meters 0.2927016249261299 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:0.46 [[ 9.99991763e-01 4.05706543e-03 -1.22296223e-04 6.32428104e-02] [-4.05732307e-03 9.99989380e-01 -2.18564431e-03 -7.68607103e-02] [ 1.13427622e-04 2.18612250e-03 9.99997604e-01 4.59386046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532557844 meters 0.29220065517264304 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:0.46 [[ 9.99988012e-01 -4.47720837e-03 -1.98240176e-03 4.46156127e-02] [ 4.47584831e-03 9.99989745e-01 -6.89973703e-04 -7.41281386e-02] [ 1.98547058e-03 6.81092502e-04 9.99997797e-01 4.57898555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562557844 meters 0.29172863428028906 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99988575e-01 -4.39300794e-03 -1.88452526e-03 4.41613497e-02] [ 4.39214126e-03 9.99990247e-01 -4.63787337e-04 -7.50305938e-02] [ 1.88654430e-03 4.55504937e-04 9.99998117e-01 4.58411453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592557844 meters 0.2910809629547799 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99989171e-01 -4.31971763e-03 -1.73157596e-03 4.35813265e-02] [ 4.31927417e-03 9.99990638e-01 -2.59760935e-04 -7.58552901e-02] [ 1.73268185e-03 2.52278971e-04 9.99998467e-01 4.58904567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622557844 meters 0.2921651670894646 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99989668e-01 -4.24188476e-03 -1.63401408e-03 4.32675844e-02] [ 4.24181914e-03 9.99991002e-01 -4.36227092e-05 -7.67344413e-02] [ 1.63418442e-03 3.66910663e-05 9.99998664e-01 4.59061817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652557844 meters 0.2923570212037243 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99989764e-01 -4.14190236e-03 -1.82105925e-03 4.39220960e-02] [ 4.14242032e-03 9.99991381e-01 2.80748055e-04 -7.80894913e-02] [ 1.81988072e-03 -2.88288774e-04 9.99998302e-01 4.58545612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682557844 meters 0.29227314673406496 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99989800e-01 -4.09502061e-03 -1.90530156e-03 4.42025675e-02] [ 4.09580846e-03 9.99991528e-01 4.09787738e-04 -7.86260117e-02] [ 1.90360733e-03 -4.17587308e-04 9.99998101e-01 4.58386331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712557844 meters 0.29240728580562525 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99989996e-01 -4.04029330e-03 -1.91930104e-03 4.42236487e-02] [ 4.04136716e-03 9.99991679e-01 5.55962171e-04 -7.92268028e-02] [ 1.91703882e-03 -5.63713210e-04 9.99998004e-01 4.58417538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.742557844 meters 0.2911414156369214 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99990192e-01 -4.02273353e-03 -1.85320222e-03 4.39376656e-02] [ 4.02385220e-03 9.99991724e-01 6.00307971e-04 -7.93900424e-02] [ 1.85077201e-03 -6.07759095e-04 9.99998103e-01 4.58692982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.772557844 meters 0.2923195483371608 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.46 [[ 9.99990328e-01 -3.99417262e-03 -1.84108073e-03 4.38473247e-02] [ 3.99541893e-03 9.99991791e-01 6.73768924e-04 -7.96889739e-02] [ 1.83837447e-03 -6.81118297e-04 9.99998078e-01 4.58823313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802557844 meters 0.2906612586524271 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.46 [[ 9.99988621e-01 3.72534059e-03 -2.97993629e-03 2.49273256e-02] [-3.72731087e-03 9.99992838e-01 -6.55902095e-04 -8.33755747e-02] [ 2.97747149e-03 6.67001781e-04 9.99995345e-01 4.57106820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832557844 meters 0.29169597828998733 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99983917e-01 -4.65085486e-03 -3.24595157e-03 4.68702363e-02] [ 4.65064612e-03 9.99989183e-01 -7.18506682e-05 -8.02490267e-02] [ 3.24625063e-03 5.67537405e-05 9.99994729e-01 4.57527275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862557844 meters 0.29245473117344356 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99983805e-01 -4.60714158e-03 -3.34118070e-03 4.72622605e-02] [ 4.60732757e-03 9.99989385e-01 4.79688977e-05 -8.07713651e-02] [ 3.34092423e-03 -6.33620348e-05 9.99994417e-01 4.57183010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892557844 meters 0.2928454838473844 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99984108e-01 -4.57610448e-03 -3.29280152e-03 4.71906745e-02] [ 4.57655050e-03 9.99989519e-01 1.27931942e-04 -8.11040642e-02] [ 3.29218158e-03 -1.42999582e-04 9.99994571e-01 4.57057942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922557844 meters 0.2912919942030607 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99985269e-01 -4.54127564e-03 -2.97297261e-03 4.62312191e-02] [ 4.54198180e-03 9.99989659e-01 2.30817423e-04 -8.15079507e-02] [ 2.97189366e-03 -2.44317210e-04 9.99995554e-01 4.57494217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952557844 meters 0.2918483889989807 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99985496e-01 -4.52316694e-03 -2.92386677e-03 4.60446946e-02] [ 4.52399537e-03 9.99989728e-01 2.76782934e-04 -8.16873034e-02] [ 2.92258481e-03 -2.90006480e-04 9.99995687e-01 4.57638116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982557844 meters 0.292438866242015 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99985453e-01 -4.49957503e-03 -2.97449515e-03 4.61767592e-02] [ 4.50060328e-03 9.99989815e-01 3.39085179e-04 -8.19430268e-02] [ 2.97293911e-03 -3.52467268e-04 9.99995519e-01 4.57629829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012557844 meters 0.29127338196883085 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.46 [[ 9.99986094e-01 3.42468169e-03 -4.01032849e-03 2.72623051e-02] [-3.42848917e-03 9.99993678e-01 -9.42929971e-04 -8.51094716e-02] [ 4.00707391e-03 9.56666227e-04 9.99991514e-01 4.55983519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04255784400002 meters 0.2921479355174216 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99986804e-01 -4.56771008e-03 -2.35103028e-03 4.75104758e-02] [ 4.56789776e-03 9.99989564e-01 7.44671660e-05 -8.33824215e-02] [ 2.35066560e-03 -8.52054493e-05 9.99997234e-01 4.57241219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07255784400002 meters 0.2921479355174216 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 9.99986804e-01 -4.56771008e-03 -2.35103028e-03 4.75104758e-02] [ 4.56789776e-03 9.99989564e-01 7.44671660e-05 -8.33824215e-02] [ 2.35066560e-03 -8.52054493e-05 9.99997234e-01 4.57241219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10255784400002 meters 0.29046140012324256 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.46 [[ 9.99987616e-01 4.10451702e-03 -2.81423344e-03 2.57942650e-02] [-4.10547552e-03 9.99991516e-01 -3.34899543e-04 -8.61932644e-02] [ 2.81283496e-03 3.46449162e-04 9.99995984e-01 4.57210822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13255784400002 meters 0.28978818423386726 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:0.46 [[ 9.99987948e-01 4.08267178e-03 -2.72695807e-03 2.55049395e-02] [-4.08376525e-03 9.99991583e-01 -3.95539279e-04 -8.59437468e-02] [ 2.72532026e-03 4.06670769e-04 9.99996204e-01 4.57379177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16255784400002 meters 0.29175490662287984 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.46 [[ 9.99997654e-01 -2.15086585e-03 -2.54971926e-04 4.79112941e-02] [ 2.15140881e-03 9.99995377e-01 2.14868870e-03 -8.56480184e-02] [ 2.50349206e-04 -2.14923221e-03 9.99997659e-01 4.55371723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19255784400002 meters 0.2921868169257114 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.45 [[ 9.99997515e-01 -2.19468457e-03 -3.91856843e-04 4.85703756e-02] [ 2.19547644e-03 9.99995526e-01 2.03195159e-03 -8.52011137e-02] [ 3.87395597e-04 -2.03280685e-03 9.99997859e-01 4.54615989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222557844 meters 0.2912419408333011 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:0.46 [[ 0.99998828 0.00255554 -0.00411236 0.02790353] [-0.00256296 0.99999509 -0.0018012 -0.08173244] [ 0.00410774 0.00181172 0.99998992 0.45517013] [ 0. 0. 0. 1. ]] SLAMing on 155.252557844 meters 0.2925500839019107 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 0.99997472 -0.00566394 -0.0042979 0.04890325] [ 0.0056594 0.99998342 -0.00106684 -0.07774505] [ 0.00430387 0.00104249 0.99999019 0.45632939] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters 0.29119415917009733 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:0.46 [[ 0.99998042 0.00321859 -0.00536637 0.02675231] [-0.00322552 0.99999397 -0.00128315 -0.07940449] [ 0.0053622 0.00130043 0.99998478 0.45673062] [ 0. 0. 0. 1. ]] SLAMing on 155.312557844 meters 0.29258431934024026 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:0.46 [[ 0.99999397 -0.00193915 -0.00288185 0.04881673] [ 0.00194529 0.99999584 0.00212871 -0.07847935] [ 0.00287771 -0.0021343 0.99999358 0.45619021] [ 0. 0. 0. 1. ]] SLAMing on 155.342557844 meters 0.2913550693676742 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:0.46 [[ 0.9999783 0.00345707 -0.00560781 0.0271579 ] [-0.00346534 0.99999292 -0.00146538 -0.07588622] [ 0.0056027 0.00148478 0.9999832 0.45731939] [ 0. 0. 0. 1. ]] SLAMing on 155.372557844 meters 0.2912533982890777 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:0.46 [[ 0.99997869 0.00340115 -0.00557196 0.02715939] [-0.00341018 0.99999289 -0.00161128 -0.07529154] [ 0.00556644 0.00163025 0.99998318 0.45712162] [ 0. 0. 0. 1. ]] SLAMing on 155.402557844 meters 0.29125749824135544 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.46 [[ 0.99997908 0.00334119 -0.00553836 0.02711742] [-0.00335104 0.99999282 -0.00177035 -0.07464072] [ 0.00553241 0.00178887 0.9999831 0.45703552] [ 0. 0. 0. 1. ]] SLAMing on 155.432557844 meters 0.2913121525881163 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.46 [[ 0.99997963 0.00326458 -0.00548386 0.02693643] [-0.00327533 0.99999273 -0.00195371 -0.07387369] [ 0.00547744 0.00197163 0.99998305 0.45713483] [ 0. 0. 0. 1. ]] SLAMing on 155.462557844 meters 0.2919989164100823 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.46 [[ 0.99997928 0.00327238 -0.00554403 0.02723094] [-0.00328315 0.99999274 -0.00193455 -0.07395715] [ 0.00553766 0.00195271 0.99998276 0.45682484] [ 0. 0. 0. 1. ]] SLAMing on 155.492557844 meters 0.29319616716495156 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.46 [[ 0.99997866 0.00328584 -0.0056465 0.02762639] [-0.00329661 0.99999276 -0.00189863 -0.07411906] [ 0.00564022 0.00191721 0.99998226 0.45650506] [ 0. 0. 0. 1. ]] SLAMing on 155.522557844 meters 0.2915312738976827 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.46 [[ 0.99997806 0.00328687 -0.00575187 0.02804292] [-0.00329783 0.99999276 -0.00189667 -0.07413899] [ 0.0057456 0.00191559 0.99998166 0.45616257] [ 0. 0. 0. 1. ]] SLAMing on 155.552557844 meters 0.2923398564185398 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.45 [[ 0.99999482 -0.00204652 -0.00248565 0.04985779] [ 0.0020493 0.99999728 0.00111765 -0.0741605 ] [ 0.00248335 -0.00112274 0.99999629 0.45457962] [ 0. 0. 0. 1. ]] SLAMing on 155.582557844 meters 0.2916751880573488 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.46 [[ 9.99994914e-01 -2.15779618e-03 -2.34849498e-03 4.92923147e-02] [ 2.15971091e-03 9.99997337e-01 8.13071398e-04 -7.28679005e-02] [ 2.34673429e-03 -8.18139334e-04 9.99996912e-01 4.55108260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612557844 meters 0.29279304547176266 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.46 [[ 9.99994893e-01 -2.28155270e-03 -2.23803602e-03 4.88600040e-02] [ 2.28262244e-03 9.99997282e-01 4.75545042e-04 -7.14578818e-02] [ 2.23694496e-03 -4.80651204e-04 9.99997383e-01 4.55482753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642557844 meters 0.2917870472873417 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.46 [[ 9.99994783e-01 -2.38452882e-03 -2.17887318e-03 4.86419176e-02] [ 2.38499179e-03 9.99997134e-01 2.09906335e-04 -7.03524922e-02] [ 2.17836641e-03 -2.15101834e-04 9.99997604e-01 4.55633205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672557844 meters 0.2910791938175136 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:0.45 [[ 0.99997453 0.00560176 -0.00442342 0.02876398] [-0.00560689 0.99998362 -0.00114759 -0.06839287] [ 0.00441692 0.00117236 0.99998956 0.45455454] [ 0. 0. 0. 1. ]] SLAMing on 155.702557844 meters 0.2916530156938615 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:0.46 [[ 9.99991759e-01 -2.25571262e-03 -3.37531902e-03 4.81996639e-02] [ 2.25571821e-03 9.99997456e-01 -2.15129362e-06 -6.39643498e-02] [ 3.37531529e-03 -5.46249270e-06 9.99994304e-01 4.56093646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732557844 meters 0.2897889261235897 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.45 [[ 0.99999724 -0.0016562 -0.00166736 0.00712407] [ 0.00165815 0.99999794 0.00116981 -0.06220302] [ 0.00166542 -0.00117257 0.99999793 0.45368969] [ 0. 0. 0. 1. ]] SLAMing on 155.762557844 meters 0.29103794757248336 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:0.46 [[ 9.99996060e-01 -1.06260667e-03 -2.59837465e-03 4.53151458e-02] [ 1.06491054e-03 9.99999041e-01 8.85437208e-04 -6.17446240e-02] [ 2.59743129e-03 -8.88200756e-04 9.99996232e-01 4.57672575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79255784400002 meters 0.291546192050963 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:0.46 [[ 9.99996069e-01 -1.08422418e-03 -2.58583453e-03 4.52691323e-02] [ 1.08636548e-03 9.99999068e-01 8.26829231e-04 -6.15064832e-02] [ 2.58493565e-03 -8.29635142e-04 9.99996315e-01 4.57707389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82255784400002 meters 0.29069891758731764 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:0.46 [[ 0.99997691 0.00377853 -0.00564895 0.02260637] [-0.00379441 0.99998887 -0.00280334 -0.05848651] [ 0.00563829 0.00282471 0.99998012 0.45932216] [ 0. 0. 0. 1. ]] SLAMing on 155.85255784400002 meters 0.290692203388401 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:0.46 [[ 0.99997567 0.00371385 -0.00590401 0.02358468] [-0.00373155 0.99998857 -0.00298955 -0.05776658] [ 0.00589284 0.0030115 0.9999781 0.45836753] [ 0. 0. 0. 1. ]] SLAMing on 155.88255784400002 meters 0.292633828055293 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:0.46 [[ 0.99998137 -0.00426309 -0.00436924 0.04357457] [ 0.00425449 0.999989 -0.00197548 -0.05490353] [ 0.00437761 0.00195685 0.9999885 0.45961 ] [ 0. 0. 0. 1. ]] SLAMing on 155.91255784400002 meters 0.2917225944309251 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:0.46 [[ 0.99998122 -0.00442599 -0.00423858 0.04323329] [ 0.00441597 0.99998744 -0.00237048 -0.05328077] [ 0.00424902 0.00235172 0.99998821 0.4596565 ] [ 0. 0. 0. 1. ]] SLAMing on 155.94255784400002 meters 0.29010088091794267 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:0.46 [[ 0.9999723 0.00476982 -0.00571358 0.02074911] [-0.00478414 0.99998544 -0.00249669 -0.05267374] [ 0.00570159 0.00252395 0.99998056 0.46028333] [ 0. 0. 0. 1. ]] SLAMing on 155.972557844 meters 0.28989480477713236 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:0.46 [[ 0.99998411 -0.0031622 -0.00466602 0.03994476] [ 0.00315588 0.99999409 -0.00136079 -0.04778773] [ 0.0046703 0.00134605 0.99998819 0.46192616] [ 0. 0. 0. 1. ]] SLAMing on 156.002557844 meters 0.2913611137705327 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:0.46 [[ 0.99998382 -0.00324163 -0.0046755 0.03994046] [ 0.00323432 0.99999354 -0.00157072 -0.04692331] [ 0.00468056 0.00155557 0.99998784 0.4620116 ] [ 0. 0. 0. 1. ]] SLAMing on 156.032557844 meters 0.28923159333849946 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:0.46 [[ 0.99997187 0.00518805 -0.00541626 0.01849088] [-0.00520163 0.99998336 -0.00249618 -0.04829355] [ 0.00540322 0.00252429 0.99998222 0.46139097] [ 0. 0. 0. 1. ]] SLAMing on 156.062557844 meters 0.291326468309483 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:0.46 [[ 9.99995639e-01 -4.42026493e-04 -2.92014757e-03 4.29037883e-02] [ 4.42521260e-04 9.99999888e-01 1.68788561e-04 -4.82353358e-02] [ 2.92007263e-03 -1.70080052e-04 9.99995722e-01 4.58459527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092557844 meters 0.29104979773442957 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:0.45 [[ 9.99997293e-01 -5.47024151e-04 -2.26173143e-03 5.28213765e-03] [ 5.47586300e-04 9.99999819e-01 2.47936495e-04 -4.51388448e-02] [ 2.26159539e-03 -2.49174317e-04 9.99997412e-01 4.54106469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122557844 meters 0.2916173384449836 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.46 [[ 9.99990244e-01 4.51772403e-04 -4.39402321e-03 4.69290838e-02] [-4.50693545e-04 9.99999868e-01 2.46515579e-04 -4.51668664e-02] [ 4.39413400e-03 -2.44532816e-04 9.99990316e-01 4.56410464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152557844 meters 0.2925842162448116 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989782e-01 3.75027981e-04 -4.50498980e-03 4.73576737e-02] [-3.74844361e-04 9.99999929e-01 4.16035379e-05 -4.43108444e-02] [ 4.50500508e-03 -3.99144428e-05 9.99989852e-01 4.56110218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182557844 meters 0.290889355233725 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989538e-01 3.05613605e-04 -4.56402167e-03 4.75367179e-02] [-3.06267704e-04 9.99999943e-01 -1.42618306e-04 -4.35528490e-02] [ 4.56397783e-03 1.44014626e-04 9.99989575e-01 4.56067258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212557844 meters 0.29139880596675805 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989700e-01 1.52016330e-04 -4.53615817e-03 4.72861006e-02] [-1.54595968e-04 9.99999827e-01 -5.68338265e-04 -4.17964063e-02] [ 4.53607099e-03 5.69033683e-04 9.99989550e-01 4.56512980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.242557844 meters 0.29148871958628436 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989874e-01 9.45367336e-05 -4.49918875e-03 4.70859681e-02] [-9.77835937e-05 9.99999735e-01 -7.21440048e-04 -4.11600471e-02] [ 4.49911935e-03 7.21872690e-04 9.99989618e-01 4.56758816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.272557844 meters 0.2903288018260011 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989893e-01 4.31874909e-05 -4.49581883e-03 4.70202825e-02] [-4.70417671e-05 9.99999631e-01 -8.57200175e-04 -4.05975095e-02] [ 4.49578015e-03 8.57403003e-04 9.99989526e-01 4.56900345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302557844 meters 0.2912467227155368 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989554e-01 -1.16120523e-05 -4.57075911e-03 4.71831002e-02] [ 7.03267503e-06 9.99999498e-01 -1.00190030e-03 -4.00018331e-02] [ 4.57076845e-03 1.00185769e-03 9.99989052e-01 4.56979863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.332557844 meters 0.2913125213154175 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99988223e-01 -1.23268915e-04 -4.85165155e-03 4.81036191e-02] [ 1.16763421e-04 9.99999094e-01 -1.34114284e-03 -3.85992498e-02] [ 4.85181248e-03 1.34056055e-03 9.99987331e-01 4.56463582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362557844 meters 0.2913012613776061 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99987797e-01 -1.78306053e-04 -4.93708316e-03 4.84817117e-02] [ 1.70956954e-04 9.99998877e-01 -1.48893272e-03 -3.79899490e-02] [ 4.93734310e-03 1.48807052e-03 9.99986704e-01 4.56110619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392557844 meters 0.29111142105844484 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99987525e-01 -2.27092582e-04 -4.98990927e-03 4.86313390e-02] [ 2.19020781e-04 9.99998667e-01 -1.61811176e-03 -3.74538437e-02] [ 4.99027008e-03 1.61699867e-03 9.99986241e-01 4.56092147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422557844 meters 0.2908697329603776 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99987779e-01 -2.11719208e-04 -4.93937613e-03 4.84047109e-02] [ 2.03934842e-04 9.99998737e-01 -1.57643218e-03 -3.76261794e-02] [ 4.93970365e-03 1.57540560e-03 9.99986559e-01 4.56313252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452557844 meters 0.291481330727535 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:0.46 [[ 0.99998536 -0.00521893 -0.00143003 0.06980156] [ 0.00522196 0.99998411 0.00212534 -0.04020016] [ 0.00141892 -0.00213277 0.99999672 0.45513034] [ 0. 0. 0. 1. ]] SLAMing on 156.482557844 meters 0.29026818485206035 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99989233e-01 8.70727398e-04 -4.55801063e-03 4.68422011e-02] [-8.73222743e-04 9.99999470e-01 -5.45502353e-04 -3.78363651e-02] [ 4.55753323e-03 5.49476638e-04 9.99989463e-01 4.58028028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512557844 meters 0.29046687480627525 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99988735e-01 8.55333143e-04 -4.66896241e-03 4.71448257e-02] [-8.58080925e-04 9.99999460e-01 -5.86549326e-04 -3.76650620e-02] [ 4.66845819e-03 5.90549065e-04 9.99988928e-01 4.57986315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54255784400002 meters 0.29073279481343095 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.46 [[ 9.99988862e-01 8.85757903e-04 -4.63594778e-03 4.71609347e-02] [-8.88127501e-04 9.99999476e-01 -5.09102060e-04 -3.79883302e-02] [ 4.63549441e-03 5.13213703e-04 9.99989124e-01 4.57755574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57255784400002 meters 0.2920453235045836 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:0.46 [[ 9.99989355e-01 -4.50876667e-03 -9.79879865e-04 6.97700126e-02] [ 4.51137955e-03 9.99986230e-01 2.68088407e-03 -4.15442812e-02] [ 9.67778891e-04 -2.68527614e-03 9.99995926e-01 4.55012852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60255784400002 meters 0.290510359309219 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999087 0.00372239 -0.00209635 0.04967373] [-0.00371877 0.99999159 0.00172716 -0.04528582] [ 0.00210276 -0.00171935 0.99999631 0.45415926] [ 0. 0. 0. 1. ]] SLAMing on 156.63255784400002 meters 0.29066514437119534 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999064 0.00382202 -0.00202862 0.04948187] [-0.00381795 0.99999069 0.00201053 -0.04644109] [ 0.00203628 -0.00200276 0.99999592 0.4541993 ] [ 0. 0. 0. 1. ]] SLAMing on 156.66255784400002 meters 0.2917253165340883 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999035 0.0038674 -0.00208622 0.04964003] [-0.00386295 0.99999026 0.00213313 -0.04694357] [ 0.00209445 -0.00212505 0.99999555 0.45416552] [ 0. 0. 0. 1. ]] SLAMing on 156.69255784400002 meters 0.2913473442281939 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999013 0.00391162 -0.00210839 0.04960605] [-0.00390687 0.99998984 0.0022505 -0.04742384] [ 0.00211717 -0.00224224 0.99999524 0.45436893] [ 0. 0. 0. 1. ]] SLAMing on 156.722557844 meters 0.29123566325176614 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999036 0.00390097 -0.00201738 0.04917396] [-0.00389648 0.99998994 0.00222212 -0.04727559] [ 0.00202602 -0.00221424 0.9999955 0.45483275] [ 0. 0. 0. 1. ]] SLAMing on 156.752557844 meters 0.2906982574792069 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999049 0.00387906 -0.00199431 0.04911392] [-0.00387474 0.99999015 0.00216479 -0.04703845] [ 0.00200268 -0.00215704 0.99999567 0.45483541] [ 0. 0. 0. 1. ]] SLAMing on 156.782557844 meters 0.29012670221695386 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999037 0.00392871 -0.0019536 0.04907304] [-0.00392422 0.99998967 0.00229558 -0.0475827 ] [ 0.0019626 -0.00228789 0.99999546 0.45467986] [ 0. 0. 0. 1. ]] SLAMing on 156.812557844 meters 0.2909988066366536 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999019 0.00397235 -0.00196213 0.04916258] [-0.00396761 0.99998922 0.0024123 -0.04806438] [ 0.00197169 -0.00240449 0.99999517 0.45451325] [ 0. 0. 0. 1. ]] SLAMing on 156.842557844 meters 0.2909490653059617 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99999011 0.00398395 -0.00197572 0.04921459] [-0.00397912 0.9999891 0.00244276 -0.04819162] [ 0.00198543 -0.00243487 0.99999506 0.45447294] [ 0. 0. 0. 1. ]] SLAMing on 156.872557844 meters 0.29203320452322157 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:0.46 [[ 9.99991098e-01 -4.13858883e-03 -8.22192489e-04 6.94910791e-02] [ 4.14162739e-03 9.99984471e-01 3.72900565e-03 -4.71371725e-02] [ 8.06746899e-04 -3.73237767e-03 9.99992709e-01 4.56264839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902557844 meters 0.2913434396774092 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.46 [[ 0.99998924 0.00411282 -0.00214763 0.04963981] [-0.0041069 0.99998777 0.00275376 -0.05088269] [ 0.00215893 -0.00274491 0.9999939 0.45571057] [ 0. 0. 0. 1. ]] SLAMing on 156.932557844 meters 0.2923208924490255 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.46 [[ 0.99998923 0.00410559 -0.00216553 0.04965242] [-0.00409967 0.99998786 0.00273219 -0.05079483] [ 0.00217673 -0.00272328 0.99999392 0.45579069] [ 0. 0. 0. 1. ]] SLAMing on 156.962557844 meters 0.2923208924490255 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.46 [[ 0.99998923 0.00410559 -0.00216553 0.04965242] [-0.00409967 0.99998786 0.00273219 -0.05079483] [ 0.00217673 -0.00272328 0.99999392 0.45579069] [ 0. 0. 0. 1. ]] SLAMing on 156.992557844 meters 0.2916351621786377 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.45 [[ 0.9999848 -0.00442592 -0.00328705 0.03035474] [ 0.00443913 0.99998205 0.00402305 -0.04729095] [ 0.00326919 -0.00403758 0.99998651 0.45437981] [ 0. 0. 0. 1. ]] SLAMing on 157.022557844 meters 0.2922869599763257 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997882 0.00518436 -0.00393438 0.0516374 ] [-0.00516963 0.99997963 0.00374388 -0.05217074] [ 0.00395371 -0.00372347 0.99998525 0.45426395] [ 0. 0. 0. 1. ]] SLAMing on 157.052557844 meters 0.2915742852013746 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997871 0.00517456 -0.00397523 0.05185676] [-0.00515979 0.99997978 0.00371627 -0.05206459] [ 0.00399438 -0.00369568 0.99998519 0.45399978] [ 0. 0. 0. 1. ]] SLAMing on 157.082557844 meters 0.29204486118480144 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997881 0.00515764 -0.00397147 0.05186581] [-0.00514307 0.99998004 0.00366895 -0.05187314] [ 0.00399032 -0.00364845 0.99998538 0.45395893] [ 0. 0. 0. 1. ]] SLAMing on 157.112557844 meters 0.2906983094899282 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997899 0.00514575 -0.0039434 0.05173872] [-0.00513141 0.99998022 0.00363612 -0.05173786] [ 0.00396203 -0.00361581 0.99998561 0.45408652] [ 0. 0. 0. 1. ]] SLAMing on 157.142557844 meters 0.29112254537129284 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997918 0.00509975 -0.00395357 0.0518465 ] [-0.00508587 0.99998089 0.0035144 -0.05123781] [ 0.00397142 -0.00349422 0.99998601 0.45390947] [ 0. 0. 0. 1. ]] SLAMing on 157.172557844 meters 0.29070778913618733 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997907 0.00503668 -0.00406026 0.05228461] [-0.00502312 0.9999818 0.0033429 -0.05051566] [ 0.00407703 -0.00332243 0.99998617 0.4535416 ] [ 0. 0. 0. 1. ]] SLAMing on 157.202557844 meters 0.2918515003625786 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:0.45 [[ 0.99997875 0.00498444 -0.00420239 0.05280468] [-0.004971 0.99998251 0.00320296 -0.04992428] [ 0.00421828 -0.003182 0.99998604 0.45319455] [ 0. 0. 0. 1. ]] SLAMing on 157.232557844 meters 0.29127582236405997 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.45 [[ 0.9999793 -0.00376661 -0.0052163 0.03365251] [ 0.0037881 0.99998435 0.00411673 -0.04497123] [ 0.00520071 -0.0041364 0.99997792 0.45204209] [ 0. 0. 0. 1. ]] SLAMing on 157.262557844 meters 0.29133333395168076 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.45 [[ 0.99997925 -0.00380933 -0.00519423 0.0335618 ] [ 0.00383014 0.99998465 0.0040025 -0.04450219] [ 0.0051789 -0.00402231 0.9999785 0.45213112] [ 0. 0. 0. 1. ]] SLAMing on 157.29255784400002 meters 0.2912415232379598 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.45 [[ 0.99997878 -0.00391055 -0.00520976 0.03359361] [ 0.00393002 0.99998531 0.0037318 -0.04337592] [ 0.00519509 -0.0037522 0.99997947 0.4521661 ] [ 0. 0. 0. 1. ]] SLAMing on 157.32255784400002 meters 0.29074424540572175 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.45 [[ 0.9999782 -0.00396952 -0.00527613 0.03383948] [ 0.00398841 0.99998566 0.00357509 -0.04272914] [ 0.00526186 -0.00359605 0.99997969 0.45200239] [ 0. 0. 0. 1. ]] SLAMing on 157.35255784400002 meters 0.29240097611894345 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.45 [[ 0.99999208 0.00297151 -0.00264605 0.05555793] [-0.00296876 0.99999505 0.00104075 -0.04241894] [ 0.00264913 -0.00103289 0.99999596 0.45011384] [ 0. 0. 0. 1. ]] SLAMing on 157.38255784400002 meters 0.29093627400898375 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.45 [[ 9.99992211e-01 2.90469930e-03 -2.67234724e-03 5.55822932e-02] [-2.90240330e-03 9.99995416e-01 8.62648729e-04 -4.16816068e-02] [ 2.67484072e-03 -8.54885780e-04 9.99996057e-01 4.50226224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41255784400002 meters 0.2922238769108766 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.45 [[ 9.99992456e-01 2.82284813e-03 -2.66819783e-03 5.54393822e-02] [-2.82115794e-03 9.99995818e-01 6.37011621e-04 -4.07519660e-02] [ 2.66998486e-03 -6.29479408e-04 9.99996237e-01 4.50562753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44255784400002 meters 0.29291572000629396 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.45 [[ 9.99992482e-01 2.79587531e-03 -2.68673274e-03 5.55906852e-02] [-2.79436366e-03 9.99995935e-01 5.66222480e-04 -4.04630555e-02] [ 2.68830491e-03 -5.58710515e-04 9.99996230e-01 4.50337672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472557844 meters 0.29148387208519 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:0.45 [[ 9.99996027e-01 1.92720871e-03 -2.05717229e-03 1.61853580e-02] [-1.92701197e-03 9.99998139e-01 9.76123136e-05 -3.72494020e-02] [ 2.05735658e-03 -9.36477301e-05 9.99997879e-01 4.47268180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters 0.2923620267946459 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:0.45 [[ 9.99995831e-01 1.94454652e-03 -2.13447859e-03 1.65159223e-02] [-1.94424431e-03 9.99998100e-01 1.43649378e-04 -3.74433067e-02] [ 2.13475386e-03 -1.39498831e-04 9.99997712e-01 4.46929174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532557844 meters 0.2935540717266576 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:0.44 [[ 0.9999911 -0.00404138 0.00121348 0.03853033] [ 0.00403775 0.9999874 0.00298152 -0.04021306] [-0.00122551 -0.00297659 0.99999482 0.44487762] [ 0. 0. 0. 1. ]] SLAMing on 157.562557844 meters 0.29175085076544827 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.45 [[ 0.99998472 0.00538467 0.00125063 0.01497613] [-0.00538808 0.99998175 0.00273276 -0.03965795] [-0.00123589 -0.00273946 0.99999548 0.44562658] [ 0. 0. 0. 1. ]] SLAMing on 157.592557844 meters 0.29098483606572956 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.45 [[ 0.99998537 0.00525045 0.00130064 0.01472744] [-0.0052535 0.99998344 0.00234779 -0.03806981] [-0.00128829 -0.00235459 0.9999964 0.44594725] [ 0. 0. 0. 1. ]] SLAMing on 157.622557844 meters 0.29244869311876265 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 0.99998813 -0.00370173 0.00316845 0.03557648] [ 0.00369464 0.99999067 0.00223933 -0.03371361] [-0.00317671 -0.0022276 0.99999247 0.44600707] [ 0. 0. 0. 1. ]] SLAMing on 157.652557844 meters 0.29231176192950087 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 0.99998746 -0.00389004 0.00315378 0.03551894] [ 0.00388467 0.999991 0.00170581 -0.03152438] [-0.00316039 -0.00169354 0.99999357 0.44625376] [ 0. 0. 0. 1. ]] SLAMing on 157.682557844 meters 0.2913378659277148 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.45 [[ 9.99995234e-01 3.08586022e-03 -9.40578518e-05 1.30418657e-02] [-3.08593603e-03 9.99994905e-01 -8.16818034e-04 -2.25215739e-02] [ 9.15367863e-05 8.17104397e-04 9.99999662e-01 4.48715823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712557844 meters 0.29245476095549927 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 0.99999388 -0.00275439 0.00215827 0.03563897] [ 0.00274982 0.99999398 0.00211733 -0.0212185 ] [-0.00216409 -0.00211138 0.99999543 0.44741726] [ 0. 0. 0. 1. ]] SLAMing on 157.742557844 meters 0.2916738507184794 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 0.99999325 -0.00291883 0.00223207 0.03541049] [ 0.00291506 0.99999432 0.001691 -0.01946557] [-0.00223699 -0.00168448 0.99999608 0.44752052] [ 0. 0. 0. 1. ]] SLAMing on 157.772557844 meters 0.2928583129144849 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99992115e-01 -3.22924870e-03 2.31120645e-03 3.52421740e-02] [ 3.22708621e-03 9.99994352e-01 9.38769538e-04 -1.63620409e-02] [-2.31422492e-03 -9.31303674e-04 9.99996889e-01 4.47495473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802557844 meters 0.2926466955844541 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99991862e-01 -3.30194943e-03 2.31801087e-03 3.52508654e-02] [ 3.30022499e-03 9.99994275e-01 7.47360184e-04 -1.55860618e-02] [-2.32046535e-03 -7.39704144e-04 9.99997034e-01 4.47452404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832557844 meters 0.29203325698648225 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99992006e-01 -3.36334157e-03 2.16238603e-03 3.57712068e-02] [ 3.36209761e-03 9.99994181e-01 5.78652883e-04 -1.49030807e-02] [-2.16431965e-03 -5.71378104e-04 9.99997495e-01 4.47157659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862557844 meters 0.2906572347401188 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.45 [[ 9.99987961e-01 4.88267803e-03 -4.87221349e-04 1.76619092e-02] [-4.88298746e-03 9.99987876e-01 -6.35929153e-04 -1.64057358e-02] [ 4.84110404e-04 6.38300593e-04 9.99999679e-01 4.45980312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892557844 meters 0.2920424092512631 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.45 [[ 9.99988084e-01 4.81086968e-03 -8.29007217e-04 1.88005269e-02] [-4.81157607e-03 9.99988061e-01 -8.52223774e-04 -1.55194010e-02] [ 8.24897382e-04 8.56202450e-04 9.99999293e-01 4.45090957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922557844 meters 0.2930019440361609 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99993100e-01 -3.69889766e-03 3.42458744e-04 3.94076291e-02] [ 3.69889686e-03 9.99993159e-01 2.97068152e-06 -1.30246164e-02] [-3.42467390e-04 -1.70394145e-06 9.99999941e-01 4.45971138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952557844 meters 0.29032588449247937 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.45 [[ 9.99985539e-01 5.37464612e-03 -1.86360127e-04 1.75678335e-02] [-5.37474979e-03 9.99985399e-01 -5.60360961e-04 -1.42909004e-02] [ 1.83345664e-04 5.61354497e-04 9.99999826e-01 4.46060235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982557844 meters 0.291556287822617 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.45 [[ 9.99985793e-01 5.32768353e-03 -1.70204736e-04 1.75489937e-02] [-5.32779924e-03 9.99985571e-01 -6.86779062e-04 -1.37666460e-02] [ 1.66543339e-04 6.87676122e-04 9.99999750e-01 4.46021667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012557844 meters 0.2924331425025469 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99993898e-01 -3.46716105e-03 4.26694637e-04 3.77794369e-02] [ 3.46721548e-03 9.99993981e-01 -1.26891781e-04 -9.37681383e-03] [-4.26252115e-04 1.28370449e-04 9.99999901e-01 4.47146417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04255784400002 meters 0.292819394851527 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99993604e-01 -3.55768408e-03 3.67038508e-04 3.78938393e-02] [ 3.55782378e-03 9.99993598e-01 -3.80657690e-04 -8.33967015e-03] [-3.65681899e-04 3.81961114e-04 9.99999860e-01 4.47259912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07255784400002 meters 0.2923706704349486 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99993204e-01 -3.67373117e-03 3.08771353e-04 3.80107766e-02] [ 3.67394980e-03 9.99992999e-01 -7.10522609e-04 -6.99813547e-03] [-3.06158922e-04 7.11652190e-04 9.99999700e-01 4.47358807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10255784400002 meters 0.2922307781308065 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99992814e-01 -3.78351072e-03 2.36874052e-04 3.82144046e-02] [ 3.78375287e-03 9.99992311e-01 -1.03031765e-03 -5.71015712e-03] [-2.32974012e-04 1.03120652e-03 9.99999441e-01 4.47336327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13255784400002 meters 0.29288878454305645 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.45 [[ 9.99992275e-01 -3.92996008e-03 7.44438852e-05 3.87024390e-02] [ 3.93006645e-03 9.99991172e-01 -1.48703327e-03 -3.85019803e-03] [-6.85992466e-05 1.48731436e-03 9.99998892e-01 4.47205032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16255784400002 meters 0.29304958539811854 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.45 [[ 9.99992313e-01 -3.92060780e-03 4.49849051e-05 3.88115754e-02] [ 3.92066947e-03 9.99991242e-01 -1.46403538e-03 -3.94492455e-03] [-3.92446026e-05 1.46420049e-03 9.99998927e-01 4.47129517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19255784400002 meters 0.29151857246553253 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.45 [[ 0.99999532 0.00240563 -0.00188917 0.01499536] [-0.0024138 0.9999877 -0.00433213 -0.0019589 ] [ 0.00187872 0.00433667 0.99998883 0.44934008] [ 0. 0. 0. 1. ]] SLAMing on 158.222557844 meters 0.29211110681535707 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 0.99999177 -0.00360198 0.00186522 0.03539036] [ 0.00360429 0.99999274 -0.00123395 -0.00535427] [-0.00186076 0.00124066 0.9999975 0.44837892] [ 0. 0. 0. 1. ]] SLAMing on 158.252557844 meters 0.29260568879002014 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 0.99999182 -0.00354409 0.00194827 0.03508375] [ 0.00354618 0.99999314 -0.00107072 -0.00603021] [-0.00194447 0.00107762 0.99999753 0.44859179] [ 0. 0. 0. 1. ]] SLAMing on 158.282557844 meters 0.291810909264475 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99992255e-01 -3.47224159e-03 1.85294005e-03 3.53764149e-02] [ 3.47385186e-03 9.99993591e-01 -8.66525841e-04 -6.85893349e-03] [-1.84991939e-03 8.72955969e-04 9.99997908e-01 4.48448528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312557844 meters 0.29159308422376384 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99992865e-01 -3.41614797e-03 1.61264561e-03 3.63196962e-02] [ 3.41727443e-03 9.99993919e-01 -6.96280492e-04 -7.54897121e-03] [-1.61025720e-03 7.01786377e-04 9.99998457e-01 4.47371456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters 0.29140803972747387 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99992955e-01 -3.41065633e-03 1.56741635e-03 3.65706642e-02] [ 3.41173006e-03 9.99993947e-01 -6.82868453e-04 -7.59459869e-03] [-1.56507783e-03 6.88211244e-04 9.99998538e-01 4.47051113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372557844 meters 0.2909262906960468 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.45 [[ 9.99993020e-01 -3.40259864e-03 1.54367939e-03 3.65955848e-02] [ 3.40362319e-03 9.99993989e-01 -6.61564746e-04 -7.68425481e-03] [-1.54141908e-03 6.66814231e-04 9.99998590e-01 4.47133623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters 0.2936392924851065 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99996248e-01 -2.69886577e-03 4.69993053e-04 7.63052790e-02] [ 2.69885437e-03 9.99996358e-01 2.48740119e-05 -1.09337025e-02] [-4.70058473e-04 -2.36054758e-05 9.99999889e-01 4.50405240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432557844 meters 0.2928028419556059 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99995841e-01 -2.83814925e-03 5.11872058e-04 7.59603758e-02] [ 2.83833891e-03 9.99995903e-01 -3.70168362e-04 -9.29750692e-03] [-5.10819368e-04 3.71619689e-04 9.99999800e-01 4.51018915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462557844 meters 0.29254348887269943 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99995491e-01 -2.95346076e-03 5.44053558e-04 7.58506721e-02] [ 2.95383139e-03 9.99995405e-01 -6.81699054e-04 -8.01359681e-03] [-5.42037686e-04 6.83303022e-04 9.99999620e-01 4.51093855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.492557844 meters 0.2928409982313076 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99995085e-01 -3.07999449e-03 5.86698371e-04 7.57624299e-02] [ 3.08059363e-03 9.99994732e-01 -1.02305702e-03 -6.61616601e-03] [-5.83544270e-04 1.02485937e-03 9.99999305e-01 4.51055841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.522557844 meters 0.29193653714438617 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99994645e-01 -3.21121333e-03 6.30226338e-04 7.56214111e-02] [ 3.21208618e-03 9.99993877e-01 -1.38889026e-03 -5.11601865e-03] [-6.25762456e-04 1.39090716e-03 9.99998837e-01 4.51151691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552557844 meters 0.29228018284296053 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 9.99993863e-01 -3.46061528e-03 5.45313029e-04 7.58933529e-02] [ 3.46175635e-03 9.99991791e-01 -2.10564060e-03 -2.18949801e-03] [-5.38021740e-04 2.10751542e-03 9.99997634e-01 4.51079851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582557844 meters 0.29260631168291185 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 9.99993569e-01 -3.54827330e-03 5.21423810e-04 7.60044505e-02] [ 3.54948088e-03 9.99990978e-01 -2.33355041e-03 -1.24451990e-03] [-5.13139031e-04 2.33538619e-03 9.99997141e-01 4.50993364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.612557844 meters 0.29219782792968285 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 9.99993393e-01 -3.60009642e-03 5.03905936e-04 7.60553078e-02] [ 3.60133078e-03 9.99990464e-01 -2.47048959e-03 -6.76210102e-04] [-4.95007130e-04 2.47228800e-03 9.99996821e-01 4.50997123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642557844 meters 0.2906632516275097 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:0.45 [[ 9.99985615e-01 5.35625595e-03 -2.81654372e-04 5.55251617e-02] [-5.35716376e-03 9.99980113e-01 -3.32772624e-03 -2.36865045e-03] [ 2.63824618e-04 3.32918724e-03 9.99994423e-01 4.50291394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.672557844 meters 0.2940333756143334 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999577 -0.00179004 0.00229223 0.07854762] [ 0.00179286 0.99999764 -0.00123052 -0.00436754] [-0.00229002 0.00123462 0.99999662 0.44801376] [ 0. 0. 0. 1. ]] SLAMing on 158.702557844 meters 0.2928237667683654 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999589 -0.0017796 0.00224768 0.07875143] [ 0.00178231 0.99999769 -0.00120465 -0.0044721 ] [-0.00224553 0.00120865 0.99999675 0.44781299] [ 0. 0. 0. 1. ]] SLAMing on 158.732557844 meters 0.2920119547088494 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999576 -0.00181027 0.00227963 0.07854913] [ 0.00181321 0.99999753 -0.00128644 -0.00413749] [-0.0022773 0.00129057 0.99999657 0.44809803] [ 0. 0. 0. 1. ]] SLAMing on 158.762557844 meters 0.2922856962368335 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999558 -0.00186453 0.00231686 0.07825487] [ 0.00186785 0.99999723 -0.00143362 -0.00354186] [-0.00231418 0.00143794 0.99999629 0.44859094] [ 0. 0. 0. 1. ]] SLAMing on 158.79255784400002 meters 0.2913998083680063 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999531 -0.00191716 0.00238722 0.07786928] [ 0.00192092 0.99999692 -0.00157399 -0.00298351] [-0.00238419 0.00157857 0.99999591 0.44909788] [ 0. 0. 0. 1. ]] SLAMing on 158.82255784400002 meters 0.29158700328286213 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999519 -0.00198914 0.00238131 0.0778459 ] [ 0.00199336 0.99999645 -0.00176965 -0.0021738 ] [-0.00237778 0.00177439 0.9999956 0.44920654] [ 0. 0. 0. 1. ]] SLAMing on 158.85255784400002 meters 0.2924818151699998 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999519 -0.00205419 0.00232359 0.07810641] [ 0.00205872 0.99999598 -0.0019476 -0.00143294] [-0.00231958 0.00195237 0.9999954 0.44896393] [ 0. 0. 0. 1. ]] SLAMing on 158.88255784400002 meters 0.2924818151699998 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999519 -0.00205419 0.00232359 0.07810641] [ 0.00205872 0.99999598 -0.0019476 -0.00143294] [-0.00231958 0.00195237 0.9999954 0.44896393] [ 0. 0. 0. 1. ]] SLAMing on 158.91255784400002 meters 0.29167788452222504 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 9.99995100e-01 -2.14332439e-03 2.28188276e-03 7.83834234e-02] [ 2.14832435e-03 9.99995292e-01 -2.19096145e-03 -4.01778320e-04] [-2.27717608e-03 2.19585294e-03 9.99994996e-01 4.48591090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94255784400002 meters 0.2929854982221558 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 9.99995258e-01 -2.11674925e-03 2.23690970e-03 7.84963149e-02] [ 2.12149650e-03 9.99995498e-01 -2.12199989e-03 -6.88976645e-04] [-2.23240789e-03 2.12673543e-03 9.99995247e-01 4.48595086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972557844 meters 0.29257395301652855 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999551 -0.00206202 0.00217657 0.07862991] [ 0.00206633 0.99999591 -0.00197647 -0.00129162] [-0.00217248 0.00198096 0.99999568 0.44864273] [ 0. 0. 0. 1. ]] SLAMing on 159.002557844 meters 0.29294560843092976 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.45 [[ 0.99999636 -0.00191119 0.00190698 0.07950129] [ 0.00191401 0.99999708 -0.00147867 -0.00333456] [-0.00190414 0.00148232 0.99999709 0.44799271] [ 0. 0. 0. 1. ]] SLAMing on 159.032557844 meters 0.29212499879773274 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99996720e-01 -1.74734105e-03 1.87264355e-03 7.96976225e-02] [ 1.74920222e-03 9.99997977e-01 -9.92696336e-04 -5.30035072e-03] [-1.87090519e-03 9.95968712e-04 9.99997754e-01 4.47667501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters 0.29181575290739376 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99996911e-01 -1.59325163e-03 1.90799506e-03 7.96315137e-02] [ 1.59425954e-03 9.99998590e-01 -5.26854523e-04 -7.17664361e-03] [-1.90715296e-03 5.29894734e-04 9.99998041e-01 4.47560568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092557844 meters 0.29211464575578894 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997001e-01 -1.41748819e-03 1.99705848e-03 7.93065033e-02] [ 1.41752706e-03 9.99998995e-01 -1.80482888e-05 -9.26772572e-03] [-1.99703089e-03 2.08791191e-05 9.99998006e-01 4.47729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters 0.29240787163542736 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997030e-01 -1.24481948e-03 2.09546922e-03 7.88810185e-02] [ 1.24385826e-03 9.99999121e-01 4.59957500e-04 -1.12628060e-02] [-2.09603994e-03 -4.57349667e-04 9.99997699e-01 4.48082366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152557844 meters 0.2918419164865715 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997092e-01 -9.96008093e-04 2.19622362e-03 7.83850653e-02] [ 9.93614950e-04 9.99998912e-01 1.09048497e-03 -1.39118543e-02] [-2.19730737e-03 -1.08829960e-03 9.99996994e-01 4.48516311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182557844 meters 0.2922376324086114 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997397e-01 -9.44774818e-04 2.07666859e-03 7.86957841e-02] [ 9.42227253e-04 9.99998803e-01 1.22739208e-03 -1.44653590e-02] [-2.07782572e-03 -1.22543219e-03 9.99997090e-01 4.48486996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212557844 meters 0.29304154124639226 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997629e-01 -9.37227747e-04 1.96563947e-03 7.90110933e-02] [ 9.34772876e-04 9.99998783e-01 1.24943924e-03 -1.45442621e-02] [-1.96680809e-03 -1.24759885e-03 9.99997288e-01 4.48399579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.242557844 meters 0.2920604062324395 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99998022e-01 -9.37658112e-04 1.75381358e-03 7.94925505e-02] [ 9.35489780e-04 9.99998798e-01 1.23676492e-03 -1.44880179e-02] [-1.75497113e-03 -1.23512180e-03 9.99997697e-01 4.48517360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.272557844 meters 0.2916289987352749 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99998292e-01 -9.89736674e-04 1.56097057e-03 7.99550514e-02] [ 9.88114314e-04 9.99998971e-01 1.03975663e-03 -1.37107178e-02] [-1.56199805e-03 -1.03821243e-03 9.99998241e-01 4.48539492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302557844 meters 0.2917355224771238 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99998181e-01 -1.03367778e-03 1.60285711e-03 7.98008641e-02] [ 1.03221595e-03 9.99999051e-01 9.12574817e-04 -1.32009007e-02] [-1.60379890e-03 -9.10918662e-04 9.99998299e-01 4.48681104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332557844 meters 0.291814184867972 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997991e-01 -1.08284634e-03 1.68670198e-03 7.94977190e-02] [ 1.08153144e-03 9.99999111e-01 7.80287722e-04 -1.26604369e-02] [-1.68754541e-03 -7.78461933e-04 9.99998273e-01 4.48917642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362557844 meters 0.2911383267953408 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997747e-01 -1.12288289e-03 1.80151752e-03 7.91395901e-02] [ 1.12167401e-03 9.99999145e-01 6.71904180e-04 -1.22171058e-02] [-1.80227045e-03 -6.69881950e-04 9.99998152e-01 4.49098097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392557844 meters 0.2916916736160543 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.45 [[ 0.9999809 0.0048461 0.00383725 0.10098686] [-0.00483641 0.9999851 -0.00253278 -0.01428477] [-0.00384946 0.00251417 0.99998943 0.44789229] [ 0. 0. 0. 1. ]] SLAMing on 159.422557844 meters 0.29081807126949266 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 0.99998961 -0.00377854 0.00255049 0.08022191] [ 0.00378263 0.99999156 -0.00160059 -0.01240731] [-0.00254442 0.00161022 0.99999547 0.44747929] [ 0. 0. 0. 1. ]] SLAMing on 159.452557844 meters 0.29184877364264805 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 0.99999084 -0.00363216 0.00226469 0.08102726] [ 0.00363464 0.9999928 -0.00109503 -0.01438114] [-0.0022607 0.00110325 0.99999684 0.44703454] [ 0. 0. 0. 1. ]] SLAMing on 159.482557844 meters 0.2916757691477697 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.45 [[ 9.99991385e-01 -3.54932512e-03 2.15229975e-03 8.14556852e-02] [ 3.55118422e-03 9.99993324e-01 -8.60569187e-04 -1.53257591e-02] [-2.14923094e-03 8.68204986e-04 9.99997314e-01 4.46625680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512557844 meters 0.29412219293957065 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:0.44 [[ 0.9999911 0.00286491 0.00309859 0.10641135] [-0.00285471 0.99999051 -0.00329187 -0.01882016] [-0.00310799 0.003283 0.99998978 0.44361423] [ 0. 0. 0. 1. ]] SLAMing on 159.54255784400002 meters 0.2918376880459002 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.45 [[ 9.99994498e-01 -3.30790379e-03 2.47101629e-04 8.49286796e-02] [ 3.30793267e-03 9.99994522e-01 -1.16553357e-04 -2.03087528e-02] [-2.46714728e-04 1.17370112e-04 9.99999963e-01 4.45156256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57255784400002 meters 0.2919737919108853 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.45 [[ 9.99995298e-01 -3.03733076e-03 4.23492285e-04 8.44812152e-02] [ 3.03703714e-03 9.99995149e-01 6.92260862e-04 -2.36093511e-02] [-4.25592856e-04 -6.90971445e-04 9.99999671e-01 4.45077497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60255784400002 meters 0.29384698070006937 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:0.44 [[ 0.99999291 0.00316552 0.00203915 0.10614336] [-0.00316098 0.99999253 -0.00222546 -0.02778255] [-0.00204618 0.002219 0.99999544 0.44395759] [ 0. 0. 0. 1. ]] SLAMing on 159.63255784400002 meters 0.29341327460023064 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:0.44 [[ 0.99999239 0.0032638 0.00213542 0.10584219] [-0.00325963 0.99999277 -0.00195732 -0.02889063] [-0.00214179 0.00195034 0.9999958 0.44403645] [ 0. 0. 0. 1. ]] SLAMing on 159.66255784400002 meters 0.29051560228533174 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:0.44 [[ 0.99998819 0.00293872 0.00387215 0.06438108] [-0.00293218 0.99999427 -0.00169143 -0.02765731] [-0.0038771 0.00168006 0.99999107 0.44165034] [ 0. 0. 0. 1. ]] SLAMing on 159.69255784400002 meters 0.2951575780919702 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:0.44 [[ 0.99999124 0.00219953 0.00356148 0.10670663] [-0.00219214 0.99999544 -0.00207777 -0.03280862] [-0.00356603 0.00206995 0.9999915 0.44240136] [ 0. 0. 0. 1. ]] SLAMing on 159.722557844 meters 0.2926958376611249 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:0.44 [[ 9.99976539e-01 -6.38539912e-03 2.47951536e-03 8.73819890e-02] [ 6.38779433e-03 9.99979138e-01 -9.59284638e-04 -2.89084785e-02] [-2.47333821e-03 9.75100767e-04 9.99996466e-01 4.41532947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752557844 meters 0.29387571767165155 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:0.45 [[ 9.99999719e-01 -5.54613499e-04 -5.03529570e-04 1.02904124e-01] [ 5.53195705e-04 9.99995895e-01 -2.81149755e-03 -3.26921295e-02] [ 5.05086798e-04 2.81121821e-03 9.99995921e-01 4.46292899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782557844 meters 0.29214712680805194 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:0.45 [[ 9.99999705e-01 -4.90239364e-04 -5.91402856e-04 1.03130677e-01] [ 4.88674936e-04 9.99996389e-01 -2.64253273e-03 -3.33828428e-02] [ 5.92696194e-04 2.64224295e-03 9.99996334e-01 4.46267414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812557844 meters 0.2917714680688864 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:0.45 [[ 9.99999715e-01 -4.37423526e-04 -6.16097479e-04 1.03201120e-01] [ 4.35881899e-04 9.99996780e-01 -2.50016086e-03 -3.39655757e-02] [ 6.17189124e-04 2.49989160e-03 9.99996685e-01 4.46230256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842557844 meters 0.29140312532867124 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:0.45 [[ 9.99999721e-01 -3.87701707e-04 -6.38031239e-04 1.03136548e-01] [ 3.86187685e-04 9.99997114e-01 -2.37137408e-03 -3.44897948e-02] [ 6.38948784e-04 2.37112702e-03 9.99996985e-01 4.46481621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872557844 meters 0.2927585902821924 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99998622e-01 -3.52621141e-04 -1.62206574e-03 1.42358299e-01] [ 3.48869808e-04 9.99997266e-01 -2.31239030e-03 -3.91439120e-02] [ 1.62287670e-03 2.31182123e-03 9.99996011e-01 4.49776976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902557844 meters 0.29375897178816623 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99998598e-01 -3.08246189e-04 -1.64572261e-03 1.42417743e-01] [ 3.04627510e-04 9.99997537e-01 -2.19863666e-03 -3.96135006e-02] [ 1.64639628e-03 2.19813225e-03 9.99996229e-01 4.49768283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932557844 meters 0.2930870127128099 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99998372e-01 -2.60130380e-04 -1.78555538e-03 1.42833958e-01] [ 2.56435191e-04 9.99997826e-01 -2.06940733e-03 -4.01301902e-02] [ 1.78608981e-03 2.06894608e-03 9.99996265e-01 4.49610838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962557844 meters 0.29251381949880917 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99998312e-01 -2.25377590e-04 -1.82347227e-03 1.42891837e-01] [ 2.21771351e-04 9.99998020e-01 -1.97763739e-03 -4.05098994e-02] [ 1.82391437e-03 1.97722966e-03 9.99996382e-01 4.49691041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.992557844 meters 0.2911864270140743 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99998358e-01 -1.48543613e-04 -1.80611479e-03 1.42744908e-01] [ 1.45335764e-04 9.99998412e-01 -1.77610592e-03 -4.13420764e-02] [ 1.80637575e-03 1.77584051e-03 9.99996792e-01 4.49894684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.022557844 meters 0.29325772608583256 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99997888e-01 -6.75901962e-05 -2.05420782e-03 1.81404990e-01] [ 6.44312203e-05 9.99998815e-01 -1.53783466e-03 -4.68411661e-02] [ 2.05430932e-03 1.53769905e-03 9.99996708e-01 4.53175525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052557844 meters 0.2934547523766141 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99998166e-01 3.19552702e-05 -1.91500708e-03 1.80871675e-01] [-3.43852200e-05 9.99999194e-01 -1.26887911e-03 -4.79736100e-02] [ 1.91496499e-03 1.26894263e-03 9.99997361e-01 4.53544052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082557844 meters 0.29238271415106315 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99998408e-01 1.10219365e-04 -1.78078980e-03 1.80389875e-01] [-1.12107916e-04 9.99999431e-01 -1.06044862e-03 -4.88405132e-02] [ 1.78067191e-03 1.06064657e-03 9.99997852e-01 4.53825698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112557844 meters 0.2923470860831955 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99998465e-01 2.72624100e-04 -1.73093983e-03 1.80345065e-01] [-2.73697122e-04 9.99999771e-01 -6.19700729e-04 -5.06551104e-02] [ 1.73077048e-03 6.20173531e-04 9.99998310e-01 4.53579488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142557844 meters 0.2920811795070368 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99998312e-01 3.77823763e-04 -1.79823318e-03 1.80635819e-01] [-3.78432622e-04 9.99999871e-01 -3.38259306e-04 -5.18182426e-02] [ 1.79810515e-03 3.38939245e-04 9.99998326e-01 4.53281015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172557844 meters 0.2930104679319052 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99998207e-01 4.60732614e-04 -1.83668697e-03 1.80794474e-01] [-4.60956766e-04 9.99999886e-01 -1.21620133e-04 -5.27103210e-02] [ 1.83663073e-03 1.22466548e-04 9.99998306e-01 4.53123923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202557844 meters 0.29189679063508883 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:0.45 [[ 9.99961542e-01 -8.25448462e-03 -2.96271524e-03 1.60811581e-01] [ 8.25694781e-03 9.99965575e-01 8.20126732e-04 -4.87822017e-02] [ 2.95584353e-03 -8.44558176e-04 9.99995275e-01 4.52947117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.232557844 meters 0.2916497133676747 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:0.46 [[ 0.99997749 -0.00649649 -0.00168057 0.15500598] [ 0.0065013 0.99997473 0.00287455 -0.05234954] [ 0.00166185 -0.00288541 0.99999446 0.45703653] [ 0. 0. 0. 1. ]] SLAMing on 160.262557844 meters 0.2918995964648087 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99997926e-01 2.02443445e-03 2.24499151e-04 1.74077178e-01] [-2.02487350e-03 9.99996004e-01 1.97303468e-03 -5.66452197e-02] [-2.20503974e-04 -1.97348517e-03 9.99998028e-01 4.58066553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29255784400002 meters 0.29212833049127007 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99997814e-01 2.06631589e-03 3.19654637e-04 1.73742056e-01] [-2.06697785e-03 9.99995691e-01 2.08456532e-03 -5.71091398e-02] [-3.15345889e-04 -2.08522148e-03 9.99997776e-01 4.58251756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32255784400002 meters 0.2920903110606555 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99997676e-01 2.12862951e-03 3.43375937e-04 1.73735749e-01] [-2.12939709e-03 9.99995200e-01 2.25072963e-03 -5.77953866e-02] [-3.38583319e-04 -2.25145558e-03 9.99997408e-01 4.58109726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35255784400002 meters 0.29130843254532973 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99997505e-01 2.22042840e-03 2.42358833e-04 1.74177481e-01] [-2.22103084e-03 9.99994372e-01 2.51441516e-03 -5.88842042e-02] [-2.36774391e-04 -2.51494717e-03 9.99996809e-01 4.57622372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38255784400002 meters 0.29149186135507216 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99997086e-01 2.41301319e-03 -7.01695378e-05 1.75329956e-01] [-2.41277836e-03 9.99992053e-01 3.17356693e-03 -6.16647527e-02] [ 7.78268390e-05 -3.17338837e-03 9.99994962e-01 4.56413947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41255784400002 meters 0.29104496615466474 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99996915e-01 2.48331054e-03 -5.07337993e-05 1.75261700e-01] [-2.48312577e-03 9.99991256e-01 3.36481309e-03 -6.24551166e-02] [ 5.90892315e-05 -3.36467673e-03 9.99994338e-01 4.56430708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44255784400002 meters 0.2911469996776552 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99996847e-01 2.51090497e-03 -2.36311448e-05 1.74998377e-01] [-2.51080882e-03 9.99990931e-01 3.44008114e-03 -6.27636015e-02] [ 3.22686473e-05 -3.44001096e-03 9.99994083e-01 4.56886998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472557844 meters 0.29126905499206 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99996899e-01 2.49029344e-03 -2.31398779e-05 1.74897096e-01] [-2.49020082e-03 9.99991168e-01 3.38571225e-03 -6.25358005e-02] [ 3.15710905e-05 -3.38564413e-03 9.99994268e-01 4.57124328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502557844 meters 0.29251758733579314 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99996927e-01 2.46832094e-03 -2.30295183e-04 1.75620517e-01] [-2.46754359e-03 9.99991455e-01 3.31680047e-03 -6.22332037e-02] [ 2.38480143e-04 -3.31622202e-03 9.99994473e-01 4.56608820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532557844 meters 0.29358530950781375 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99996978e-01 2.43925357e-03 -3.05993505e-04 1.75949716e-01] [-2.43825007e-03 9.99991785e-01 3.23807931e-03 -6.19001971e-02] [ 3.13889488e-04 -3.23732344e-03 9.99994711e-01 4.56317829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562557844 meters 0.29171514491944744 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99997113e-01 2.39035979e-03 -2.44211161e-04 1.75731122e-01] [-2.38958957e-03 9.99992318e-01 3.10696312e-03 -6.13633863e-02] [ 2.51636045e-04 -3.10637058e-03 9.99995144e-01 4.56476561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592557844 meters 0.29089559377092045 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99997268e-01 2.33525769e-03 -1.03827817e-04 1.75006141e-01] [-2.33494173e-03 9.99992936e-01 2.94565909e-03 -6.06947446e-02] [ 1.10705957e-04 -2.94540861e-03 9.99995656e-01 4.57540341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622557844 meters 0.290769846326081 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:0.46 [[ 9.99997295e-01 2.32216305e-03 -1.29849130e-04 1.74898183e-01] [-2.32177513e-03 9.99993065e-01 2.91180253e-03 -6.05539918e-02] [ 1.36609910e-04 -2.91149318e-03 9.99995752e-01 4.57943522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652557844 meters 0.29161672236134245 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99997322e-01 2.30377348e-03 -2.21724352e-04 1.75169281e-01] [-2.30312981e-03 9.99993256e-01 2.86079457e-03 -6.03386852e-02] [ 2.28313479e-04 -2.86027625e-03 9.99995883e-01 4.57874675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682557844 meters 0.2923230398454156 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.46 [[ 9.99997267e-01 2.31897472e-03 -2.96384202e-04 1.75570154e-01] [-2.31810556e-03 9.99993108e-01 2.90000921e-03 -6.05071479e-02] [ 3.03107207e-04 -2.89931423e-03 9.99995751e-01 4.57375396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712557844 meters 0.2910944599750242 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.45 [[ 9.99999232e-01 1.23103823e-03 -1.42952338e-04 1.38512247e-01] [-1.23073602e-03 9.99997048e-01 2.09524130e-03 -5.69476407e-02] [ 1.45531238e-04 -2.09506375e-03 9.99997795e-01 4.53093577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.742557844 meters 0.2925284249414622 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.45 [[ 9.99999166e-01 1.27216235e-03 -2.24558117e-04 1.39044273e-01] [-1.27166357e-03 9.99996755e-01 2.20750822e-03 -5.74107011e-02] [ 2.27365697e-04 -2.20722081e-03 9.99997538e-01 4.52258267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.772557844 meters 0.291615198459842 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.45 [[ 9.99999186e-01 1.25143217e-03 -2.47013399e-04 1.39083969e-01] [-1.25089740e-03 9.99996899e-01 2.15335324e-03 -5.71837020e-02] [ 2.49707409e-04 -2.15304250e-03 9.99997651e-01 4.52306775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802557844 meters 0.291615198459842 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.45 [[ 9.99999186e-01 1.25143217e-03 -2.47013399e-04 1.39083969e-01] [-1.25089740e-03 9.99996899e-01 2.15335324e-03 -5.71837020e-02] [ 2.49707409e-04 -2.15304250e-03 9.99997651e-01 4.52306775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832557844 meters 0.29112729410973576 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.45 [[ 9.99999286e-01 1.16713288e-03 -2.55088697e-04 1.38978116e-01] [-1.16663952e-03 9.99997465e-01 1.92575034e-03 -5.62387912e-02] [ 2.57335656e-04 -1.92545136e-03 9.99998113e-01 4.52626531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862557844 meters 0.2924075567942169 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999404e-01 9.80185766e-04 -4.81391242e-04 1.39659410e-01] [-9.79524613e-04 9.99998579e-01 1.37174257e-03 -5.39673191e-02] [ 4.82735121e-04 -1.37127022e-03 9.99998943e-01 4.52433788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892557844 meters 0.29236415953254585 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999451e-01 8.91648760e-04 -5.51168218e-04 1.39984911e-01] [-8.91023715e-04 9.99998961e-01 1.13324336e-03 -5.29754060e-02] [ 5.52178101e-04 -1.13275163e-03 9.99999206e-01 4.52127048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922557844 meters 0.29232525431038914 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999511e-01 8.41888706e-04 -5.19607646e-04 1.39979836e-01] [-8.41366136e-04 9.99999141e-01 1.00510153e-03 -5.24398249e-02] [ 5.20453384e-04 -1.00466386e-03 9.99999360e-01 4.51969135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952557844 meters 0.2918687332981351 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999601e-01 8.00556520e-04 -3.96638662e-04 1.39603696e-01] [-8.00199238e-04 9.99999275e-01 9.00115975e-04 -5.20134947e-02] [ 3.97358968e-04 -8.99798226e-04 9.99999516e-01 4.52120303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982557844 meters 0.2902354035354217 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999688e-01 7.30515183e-04 -2.99653242e-04 1.39214824e-01] [-7.30300995e-04 9.99999478e-01 7.14272187e-04 -5.12431732e-02] [ 3.00174872e-04 -7.14053127e-04 9.99999700e-01 4.52478907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012557844 meters 0.2911092358635077 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999826e-01 5.21534562e-04 -2.75791726e-04 1.38949383e-01] [-5.21480631e-04 9.99999845e-01 1.95585414e-04 -4.90215582e-02] [ 2.75893688e-04 -1.95441560e-04 9.99999943e-01 4.52988005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04255784400002 meters 0.2907884379791903 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999895e-01 3.60580230e-04 -2.83653869e-04 1.38984721e-01] [-3.60641346e-04 9.99999912e-01 -2.15436461e-04 -4.73171048e-02] [ 2.83576162e-04 2.15538735e-04 9.99999937e-01 4.53000604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07255784400002 meters 0.29162998879834034 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:0.45 [[ 9.99999929e-01 2.13904706e-04 -3.09492785e-04 1.39074351e-01] [-2.14088015e-04 9.99999802e-01 -5.92374297e-04 -4.57547484e-02] [ 3.09366012e-04 5.92440514e-04 9.99999777e-01 4.52990580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10255784400002 meters 0.29222325144367384 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 9.99999924e-01 6.06395607e-05 -3.85971648e-04 1.39223295e-01] [-6.10253896e-05 9.99999498e-01 -9.99696970e-04 -4.40755644e-02] [ 3.85910833e-04 9.99720447e-04 9.99999426e-01 4.53142283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13255784400002 meters 0.2901095122249835 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:0.45 [[ 9.99983814e-01 -5.66576605e-03 -5.21058681e-04 1.16498444e-01] [ 5.66683635e-03 9.99981788e-01 2.07606411e-03 -3.65401959e-02] [ 5.09286698e-04 -2.07898326e-03 9.99997709e-01 4.54264735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16255784400002 meters 0.2904447741436381 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99982836e-01 -5.84263484e-03 -4.37533887e-04 1.16158886e-01] [ 5.84332376e-03 9.99981663e-01 1.59018224e-03 -3.45335967e-02] [ 4.28235010e-04 -1.59271160e-03 9.99998640e-01 4.54584320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19255784400002 meters 0.2905999819303757 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99981921e-01 -6.00129799e-03 -3.77228262e-04 1.15933381e-01] [ 6.00173277e-03 9.99981314e-01 1.16219174e-03 -3.27805175e-02] [ 3.70246554e-04 -1.16443475e-03 9.99999254e-01 4.54773576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222557844 meters 0.28999825385601624 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99981211e-01 -6.11727274e-03 -3.95319871e-04 1.16003790e-01] [ 6.11760671e-03 9.99980927e-01 8.49181809e-04 -3.14860824e-02] [ 3.90117655e-04 -8.51584266e-04 9.99999561e-01 4.54752409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252557844 meters 0.2909391285693273 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99979744e-01 -6.34027723e-03 -5.59343917e-04 1.16707796e-01] [ 6.34040732e-03 9.99979873e-01 2.31108840e-04 -2.88590390e-02] [ 5.57867365e-04 -2.34650626e-04 9.99999817e-01 4.54033864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters 0.2898739518461447 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99978955e-01 -6.45478943e-03 -6.52241865e-04 1.17110549e-01] [ 6.45474644e-03 9.99979166e-01 -6.79896760e-05 -2.76003530e-02] [ 6.52667135e-04 6.37781893e-05 9.99999785e-01 4.53685251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312557844 meters 0.28977540614328784 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.45 [[ 9.99978111e-01 -6.57642554e-03 -7.26755790e-04 1.17431178e-01] [ 6.57615122e-03 9.99978305e-01 -3.79213790e-04 -2.62958658e-02] [ 7.29233894e-04 3.74426234e-04 9.99999664e-01 4.53434756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters 0.29042629959695004 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.45 [[ 9.99996976e-01 -2.36727614e-03 -6.65874531e-04 1.17297221e-01] [ 2.36964445e-03 9.99990789e-01 3.57867598e-03 -2.47527463e-02] [ 6.57396683e-04 -3.58024305e-03 9.99993375e-01 4.53324204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372557844 meters 0.29172486146764165 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 9.99990916e-01 3.69674071e-03 2.12188375e-03 1.38562145e-01] [-3.69734323e-03 9.99993126e-01 2.80106414e-04 -2.39152541e-02] [-2.12083369e-03 -2.87949202e-04 9.99997710e-01 4.51867026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402557844 meters 0.2898173244881622 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 9.99991210e-01 3.56969293e-03 2.19953276e-03 1.38315537e-01] [-3.56958847e-03 9.99993628e-01 -5.14154827e-05 -2.25421832e-02] [-2.19970228e-03 4.35636039e-05 9.99997580e-01 4.52010536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432557844 meters 0.2926162799702513 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.45 [[ 0.99998314 -0.00278708 0.00509397 0.16041371] [ 0.00277402 0.99999285 0.00256879 -0.02305968] [-0.0051011 -0.00255462 0.99998373 0.45026597] [ 0. 0. 0. 1. ]] SLAMing on 161.462557844 meters 0.2902801207042523 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 0.99997389 0.00615351 0.00378744 0.13942712] [-0.00616014 0.99997951 0.00174141 -0.02259757] [-0.00377665 -0.00176469 0.99999131 0.450081 ] [ 0. 0. 0. 1. ]] SLAMing on 161.492557844 meters 0.2908134070368151 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 0.99997521 0.0059983 0.00368677 0.1397744 ] [-0.00600326 0.99998109 0.00133534 -0.02089736] [-0.00367869 -0.00135744 0.99999231 0.44993903] [ 0. 0. 0. 1. ]] SLAMing on 161.522557844 meters 0.28993721485599294 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 9.99977670e-01 5.71999425e-03 3.45565200e-03 1.40421041e-01] [-5.72187568e-03 9.99983487e-01 5.34807490e-04 -1.75954160e-02] [-3.45253584e-03 -5.54568359e-04 9.99993886e-01 4.49853702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552557844 meters 0.29176117266571827 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 9.99978984e-01 5.53463788e-03 3.37617227e-03 1.40578144e-01] [-5.53474030e-03 9.99984683e-01 2.09961927e-05 -1.54767867e-02] [-3.37600435e-03 -3.96819882e-05 9.99994300e-01 4.50006183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582557844 meters 0.2903815144839202 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.45 [[ 9.99980155e-01 5.32730472e-03 3.36285563e-03 1.40521390e-01] [-5.32549048e-03 9.99985669e-01 -5.48215797e-04 -1.31299862e-02] [-3.36572795e-03 5.30296063e-04 9.99994195e-01 4.50247995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612557844 meters 0.29025235668767707 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.45 [[ 0.99998211 0.00504006 0.00322134 0.14089174] [-0.00503542 0.99998628 -0.00144665 -0.00952033] [-0.00322859 0.00143041 0.99999377 0.45029838] [ 0. 0. 0. 1. ]] SLAMing on 161.642557844 meters 0.2912562612526179 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.45 [[ 0.99998325 0.0048854 0.00310349 0.14133379] [-0.00487962 0.99998635 -0.00186921 -0.0077554 ] [-0.00311258 0.00185403 0.99999344 0.45001743] [ 0. 0. 0. 1. ]] SLAMing on 161.672557844 meters 0.2910936960459467 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.45 [[ 0.99998448 0.0047255 0.00295089 0.14180095] [-0.00471866 0.99998618 -0.00231848 -0.00588981] [-0.00296181 0.00230452 0.99999296 0.44987513] [ 0. 0. 0. 1. ]] SLAMing on 161.702557844 meters 0.2901318829840339 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.45 [[ 0.99998543 0.00456997 0.00287406 0.14199852] [-0.004562 0.99998575 -0.00277305 -0.00404109] [-0.00288669 0.00275989 0.99999202 0.44990498] [ 0. 0. 0. 1. ]] SLAMing on 161.732557844 meters 0.29044299564547427 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.45 [[ 0.9999862 0.00441831 0.0028411 0.14195239] [-0.00440913 0.99998507 -0.00322862 -0.00220818] [-0.00285532 0.00321604 0.99999075 0.45026431] [ 0. 0. 0. 1. ]] SLAMing on 161.762557844 meters 0.2892413805216357 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.9999884 -0.00223981 0.00426321 0.11943149] [ 0.00224489 0.99999678 -0.00118738 0.00586624] [-0.00426054 0.00119694 0.99999021 0.45008182] [ 0. 0. 0. 1. ]] SLAMing on 161.79255784400002 meters 0.29001468644621065 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.9999881 -0.00234241 0.00427841 0.11938842] [ 0.00234873 0.99999616 -0.0014718 0.00703827] [-0.00427494 0.00148184 0.99998976 0.45011487] [ 0. 0. 0. 1. ]] SLAMing on 161.82255784400002 meters 0.29054777341185706 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998784 -0.0024348 0.00428763 0.11930905] [ 0.00244223 0.99999552 -0.00172846 0.00809157] [-0.0042834 0.00173891 0.99998931 0.45025483] [ 0. 0. 0. 1. ]] SLAMing on 161.85255784400002 meters 0.2894795731015503 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998727 -0.00252586 0.00436801 0.11904366] [ 0.00253454 0.99999482 -0.00198236 0.00912847] [-0.00436298 0.0019934 0.9999885 0.45040543] [ 0. 0. 0. 1. ]] SLAMing on 161.88255784400002 meters 0.2899023099079968 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998682 -0.0025995 0.00442668 0.11883447] [ 0.00260919 0.99999421 -0.00218574 0.00996062] [-0.00442097 0.00219726 0.99998781 0.45055124] [ 0. 0. 0. 1. ]] SLAMing on 161.91255784400002 meters 0.2904899656328131 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998614 -0.00274619 0.00449221 0.11875336] [ 0.00275794 0.99999279 -0.00261065 0.01169602] [-0.00448501 0.002623 0.9999865 0.45037665] [ 0. 0. 0. 1. ]] SLAMing on 161.94255784400002 meters 0.28960986408913325 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998618 -0.00280565 0.0044452 0.11886172] [ 0.002818 0.99999218 -0.0027736 0.01236543] [-0.00443738 0.00278608 0.99998627 0.45041448] [ 0. 0. 0. 1. ]] SLAMing on 161.972557844 meters 0.29039815024205634 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.9999867 -0.00284352 0.00430269 0.11931285] [ 0.00285594 0.99999177 -0.00288303 0.01282777] [-0.00429445 0.00289528 0.99998659 0.45021364] [ 0. 0. 0. 1. ]] SLAMing on 162.002557844 meters 0.28935907927026644 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998687 -0.00289326 0.00422995 0.11950207] [ 0.00290608 0.99999119 -0.0030294 0.01342557] [-0.00422115 0.00304165 0.99998647 0.45020512] [ 0. 0. 0. 1. ]] SLAMing on 162.032557844 meters 0.29014063827137465 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99995917 0.0064929 0.00628456 0.14009785] [-0.00647213 0.99997355 -0.00331922 0.01379698] [-0.00630595 0.00327841 0.99997474 0.45024704] [ 0. 0. 0. 1. ]] SLAMing on 162.062557844 meters 0.2898647363314755 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 0.99995886 0.00638362 0.00644433 0.13958601] [-0.00636016 0.9999731 -0.00365418 0.0151515 ] [-0.00646748 0.00361305 0.99997256 0.4505638 ] [ 0. 0. 0. 1. ]] SLAMing on 162.092557844 meters 0.28799710563802133 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.45 [[ 9.99988313e-01 1.43206646e-04 4.83255992e-03 1.16296601e-01] [-1.36718738e-04 9.99999089e-01 -1.34284430e-03 2.01206325e-02] [-4.83274782e-03 1.34216791e-03 9.99987421e-01 4.52681899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122557844 meters 0.2885112901413103 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.45 [[ 9.99989301e-01 2.95173812e-05 4.62568561e-03 1.16903133e-01] [-2.16334815e-05 9.99998547e-01 -1.70441508e-03 2.15947069e-02] [-4.62572920e-03 1.70429678e-03 9.99987849e-01 4.52455350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152557844 meters 0.2883428990419393 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.45 [[ 9.99990165e-01 -8.88013345e-05 4.43413966e-03 1.17552715e-01] [ 9.80047200e-05 9.99997842e-01 -2.07539997e-03 2.31242733e-02] [-4.43394579e-03 2.07581413e-03 9.99988015e-01 4.52028584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182557844 meters 0.2890238860799582 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.45 [[ 9.99990583e-01 -1.75983992e-04 4.33633055e-03 1.17953651e-01] [ 1.86097377e-04 9.99997264e-01 -2.33195179e-03 2.41903058e-02] [-4.33590830e-03 2.33273680e-03 9.99987879e-01 4.51664788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212557844 meters 0.2885608868486438 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99990671e-01 -2.48260648e-04 4.31224920e-03 1.18078149e-01] [ 2.59172773e-04 9.99996766e-01 -2.53012044e-03 2.50117881e-02] [-4.31160712e-03 2.53121445e-03 9.99987501e-01 4.51520264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.242557844 meters 0.2891185567795015 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99990257e-01 -2.91897551e-04 4.40458502e-03 1.17800386e-01] [ 3.03567825e-04 9.99996445e-01 -2.64913804e-03 2.55047575e-02] [-4.40379609e-03 2.65044932e-03 9.99986791e-01 4.51622966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.272557844 meters 0.2887253545515561 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99990418e-01 -2.80896961e-04 4.36864797e-03 1.17769260e-01] [ 2.92347437e-04 9.99996523e-01 -2.62063965e-03 2.53857719e-02] [-4.36789665e-03 2.62189170e-03 9.99987023e-01 4.51912850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302557844 meters 0.28814972075964523 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99990770e-01 -2.76861778e-04 4.28755391e-03 1.17855780e-01] [ 2.88054611e-04 9.99996552e-01 -2.61014295e-03 2.53439620e-02] [-4.28681648e-03 2.61135391e-03 9.99987402e-01 4.52193686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.332557844 meters 0.28923160267776304 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.45 [[ 9.99952654e-01 -8.05547805e-03 5.45885882e-03 1.36516250e-01] [ 8.05987141e-03 9.99967212e-01 -7.83292034e-04 2.93408101e-02] [-5.45237004e-03 8.27252649e-04 9.99984794e-01 4.54032880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362557844 meters 0.2899485556522112 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:0.45 [[ 0.99995208 -0.00816416 0.00540302 0.13660084] [ 0.00817004 0.99996605 -0.0010679 0.03051287] [-0.00539411 0.00111199 0.99998483 0.45416408] [ 0. 0. 0. 1. ]] SLAMing on 162.392557844 meters 0.2886317437354357 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99985610e-01 4.91557620e-04 5.34215108e-03 1.15473151e-01] [-4.79692528e-04 9.99997416e-01 -2.22208703e-03 2.78097861e-02] [-5.34322956e-03 2.21949246e-03 9.99983262e-01 4.53517141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422557844 meters 0.2890081995822996 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.45 [[ 9.99984984e-01 4.38730174e-04 5.46259451e-03 1.15026829e-01] [-4.25795067e-04 9.99997104e-01 -2.36887971e-03 2.84171638e-02] [-5.46361798e-03 2.36651820e-03 9.99982274e-01 4.53872980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.452557844 meters 0.2903815198501121 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:0.45 [[ 9.99984400e-01 3.97110154e-04 5.57145213e-03 1.14617595e-01] [-3.83256909e-04 9.99996833e-01 -2.48731658e-03 2.89043882e-02] [-5.57242223e-03 2.48514248e-03 9.99981386e-01 4.54203102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482557844 meters 0.28766388606885546 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:0.46 [[ 0.99999615 0.0012786 0.0024618 0.06931303] [-0.00127317 0.99999676 -0.0022034 0.02844339] [-0.00246461 0.00220025 0.99999454 0.45720607] [ 0. 0. 0. 1. ]] SLAMing on 162.512557844 meters 0.2886051925155727 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:0.46 [[ 9.99998559e-01 1.37346621e-03 9.98265316e-04 1.09443676e-01] [-1.37170844e-03 9.99997511e-01 -1.75938254e-03 2.68742231e-02] [-1.00067928e-03 1.75801068e-03 9.99997954e-01 4.60186141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54255784400002 meters 0.28803226290241873 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:0.46 [[ 9.99998500e-01 1.43062831e-03 9.76397114e-04 1.09509384e-01] [-1.42906085e-03 9.99997692e-01 -1.60416278e-03 2.62384264e-02] [-9.78689822e-04 1.60276504e-03 9.99998237e-01 4.60165659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57255784400002 meters 0.28829233602582494 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:0.46 [[ 9.99998474e-01 1.48997972e-03 9.12321594e-04 1.09554795e-01] [-1.48866605e-03 9.99997857e-01 -1.43890940e-03 2.55574293e-02] [-9.14463584e-04 1.43754906e-03 9.99998549e-01 4.60447026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60255784400002 meters 0.28947974181486513 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.46 [[ 9.99998318e-01 1.56571124e-03 9.54985782e-04 1.09364217e-01] [-1.56453946e-03 9.99998024e-01 -1.22653242e-03 2.46864115e-02] [-9.56904291e-04 1.22503624e-03 9.99998792e-01 4.60646873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63255784400002 meters 0.2871504815957872 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:0.46 [[ 9.99989832e-01 -4.50861174e-03 -9.46783431e-05 8.53201119e-02] [ 4.50881005e-03 9.99987392e-01 2.21071701e-03 2.20499460e-02] [ 8.47098847e-05 -2.21112142e-03 9.99997552e-01 4.62597712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66255784400002 meters 0.28823847356236426 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.46 [[ 9.99994935e-01 1.75545158e-03 2.65496188e-03 1.06760290e-01] [-1.75414501e-03 9.99998339e-01 -4.94374913e-04 2.08045312e-02] [-2.65582532e-03 4.89715221e-04 9.99996353e-01 4.61554762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69255784400002 meters 0.28823847356236426 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.46 [[ 9.99994935e-01 1.75545158e-03 2.65496188e-03 1.06760290e-01] [-1.75414501e-03 9.99998339e-01 -4.94374913e-04 2.08045312e-02] [-2.65582532e-03 4.89715221e-04 9.99996353e-01 4.61554762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722557844 meters 0.2874504062606599 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.46 [[ 9.99994508e-01 1.86274560e-03 2.74121598e-03 1.06496680e-01] [-1.86217196e-03 9.99998244e-01 -2.11800153e-04 1.96494992e-02] [-2.74160569e-03 2.06694375e-04 9.99996220e-01 4.61664379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752557844 meters 0.2886758731726396 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.46 [[ 9.99994346e-01 2.11048923e-03 2.61781902e-03 1.07101064e-01] [-2.11160022e-03 9.99997682e-01 4.21703729e-04 1.70507949e-02] [-2.61692295e-03 -4.27229132e-04 9.99996485e-01 4.60981420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782557844 meters 0.28818168449478493 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:0.46 [[ 0.99999045 -0.00391483 -0.00194355 0.08767036] [ 0.00392128 0.99998679 0.00332257 0.01331456] [ 0.00193051 -0.00333016 0.99999259 0.46242357] [ 0. 0. 0. 1. ]] SLAMing on 162.812557844 meters 0.2886109705769915 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:0.46 [[ 0.99999073 -0.00378966 -0.00204219 0.08804545] [ 0.00379712 0.99998609 0.00366035 0.01191621] [ 0.00202829 -0.00366807 0.99999122 0.46215899] [ 0. 0. 0. 1. ]] SLAMing on 162.842557844 meters 0.2893101074561202 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.46 [[ 0.99998775 0.00462748 -0.00175527 0.10752102] [-0.00462196 0.99998441 0.00313305 0.00325672] [ 0.00176974 -0.0031249 0.99999355 0.46385415] [ 0. 0. 0. 1. ]] SLAMing on 162.872557844 meters 0.28773012555151084 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:0.46 [[ 9.99994443e-01 3.22781921e-03 -8.33456378e-04 6.77355208e-02] [-3.22587183e-03 9.99992089e-01 2.32737638e-03 2.28948432e-04] [ 8.40962134e-04 -2.32467483e-03 9.99996944e-01 4.61011862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters 0.28861144813568945 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.46 [[ 9.99984407e-01 -5.58375033e-03 8.38920031e-05 8.89894574e-02] [ 5.58343806e-03 9.99978804e-01 3.34925221e-03 1.20300764e-04] [-1.02591613e-04 -3.34873158e-03 9.99994388e-01 4.61156518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932557844 meters 0.28759934771556317 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:0.46 [[ 9.99996821e-01 2.39785771e-03 -7.80197550e-04 7.10268719e-02] [-2.39613551e-03 9.99994707e-01 2.20089298e-03 -7.60387690e-03] [ 7.85470848e-04 -2.19901653e-03 9.99997274e-01 4.58997562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters 0.2887282204150863 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.46 [[ 9.99998260e-01 4.03199919e-04 -1.82118798e-03 7.66841895e-02] [-4.02419807e-04 9.99999827e-01 4.28699280e-04 -9.44982578e-03] [ 1.82136051e-03 -4.27965652e-04 9.99998250e-01 4.55150595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.992557844 meters 0.2890900811595703 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99998020e-01 5.90325884e-04 -1.90025973e-03 7.69694203e-02] [-5.88526810e-04 9.99999378e-01 9.47171596e-04 -1.15702444e-02] [ 1.90081769e-03 -9.46051367e-04 9.99997746e-01 4.54956289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.022557844 meters 0.2894250370107235 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.45 [[ 9.99997623e-01 8.85025448e-04 -1.99284482e-03 7.71939453e-02] [-8.81603768e-04 9.99998137e-01 1.71720708e-03 -1.47408977e-02] [ 1.99436088e-03 -1.71544610e-03 9.99996540e-01 4.54993501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052557844 meters 0.28921237999101096 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:0.46 [[ 9.99997499e-01 9.81809503e-04 -2.00963791e-03 7.72063576e-02] [-9.77850940e-04 9.99997582e-01 1.96982458e-03 -1.57818904e-02] [ 2.01156704e-03 -1.96785452e-03 9.99996041e-01 4.55073888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082557844 meters 0.2886958020051621 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99999657e-01 3.67990037e-04 -7.41821653e-04 3.72628851e-02] [-3.66719004e-04 9.99998466e-01 1.71280250e-03 -1.74024879e-02] [ 7.42450809e-04 -1.71252987e-03 9.99998258e-01 4.52270064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112557844 meters 0.28831824261786293 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99999674e-01 4.20517798e-04 -6.89463401e-04 3.71361856e-02] [-4.19236843e-04 9.99998188e-01 1.85699398e-03 -1.79884952e-02] [ 6.90243051e-04 -1.85670432e-03 9.99998038e-01 4.52259173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142557844 meters 0.2895303135450107 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99999662e-01 5.14524976e-04 -6.40938417e-04 3.69648230e-02] [-5.13171985e-04 9.99997644e-01 2.10933172e-03 -1.90126100e-02] [ 6.42022210e-04 -2.10900210e-03 9.99997570e-01 4.52381638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172557844 meters 0.2900642843470529 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99999625e-01 5.78611575e-04 -6.43622121e-04 3.69364753e-02] [-5.77146346e-04 9.99997247e-01 2.27439576e-03 -1.96891273e-02] [ 6.44936341e-04 -2.27402344e-03 9.99997206e-01 4.52460743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202557844 meters 0.2902126432319587 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99999548e-01 6.54668666e-04 -6.89034379e-04 3.70331277e-02] [-6.52965370e-04 9.99996738e-01 2.46933365e-03 -2.04910808e-02] [ 6.90648727e-04 -2.46888262e-03 9.99996714e-01 4.52511251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232557844 meters 0.28880576007112074 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.45 [[ 9.99999478e-01 -5.25793379e-05 -1.02038874e-03 6.16059084e-04] [ 5.50872497e-05 9.99996978e-01 2.45792794e-03 -2.48361725e-02] [ 1.02025642e-03 -2.45798287e-03 9.99996459e-01 4.48389130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262557844 meters 0.29081941018841184 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998165e-01 4.51492380e-04 -1.86186064e-03 4.25209405e-02] [-4.46394654e-04 9.99996153e-01 2.73748141e-03 -2.53449808e-02] [ 1.86308943e-03 -2.73664526e-03 9.99994520e-01 4.49931941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29255784400002 meters 0.2904718125373561 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998041e-01 5.34786303e-04 -1.90593002e-03 4.26487240e-02] [-5.29154221e-04 9.99995496e-01 2.95431131e-03 -2.62421455e-02] [ 1.90750136e-03 -2.95329700e-03 9.99993820e-01 4.49907234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32255784400002 meters 0.2905641530554986 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99997997e-01 6.14889147e-04 -1.90477171e-03 4.26526904e-02] [-6.08865466e-04 9.99994817e-01 3.16138359e-03 -2.70910973e-02] [ 1.90670574e-03 -3.16021750e-03 9.99993189e-01 4.49900003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35255784400002 meters 0.2906652069607508 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99997962e-01 6.93235392e-04 -1.89637771e-03 4.25814668e-02] [-6.86844583e-04 9.99994090e-01 3.36858690e-03 -2.79432375e-02] [ 1.89870173e-03 -3.36727751e-03 9.99992528e-01 4.50025986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38255784400002 meters 0.2893880298640735 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998050e-01 7.23607210e-04 -1.83772855e-03 4.23907590e-02] [-7.17261563e-04 9.99993787e-01 3.45129871e-03 -2.82737585e-02] [ 1.84021452e-03 -3.44997385e-03 9.99992356e-01 4.50131177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41255784400002 meters 0.2888308774827704 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998204e-01 7.32919967e-04 -1.74798167e-03 4.22731865e-02] [-7.26835211e-04 9.99993684e-01 3.47911674e-03 -2.83889536e-02] [ 1.75052055e-03 -3.47784000e-03 9.99992420e-01 4.49878624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44255784400002 meters 0.29009385317087344 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998230e-01 7.08822431e-04 -1.74291397e-03 4.23487906e-02] [-7.02867948e-04 9.99993923e-01 3.41463767e-03 -2.81310045e-02] [ 1.74532375e-03 -3.41340658e-03 9.99992651e-01 4.49664025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472557844 meters 0.29042629878450804 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:0.45 [[ 9.99998377e-01 7.02164261e-04 -1.65932877e-03 4.21499340e-02] [-6.96526180e-04 9.99993991e-01 3.39594664e-03 -2.80522228e-02] [ 1.66170331e-03 -3.39478536e-03 9.99992857e-01 4.49629979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502557844 meters 0.291981383932816 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:0.45 [[ 9.99972336e-01 7.09305419e-03 2.23965775e-03 6.31027492e-02] [-7.09454867e-03 9.99974616e-01 6.60039958e-04 -2.54878684e-02] [-2.23491919e-03 -6.75911059e-04 9.99997274e-01 4.47643224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532557844 meters 0.2894475658505017 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 0.99999683 -0.00210158 0.00138641 0.04207504] [ 0.00209969 0.99999687 0.00136108 -0.02346055] [-0.00138927 -0.00135817 0.99999811 0.44756072] [ 0. 0. 0. 1. ]] SLAMing on 163.562557844 meters 0.28982115212695536 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 0.99999692 -0.00207582 0.00136104 0.04227357] [ 0.00207388 0.99999683 0.00142603 -0.02374937] [-0.001364 -0.00142321 0.99999806 0.447265 ] [ 0. 0. 0. 1. ]] SLAMing on 163.592557844 meters 0.2893774147752621 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 0.99999701 -0.00207346 0.0012976 0.04257599] [ 0.00207159 0.99999682 0.00143508 -0.02380616] [-0.00130057 -0.00143239 0.99999813 0.44693129] [ 0. 0. 0. 1. ]] SLAMing on 163.622557844 meters 0.29062894984441695 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99996712e-01 -2.26156202e-03 1.20918015e-03 4.29300747e-02] [ 2.26041719e-03 9.99996997e-01 9.47307427e-04 -2.17748907e-02] [-1.21131891e-03 -9.44571060e-04 9.99998820e-01 4.46658207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652557844 meters 0.29027298944157404 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99996514e-01 -2.34449551e-03 1.21497556e-03 4.28271600e-02] [ 2.34361842e-03 9.99996992e-01 7.22822815e-04 -2.08456799e-02] [-1.21666656e-03 -7.19972855e-04 9.99999001e-01 4.46849990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682557844 meters 0.2906298079216001 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99996341e-01 -2.41426269e-03 1.22056908e-03 4.27564053e-02] [ 2.41361154e-03 9.99996944e-01 5.34668733e-04 -2.00612810e-02] [-1.22185618e-03 -5.31720797e-04 9.99999112e-01 4.46974902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712557844 meters 0.28973214164845645 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99996244e-01 -2.46678475e-03 1.19443017e-03 4.27764208e-02] [ 2.46631376e-03 9.99996880e-01 3.95634344e-04 -1.94798344e-02] [-1.19540239e-03 -3.92687019e-04 9.99999208e-01 4.47074622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.742557844 meters 0.2905034276744515 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99996227e-01 -2.49067514e-03 1.15855728e-03 4.29074718e-02] [ 2.49029318e-03 9.99996844e-01 3.31017826e-04 -1.92192743e-02] [-1.15937808e-03 -3.28131430e-04 9.99999274e-01 4.46976191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.772557844 meters 0.29018828613737413 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.45 [[ 9.99983999e-01 5.65578815e-03 -1.18119793e-04 2.36451420e-02] [-5.65587672e-03 9.99983714e-01 -7.63442672e-04 -2.39854307e-02] [ 1.13799999e-04 7.64098527e-04 9.99999702e-01 4.46307301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802557844 meters 0.289925696550865 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.45 [[ 9.99983746e-01 5.70093048e-03 -7.96839934e-05 2.34533708e-02] [-5.70097989e-03 9.99983548e-01 -6.34270792e-04 -2.45007255e-02] [ 7.60667488e-05 6.34714760e-04 9.99999796e-01 4.46554698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832557844 meters 0.2910300554522819 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 9.99995288e-01 -4.90100905e-04 3.03063982e-03 4.50834907e-02] [ 4.83771445e-04 9.99997701e-01 2.08887039e-03 -2.56245916e-02] [-3.03165661e-03 -2.08739441e-03 9.99993226e-01 4.44898897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862557844 meters 0.29019474124534805 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 9.99995404e-01 -4.54968232e-04 2.99748100e-03 4.51581450e-02] [ 4.48428682e-04 9.99997519e-01 2.18199304e-03 -2.60101794e-02] [-2.99846630e-03 -2.18063886e-03 9.99993127e-01 4.44928294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892557844 meters 0.2904088343347667 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 9.99995638e-01 -4.93928715e-04 2.91211431e-03 4.55157965e-02] [ 4.87888063e-04 9.99997729e-01 2.07466396e-03 -2.55773237e-02] [-2.91313243e-03 -2.07323413e-03 9.99993608e-01 4.44569192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922557844 meters 0.29068174472301234 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995977e-01 -5.74874676e-04 2.77766544e-03 4.59798643e-02] [ 5.69757674e-04 9.99998140e-01 1.84263539e-03 -2.46544726e-02] [-2.77871956e-03 -1.84104538e-03 9.99994445e-01 4.44205967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952557844 meters 0.2897203749092509 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99997049e-01 -7.34549513e-04 2.31552451e-03 4.73735788e-02] [ 7.31625185e-04 9.99998934e-01 1.26351637e-03 -2.25066283e-02] [-2.31645015e-03 -1.26181855e-03 9.99996521e-01 4.43225743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982557844 meters 0.29125451532989344 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99996756e-01 -8.20431681e-04 2.41126793e-03 4.72150601e-02] [ 8.18094731e-04 9.99999195e-01 9.70005555e-04 -2.13546654e-02] [-2.41206181e-03 -9.68029763e-04 9.99996622e-01 4.43002650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012557844 meters 0.29153558437981275 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99996322e-01 -9.16836974e-04 2.55252862e-03 4.68844646e-02] [ 9.15158169e-04 9.99999364e-01 6.58793018e-04 -2.01104640e-02] [-2.55313100e-03 -6.56454627e-04 9.99996525e-01 4.42926883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04255784400002 meters 0.2902294160004591 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995990e-01 -1.00894349e-03 2.64615328e-03 4.65655560e-02] [ 1.00793731e-03 9.99999419e-01 3.81546570e-04 -1.89834583e-02] [-2.64653670e-03 -3.78877883e-04 9.99996426e-01 4.43124190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07255784400002 meters 0.2905656126866496 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995705e-01 -1.07753296e-03 2.72550441e-03 4.62742159e-02] [ 1.07702480e-03 9.99999402e-01 1.87907470e-04 -1.81815878e-02] [-2.72570525e-03 -1.84971227e-04 9.99996268e-01 4.43322980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10255784400002 meters 0.28996892329291346 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995226e-01 -1.19685050e-03 2.84891501e-03 4.58875216e-02] [ 1.19725120e-03 9.99999274e-01 -1.38948923e-04 -1.68135774e-02] [-2.84874664e-03 1.42359127e-04 9.99995932e-01 4.43462950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13255784400002 meters 0.29033555468099825 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995362e-01 -1.19528221e-03 2.80137149e-03 4.60339213e-02] [ 1.19566233e-03 9.99999276e-01 -1.34022057e-04 -1.68401832e-02] [-2.80120926e-03 1.37370930e-04 9.99996067e-01 4.43406062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16255784400002 meters 0.2916744865483076 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99995650e-01 -1.21903582e-03 2.68603752e-03 4.63173251e-02] [ 1.21956955e-03 9.99999237e-01 -1.97076189e-04 -1.65910748e-02] [-2.68579523e-03 2.00351142e-04 9.99996373e-01 4.43419468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19255784400002 meters 0.2894837468771049 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.45 [[ 9.99991152e-01 4.12971570e-03 8.00528731e-04 2.28028851e-02] [-4.12675839e-03 9.99984782e-01 -3.66129872e-03 -1.71634506e-02] [-8.15636672e-04 3.65796274e-03 9.99992977e-01 4.45486475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters 0.29073089459872736 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99993546e-01 -2.47993392e-03 2.59954705e-03 4.52476489e-02] [ 2.48217986e-03 9.99996549e-01 -8.61103706e-04 -1.78670103e-02] [-2.59740260e-03 8.67550692e-04 9.99996250e-01 4.44682072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252557844 meters 0.2907542110570035 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99993801e-01 -2.37853155e-03 2.59608854e-03 4.52100164e-02] [ 2.38000886e-03 9.99997008e-01 -5.66109664e-04 -1.90553486e-02] [-2.59473426e-03 5.72284869e-04 9.99996470e-01 4.44835546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282557844 meters 0.2902966639376289 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.45 [[ 9.99994029e-01 -2.28510892e-03 2.59229643e-03 4.51425812e-02] [ 2.28585682e-03 9.99997347e-01 -2.85583329e-04 -2.01744512e-02] [-2.59163696e-03 2.91507242e-04 9.99996599e-01 4.45054708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312557844 meters 0.29051594399582786 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.45 [[ 9.99994422e-01 -2.17665051e-03 2.53341427e-03 4.52381617e-02] [ 2.17653622e-03 9.99997630e-01 4.78725626e-05 -2.15052832e-02] [-2.53351247e-03 -4.23582277e-05 9.99996790e-01 4.45218750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342557844 meters 0.2907096043553641 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:0.45 [[ 9.99994692e-01 -2.00972943e-03 2.56440620e-03 4.49884518e-02] [ 2.00798826e-03 9.99997752e-01 6.81368637e-04 -2.39565756e-02] [-2.56576980e-03 -6.76215723e-04 9.99996480e-01 4.45722300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372557844 meters 0.2913377604783107 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:0.44 [[ 0.99997932 0.00358456 0.00533918 0.06854427] [-0.00357144 0.99999059 -0.00246463 -0.02349062] [-0.00534796 0.00244551 0.99998271 0.44328457] [ 0. 0. 0. 1. ]] SLAMing on 164.402557844 meters 0.2913889016338714 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:0.44 [[ 0.99997846 0.0037152 0.00541156 0.06820394] [-0.0037039 0.99999094 -0.00209593 -0.02499275] [-0.0054193 0.00207584 0.99998316 0.44368543] [ 0. 0. 0. 1. ]] SLAMing on 164.432557844 meters 0.28991753339204346 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 0.99997279 -0.005624 0.00477477 0.0461404 ] [ 0.00563114 0.99998304 -0.00148453 -0.02463023] [-0.00476634 0.00151138 0.9999875 0.44407373] [ 0. 0. 0. 1. ]] SLAMing on 164.462557844 meters 0.29041701086581845 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.45 [[ 0.99997444 0.00298427 0.00649769 0.06553479] [-0.00297036 0.99999328 -0.00214935 -0.03018066] [-0.00650406 0.00212999 0.99997658 0.44516225] [ 0. 0. 0. 1. ]] SLAMing on 164.492557844 meters 0.2904220684325604 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.44 [[ 0.99997462 0.00300992 0.00645784 0.06576637] [-0.00299657 0.99999335 -0.00207683 -0.0304895 ] [-0.00646405 0.00205743 0.99997699 0.44485728] [ 0. 0. 0. 1. ]] SLAMing on 164.522557844 meters 0.289855895410671 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.45 [[ 9.99987401e-01 -3.78968081e-03 3.29169326e-03 4.64107659e-02] [ 3.78769450e-03 9.99992641e-01 6.09454969e-04 -3.04799190e-02] [-3.29397867e-03 -5.96979363e-04 9.99994397e-01 4.45019502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552557844 meters 0.29110185740233946 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.45 [[ 9.99978606e-01 5.26397030e-03 3.88308852e-03 6.75741240e-02] [-5.26359329e-03 9.99986141e-01 -1.07302810e-04 -3.29990667e-02] [-3.88359955e-03 8.68615154e-05 9.99992455e-01 4.45229514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582557844 meters 0.2904040258972739 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.44 [[ 9.99979120e-01 5.26257103e-03 3.75045271e-03 6.80372246e-02] [-5.26219776e-03 9.99986149e-01 -1.09388559e-04 -3.30175772e-02] [-3.75097643e-03 8.96506507e-05 9.99992961e-01 4.44931586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612557844 meters 0.2904040258972739 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.44 [[ 9.99979120e-01 5.26257103e-03 3.75045271e-03 6.80372246e-02] [-5.26219776e-03 9.99986149e-01 -1.09388559e-04 -3.30175772e-02] [-3.75097643e-03 8.96506507e-05 9.99992961e-01 4.44931586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642557844 meters 0.29141143565011096 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.45 [[ 9.99979636e-01 5.26415484e-03 3.60767054e-03 6.83435769e-02] [-5.26381242e-03 9.99986141e-01 -1.04402697e-04 -3.30412402e-02] [-3.60817013e-03 8.54104698e-05 9.99993487e-01 4.45074062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672557844 meters 0.2921463667178828 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:0.44 [[ 9.99980036e-01 5.22423246e-03 3.55466340e-03 6.85765336e-02] [-5.22352227e-03 9.99986335e-01 -2.09046903e-04 -3.26155500e-02] [-3.55570694e-03 1.90474866e-04 9.99993660e-01 4.44852750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702557844 meters 0.29150502146453394 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 0.99999324 -0.0030365 0.00207296 0.04988613] [ 0.0030339 0.99999461 0.00125617 -0.02936226] [-0.00207677 -0.00124987 0.99999706 0.44297753] [ 0. 0. 0. 1. ]] SLAMing on 164.732557844 meters 0.29110253815876413 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 9.99984553e-01 5.07566701e-03 2.26505540e-03 3.09884824e-02] [-5.07557462e-03 9.99987118e-01 -4.65360055e-05 -3.41391256e-02] [-2.26526242e-03 3.50388290e-05 9.99997434e-01 4.41198370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762557844 meters 0.2909258099927408 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 9.99984205e-01 5.10228234e-03 2.35700414e-03 3.05546565e-02] [-5.10236597e-03 9.99986982e-01 2.94718093e-05 -3.44424100e-02] [-2.35682309e-03 -4.14976415e-05 9.99997222e-01 4.41747044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79255784400002 meters 0.28959460971544376 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.44 [[ 9.99989014e-01 -4.22211998e-03 2.03596671e-03 8.17805126e-03] [ 4.22114358e-03 9.99990974e-01 4.83631142e-04 -3.24782316e-02] [-2.03799028e-03 -4.75031721e-04 9.99997810e-01 4.42197289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82255784400002 meters 0.29189825152505106 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 0.99998441 0.00189367 0.00525243 0.03111787] [-0.00188198 0.99999574 -0.00223013 -0.03053913] [-0.00525663 0.00222021 0.99998372 0.43969074] [ 0. 0. 0. 1. ]] SLAMing on 164.85255784400002 meters 0.29137652372821465 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 0.99998381 0.00194128 0.00534984 0.03097634] [-0.00193009 0.99999594 -0.00209706 -0.03107592] [-0.00535389 0.0020867 0.99998349 0.4394493 ] [ 0. 0. 0. 1. ]] SLAMing on 164.88255784400002 meters 0.2916382444806335 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 0.99998326 0.00194901 0.00544771 0.03063508] [-0.00193771 0.99999596 -0.00207834 -0.0311532 ] [-0.00545174 0.00206775 0.999983 0.43967199] [ 0. 0. 0. 1. ]] SLAMing on 164.91255784400002 meters 0.2919927919901628 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 9.99956973e-01 -5.91402021e-03 7.14684405e-03 4.94986524e-02] [ 5.91951095e-03 9.99982200e-01 -7.47365980e-04 -2.75006034e-02] [-7.14229690e-03 7.89639644e-04 9.99974182e-01 4.41200322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94255784400002 meters 0.2905798491972697 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 9.99956519e-01 -5.96390052e-03 7.16878240e-03 4.92964286e-02] [ 5.97036792e-03 9.99981789e-01 -8.81100428e-04 -2.69341912e-02] [-7.16339705e-03 9.23862386e-04 9.99973916e-01 4.41525241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972557844 meters 0.2899404007321771 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:0.44 [[ 0.99998621 0.00237776 0.00468353 0.02907491] [-0.00236955 0.99999565 -0.00175894 -0.02717739] [-0.00468769 0.00174782 0.99998749 0.44153137] [ 0. 0. 0. 1. ]] SLAMing on 165.002557844 meters 0.29162095193802345 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 0.99997364 -0.00341426 0.00640749 0.05226668] [ 0.00340455 0.99999304 0.00152591 -0.02675853] [-0.00641266 -0.00150406 0.99997831 0.4395839 ] [ 0. 0. 0. 1. ]] SLAMing on 165.032557844 meters 0.2913106510077164 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 0.99997329 -0.00341162 0.00646438 0.05204209] [ 0.00340178 0.99999304 0.00153284 -0.02678707] [-0.00646957 -0.00151081 0.99997793 0.43976723] [ 0. 0. 0. 1. ]] SLAMing on 165.062557844 meters 0.29091936153982073 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 0.99997236 -0.00345487 0.00658304 0.05162157] [ 0.00344565 0.99999307 0.00141061 -0.02627955] [-0.00658787 -0.00138789 0.99997734 0.44007412] [ 0. 0. 0. 1. ]] SLAMing on 165.092557844 meters 0.290957509961043 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:0.44 [[ 0.99997209 -0.00351018 0.00659455 0.05161955] [ 0.00350193 0.99999307 0.00126099 -0.02566235] [-0.00659893 -0.00123787 0.99997746 0.44000253] [ 0. 0. 0. 1. ]] SLAMing on 165.122557844 meters 0.2907222185085174 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 0.99997216 -0.00357477 0.00654924 0.05183553] [ 0.00356774 0.99999305 0.00108568 -0.02495084] [-0.00655308 -0.00106228 0.99997796 0.43975596] [ 0. 0. 0. 1. ]] SLAMing on 165.152557844 meters 0.2909450471663356 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99972154e-01 -3.64108752e-03 6.51416947e-03 5.20822520e-02] [ 3.63526208e-03 9.99992982e-01 9.05888884e-04 -2.42185874e-02] [-6.51742218e-03 -8.82182945e-04 9.99978372e-01 4.39374103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182557844 meters 0.2900292761215486 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99971890e-01 -3.70649214e-03 6.51773462e-03 5.21895499e-02] [ 3.70182716e-03 9.99992883e-01 7.27654617e-04 -2.34887627e-02] [-6.52038528e-03 -7.03506636e-04 9.99978495e-01 4.39089935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212557844 meters 0.29201988475148366 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99970599e-01 -3.75731145e-03 6.68465176e-03 5.18993603e-02] [ 3.75345398e-03 9.99992782e-01 5.89516786e-04 -2.29292763e-02] [-6.68681851e-03 -5.64408921e-04 9.99977484e-01 4.38774491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.242557844 meters 0.29125346647936584 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99971341e-01 -3.74258066e-03 6.58110257e-03 5.21528860e-02] [ 3.73850485e-03 9.99992812e-01 6.31513826e-04 -2.31022817e-02] [-6.58341876e-03 -6.06892243e-04 9.99978145e-01 4.38786908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.272557844 meters 0.2916999545767787 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99972326e-01 -3.73986758e-03 6.43126091e-03 5.25714733e-02] [ 3.73585018e-03 9.99992819e-01 6.36568449e-04 -2.31325751e-02] [-6.43359541e-03 -6.12524606e-04 9.99979117e-01 4.38661639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302557844 meters 0.2924750236386946 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99973918e-01 -3.80668070e-03 6.13776115e-03 5.34593918e-02] [ 3.80398497e-03 9.99992663e-01 4.50818023e-04 -2.23864401e-02] [-6.13943224e-03 -4.27458314e-04 9.99981062e-01 4.38214249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332557844 meters 0.29316820280736416 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99974019e-01 -3.88894246e-03 6.06942907e-03 5.37141788e-02] [ 3.88759823e-03 9.99992416e-01 2.33257389e-04 -2.14955480e-02] [-6.07029017e-03 -2.09655827e-04 9.99981554e-01 4.38034515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362557844 meters 0.29215235127664974 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99973314e-01 -4.00686864e-03 6.10876181e-03 5.36248228e-02] [ 4.00742361e-03 9.99991967e-01 -7.86110992e-05 -2.02131042e-02] [-6.10839776e-03 1.03089398e-04 9.99981338e-01 4.37995751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392557844 meters 0.2912583759721205 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:0.44 [[ 9.99972363e-01 -4.18071076e-03 6.14783448e-03 5.33678485e-02] [ 4.18415803e-03 9.99991096e-01 -5.47974769e-04 -1.82849010e-02] [-6.14548881e-03 5.73683135e-04 9.99980952e-01 4.38352177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422557844 meters 0.29165393870807627 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 0.9999693 -0.00459232 0.00634835 0.05262923] [ 0.00460337 0.99998791 -0.00172828 -0.01349527] [-0.00634033 0.00175745 0.99997836 0.43881819] [ 0. 0. 0. 1. ]] SLAMing on 165.452557844 meters 0.2907845819645057 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 0.99996813 -0.00479645 0.00638204 0.05259656] [ 0.00481109 0.99998583 -0.0022803 -0.01124186] [-0.00637101 0.00231093 0.99997703 0.43869247] [ 0. 0. 0. 1. ]] SLAMing on 165.482557844 meters 0.2906834143826157 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99979632e-01 -6.37120797e-04 6.35050341e-03 5.27135291e-02] [ 6.27271361e-04 9.99998598e-01 1.55284050e-03 -9.29560245e-03] [-6.35148385e-03 -1.54882538e-03 9.99978630e-01 4.38507264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512557844 meters 0.29163916872887446 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99979252e-01 -8.14852076e-04 6.39001643e-03 5.26376021e-02] [ 8.07931627e-04 9.99999084e-01 1.08551622e-03 -7.37641960e-03] [-6.39089511e-03 -1.08033100e-03 9.99978994e-01 4.38439932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54255784400002 meters 0.29151346312797194 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99978935e-01 -9.50978560e-04 6.42063187e-03 5.25483121e-02] [ 9.46381290e-04 9.99999294e-01 7.19015428e-04 -5.88208493e-03] [-6.42131110e-03 -7.12923916e-04 9.99979129e-01 4.38457917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57255784400002 meters 0.29196200706735903 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:0.44 [[ 9.99978352e-01 -1.05504690e-03 6.49475122e-03 5.20882022e-02] [ 1.05253169e-03 9.99999370e-01 3.90674067e-04 -4.60450548e-03] [-6.49515931e-03 -3.83829678e-04 9.99978833e-01 4.39187209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60255784400002 meters 0.29234427948914166 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:0.44 [[ 9.99940495e-01 7.55416068e-03 7.87020503e-03 7.10967346e-02] [-7.54984709e-03 9.99971333e-01 -5.77657056e-04 -9.11013257e-03] [-7.87434312e-03 5.18203838e-04 9.99968863e-01 4.39733869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63255784400002 meters 0.2923860046774792 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:0.44 [[ 9.99940103e-01 7.58471291e-03 7.89061591e-03 7.09799243e-02] [-7.58104308e-03 9.99971141e-01 -4.94894764e-04 -9.44839393e-03] [-7.89414183e-03 4.35046022e-04 9.99968746e-01 4.39881725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66255784400002 meters 0.29124263714313925 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99971805e-01 -7.17702675e-04 7.47486349e-03 5.07639961e-02] [ 7.12133958e-04 9.99999467e-01 7.47627448e-04 -5.77703319e-03] [-7.47539608e-03 -7.42283265e-04 9.99971783e-01 4.38886464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69255784400002 meters 0.29134086140202897 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99971254e-01 -7.28759857e-04 7.54717395e-03 5.04735933e-02] [ 7.23361583e-04 9.99999481e-01 7.17975916e-04 -5.65715281e-03] [-7.54769326e-03 -7.12495941e-04 9.99971262e-01 4.39156819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722557844 meters 0.2911001274159912 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99971772e-01 -7.63291658e-04 7.47476750e-03 5.06486779e-02] [ 7.58684448e-04 9.99999521e-01 6.19184548e-04 -5.25836624e-03] [-7.47523653e-03 -6.13496080e-04 9.99971872e-01 4.39169916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752557844 meters 0.29025054081576573 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:0.44 [[ 9.99972332e-01 -8.05521068e-04 7.39506533e-03 5.08514893e-02] [ 8.01913356e-04 9.99999558e-01 4.90806098e-04 -4.74098707e-03] [-7.39545742e-03 -4.84862317e-04 9.99972536e-01 4.39150991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782557844 meters 0.2904803223804282 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.44 [[ 9.99976297e-01 -7.48575507e-04 6.84438669e-03 5.23209208e-02] [ 7.44087108e-04 9.99999506e-01 6.58300979e-04 -5.28223121e-03] [-6.84487610e-03 -6.53192556e-04 9.99976360e-01 4.38640243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812557844 meters 0.2921204855791155 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.44 [[ 0.99993412 0.00641858 0.00951593 0.07530706] [-0.00640499 0.99997843 -0.00145756 -0.00276863] [-0.00952508 0.00139651 0.99995366 0.43629844] [ 0. 0. 0. 1. ]] SLAMing on 165.842557844 meters 0.2916257078960084 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.44 [[ 0.99993438 0.00632308 0.00955228 0.0752503 ] [-0.00630657 0.99997857 -0.00175838 -0.0015806 ] [-0.0095632 0.00169802 0.99995283 0.4362157 ] [ 0. 0. 0. 1. ]] SLAMing on 165.872557844 meters 0.29257814354250294 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.44 [[ 0.99993907 -0.00277094 0.01068496 0.09384265] [ 0.00278511 0.99999526 -0.0013112 0.00418853] [-0.01068127 0.00134088 0.99994205 0.43697557] [ 0. 0. 0. 1. ]] SLAMing on 165.902557844 meters 0.29186830517623635 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995258 0.00440418 0.00868519 0.07097394] [-0.00437223 0.99998362 -0.00369453 0.00581183] [-0.00870132 0.00365639 0.99995546 0.43901015] [ 0. 0. 0. 1. ]] SLAMing on 165.932557844 meters 0.2907174474750149 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995016 0.00436545 0.00897846 0.07010543] [-0.00433104 0.99998322 -0.00384794 0.00640457] [-0.00899511 0.00380886 0.99995229 0.43947781] [ 0. 0. 0. 1. ]] SLAMing on 165.962557844 meters 0.2915717384167568 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995085 0.00433828 0.00891443 0.07045949] [-0.00430341 0.99998303 -0.00392756 0.00674294] [-0.00893132 0.003889 0.99995255 0.43898224] [ 0. 0. 0. 1. ]] SLAMing on 165.992557844 meters 0.29174807276010345 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995154 0.00435267 0.00883059 0.07100166] [-0.00431849 0.99998312 -0.00388654 0.00658291] [-0.00884736 0.00384822 0.99995346 0.43813665] [ 0. 0. 0. 1. ]] SLAMing on 166.022557844 meters 0.29181430453837104 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.44 [[ 0.99997358 -0.0037108 0.00625132 0.05228538] [ 0.0037271 0.99998968 -0.00259807 0.00800107] [-0.00624161 0.0026213 0.99997709 0.43676609] [ 0. 0. 0. 1. ]] SLAMing on 166.052557844 meters 0.29287474148456266 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.44 [[ 0.99997489 -0.00364822 0.00607461 0.05289052] [ 0.00366299 0.99999036 -0.002421 0.00725957] [-0.00606572 0.00244319 0.99997862 0.43635466] [ 0. 0. 0. 1. ]] SLAMing on 166.082557844 meters 0.291568758572528 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.44 [[ 0.99997535 -0.00363274 0.00600846 0.05304385] [ 0.00364709 0.99999052 -0.00237828 0.00708149] [-0.00599977 0.00240014 0.99997912 0.43639248] [ 0. 0. 0. 1. ]] SLAMing on 166.112557844 meters 0.29200394824274467 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.44 [[ 0.99997549 -0.00361292 0.00599712 0.05300275] [ 0.00362691 0.99999072 -0.00232319 0.00685177] [-0.00598867 0.00234488 0.99997932 0.43656391] [ 0. 0. 0. 1. ]] SLAMing on 166.142557844 meters 0.29227106789969914 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:0.44 [[ 0.99997481 -0.00361386 0.00610868 0.05263535] [ 0.00362813 0.99999071 -0.00232544 0.00686274] [-0.00610022 0.00234754 0.99997864 0.43676564] [ 0. 0. 0. 1. ]] SLAMing on 166.172557844 meters 0.29221056659565603 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995031 0.0047336 0.00877302 0.07178543] [-0.00470404 0.9999832 -0.00338775 0.00533203] [-0.00878891 0.00334632 0.99995578 0.43710899] [ 0. 0. 0. 1. ]] SLAMing on 166.202557844 meters 0.29188729440481476 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995065 0.00471083 0.00874667 0.07190827] [-0.00468082 0.9999831 -0.00344832 0.00558366] [-0.00876277 0.0034072 0.9999558 0.43698398] [ 0. 0. 0. 1. ]] SLAMing on 166.232557844 meters 0.29169307920209314 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.44 [[ 0.99995131 0.00471656 0.00866842 0.07223525] [-0.00468696 0.99998312 -0.00343275 0.00551668] [-0.00868446 0.00339196 0.99995654 0.43668454] [ 0. 0. 0. 1. ]] SLAMing on 166.262557844 meters 0.2901618636270201 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:0.44 [[ 9.99987529e-01 -1.30292271e-03 4.82112781e-03 5.09617243e-02] [ 1.30561104e-03 9.99998994e-01 -5.54509089e-04 2.59962442e-03] [-4.82040047e-03 5.60796691e-04 9.99988225e-01 4.38836860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29255784400002 meters 0.29208171386894255 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.44 [[ 9.99994892e-01 -1.21763799e-03 2.95529770e-03 9.21204374e-02] [ 1.21920655e-03 9.99999117e-01 -5.29021395e-04 3.10522864e-03] [-2.95465093e-03 5.32621811e-04 9.99995493e-01 4.41314091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32255784400002 meters 0.2920411818375082 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.44 [[ 9.99994941e-01 -1.25355750e-03 2.92330374e-03 9.22565083e-02] [ 1.25539106e-03 9.99999016e-01 -6.25469055e-04 3.50577982e-03] [-2.92251681e-03 6.29135781e-04 9.99995532e-01 4.41185641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35255784400002 meters 0.29180676465400435 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.44 [[ 9.99994791e-01 -1.32598870e-03 2.94289236e-03 9.21526412e-02] [ 1.32840605e-03 9.99998782e-01 -8.19617065e-04 4.30788214e-03] [-2.94180197e-03 8.23522151e-04 9.99995334e-01 4.41306057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38255784400002 meters 0.2936041773822172 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99997726e-01 -5.43316482e-04 2.06241750e-03 1.30545123e-01] [ 5.43767367e-04 9.99999828e-01 -2.18065246e-04 6.16213788e-03] [-2.06229867e-03 2.19186226e-04 9.99997849e-01 4.45337936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41255784400002 meters 0.29199288861924977 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99997608e-01 -5.60170246e-04 2.11413537e-03 1.30239278e-01] [ 5.60728644e-04 9.99999808e-01 -2.63542758e-04 6.35963455e-03] [-2.11398733e-03 2.64727584e-04 9.99997730e-01 4.45742483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44255784400002 meters 0.29135864757613544 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99997435e-01 -5.90327845e-04 2.18656537e-03 1.29925789e-01] [ 5.91088574e-04 9.99999765e-01 -3.47280440e-04 6.71309702e-03] [-2.18635985e-03 3.48572003e-04 9.99997549e-01 4.46044862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47255784400002 meters 0.29222986133891204 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99997427e-01 -5.74556240e-04 2.19430721e-03 1.29805466e-01] [ 5.75225255e-04 9.99999788e-01 -3.04267736e-04 6.53223548e-03] [-2.19413192e-03 3.05529174e-04 9.99997546e-01 4.46283452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters 0.29222986133891204 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99997427e-01 -5.74556240e-04 2.19430721e-03 1.29805466e-01] [ 5.75225255e-04 9.99999788e-01 -3.04267736e-04 6.53223548e-03] [-2.19413192e-03 3.05529174e-04 9.99997546e-01 4.46283452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532557844 meters 0.2908331802572996 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99996911e-01 -5.71342966e-04 2.41895352e-03 1.29102508e-01] [ 5.72062853e-04 9.99999792e-01 -2.96921195e-04 6.52492641e-03] [-2.41878337e-03 2.98304071e-04 9.99997030e-01 4.46685234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters 0.29081658468399463 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99996729e-01 -5.82492406e-04 2.49039509e-03 1.28815323e-01] [ 5.83307351e-04 9.99999777e-01 -3.26521510e-04 6.65343083e-03] [-2.49020434e-03 3.27973107e-04 9.99996846e-01 4.46936059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592557844 meters 0.29024600882164525 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99996821e-01 -5.71290532e-04 2.45583281e-03 1.28944850e-01] [ 5.72015767e-04 9.99999793e-01 -2.94618999e-04 6.52232434e-03] [-2.45566399e-03 2.96022837e-04 9.99996941e-01 4.46836158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622557844 meters 0.2911343764145259 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 9.99996981e-01 -5.28670361e-04 2.39987152e-03 1.29527680e-01] [ 5.29105887e-04 9.99999844e-01 -1.80847740e-04 5.92676652e-03] [-2.39977554e-03 1.82116980e-04 9.99997104e-01 4.45752964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652557844 meters 0.29328056603223834 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999840e-01 -3.70380059e-05 5.63699107e-04 1.70544970e-01] [ 3.71231412e-05 9.99999988e-01 -1.51019816e-04 7.41633026e-03] [-5.63693506e-04 1.51040718e-04 9.99999830e-01 4.48086435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682557844 meters 0.29207150873910626 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999861e-01 -4.91543011e-05 5.24095228e-04 1.70549081e-01] [ 4.92500667e-05 9.99999982e-01 -1.82714296e-04 7.54833002e-03] [-5.24086237e-04 1.82740083e-04 9.99999846e-01 4.48315098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712557844 meters 0.2917197232127688 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999842e-01 -7.57370582e-05 5.57368540e-04 1.70364300e-01] [ 7.58821640e-05 9.99999963e-01 -2.60324301e-04 7.87065033e-03] [-5.57348803e-04 2.60366554e-04 9.99999811e-01 4.48571796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.742557844 meters 0.29254236315200827 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999968e-01 -1.30815266e-04 2.16185158e-04 1.71341658e-01] [ 1.30911391e-04 9.99999893e-01 -4.44684764e-04 8.61609988e-03] [-2.16126963e-04 4.44713051e-04 9.99999878e-01 4.48096626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.772557844 meters 0.2928045328553211 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999980e-01 -1.77266553e-04 9.55588204e-05 1.71954652e-01] [ 1.77321549e-04 9.99999818e-01 -5.75817151e-04 9.15224421e-03] [-9.54567299e-05 5.75834084e-04 9.99999830e-01 4.47291044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802557844 meters 0.2933876545919134 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999977e-01 -1.95604983e-04 8.87713080e-05 1.72151083e-01] [ 1.95660478e-04 9.99999785e-01 -6.25568419e-04 9.34702602e-03] [-8.86489247e-05 6.25585773e-04 9.99999800e-01 4.46854747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832557844 meters 0.293136526019124 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999972e-01 -1.84620920e-04 1.49327173e-04 1.72037722e-01] [ 1.84709806e-04 9.99999806e-01 -5.95451297e-04 9.22490412e-03] [-1.49217212e-04 5.95478862e-04 9.99999812e-01 4.46758731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862557844 meters 0.2927587176626188 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999961e-01 -1.35517746e-04 2.44387714e-04 1.71519815e-01] [ 1.35630221e-04 9.99999885e-01 -4.60277054e-04 8.69543555e-03] [-2.44325310e-04 4.60310183e-04 9.99999864e-01 4.47484628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892557844 meters 0.29336113592117347 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999974e-01 -9.35446861e-05 2.08454728e-04 1.71463708e-01] [ 9.36177581e-05 9.99999934e-01 -3.50559152e-04 8.24228167e-03] [-2.08421922e-04 3.50578658e-04 9.99999917e-01 4.47831227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922557844 meters 0.29331409781233325 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999983e-01 -5.77912895e-05 1.73653569e-04 1.71533862e-01] [ 5.78357588e-05 9.99999966e-01 -2.56086037e-04 7.84863946e-03] [-1.73638763e-04 2.56096076e-04 9.99999952e-01 4.47881562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952557844 meters 0.29409155299641865 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999986e-01 -2.34715926e-05 1.63352682e-04 1.71644814e-01] [ 2.34986191e-05 9.99999986e-01 -1.65448944e-04 7.47119843e-03] [-1.63348797e-04 1.65452780e-04 9.99999973e-01 4.47696129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982557844 meters 0.29252800409555696 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999979e-01 2.48355406e-05 2.03101841e-04 1.71553921e-01] [-2.48281210e-05 9.99999999e-01 -3.65340297e-05 6.94232190e-03] [-2.03102749e-04 3.65289863e-05 9.99999979e-01 4.47678242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012557844 meters 0.2921006732997503 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999934e-01 1.19692481e-04 3.44092004e-04 1.71127256e-01] [-1.19777344e-04 9.99999962e-01 2.46618821e-04 5.79917586e-03] [-3.44062473e-04 -2.46660019e-04 9.99999910e-01 4.47877564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04255784400002 meters 0.2910047535498934 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.45 [[ 9.99999909e-01 1.66062130e-04 3.94235828e-04 1.70848015e-01] [-1.66209760e-04 9.99999916e-01 3.74468136e-04 5.28231102e-03] [-3.94173610e-04 -3.74533627e-04 9.99999852e-01 4.48261068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07255784400002 meters 0.29215952221586994 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999823e-01 2.09749797e-04 -5.56208191e-04 2.09031091e-01] [-2.09556290e-04 9.99999918e-01 3.47937822e-04 7.01928372e-03] [ 5.56281125e-04 -3.47821203e-04 9.99999785e-01 4.52400738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10255784400002 meters 0.291597280607238 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999834e-01 1.66317128e-04 -5.52298580e-04 2.08982746e-01] [-1.66188488e-04 9.99999959e-01 2.32955541e-04 7.49585659e-03] [ 5.52337302e-04 -2.32863717e-04 9.99999820e-01 4.52480690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13255784400002 meters 0.29109932471383226 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999875e-01 1.35433854e-04 -4.82028570e-04 2.08829053e-01] [-1.35362358e-04 9.99999980e-01 1.48352203e-04 7.84567923e-03] [ 4.82048652e-04 -1.48286936e-04 9.99999873e-01 4.52412653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16255784400002 meters 0.2915961788105429 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999903e-01 9.80230490e-05 -4.29158569e-04 2.08689335e-01] [-9.80029659e-05 9.99999994e-01 4.68172578e-05 8.26622946e-03] [ 4.29163155e-04 -4.67751944e-05 9.99999907e-01 4.52419551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19255784400002 meters 0.2910686741252879 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999936e-01 6.22347442e-05 -3.51133283e-04 2.08495865e-01] [-6.22525125e-05 9.99999997e-01 -5.05919594e-05 8.67024771e-03] [ 3.51130133e-04 5.06138151e-05 9.99999937e-01 4.52395462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22255784400002 meters 0.29310682444210595 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:0.46 [[ 9.99999138e-01 1.77294168e-04 -1.30075545e-03 2.47240443e-01] [-1.78015931e-04 9.99999830e-01 -5.54784818e-04 1.22126675e-02] [ 1.30065687e-03 5.55015895e-04 9.99999000e-01 4.56015656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252557844 meters 0.291143701327959 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999871e-01 -1.81369021e-04 -4.73499603e-04 2.08699090e-01] [ 1.80954446e-04 9.99999600e-01 -8.75451544e-04 1.00502021e-02] [ 4.73658194e-04 8.75365750e-04 9.99999505e-01 4.52378431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282557844 meters 0.292164788163841 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999833e-01 -1.67940304e-04 -5.52625496e-04 2.08956526e-01] [ 1.67477763e-04 9.99999636e-01 -8.36926425e-04 9.88418414e-03] [ 5.52765848e-04 8.36833733e-04 9.99999497e-01 4.52255900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312557844 meters 0.29082752842600834 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999805e-01 -1.91009399e-04 -5.94325215e-04 2.09084812e-01] [ 1.90475622e-04 9.99999579e-01 -8.98050058e-04 1.01368671e-02] [ 5.94496501e-04 8.97936679e-04 9.99999420e-01 4.52200802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342557844 meters 0.2923871174861455 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999747e-01 -1.33110639e-04 -6.98545665e-04 2.09385159e-01] [ 1.32594502e-04 9.99999718e-01 -7.38867509e-04 9.47748809e-03] [ 6.98643819e-04 7.38774699e-04 9.99999483e-01 4.52130995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372557844 meters 0.2925620067961895 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.45 [[ 9.99999639e-01 -2.73087799e-05 -8.48732702e-04 2.09805394e-01] [ 2.69332242e-05 9.99999902e-01 -4.42498268e-04 8.25743510e-03] [ 8.48744703e-04 4.42475249e-04 9.99999542e-01 4.52074989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402557844 meters 0.2909980546465847 Centerline is valid? [False, False] Translation: X:0.19, Y:0.00, Z:0.45 [[ 0.99998371 0.00555818 -0.00129999 0.18736362] [-0.00556278 0.9999782 -0.00355786 0.00121266] [ 0.00128019 0.00356503 0.99999283 0.45253657] [ 0. 0. 0. 1. ]] SLAMing on 167.432557844 meters 0.2931399035875659 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:0.45 [[ 0.99999755 -0.00121874 0.00184971 0.20888696] [ 0.00122061 0.99999874 -0.00101368 -0.0023228 ] [-0.00184847 0.00101593 0.99999778 0.45092066] [ 0. 0. 0. 1. ]] SLAMing on 167.462557844 meters 0.29108037662955866 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:0.45 [[ 9.99997548e-01 -1.01471249e-03 1.96841740e-03 2.08427157e-01] [ 1.01550273e-03 9.99999404e-01 -4.00503481e-04 -4.81173444e-03] [-1.96800983e-03 4.02501432e-04 9.99997982e-01 4.51345952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.492557844 meters 0.29200688791209944 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.45 [[ 9.99997688e-01 -8.10830413e-04 1.99152884e-03 2.08280552e-01] [ 8.10483602e-04 9.99999656e-01 1.74944275e-04 -7.15874305e-03] [-1.99167001e-03 -1.73329770e-04 9.99998002e-01 4.51592267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.522557844 meters 0.2918631010758836 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.45 [[ 9.99998093e-01 -4.80616434e-04 1.89262948e-03 2.08592261e-01] [ 4.78639433e-04 9.99999340e-01 1.04489367e-03 -1.07523122e-02] [-1.89313042e-03 -1.04398579e-03 9.99997663e-01 4.51478162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552557844 meters 0.29220122954630423 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.45 [[ 9.99998329e-01 -3.65645805e-04 1.79144766e-03 2.09079617e-01] [ 3.63228871e-04 9.99999024e-01 1.34929086e-03 -1.20064233e-02] [-1.79193927e-03 -1.34863790e-03 9.99997485e-01 4.50966875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582557844 meters 0.2913561490698422 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.45 [[ 9.99998416e-01 -2.33869649e-04 1.76463388e-03 2.09297580e-01] [ 2.30911080e-04 9.99998568e-01 1.67660821e-03 -1.33527534e-02] [-1.76502346e-03 -1.67619808e-03 9.99997038e-01 4.50665588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612557844 meters 0.29139700170465455 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.45 [[ 9.99998399e-01 4.93483191e-05 1.78868880e-03 2.09068975e-01] [-5.35175091e-05 9.99997282e-01 2.33089089e-03 -1.60340713e-02] [-1.78856891e-03 -2.33098289e-03 9.99995684e-01 4.51066602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642557844 meters 0.290767267072446 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.45 [[ 9.99998323e-01 1.96350795e-04 1.82089333e-03 2.08854577e-01] [-2.01302789e-04 9.99996281e-01 2.71975687e-03 -1.76145222e-02] [-1.82035253e-03 -2.72011886e-03 9.99994644e-01 4.51409639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672557844 meters 0.292934808576135 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:0.45 [[ 9.99965035e-01 7.03223009e-03 4.52501018e-03 2.29904076e-01] [-7.03400875e-03 9.99975190e-01 3.77279396e-04 -1.93142513e-02] [-4.52224479e-03 -4.09095165e-04 9.99989691e-01 4.50352786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702557844 meters 0.29224513247275036 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.45 [[ 9.99998685e-01 -1.36363730e-03 8.77884598e-04 2.11657472e-01] [ 1.36216710e-03 9.99997673e-01 1.67313529e-03 -2.23482752e-02] [-8.80164104e-04 -1.67193727e-03 9.99998215e-01 4.49901991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732557844 meters 0.2933973828073145 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:0.45 [[ 0.99998187 0.00526864 0.0029142 0.23388887] [-0.00526547 0.99998554 -0.00109333 -0.02325936] [-0.00291991 0.00107796 0.99999516 0.44819441] [ 0. 0. 0. 1. ]] SLAMing on 167.762557844 meters 0.29178547181158976 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.45 [[ 9.99994241e-01 -3.27499023e-03 8.89634651e-04 2.14242062e-01] [ 3.27475271e-03 9.99994602e-01 2.68315816e-04 -2.36625160e-02] [-8.90508581e-04 -2.65400937e-04 9.99999568e-01 4.47614850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79255784400002 meters 0.2919043095452256 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.45 [[ 9.99994762e-01 -3.10435652e-03 9.15486116e-04 2.14151635e-01] [ 3.10368718e-03 9.99994916e-01 7.31648615e-04 -2.55636933e-02] [-9.17752760e-04 -7.28803400e-04 9.99999313e-01 4.47717382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82255784400002 meters 0.2929964524496397 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.45 [[ 9.99995817e-01 -2.78681353e-03 7.74029507e-04 2.14256690e-01] [ 2.78552466e-03 9.99994741e-01 1.66127054e-03 -2.92954273e-02] [-7.78655088e-04 -1.65910752e-03 9.99998321e-01 4.48384888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85255784400002 meters 0.2934197330943899 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:0.45 [[ 9.99982082e-01 5.81297654e-03 1.43003465e-03 2.33543277e-01] [-5.81406090e-03 9.99982813e-01 7.55292484e-04 -3.52464880e-02] [-1.42561958e-03 -7.63593259e-04 9.99998692e-01 4.50027545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88255784400002 meters 0.2916484182773426 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.45 [[ 9.99994819e-01 -3.12587353e-03 -7.68489892e-04 2.13108137e-01] [ 3.12720195e-03 9.99993608e-01 1.73353132e-03 -3.62469254e-02] [ 7.63066180e-04 -1.73592556e-03 9.99998202e-01 4.50113555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91255784400002 meters 0.29365053725409623 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:0.45 [[ 9.99983606e-01 5.70461604e-03 4.94332316e-04 2.32906730e-01] [-5.70519865e-03 9.99983023e-01 1.18530790e-03 -4.24822828e-02] [-4.87562197e-04 -1.18810873e-03 9.99999175e-01 4.50644911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94255784400002 meters 0.29293806085496954 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.45 [[ 9.99998487e-01 1.60773459e-03 6.63477349e-04 2.32244755e-01] [-1.60605485e-03 9.99995524e-01 -2.52453045e-03 -4.50006889e-02] [-6.67533154e-04 2.52346105e-03 9.99996593e-01 4.51303108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97255784400002 meters 0.29297914775784933 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.45 [[ 9.99998166e-01 1.74302093e-03 7.93069394e-04 2.31657517e-01] [-1.74131201e-03 9.99996172e-01 -2.15043023e-03 -4.65505938e-02] [-7.96814603e-04 2.14904531e-03 9.99997373e-01 4.51948059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002557844 meters 0.2918358829958999 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.45 [[ 9.99997896e-01 1.85914475e-03 8.67035562e-04 2.31246422e-01] [-1.85754991e-03 9.99996588e-01 -1.83660374e-03 -4.78325417e-02] [-8.70447116e-04 1.83498932e-03 9.99997938e-01 4.52472949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032557844 meters 0.29256636955158427 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.45 [[ 9.99997670e-01 2.05459578e-03 6.62394628e-04 2.31901597e-01] [-2.05371343e-03 9.99997007e-01 -1.33000733e-03 -4.99443019e-02] [-6.65125273e-04 1.32864387e-03 9.99998896e-01 4.52211405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062557844 meters 0.2910612100690554 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99998488e-01 1.54655706e-03 7.94692947e-04 1.95283659e-01] [-1.54587855e-03 9.99998441e-01 -8.53708857e-04 -5.41641841e-02] [-7.96012017e-04 8.52479068e-04 9.99999320e-01 4.47877620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092557844 meters 0.29191026382527535 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99998488e-01 1.61064229e-03 6.55352151e-04 1.95825921e-01] [-1.61019897e-03 9.99998475e-01 -6.76429204e-04 -5.49056152e-02] [-6.56440637e-04 6.75372934e-04 9.99999556e-01 4.47423113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122557844 meters 0.29328701056529416 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99998424e-01 1.69713742e-03 5.21008067e-04 1.96303306e-01] [-1.69690744e-03 9.99998463e-01 -4.41537056e-04 -5.58815697e-02] [-5.21756615e-04 4.40652257e-04 9.99999767e-01 4.47112646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152557844 meters 0.2935312825266658 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99998355e-01 1.77732956e-03 3.63184982e-04 1.96919175e-01] [-1.77724300e-03 9.99998392e-01 -2.38519204e-04 -5.67353251e-02] [-3.63608326e-04 2.37873343e-04 9.99999906e-01 4.46648888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters 0.29338223289454696 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99998287e-01 1.81656762e-03 3.55559103e-04 1.96955560e-01] [-1.81652022e-03 9.99998341e-01 -1.33599229e-04 -5.71662379e-02] [-3.55801205e-04 1.32953120e-04 9.99999928e-01 4.46619103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212557844 meters 0.2933970254376187 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99998327e-01 1.80473956e-03 2.99536639e-04 1.97148029e-01] [-1.80469091e-03 9.99998358e-01 -1.62638844e-04 -5.70525219e-02] [-2.99829668e-04 1.62098001e-04 9.99999942e-01 4.46504171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.242557844 meters 0.29096241020927466 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:0.45 [[ 9.99972313e-01 -7.07752555e-03 -2.29840806e-03 1.78288795e-01] [ 7.07910588e-03 9.99974711e-01 6.80170492e-04 -5.56308250e-02] [ 2.29353601e-03 -6.96422334e-04 9.99997127e-01 4.45873569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.272557844 meters 0.2915046486368171 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99997591e-01 1.62300031e-03 -1.47800248e-03 1.98373767e-01] [-1.62397119e-03 9.99998466e-01 -6.55923911e-04 -5.71247049e-02] [ 1.47693564e-03 6.58322564e-04 9.99998693e-01 4.47081923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302557844 meters 0.2930257367082704 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:0.45 [[ 9.99993656e-01 -3.56192998e-03 1.95693346e-05 2.21411661e-01] [ 3.56185762e-03 9.99989390e-01 2.92106169e-03 -5.51537648e-02] [-2.99737442e-05 -2.92097345e-03 9.99995733e-01 4.45693811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.332557844 meters 0.2939793589346897 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99993516e-01 -3.60081499e-03 5.31225772e-05 2.21359635e-01] [ 3.60065109e-03 9.99989551e-01 2.81653732e-03 -5.47285136e-02] [-6.32638519e-05 -2.81632778e-03 9.99996032e-01 4.45605893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362557844 meters 0.2928100179881682 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99993363e-01 -3.64295496e-03 4.82400163e-05 2.21457729e-01] [ 3.64281112e-03 9.99989705e-01 2.70539332e-03 -5.42760589e-02] [-5.80951457e-05 -2.70519964e-03 9.99996339e-01 4.45401061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.392557844 meters 0.29276293127923875 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99993172e-01 -3.69530426e-03 2.35471830e-05 2.21583131e-01] [ 3.69523170e-03 9.99989883e-01 2.56511899e-03 -5.37064294e-02] [-3.30258399e-05 -2.56501446e-03 9.99996710e-01 4.45243006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422557844 meters 0.29276293127923875 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99993172e-01 -3.69530426e-03 2.35471830e-05 2.21583131e-01] [ 3.69523170e-03 9.99989883e-01 2.56511899e-03 -5.37064294e-02] [-3.30258399e-05 -2.56501446e-03 9.99996710e-01 4.45243006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.452557844 meters 0.2930116778524007 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99992862e-01 -3.77843960e-03 1.42926755e-05 2.21692489e-01] [ 3.77839569e-03 9.99990112e-01 2.34528499e-03 -5.28083966e-02] [-2.31540519e-05 -2.34521425e-03 9.99997250e-01 4.45017993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482557844 meters 0.29374854869403083 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 9.99992630e-01 -3.83919392e-03 2.95109691e-05 2.21717074e-01] [ 3.83912025e-03 9.99990242e-01 2.18567323e-03 -5.21563865e-02] [-3.79019045e-05 -2.18554383e-03 9.99997611e-01 4.44854847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.512557844 meters 0.29305340490720433 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 9.99992429e-01 -3.89083329e-03 5.28499487e-05 2.21716539e-01] [ 3.89071680e-03 9.99990331e-01 2.04962973e-03 -5.16009727e-02] [-6.08242052e-05 -2.04940858e-03 9.99997898e-01 4.44704240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54255784400002 meters 0.29305523535386346 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 9.99992241e-01 -3.93852629e-03 7.77420961e-05 2.21659528e-01] [ 3.93836975e-03 9.99990401e-01 1.92028521e-03 -5.10660849e-02] [-8.53044436e-05 -1.91996413e-03 9.99998153e-01 4.44673238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57255784400002 meters 0.29186521632599527 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99998555e-01 1.69818097e-03 7.28997441e-05 1.97680462e-01] [-1.69805902e-03 9.99997211e-01 -1.64151744e-03 -5.23097260e-02] [-7.56871345e-05 1.64139128e-03 9.99998650e-01 4.46308419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60255784400002 meters 0.29332508296226284 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99998983 -0.00345683 0.00289492 0.21987692] [ 0.00345166 0.99999245 0.00178761 -0.05207793] [-0.00290108 -0.0017776 0.99999421 0.44479174] [ 0. 0. 0. 1. ]] SLAMing on 168.63255784400002 meters 0.29312108904480877 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99998962 -0.00345261 0.00297345 0.21958688] [ 0.00344728 0.99999244 0.00179693 -0.05210077] [-0.00297963 -0.00178666 0.99999396 0.44499015] [ 0. 0. 0. 1. ]] SLAMing on 168.66255784400002 meters 0.2927371506496616 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99998946 -0.00350772 0.00296232 0.21974879] [ 0.00350284 0.9999925 0.00164975 -0.0515106 ] [-0.00296809 -0.00163936 0.99999425 0.44466193] [ 0. 0. 0. 1. ]] SLAMing on 168.69255784400002 meters 0.2922953149524284 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.44 [[ 9.99992099e-01 3.82866942e-03 1.06884164e-03 2.01501290e-01] [-3.82819252e-03 9.99992572e-01 -4.47867950e-04 -5.30974425e-02] [-1.07054844e-03 4.43772680e-04 9.99999328e-01 4.42581660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72255784400002 meters 0.2937454526853792 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 0.99999436 -0.00141804 0.00304399 0.22592663] [ 0.00141032 0.99999578 0.00253835 -0.05093818] [-0.00304757 -0.00253404 0.99999215 0.44006325] [ 0. 0. 0. 1. ]] SLAMing on 168.752557844 meters 0.29359440521085894 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 0.99999404 -0.0015527 0.0030823 0.22580563] [ 0.00154606 0.99999649 0.002153 -0.04937824] [-0.00308563 -0.00214822 0.99999293 0.44007747] [ 0. 0. 0. 1. ]] SLAMing on 168.782557844 meters 0.29236024893420276 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 0.99999282 -0.00175567 0.0033583 0.22508575] [ 0.00175078 0.9999974 0.00145852 -0.04662027] [-0.00336085 -0.00145263 0.9999933 0.44009987] [ 0. 0. 0. 1. ]] SLAMing on 168.812557844 meters 0.2932461390466567 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99999231 -0.00187491 0.00344337 0.22479561] [ 0.00187102 0.99999761 0.00113192 -0.04527001] [-0.00344548 -0.00112547 0.99999343 0.44023095] [ 0. 0. 0. 1. ]] SLAMing on 168.842557844 meters 0.2930807967534142 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.44 [[ 9.99991979e-01 -1.92579928e-03 3.51179050e-03 2.24490024e-01] [ 1.92232829e-03 9.99997661e-01 9.91489110e-04 -4.46749121e-02] [-3.51369170e-03 -9.84730344e-04 9.99993342e-01 4.40507885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872557844 meters 0.29247463290765874 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.44 [[ 9.99991899e-01 -1.91971789e-03 3.53795564e-03 2.24275140e-01] [ 1.91617146e-03 9.99997659e-01 1.00551109e-03 -4.47160612e-02] [-3.53987765e-03 -9.98723617e-04 9.99993236e-01 4.40864636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902557844 meters 0.29209444726276484 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99999183 -0.00185892 0.00359041 0.22399092] [ 0.00185469 0.99999758 0.00118079 -0.04540588] [-0.00359259 -0.00117412 0.99999286 0.4412695 ] [ 0. 0. 0. 1. ]] SLAMing on 168.932557844 meters 0.292291550499822 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99999127 -0.00174478 0.00379619 0.22326838] [ 0.00173876 0.99999723 0.00158947 -0.0469515 ] [-0.00379895 -0.00158285 0.99999153 0.44195519] [ 0. 0. 0. 1. ]] SLAMing on 168.962557844 meters 0.292056811781518 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99999195 -0.0016425 0.00366158 0.22364435] [ 0.00163549 0.99999683 0.00191645 -0.04825868] [-0.00366472 -0.00191045 0.99999146 0.4418819 ] [ 0. 0. 0. 1. ]] SLAMing on 168.992557844 meters 0.2927959839556393 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.44 [[ 0.99999178 0.00358393 0.00189437 0.20100665] [-0.00358122 0.99999256 -0.0014337 -0.05114554] [-0.00189949 0.0014269 0.99999718 0.44301221] [ 0. 0. 0. 1. ]] SLAMing on 169.022557844 meters 0.2932385799794639 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99998885 -0.002189 0.00418321 0.22339888] [ 0.00218125 0.9999959 0.00185631 -0.05243127] [-0.00418725 -0.00184716 0.99998953 0.44139202] [ 0. 0. 0. 1. ]] SLAMing on 169.052557844 meters 0.2934700951889581 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.44 [[ 0.99998955 -0.00203623 0.00409291 0.22367595] [ 0.002027 0.9999954 0.00225684 -0.05409258] [-0.00409749 -0.00224852 0.99998908 0.44131657] [ 0. 0. 0. 1. ]] SLAMing on 169.082557844 meters 0.2925554840448147 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.44 [[ 0.99999373 0.00333877 0.00118328 0.2017554 ] [-0.00333756 0.9999939 -0.00102567 -0.05447318] [-0.0011867 0.00102171 0.99999877 0.44317265] [ 0. 0. 0. 1. ]] SLAMing on 169.112557844 meters 0.29164169482879443 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 0.99999423 -0.00233809 0.00246553 0.22561102] [ 0.00233257 0.99999478 0.00223791 -0.05417972] [-0.00247075 -0.00223214 0.99999446 0.4412198 ] [ 0. 0. 0. 1. ]] SLAMing on 169.142557844 meters 0.29200384713097705 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 0.99999452 -0.0023187 0.00236499 0.22604409] [ 0.00231328 0.9999947 0.00229191 -0.05441741] [-0.0023703 -0.00228643 0.99999458 0.44081618] [ 0. 0. 0. 1. ]] SLAMing on 169.172557844 meters 0.29235125843150556 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.44 [[ 9.99993512e-01 3.51410408e-03 -7.92178986e-04 2.07125038e-01] [-3.51474596e-03 9.99993495e-01 -8.10344835e-04 -5.65428690e-02] [ 7.89326197e-04 8.13123885e-04 9.99999358e-01 4.40129404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202557844 meters 0.29344005512828225 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 9.99987669e-01 -4.96609487e-03 1.03134293e-05 2.27891059e-01] [ 4.96609609e-03 9.99987662e-01 -1.20917066e-04 -5.29446396e-02] [-9.71281645e-06 1.20966792e-04 9.99999993e-01 4.40170026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232557844 meters 0.292918726547521 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.44 [[ 9.99988093e-01 -4.87985884e-03 -3.74990661e-05 2.28045768e-01] [ 4.87986259e-03 9.99988088e-01 1.00500911e-04 -5.38612132e-02] [ 3.70081891e-05 -1.00682705e-04 9.99999994e-01 4.40134647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262557844 meters 0.2923721538048001 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99988642e-01 -4.76556877e-03 -7.14505634e-05 2.28002603e-01] [ 4.76559720e-03 9.99988563e-01 4.03134997e-04 -5.50981891e-02] [ 6.95285786e-05 -4.03470923e-04 9.99999916e-01 4.40465736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29255784400002 meters 0.2919018174348011 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99988899e-01 -4.71172767e-03 -4.09412055e-05 2.27834723e-01] [ 4.71174914e-03 9.99988753e-01 5.41186048e-04 -5.56497116e-02] [ 3.83908237e-05 -5.41372945e-04 9.99999853e-01 4.40680063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32255784400002 meters 0.2914334306911164 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99989102e-01 -4.66862522e-03 -2.16793222e-05 2.27712549e-01] [ 4.66863840e-03 9.99988888e-01 6.53846580e-04 -5.61079920e-02] [ 1.86265167e-05 -6.53940667e-04 9.99999786e-01 4.40857584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35255784400002 meters 0.2922459326476714 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99989288e-01 -4.62808626e-03 -7.23824829e-05 2.27763748e-01] [ 4.62814057e-03 9.99988994e-01 7.69118636e-04 -5.65651771e-02] [ 6.88221389e-05 -7.69445393e-04 9.99999702e-01 4.41053193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38255784400002 meters 0.2922475563826521 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99989830e-01 -4.50820662e-03 -1.29033297e-04 2.27863171e-01] [ 4.50835077e-03 9.99989188e-01 1.13959690e-03 -5.80526936e-02] [ 1.23894364e-04 -1.14016704e-03 9.99999342e-01 4.41168478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41255784400002 meters 0.29143441502964135 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99990123e-01 -4.44270628e-03 -1.26435187e-04 2.27798295e-01] [ 4.44286924e-03 9.99989260e-01 1.31926795e-03 -5.87773366e-02] [ 1.20572709e-04 -1.31981666e-03 9.99999122e-01 4.41327392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44255784400002 meters 0.29120835143334073 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.44 [[ 9.99990408e-01 -4.37846326e-03 -1.14844834e-04 2.27757264e-01] [ 4.37862988e-03 9.99989299e-01 1.49307450e-03 -5.94862470e-02] [ 1.08306233e-04 -1.49356304e-03 9.99998879e-01 4.41374969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47255784400002 meters 0.2929177281415692 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.44 [[ 0.99999655 0.00193148 0.00177763 0.24949156] [-0.00192848 0.99999672 -0.00168577 -0.06127385] [-0.00178089 0.00168234 0.999997 0.44055897] [ 0. 0. 0. 1. ]] SLAMing on 169.502557844 meters 0.2929249674712662 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.44 [[ 0.9999962 0.00205287 0.00184087 0.24916293] [-0.00205042 0.99999701 -0.00133049 -0.06270215] [-0.00184359 0.00132671 0.99999742 0.44096447] [ 0. 0. 0. 1. ]] SLAMing on 169.532557844 meters 0.2924818757691118 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.44 [[ 0.99999575 0.0021622 0.00195753 0.24871206] [-0.0021602 0.99999714 -0.0010232 -0.06393976] [-0.00195974 0.00101896 0.99999756 0.44135559] [ 0. 0. 0. 1. ]] SLAMing on 169.562557844 meters 0.291854005881561 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.44 [[ 9.99995567e-01 2.24759225e-03 1.95326630e-03 2.48667346e-01] [-2.24603131e-03 9.99997157e-01 -8.00970055e-04 -6.48499317e-02] [-1.95506100e-03 7.96579407e-04 9.99997772e-01 4.41492473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592557844 meters 0.2909902749983422 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 0.99999079 -0.0041198 -0.00120129 0.22743305] [ 0.00412279 0.99998837 0.00250241 -0.06820687] [ 0.00119097 -0.00250734 0.99999615 0.44297186] [ 0. 0. 0. 1. ]] SLAMing on 169.622557844 meters 0.2924720110442766 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.44 [[ 9.99996634e-01 2.45750329e-03 -8.32203909e-04 2.50461127e-01] [-2.45814028e-03 9.99996686e-01 -7.65264710e-04 -7.01826635e-02] [ 8.30320510e-04 7.67307809e-04 9.99999361e-01 4.42025931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652557844 meters 0.2906278761108097 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 9.99971048e-01 -7.43130810e-03 -1.63678498e-03 2.28837278e-01] [ 7.43054529e-03 9.99972282e-01 -4.71629979e-04 -6.96541832e-02] [ 1.64024444e-03 4.59454119e-04 9.99998549e-01 4.42258029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682557844 meters 0.2915668583697602 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.44 [[ 9.99998759e-01 1.42873902e-03 6.63567046e-04 2.48416861e-01] [-1.42799025e-03 9.99998345e-01 -1.12750853e-03 -7.29951102e-02] [-6.65176863e-04 1.12655956e-03 9.99999144e-01 4.43236520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.712557844 meters 0.290081347301009 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 0.99998349 -0.00527054 -0.00228848 0.22753139] [ 0.00527483 0.99998434 0.00186892 -0.07490685] [ 0.00227859 -0.00188096 0.99999563 0.44454029] [ 0. 0. 0. 1. ]] SLAMing on 169.742557844 meters 0.29091717421878494 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.44 [[ 0.99998332 -0.00525489 -0.00239619 0.22796251] [ 0.00525949 0.99998433 0.0019163 -0.07512795] [ 0.00238608 -0.00192887 0.99999529 0.44415948] [ 0. 0. 0. 1. ]] SLAMing on 169.772557844 meters 0.29143551377132865 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.44 [[ 9.99989902e-01 3.77253820e-03 -2.44194036e-03 2.49011116e-01] [-3.77054171e-03 9.99992554e-01 8.21671643e-04 -7.73634651e-02] [ 2.44502196e-03 -8.12455909e-04 9.99996681e-01 4.44868896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802557844 meters 0.29171374816654116 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.44 [[ 9.99989743e-01 3.69383878e-03 -2.62086037e-03 2.49544008e-01] [-3.69224896e-03 9.99992997e-01 6.11184894e-04 -7.65228821e-02] [ 2.62309963e-03 -6.01501756e-04 9.99996379e-01 4.44644913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832557844 meters 0.2904952755854665 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 0.99997858 -0.00553681 -0.00349101 0.22968482] [ 0.00554192 0.99998358 0.00145642 -0.07335344] [ 0.00348289 -0.00147574 0.99999285 0.44401228] [ 0. 0. 0. 1. ]] SLAMing on 169.862557844 meters 0.2912850591574363 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 0.99997841 -0.00558767 -0.00345882 0.22955613] [ 0.00559227 0.99998349 0.00131927 -0.07278441] [ 0.00345139 -0.00133858 0.99999315 0.44410518] [ 0. 0. 0. 1. ]] SLAMing on 169.892557844 meters 0.29192396479744415 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 0.99997816 -0.00564401 -0.00343841 0.22960088] [ 0.00564805 0.99998337 0.00116719 -0.07216752] [ 0.00343176 -0.00118658 0.99999341 0.44386447] [ 0. 0. 0. 1. ]] SLAMing on 169.922557844 meters 0.29150766343923773 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 9.99977329e-01 -5.78464576e-03 -3.44671012e-03 2.29901346e-01] [ 5.78732057e-03 9.99982959e-01 7.66578103e-04 -7.05413246e-02] [ 3.44221701e-03 -7.86507940e-04 9.99993766e-01 4.43164517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952557844 meters 0.2899085818352691 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.44 [[ 9.99976893e-01 -5.87429498e-03 -3.42137622e-03 2.29885504e-01] [ 5.87613668e-03 9.99982596e-01 5.28490521e-04 -6.95713327e-02] [ 3.41821216e-03 -5.48582784e-04 9.99994007e-01 4.43027809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982557844 meters 0.2929076757122769 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.44 [[ 9.99994437e-01 2.95118470e-03 -1.55450759e-03 2.49466046e-01] [-2.95245289e-03 9.99995310e-01 -8.14152577e-04 -6.91957261e-02] [ 1.55209759e-03 8.18737658e-04 9.99998460e-01 4.43734278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012557844 meters 0.2901852463141432 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.45 [[ 0.99998602 -0.00379141 -0.00368576 0.22673827] [ 0.00379866 0.99999086 0.00196142 -0.06913248] [ 0.00367829 -0.0019754 0.99999128 0.44573242] [ 0. 0. 0. 1. ]] SLAMing on 170.04255784400002 meters 0.2907971552640341 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:0.45 [[ 0.99998554 -0.00403758 -0.00355324 0.22622815] [ 0.00404227 0.99999097 0.00131355 -0.06642203] [ 0.0035479 -0.0013279 0.99999282 0.44605925] [ 0. 0. 0. 1. ]] SLAMing on 170.07255784400002 meters 0.29059843875633423 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.45 [[ 9.99985114e-01 -4.17989996e-03 -3.50707489e-03 2.26117750e-01] [ 4.18322846e-03 9.99990806e-01 9.42283246e-04 -6.48918250e-02] [ 3.50310400e-03 -9.56940115e-04 9.99993406e-01 4.45996839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10255784400002 meters 0.2906865728768792 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.45 [[ 9.99984753e-01 -4.28246057e-03 -3.48617916e-03 2.26049923e-01] [ 4.28483059e-03 9.99990594e-01 6.72648509e-04 -6.37774718e-02] [ 3.48326578e-03 -6.87575941e-04 9.99993697e-01 4.46004340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13255784400002 meters 0.2902636213899556 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:0.45 [[ 9.99984390e-01 -4.35338718e-03 -3.50242522e-03 2.26050187e-01] [ 4.35510645e-03 9.99990400e-01 4.83402673e-04 -6.29960944e-02] [ 3.50028715e-03 -4.98648562e-04 9.99993750e-01 4.46077761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16255784400002 meters 0.2907859680689492 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.45 [[ 9.99986363e-01 4.85587729e-03 -1.92205153e-03 2.45721487e-01] [-4.85655665e-03 9.99988146e-01 -3.48947339e-04 -6.46154323e-02] [ 1.92033430e-03 3.58277132e-04 9.99998092e-01 4.46690801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19255784400002 meters 0.2909165530346276 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:0.45 [[ 9.99986432e-01 4.88628180e-03 -1.80529306e-03 2.45160357e-01] [-4.88677175e-03 9.99988024e-01 -2.67088002e-04 -6.49109534e-02] [ 1.80396638e-03 2.75906433e-04 9.99998335e-01 4.47330003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22255784400002 meters 0.29017081357349284 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 9.99986268e-01 4.92536999e-03 -1.79037628e-03 2.44986362e-01] [-4.92567048e-03 9.99987855e-01 -1.63467582e-04 -6.53198618e-02] [ 1.78954939e-03 1.72284141e-04 9.99998384e-01 4.47652778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252557844 meters 0.2899995349608861 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.45 [[ 9.99985983e-01 4.95055325e-03 -1.87779419e-03 2.45162064e-01] [-4.95073136e-03 9.99987741e-01 -9.02133422e-05 -6.56146548e-02] [ 1.87732456e-03 9.95085323e-05 9.99998233e-01 4.47767302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282557844 meters 0.2899995349608861 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.45 [[ 9.99985983e-01 4.95055325e-03 -1.87779419e-03 2.45162064e-01] [-4.95073136e-03 9.99987741e-01 -9.02133422e-05 -6.56146548e-02] [ 1.87732456e-03 9.95085323e-05 9.99998233e-01 4.47767302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312557844 meters 0.2910585880170299 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.45 [[ 9.99990340e-01 -4.12390604e-03 -1.52121219e-03 2.67884266e-01] [ 4.12394784e-03 9.99991496e-01 2.43415163e-05 -6.42646179e-02] [ 1.52109887e-03 -3.06146809e-05 9.99998843e-01 4.47657927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342557844 meters 0.2898863851892867 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:0.45 [[ 9.99989545e-01 4.01425783e-03 -2.18977206e-03 2.48133257e-01] [-4.01616977e-03 9.99991557e-01 -8.69425560e-04 -6.94850145e-02] [ 2.18626347e-03 8.78210966e-04 9.99997224e-01 4.46858430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372557844 meters 0.29063997215034887 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.45 [[ 9.99993841e-01 -3.49493352e-03 -3.21176308e-04 2.66519927e-01] [ 3.49516913e-03 9.99993621e-01 7.35977331e-04 -6.57273595e-02] [ 3.18602068e-04 -7.37095364e-04 9.99999678e-01 4.48399852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402557844 meters 0.29069449706447337 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.45 [[ 9.99994049e-01 -3.44246213e-03 -2.28533411e-04 2.66184729e-01] [ 3.44265996e-03 9.99993695e-01 8.70980518e-04 -6.62719410e-02] [ 2.25533653e-04 -8.71762097e-04 9.99999595e-01 4.48627290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432557844 meters 0.2892752113295443 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99999452 0.00232463 -0.00235841 0.24366199] [-0.00232999 0.99999471 -0.00227166 -0.06681433] [ 0.00235312 0.00227714 0.99999464 0.45018173] [ 0. 0. 0. 1. ]] SLAMing on 170.462557844 meters 0.28998422764602233 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99999443 0.00228223 -0.00243702 0.24402493] [-0.00228803 0.99999455 -0.00238054 -0.06637797] [ 0.00243157 0.0023861 0.9999942 0.44980415] [ 0. 0. 0. 1. ]] SLAMing on 170.492557844 meters 0.2890563710683837 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.45 [[ 0.99997984 -0.00341125 -0.00535484 0.22180479] [ 0.00341773 0.99999344 0.00120119 -0.06832575] [ 0.00535071 -0.00121947 0.99998494 0.45142357] [ 0. 0. 0. 1. ]] SLAMing on 170.522557844 meters 0.2896102504397675 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.45 [[ 0.99997929 -0.00343866 -0.0054407 0.22213796] [ 0.00344485 0.99999343 0.0011289 -0.06804356] [ 0.00543678 -0.00114761 0.99998456 0.45113298] [ 0. 0. 0. 1. ]] SLAMing on 170.552557844 meters 0.2916191597349167 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998946 0.00359834 -0.00285078 0.24321449] [-0.00360324 0.99999203 -0.00171765 -0.06620303] [ 0.00284458 0.0017279 0.99999446 0.45029148] [ 0. 0. 0. 1. ]] SLAMing on 170.582557844 meters 0.291270129103407 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998977 0.00354128 -0.00281259 0.24311698] [-0.00354655 0.99999196 -0.00187044 -0.06557588] [ 0.00280595 0.00188039 0.9999943 0.45027936] [ 0. 0. 0. 1. ]] SLAMing on 170.612557844 meters 0.291918634425444 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.45 [[ 0.99998999 0.00346364 -0.00283172 0.24330866] [-0.00346953 0.99999182 -0.0020784 -0.06473352] [ 0.0028245 0.0020882 0.99999383 0.44994593] [ 0. 0. 0. 1. ]] SLAMing on 170.642557844 meters 0.29154976382918485 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.45 [[ 0.99999004 0.00348218 -0.00279035 0.24318951] [-0.00348786 0.99999185 -0.00203254 -0.06492188] [ 0.00278325 0.00204225 0.99999404 0.44997167] [ 0. 0. 0. 1. ]] SLAMing on 170.672557844 meters 0.291041812015589 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998967 0.00353893 -0.0028532 0.24330198] [-0.0035443 0.99999195 -0.00188054 -0.06554633] [ 0.00284652 0.00189064 0.99999416 0.45009581] [ 0. 0. 0. 1. ]] SLAMing on 170.702557844 meters 0.2902461331064711 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.9999894 0.00360493 -0.00286309 0.24323485] [-0.00360982 0.99999203 -0.00170412 -0.06626221] [ 0.00285692 0.00171444 0.99999445 0.450318 ] [ 0. 0. 0. 1. ]] SLAMing on 170.732557844 meters 0.2902694148709386 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998871 0.00373404 -0.002939 0.24342232] [-0.0037379 0.99999216 -0.00131043 -0.0678418 ] [ 0.00293409 0.0013214 0.99999482 0.45033351] [ 0. 0. 0. 1. ]] SLAMing on 170.762557844 meters 0.2921092629788041 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.45 [[ 9.99987913e-01 -4.29384233e-03 -2.39499418e-03 2.63749357e-01] [ 4.29349437e-03 9.99990772e-01 -1.50408708e-04 -6.46729573e-02] [ 2.39561791e-03 1.40123996e-04 9.99997121e-01 4.51096881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79255784400002 meters 0.28880552645756374 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 9.99989732e-01 9.25375891e-04 -4.43621085e-03 2.40286615e-01] [-9.40377892e-04 9.99993843e-01 -3.38082292e-03 -6.64527523e-02] [ 4.43305500e-03 3.38495992e-03 9.99984445e-01 4.52964767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82255784400002 meters 0.28964366340155573 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998916 0.00103643 -0.00453992 0.24057312] [-0.00105042 0.9999947 -0.00308058 -0.06770362] [ 0.00453671 0.00308531 0.99998495 0.4529442 ] [ 0. 0. 0. 1. ]] SLAMing on 170.85255784400002 meters 0.2908473574377894 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.9999882 0.00127959 -0.00468731 0.24090098] [-0.00129068 0.99999637 -0.00236529 -0.07059714] [ 0.00468427 0.00237131 0.99998622 0.45307536] [ 0. 0. 0. 1. ]] SLAMing on 170.88255784400002 meters 0.2900423505023701 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998823 0.00142645 -0.00463703 0.2406768 ] [-0.00143561 0.99999703 -0.00197118 -0.07220442] [ 0.00463421 0.00197781 0.99998731 0.45330291] [ 0. 0. 0. 1. ]] SLAMing on 170.91255784400002 meters 0.29106525686944845 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.45 [[ 0.99998827 0.0015901 -0.00457534 0.24045669] [-0.00159713 0.99999755 -0.00153334 -0.07400165] [ 0.00457289 0.00154063 0.99998836 0.45348439] [ 0. 0. 0. 1. ]] SLAMing on 170.94255784400002 meters 0.28940470556959386 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 0.99998837 0.00173866 -0.00449831 0.2401901 ] [-0.00174378 0.99999784 -0.0011334 -0.0756316 ] [ 0.00449633 0.00114123 0.99998924 0.45366534] [ 0. 0. 0. 1. ]] SLAMing on 170.97255784400002 meters 0.29158488450521086 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99987690e-01 1.97449075e-03 -4.55197078e-03 2.40213848e-01] [-1.97676818e-03 9.99997923e-01 -4.95871779e-04 -7.82218023e-02] [ 4.55098223e-03 5.04863866e-04 9.99989517e-01 4.53937775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters 0.2904896420076207 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99987274e-01 2.07363153e-03 -4.59906879e-03 2.40394713e-01] [-2.07474260e-03 9.99997820e-01 -2.36826929e-04 -7.92999760e-02] [ 4.59856767e-03 2.46365799e-04 9.99989396e-01 4.53818349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032557844 meters 0.2919063915603752 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:0.45 [[ 0.9999917 -0.00380609 -0.00145126 0.26147337] [ 0.00380999 0.99998911 0.00269406 -0.08041383] [ 0.00144099 -0.00269957 0.99999532 0.4521273 ] [ 0. 0. 0. 1. ]] SLAMing on 171.062557844 meters 0.29029827296861643 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99991187e-01 2.04693909e-03 -3.66557035e-03 2.40023358e-01] [-2.04779683e-03 9.99997877e-01 -2.30262838e-04 -8.23934701e-02] [ 3.66509123e-03 2.37767152e-04 9.99993255e-01 4.53284340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092557844 meters 0.2909748897455807 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99991394e-01 2.08882628e-03 -3.58449403e-03 2.39853535e-01] [-2.08923267e-03 9.99997812e-01 -1.09632143e-04 -8.28708313e-02] [ 3.58425718e-03 1.17120042e-04 9.99993570e-01 4.53217639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters 0.2916294253579217 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99991582e-01 2.07964947e-03 -3.53714968e-03 2.39797209e-01] [-2.08013436e-03 9.99997828e-01 -1.33410233e-04 -8.27770962e-02] [ 3.53686455e-03 1.40766857e-04 9.99993735e-01 4.53067573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152557844 meters 0.2913765587175422 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.45 [[ 9.99991548e-01 2.13462233e-03 -3.51385083e-03 2.39716448e-01] [-2.13460654e-03 9.99997722e-01 8.24422636e-06 -8.33587505e-02] [ 3.51386042e-03 -7.43467743e-07 9.99993826e-01 4.53120580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182557844 meters 0.2919501762260644 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.45 [[ 9.99991311e-01 2.33456694e-03 -3.45368696e-03 2.39392087e-01] [-2.33264624e-03 9.99997123e-01 5.60054997e-04 -8.55822983e-02] [ 3.45498451e-03 -5.51993900e-04 9.99993879e-01 4.53528336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.212557844 meters 0.2906072819957007 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.45 [[ 0.99996598 -0.00676412 -0.00472004 0.21911995] [ 0.00677298 0.99997533 0.00186265 -0.08667658] [ 0.00470733 -0.00189456 0.99998713 0.45283465] [ 0. 0. 0. 1. ]] SLAMing on 171.242557844 meters 0.28991672472778085 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.45 [[ 9.99982599e-01 1.14896553e-03 -5.78626871e-03 2.00967849e-01] [-1.14318372e-03 9.99998844e-01 1.00243676e-03 -9.41124812e-02] [ 5.78741379e-03 -9.95804548e-04 9.99982757e-01 4.51460967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.272557844 meters 0.2905374896999882 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.45 [[ 0.99998061 0.00136646 -0.00607502 0.20163106] [-0.00135551 0.99999745 0.00180735 -0.09723599] [ 0.00607747 -0.00179908 0.99997991 0.45156179] [ 0. 0. 0. 1. ]] SLAMing on 171.302557844 meters 0.2908699722984047 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.45 [[ 0.99997938 0.00147273 -0.0062509 0.20212471] [-0.00145949 0.99999668 0.00212203 -0.0985224 ] [ 0.006254 -0.00211287 0.99997821 0.45144994] [ 0. 0. 0. 1. ]] SLAMing on 171.332557844 meters 0.28950841633437757 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.45 [[ 0.99997887 0.00155768 -0.00631188 0.20231161] [-0.00154282 0.99999603 0.00235813 -0.09949703] [ 0.00631553 -0.00234835 0.9999773 0.45138201] [ 0. 0. 0. 1. ]] SLAMing on 171.362557844 meters 0.2906494347985891 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.45 [[ 0.99997854 0.00160788 -0.00635052 0.20239942] [-0.00159209 0.99999563 0.00249116 -0.10004668] [ 0.0063545 -0.00248099 0.99997673 0.4514119 ] [ 0. 0. 0. 1. ]] SLAMing on 171.392557844 meters 0.2897362495869532 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.45 [[ 0.99997875 0.00165445 -0.00630564 0.20223439] [-0.00163799 0.99999524 0.00261427 -0.10054924] [ 0.00630994 -0.00260388 0.9999767 0.45153415] [ 0. 0. 0. 1. ]] SLAMing on 171.422557844 meters 0.29120249513275326 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997939 0.00123565 -0.00629991 0.23905316] [-0.00122811 0.99999852 0.00120108 -0.09911283] [ 0.00630138 -0.00119331 0.99997943 0.45616052] [ 0. 0. 0. 1. ]] SLAMing on 171.452557844 meters 0.290705234803786 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.9999796 0.0012539 -0.0062637 0.238943 ] [-0.00124611 0.99999845 0.00124749 -0.09930134] [ 0.00626525 -0.00123966 0.9999796 0.45620173] [ 0. 0. 0. 1. ]] SLAMing on 171.482557844 meters 0.2892878070392278 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997886 0.001261 -0.00637896 0.23934658] [-0.00125291 0.99999841 0.00127227 -0.09943323] [ 0.00638055 -0.00126425 0.99997884 0.45593294] [ 0. 0. 0. 1. ]] SLAMing on 171.512557844 meters 0.2904461215400685 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997735 0.00130161 -0.00660392 0.24000802] [-0.00129234 0.99999817 0.00140806 -0.10000082] [ 0.00660574 -0.00139949 0.9999772 0.45562917] [ 0. 0. 0. 1. ]] SLAMing on 171.54255784400002 meters 0.29066264490357474 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997716 0.00134826 -0.00662315 0.23999245] [-0.0013381 0.99999792 0.00153796 -0.10052233] [ 0.00662521 -0.00152906 0.99997688 0.45579062] [ 0. 0. 0. 1. ]] SLAMing on 171.57255784400002 meters 0.29119728588640786 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.9999773 0.00140475 -0.00658933 0.23978283] [-0.0013936 0.99999759 0.00169619 -0.1011501 ] [ 0.0065917 -0.00168697 0.99997685 0.45610249] [ 0. 0. 0. 1. ]] SLAMing on 171.60255784400002 meters 0.2910268376128544 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997765 0.0014594 -0.00652468 0.23946655] [-0.00144734 0.99999723 0.00185348 -0.1017584 ] [ 0.00652737 -0.001844 0.999977 0.45649479] [ 0. 0. 0. 1. ]] SLAMing on 171.63255784400002 meters 0.29028955482292806 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.46 [[ 0.99997862 0.00151468 -0.00636122 0.23891734] [-0.00150184 0.99999683 0.00202157 -0.10242139] [ 0.00636426 -0.00201197 0.99997772 0.4568768 ] [ 0. 0. 0. 1. ]] SLAMing on 171.66255784400002 meters 0.2893546100995256 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:0.46 [[ 0.99993659 -0.00883932 -0.00697747 0.21685564] [ 0.00885437 0.99995853 0.00212867 -0.10326708] [ 0.00695836 -0.00219031 0.99997339 0.45689926] [ 0. 0. 0. 1. ]] SLAMing on 171.69255784400002 meters 0.28940108034916745 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:0.45 [[ 9.99977844e-01 5.44038044e-03 -3.83597916e-03 2.20009597e-01] [-5.44343172e-03 9.99984876e-01 -7.85445698e-04 -1.07680026e-01] [ 3.83164802e-03 8.06309186e-04 9.99992334e-01 4.53814904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72255784400002 meters 0.2895633803761864 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:0.45 [[ 9.99977194e-01 5.49168838e-03 -3.93110242e-03 2.20232359e-01] [-5.49420443e-03 9.99984709e-01 -6.29522762e-04 -1.08307172e-01] [ 3.92758517e-03 6.51106685e-04 9.99992075e-01 4.53847492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752557844 meters 0.29061004120143963 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99989570e-01 -2.80425999e-03 -3.60512874e-03 2.42206965e-01] [ 2.80469020e-03 9.99996060e-01 1.14283981e-04 -1.06854104e-01] [ 3.60479405e-03 -1.24394058e-04 9.99993495e-01 4.54620578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782557844 meters 0.2901893024759521 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99988872e-01 -2.76465109e-03 -3.82270768e-03 2.42882359e-01] [ 2.76556308e-03 9.99996149e-01 2.33307462e-04 -1.07365388e-01] [ 3.82204794e-03 -2.43876805e-04 9.99992666e-01 4.54260436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812557844 meters 0.2899958205366954 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99988980e-01 -2.72747092e-03 -3.82111680e-03 2.42898459e-01] [ 2.72876035e-03 9.99996222e-01 3.32276092e-04 -1.07772573e-01] [ 3.82019609e-03 -3.42699342e-04 9.99992644e-01 4.54211515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842557844 meters 0.29050507928624003 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99989251e-01 -2.67889706e-03 -3.78433452e-03 2.42853509e-01] [ 2.68067149e-03 9.99996299e-01 4.63896034e-04 -1.08313125e-01] [ 3.78307778e-03 -4.74035605e-04 9.99992732e-01 4.54097226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872557844 meters 0.29074434456697096 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99989142e-01 -2.62616514e-03 -3.84960412e-03 2.43110146e-01] [ 2.62854591e-03 9.99996357e-01 6.13515609e-04 -1.08930044e-01] [ 3.84797890e-03 -6.23627809e-04 9.99992402e-01 4.53875372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902557844 meters 0.2912645529804865 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 9.99987412e-01 -2.54169814e-03 -4.32626066e-03 2.44357241e-01] [ 2.54576794e-03 9.99996322e-01 9.35473121e-04 -1.10242354e-01] [ 4.32386706e-03 -9.46475001e-04 9.99990204e-01 4.53550302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932557844 meters 0.29212866109352886 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:0.45 [[ 0.99998793 -0.0024246 -0.00427358 0.24418287] [ 0.00243007 0.99999623 0.00127486 -0.11161449] [ 0.00427047 -0.00128523 0.99999006 0.45363084] [ 0. 0. 0. 1. ]] SLAMing on 171.962557844 meters 0.28981257956765644 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:0.46 [[ 0.99997962 0.00292791 -0.00567334 0.2193484 ] [-0.002938 0.99999412 -0.00177116 -0.11222563] [ 0.00566812 0.00178779 0.99998234 0.45616878] [ 0. 0. 0. 1. ]] SLAMing on 171.992557844 meters 0.2903772877688531 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.46 [[ 0.99998239 -0.00573445 -0.00152781 0.23772204] [ 0.00573238 0.99998265 -0.00135616 -0.11704843] [ 0.00153556 0.00134738 0.99999791 0.45685644] [ 0. 0. 0. 1. ]] SLAMing on 172.022557844 meters 0.29066164550378093 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.46 [[ 9.99983493e-01 -5.59050566e-03 -1.32696415e-03 2.37062910e-01] [ 5.58923926e-03 9.99983923e-01 -9.56152116e-04 -1.18712222e-01] [ 1.33228819e-03 9.48719613e-04 9.99998662e-01 4.57181998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052557844 meters 0.288942987587601 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 0.99999611 0.00250701 -0.00122181 0.21687171] [-0.00250931 0.99999508 -0.00188266 -0.12256218] [ 0.00121708 0.00188572 0.99999748 0.45540223] [ 0. 0. 0. 1. ]] SLAMing on 172.082557844 meters 0.29073164022980286 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:0.45 [[ 9.99995370e-01 -2.91993835e-03 -8.56356254e-04 2.41133178e-01] [ 2.92163955e-03 9.99993748e-01 1.99206941e-03 -1.24494286e-01] [ 8.50534180e-04 -1.99456215e-03 9.99997649e-01 4.53632361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112557844 meters 0.28898789799890445 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 0.99998925 0.00203349 -0.00416707 0.21865001] [-0.0020388 0.99999712 -0.00126877 -0.12251241] [ 0.00416448 0.00127725 0.99999051 0.45548451] [ 0. 0. 0. 1. ]] SLAMing on 172.142557844 meters 0.2900851452163421 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 0.9999887 0.00209184 -0.00426964 0.21884151] [-0.00209662 0.99999718 -0.0011159 -0.12313107] [ 0.00426729 0.00112484 0.99999026 0.45564123] [ 0. 0. 0. 1. ]] SLAMing on 172.172557844 meters 0.2907290569879574 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 9.99988468e-01 2.14679515e-03 -4.29583309e-03 2.18844607e-01] [-2.15099837e-03 9.99997212e-01 -9.74061647e-04 -1.23707202e-01] [ 4.29373001e-03 9.83290745e-04 9.99990298e-01 4.55775352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202557844 meters 0.2896419260676289 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 9.99988655e-01 2.22514447e-03 -4.21179977e-03 2.18522149e-01] [-2.22840936e-03 9.99997220e-01 -7.70644392e-04 -1.24547964e-01] [ 4.21007326e-03 7.80021262e-04 9.99990833e-01 4.55994576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232557844 meters 0.2896419260676289 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.46 [[ 9.99988655e-01 2.22514447e-03 -4.21179977e-03 2.18522149e-01] [-2.22840936e-03 9.99997220e-01 -7.70644392e-04 -1.24547964e-01] [ 4.21007326e-03 7.80021262e-04 9.99990833e-01 4.55994576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262557844 meters 0.2903080429725272 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.46 [[ 9.99988766e-01 2.27998539e-03 -4.15565532e-03 2.18339737e-01] [-2.28262198e-03 9.99997196e-01 -6.29827251e-04 -1.25129328e-01] [ 4.15420767e-03 6.39305966e-04 9.99991167e-01 4.56066630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29255784400002 meters 0.2887591065371246 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.45 [[ 9.99996600e-01 1.19666638e-03 -2.31704971e-03 1.78791744e-01] [-1.19716296e-03 9.99999261e-01 -2.12944001e-04 -1.25527875e-01] [ 2.31679318e-03 2.15717163e-04 9.99997293e-01 4.52441773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32255784400002 meters 0.2889030677245766 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.45 [[ 9.99996434e-01 1.26447700e-03 -2.35227785e-03 1.78940624e-01] [-1.26455076e-03 9.99999200e-01 -2.98675585e-05 -1.26278578e-01] [ 2.35223820e-03 3.28420267e-05 9.99997233e-01 4.52285898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35255784400002 meters 0.2903205424683387 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.45 [[ 9.99996223e-01 1.38723136e-03 -2.37285008e-03 1.79197573e-01] [-1.38650982e-03 9.99998992e-01 3.05699559e-04 -1.27669637e-01] [ 2.37327177e-03 -3.02408424e-04 9.99997138e-01 4.51764918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38255784400002 meters 0.2894586172122817 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.13, Z:0.45 [[ 0.99997655 -0.00541424 -0.00419248 0.15781841] [ 0.0054286 0.99997941 0.003421 -0.12668938] [ 0.00417387 -0.00344368 0.99998536 0.45244507] [ 0. 0. 0. 1. ]] SLAMing on 172.41255784400002 meters 0.2905757300917331 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.45 [[ 9.99996441e-01 1.85698119e-03 -1.91554800e-03 1.79398688e-01] [-1.85558370e-03 9.99998011e-01 7.31074234e-04 -1.26168227e-01] [ 1.91690178e-03 -7.27517173e-04 9.99997898e-01 4.51010530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44255784400002 meters 0.2903732496265946 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.45 [[ 9.99996396e-01 1.78629174e-03 -2.00443029e-03 1.79679534e-01] [-1.78520905e-03 9.99998260e-01 5.41804991e-04 -1.25394756e-01] [ 2.00539462e-03 -5.38224711e-04 9.99997844e-01 4.50892352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47255784400002 meters 0.29057833941285366 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99996202e-01 1.72736802e-03 -2.14741903e-03 1.80140099e-01] [-1.72654666e-03 9.99998436e-01 3.84279671e-04 -1.24745870e-01] [ 2.14807946e-03 -3.80570593e-04 9.99997620e-01 4.50676626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters 0.2917743497627175 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.12, Z:0.45 [[ 0.9999902 -0.00427949 -0.00112982 0.20288801] [ 0.00428327 0.99998518 0.00336121 -0.12453425] [ 0.00111542 -0.00336602 0.99999371 0.44983054] [ 0. 0. 0. 1. ]] SLAMing on 172.532557844 meters 0.29027837519782407 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99988873e-01 7.57265356e-04 -4.65618223e-03 1.80553366e-01] [-7.56956558e-04 9.99999711e-01 6.80818369e-05 -1.21268519e-01] [ 4.65623244e-03 -6.45565517e-05 9.99989158e-01 4.51884942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters 0.28934156142221945 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99988893e-01 7.51587256e-04 -4.65289357e-03 1.80494187e-01] [-7.51353230e-04 9.99999716e-01 5.20446907e-05 -1.21201748e-01] [ 4.65293137e-03 -4.85481460e-05 9.99989174e-01 4.52004918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592557844 meters 0.29058711020508393 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99989286e-01 7.19097393e-04 -4.57284935e-03 1.80218797e-01] [-7.19263349e-04 9.99999741e-01 -3.46472667e-05 -1.20842747e-01] [ 4.57282325e-03 3.79359784e-05 9.99989544e-01 4.52184183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters 0.2907519386104196 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99989710e-01 6.88739627e-04 -4.48388694e-03 1.79911287e-01] [-6.89270610e-04 9.99999756e-01 -1.16876032e-04 -1.20496318e-01] [ 4.48380535e-03 1.19965441e-04 9.99989940e-01 4.52386404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652557844 meters 0.29117553921164224 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99989517e-01 6.27991925e-04 -4.53553641e-03 1.80143486e-01] [-6.29258414e-04 9.99999763e-01 -2.77815261e-04 -1.19834025e-01] [ 4.53536087e-03 2.80666374e-04 9.99989676e-01 4.52161642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682557844 meters 0.2905700195289663 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99989408e-01 6.80221137e-04 -4.55202214e-03 1.80253208e-01] [-6.80858795e-04 9.99999759e-01 -1.38534307e-04 -1.20409010e-01] [ 4.55192681e-03 1.41632124e-04 9.99989630e-01 4.51999562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.712557844 meters 0.291497373230021 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99989684e-01 7.36634023e-04 -4.48216388e-03 1.80113556e-01] [-7.36592075e-04 9.99999729e-01 1.10096702e-05 -1.21022312e-01] [ 4.48217078e-03 -7.70803020e-06 9.99989955e-01 4.51898730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.742557844 meters 0.2911935903966476 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99990694e-01 8.06551445e-04 -4.23813603e-03 1.79360279e-01] [-8.05675437e-04 9.99999654e-01 2.08399730e-04 -1.21821316e-01] [ 4.23830265e-03 -2.04983229e-04 9.99990997e-01 4.52273942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.772557844 meters 0.2909317247281117 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99991167e-01 7.82489409e-04 -4.12951706e-03 1.79020357e-01] [-7.81905301e-04 9.99999684e-01 1.43059502e-04 -1.21549105e-01] [ 4.12962770e-03 -1.39829347e-04 9.99991463e-01 4.52421681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802557844 meters 0.2908767963122787 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99991240e-01 7.53632237e-04 -4.11733125e-03 1.79071022e-01] [-7.53366251e-04 9.99999714e-01 6.61520928e-05 -1.21235645e-01] [ 4.11737992e-03 -6.30496548e-05 9.99991522e-01 4.52238918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832557844 meters 0.28984914420709823 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99990942e-01 7.11539680e-04 -4.19630261e-03 1.79404081e-01] [-7.11728052e-04 9.99999746e-01 -4.33969155e-05 -1.20792606e-01] [ 4.19627067e-03 4.63831487e-05 9.99991195e-01 4.51947225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862557844 meters 0.29037889754463886 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 9.99990719e-01 6.52512948e-04 -4.25860655e-03 1.79669555e-01] [-6.53350370e-04 9.99999768e-01 -1.95254141e-04 -1.20172601e-01] [ 4.25847815e-03 1.98034691e-04 9.99990913e-01 4.51724683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892557844 meters 0.28964151756261003 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 0.99997957 0.00481443 -0.00420436 0.17956066] [-0.00479929 0.999982 0.00360209 -0.1179877 ] [ 0.00422162 -0.00358184 0.99998467 0.45179836] [ 0. 0. 0. 1. ]] SLAMing on 172.922557844 meters 0.29100881473532547 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.45 [[ 0.9999809 0.00458452 -0.00414487 0.1793513 ] [-0.00457221 0.99998513 0.00297374 -0.11539588] [ 0.00415844 -0.00295473 0.99998699 0.45196831] [ 0. 0. 0. 1. ]] SLAMing on 172.952557844 meters 0.2904054553583743 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.45 [[ 0.9999823 0.00433396 -0.00407618 0.17911674] [-0.00432464 0.99998802 0.00229199 -0.11258749] [ 0.00408606 -0.00227432 0.99998907 0.45214459] [ 0. 0. 0. 1. ]] SLAMing on 172.982557844 meters 0.2913496627499704 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.45 [[ 0.99998506 0.00387868 -0.00385092 0.17853954] [-0.00387439 0.99999187 0.00112018 -0.10772372] [ 0.00385523 -0.00110525 0.99999196 0.45217379] [ 0. 0. 0. 1. ]] SLAMing on 173.012557844 meters 0.29079676066851295 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.45 [[ 9.99986209e-01 3.69251839e-03 -3.73458860e-03 1.78318102e-01] [-3.69012279e-03 9.99992981e-01 6.48148734e-04 -1.05782724e-01] [ 3.73695569e-03 -6.34358705e-04 9.99992816e-01 4.52032127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04255784400002 meters 0.28972918588882973 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99987210e-01 3.54426217e-03 -3.60799056e-03 1.78089952e-01] [-3.54336201e-03 9.99993690e-01 2.55853593e-04 -1.04191891e-01] [ 3.60887460e-03 -2.43065904e-04 9.99993458e-01 4.51854101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07255784400002 meters 0.29053942730420507 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99987766e-01 3.43036123e-03 -3.56372250e-03 1.78057173e-01] [-3.43056087e-03 9.99994114e-01 -4.99095695e-05 -1.02964436e-01] [ 3.56353032e-03 6.21345258e-05 9.99993649e-01 4.51697717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10255784400002 meters 0.29175243013255325 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99986599e-01 3.22455083e-03 -4.05028935e-03 1.79735279e-01] [-3.22677236e-03 9.99994647e-01 -5.42071848e-04 -1.01046312e-01] [ 4.04851973e-03 5.55133945e-04 9.99991651e-01 4.50518792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13255784400002 meters 0.29111670814631363 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99985926e-01 3.14095485e-03 -4.27568193e-03 1.80568787e-01] [-3.14429769e-03 9.99994756e-01 -7.75329301e-04 -1.00122164e-01] [ 4.27322423e-03 7.88762406e-04 9.99990559e-01 4.49805820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16255784400002 meters 0.2929282025372917 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 0.99998544 0.00305399 -0.00444793 0.18127237] [-0.00305852 0.99999481 -0.00101194 -0.09916618] [ 0.00444481 0.00102553 0.9999896 0.44915773] [ 0. 0. 0. 1. ]] SLAMing on 173.19255784400002 meters 0.29044268354781777 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:0.45 [[ 0.99999115 0.00212341 -0.0036314 0.14279769] [-0.00212808 0.99999692 -0.00128096 -0.09558455] [ 0.00362866 0.00128867 0.99999259 0.44544861] [ 0. 0. 0. 1. ]] SLAMing on 173.22255784400002 meters 0.2919028299794381 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.10, Z:0.44 [[ 9.99993041e-01 -3.72368271e-03 -2.26316966e-04 1.63403515e-01] [ 3.72404531e-03 9.99991748e-01 1.62346327e-03 -9.58544023e-02] [ 2.20269837e-04 -1.62429479e-03 9.99998657e-01 4.44476152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252557844 meters 0.2926752123510724 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99987068e-01 4.88448211e-03 1.41655037e-03 1.81970067e-01] [-4.88488731e-03 9.99988029e-01 2.82725667e-04 -9.96170146e-02] [-1.41515245e-03 -2.89641700e-04 9.99998957e-01 4.45389400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282557844 meters 0.29228383735066 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:0.45 [[ 9.99987264e-01 4.82000652e-03 1.49663832e-03 1.81759816e-01] [-4.82018127e-03 9.99988376e-01 1.13174387e-04 -9.89196800e-02] [-1.49607543e-03 -1.20387014e-04 9.99998874e-01 4.45416748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312557844 meters 0.2897180467226755 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.45 [[ 9.99998187e-01 -1.77145268e-03 6.98564014e-04 1.58037736e-01] [ 1.76963407e-03 9.99995066e-01 2.59543668e-03 -9.32936398e-02] [-7.03158261e-04 -2.59419577e-03 9.99996388e-01 4.47240760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342557844 meters 0.29124084157156666 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.45 [[ 9.99997905e-01 -1.93590713e-03 6.64638553e-04 1.58120465e-01] [ 1.93448735e-03 9.99995860e-01 2.13020035e-03 -9.14033713e-02] [-6.68759671e-04 -2.12891016e-03 9.99997510e-01 4.47267975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372557844 meters 0.29068505818148543 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:0.45 [[ 9.99997599e-01 -2.10279729e-03 6.17194926e-04 1.58332306e-01] [ 2.10177571e-03 9.99996428e-01 1.65121058e-03 -8.94623508e-02] [-6.20664882e-04 -1.64990941e-03 9.99998446e-01 4.47084682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402557844 meters 0.29205760759894 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:0.45 [[ 0.99998299 0.00491651 0.00313801 0.17947571] [-0.0049129 0.99998726 -0.00115621 -0.0879038 ] [-0.00314366 0.00114077 0.99999441 0.44560571] [ 0. 0. 0. 1. ]] SLAMing on 173.432557844 meters 0.29178259458406036 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991822e-01 -3.74461996e-03 1.52788990e-03 1.61942510e-01] [ 3.74548201e-03 9.99992828e-01 -5.61739733e-04 -7.85931562e-02] [-1.52577544e-03 5.67457823e-04 9.99998675e-01 4.44125399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.462557844 meters 0.2904065391738512 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991586e-01 -3.83714487e-03 1.45045417e-03 1.62225244e-01] [ 3.83832411e-03 9.99992305e-01 -8.11113332e-04 -7.75626334e-02] [-1.44733065e-03 8.16673821e-04 9.99998619e-01 4.43948385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.492557844 meters 0.2918374722191998 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.44 [[ 0.99998494 0.00479409 0.00266968 0.18162797] [-0.00478851 0.99998634 -0.00209355 -0.08092081] [-0.00267968 0.00208074 0.99999424 0.44457439] [ 0. 0. 0. 1. ]] SLAMing on 173.522557844 meters 0.2910243275365123 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991109e-01 -3.65097536e-03 2.10998684e-03 1.61872567e-01] [ 3.65276945e-03 9.99992970e-01 -8.47056419e-04 -7.59166232e-02] [-2.10687942e-03 8.54756183e-04 9.99997415e-01 4.43232313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552557844 meters 0.291928332862804 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991465e-01 -3.57341480e-03 2.07392549e-03 1.61912429e-01] [ 3.57474368e-03 9.99993407e-01 -6.37401521e-04 -7.67711838e-02] [-2.07163412e-03 6.44809832e-04 9.99997646e-01 4.43334150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582557844 meters 0.2913543905411831 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991903e-01 -3.49225019e-03 1.99969658e-03 1.62107632e-01] [ 3.49306660e-03 9.99993817e-01 -4.04921053e-04 -7.77076932e-02] [-1.99827013e-03 4.11902847e-04 9.99997919e-01 4.43289418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612557844 meters 0.2918136909061913 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99992053e-01 -3.39646338e-03 2.08753813e-03 1.62022073e-01] [ 3.39666180e-03 9.99994227e-01 -9.15100252e-05 -7.89657321e-02] [-2.08721527e-03 9.85999590e-05 9.99997817e-01 4.42902369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642557844 meters 0.29050720076508324 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:0.44 [[ 9.99991971e-01 -3.34701273e-03 2.20343722e-03 1.61683829e-01] [ 3.34692650e-03 9.99994398e-01 4.28204616e-05 -7.95294597e-02] [-2.20356819e-03 -3.54453754e-05 9.99997572e-01 4.42990190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672557844 meters 0.29164320760357687 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.44 [[ 0.99997647 0.00505341 0.00463893 0.18085461] [-0.00504862 0.99998671 -0.00104485 -0.08294314] [-0.00464415 0.00102141 0.99998869 0.44324444] [ 0. 0. 0. 1. ]] SLAMing on 173.702557844 meters 0.29081830565380923 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.44 [[ 0.9999764 0.00492482 0.00479044 0.18034281] [-0.00491794 0.99998686 -0.00144669 -0.08131884] [-0.0047975 0.0014231 0.99998748 0.44364498] [ 0. 0. 0. 1. ]] SLAMing on 173.732557844 meters 0.29200763177835787 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99980933e-01 -3.34921310e-03 5.18808433e-03 2.00121673e-01] [ 3.35136190e-03 9.99994302e-01 -4.05540063e-04 -7.73136237e-02] [-5.18669653e-03 4.22919479e-04 9.99986460e-01 4.45130040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762557844 meters 0.291636045345576 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99980713e-01 -3.40314078e-03 5.19543811e-03 2.00094837e-01] [ 3.40603871e-03 9.99994049e-01 -5.49036416e-04 -7.67231609e-02] [-5.19353874e-03 5.66721689e-04 9.99986353e-01 4.45157971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79255784400002 meters 0.29145672871302164 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99980392e-01 -3.44787843e-03 5.22758618e-03 1.99911387e-01] [ 3.45140596e-03 9.99993822e-01 -6.65920978e-04 -7.62431226e-02] [-5.22525787e-03 6.83950443e-04 9.99986114e-01 4.45396327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82255784400002 meters 0.2919248725407499 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99979529e-01 -3.45084833e-03 5.38819252e-03 1.99405113e-01] [ 3.45451377e-03 9.99993808e-01 -6.71113124e-04 -7.62319092e-02] [-5.38584325e-03 6.89712971e-04 9.99985258e-01 4.45620199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85255784400002 meters 0.2917446371328013 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99979643e-01 -3.39801211e-03 5.40062836e-03 1.99419567e-01] [ 3.40093831e-03 9.99994075e-01 -5.32735164e-04 -7.68054204e-02] [-5.39878612e-03 5.51091523e-04 9.99985275e-01 4.45503861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88255784400002 meters 0.29243462009564775 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99979932e-01 -3.33574820e-03 5.38585473e-03 1.99545113e-01] [ 3.33778283e-03 9.99994362e-01 -3.68829295e-04 -7.74851386e-02] [-5.38459404e-03 3.86798707e-04 9.99985428e-01 4.45294186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91255784400002 meters 0.2905447246084937 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.45 [[ 0.99999533 0.00237169 0.00192718 0.17683176] [-0.0023656 0.99999222 -0.00315542 -0.07439502] [-0.00193465 0.00315085 0.99999316 0.44771743] [ 0. 0. 0. 1. ]] SLAMing on 173.94255784400002 meters 0.2907049309087493 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:0.45 [[ 0.99999527 0.0023655 0.00196644 0.17665832] [-0.00235926 0.99999219 -0.00316982 -0.07433603] [-0.00197392 0.00316516 0.99999304 0.44788388] [ 0. 0. 0. 1. ]] SLAMing on 173.97255784400002 meters 0.2907340028752166 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 0.99997751 -0.0060011 0.00299465 0.19744564] [ 0.00600792 0.99997936 -0.00227538 -0.07235535] [-0.00298093 0.00229332 0.99999293 0.44882531] [ 0. 0. 0. 1. ]] SLAMing on 174.002557844 meters 0.2907470579469865 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 0.9999777 -0.00598365 0.00296569 0.1976401 ] [ 0.00599028 0.99997957 -0.00223195 -0.0725296 ] [-0.00295227 0.00224967 0.99999311 0.44854237] [ 0. 0. 0. 1. ]] SLAMing on 174.032557844 meters 0.2942933381795205 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.45 [[ 0.99999034 0.00288625 0.00331413 0.21834274] [-0.00287565 0.99999075 -0.00319901 -0.07751374] [-0.00332333 0.00318945 0.99998939 0.44811664] [ 0. 0. 0. 1. ]] SLAMing on 174.062557844 meters 0.29211595826178616 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.45 [[ 0.99999029 0.00283888 0.00336995 0.21820153] [-0.00282769 0.99999049 -0.00332094 -0.07701085] [-0.00337934 0.00331138 0.99998881 0.44812285] [ 0. 0. 0. 1. ]] SLAMing on 174.092557844 meters 0.29211595826178616 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.45 [[ 0.99999029 0.00283888 0.00336995 0.21820153] [-0.00282769 0.99999049 -0.00332094 -0.07701085] [-0.00337934 0.00331138 0.99998881 0.44812285] [ 0. 0. 0. 1. ]] SLAMing on 174.122557844 meters 0.29105886338733256 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 9.99991470e-01 -3.79368765e-03 1.63363669e-03 1.97260990e-01] [ 3.79430248e-03 9.99992732e-01 -3.73421402e-04 -7.42727941e-02] [-1.63220817e-03 3.79616729e-04 9.99998596e-01 4.48930625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152557844 meters 0.2911704570734608 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 9.99991527e-01 -3.76322817e-03 1.66826324e-03 1.97181386e-01] [ 3.76372294e-03 9.99992874e-01 -2.93536016e-04 -7.46006233e-02] [-1.66714671e-03 2.99812410e-04 9.99998565e-01 4.48900692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters 0.29188008366330487 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99992286e-01 -3.66550344e-03 1.41114014e-03 1.97957077e-01] [ 3.66546160e-03 9.99993282e-01 3.22350137e-05 -7.59088338e-02] [-1.41124881e-03 -2.70622851e-05 9.99999004e-01 4.48447025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.212557844 meters 0.2930660768675948 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99992864e-01 -3.56171385e-03 1.25935966e-03 1.98515720e-01] [ 3.56127982e-03 9.99993599e-01 3.46723592e-04 -7.71860018e-02] [-1.26058653e-03 -3.42236186e-04 9.99999147e-01 4.47964410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.242557844 meters 0.29362767474545776 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.45 [[ 9.99993435e-01 -3.42479520e-03 1.18340312e-03 1.98889340e-01] [ 3.42392993e-03 9.99993870e-01 7.32425135e-04 -7.87551992e-02] [-1.18590427e-03 -7.28368438e-04 9.99999032e-01 4.47488853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.272557844 meters 0.29219719568055696 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.45 [[ 0.99999512 0.00262696 -0.00168995 0.17761665] [-0.00263049 0.99999436 -0.00208816 -0.07814713] [ 0.00168446 0.00209259 0.99999639 0.4482509 ] [ 0. 0. 0. 1. ]] SLAMing on 174.302557844 meters 0.29298871366653345 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.45 [[ 0.99999484 0.00270921 -0.00172832 0.17770713] [-0.00271246 0.99999456 -0.00187685 -0.07902495] [ 0.00172322 0.00188152 0.99999675 0.44824184] [ 0. 0. 0. 1. ]] SLAMing on 174.332557844 meters 0.2927878604978173 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.45 [[ 0.99999499 0.00268293 -0.00167867 0.17740288] [-0.00268619 0.9999945 -0.0019442 -0.07873898] [ 0.00167345 0.0019487 0.9999967 0.44866037] [ 0. 0. 0. 1. ]] SLAMing on 174.362557844 meters 0.2932703726517221 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:0.45 [[ 0.99999486 0.00261862 -0.00185071 0.17782702] [-0.0026226 0.99999425 -0.00215105 -0.07790927] [ 0.00184507 0.00215589 0.99999597 0.44869545] [ 0. 0. 0. 1. ]] SLAMing on 174.392557844 meters 0.29176946208891935 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.45 [[ 0.9999874 -0.00334543 -0.00374198 0.15607133] [ 0.00334991 0.99999368 0.00119017 -0.07494159] [ 0.00373797 -0.00120269 0.99999229 0.4496695 ] [ 0. 0. 0. 1. ]] SLAMing on 174.422557844 meters 0.29211668597349133 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.45 [[ 0.9999872 -0.00340318 -0.00374502 0.15613738] [ 0.00340707 0.99999366 0.00103294 -0.07429724] [ 0.00374148 -0.00104568 0.99999245 0.44954792] [ 0. 0. 0. 1. ]] SLAMing on 174.452557844 meters 0.29088966523625465 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:0.45 [[ 9.99979511e-01 5.17629013e-03 -3.76600431e-03 1.33946033e-01] [-5.17587735e-03 9.99986598e-01 1.19344784e-04 -7.49392769e-02] [ 3.76657160e-03 -9.98499620e-05 9.99992901e-01 4.48938229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482557844 meters 0.29127501462851607 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996137e-01 -2.61875440e-03 -9.31299511e-04 1.52559163e-01] [ 2.61990593e-03 9.99995802e-01 1.23741760e-03 -7.30085594e-02] [ 9.28055109e-04 -1.23985274e-03 9.99998801e-01 4.50456666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512557844 meters 0.29155609227880847 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996179e-01 -2.65755964e-03 -7.61196053e-04 1.52079398e-01] [ 2.65842767e-03 9.99995815e-01 1.14161765e-03 -7.26147329e-02] [ 7.58158950e-04 -1.14363688e-03 9.99999059e-01 4.50552020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54255784400002 meters 0.29239926592972676 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996214e-01 -2.63359274e-03 -7.97878418e-04 1.52429230e-01] [ 2.63455138e-03 9.99995806e-01 1.20283078e-03 -7.28755807e-02] [ 7.94707305e-04 -1.20492828e-03 9.99998958e-01 4.49956545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57255784400002 meters 0.29200883484175416 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996196e-01 -2.61861709e-03 -8.66101202e-04 1.52791610e-01] [ 2.61969139e-03 9.99995798e-01 1.24159061e-03 -7.30418113e-02] [ 8.62846312e-04 -1.24385481e-03 9.99998854e-01 4.49494657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60255784400002 meters 0.29152472510362865 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996195e-01 -2.60737785e-03 -9.00688640e-04 1.53037581e-01] [ 2.60852198e-03 9.99995790e-01 1.27145345e-03 -7.31596311e-02] [ 8.97369688e-04 -1.27379808e-03 9.99998786e-01 4.49108416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63255784400002 meters 0.29111853164390517 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996236e-01 -2.60498188e-03 -8.61248400e-04 1.52904882e-01] [ 2.60608092e-03 9.99995788e-01 1.27744777e-03 -7.31865892e-02] [ 8.57917044e-04 -1.27968745e-03 9.99998813e-01 4.49179228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66255784400002 meters 0.29191135860111445 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.07, Z:0.45 [[ 9.99996278e-01 -2.59852849e-03 -8.31806526e-04 1.52858796e-01] [ 2.59960412e-03 9.99995783e-01 1.29466121e-03 -7.32581602e-02] [ 8.28438804e-04 -1.29681876e-03 9.99998816e-01 4.49109398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69255784400002 meters 0.2926388137072953 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.45 [[ 9.99982892e-01 5.81578093e-03 6.26718293e-04 1.71670758e-01] [-5.81580398e-03 9.99983087e-01 3.49721662e-05 -7.83468756e-02] [-6.26504304e-04 -3.86164386e-05 9.99999803e-01 4.49804377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72255784400002 meters 0.29216064149721216 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.45 [[ 9.99982928e-01 5.80706882e-03 6.49508503e-04 1.71814250e-01] [-5.80707789e-03 9.99983139e-01 1.20838728e-05 -7.82519781e-02] [-6.49427379e-04 -1.58554130e-05 9.99999789e-01 4.49357720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752557844 meters 0.29250442126480103 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.45 [[ 9.99983169e-01 5.76912084e-03 6.16317428e-04 1.72028429e-01] [-5.76906827e-03 9.99983355e-01 -8.70323019e-05 -7.78384023e-02] [-6.16809269e-04 8.34752597e-05 9.99999806e-01 4.49083237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters 0.2913021037752282 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:0.45 [[ 9.99983384e-01 5.73272192e-03 6.06149025e-04 1.72103096e-01] [-5.73261288e-03 9.99983552e-01 -1.81461708e-04 -7.74476397e-02] [-6.07179325e-04 1.77983875e-04 9.99999800e-01 4.48985593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812557844 meters 0.2924271025390318 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.08, Z:0.45 [[ 9.99994475e-01 -2.75887988e-03 1.85444789e-03 1.92429158e-01] [ 2.75769013e-03 9.99995990e-01 6.43815011e-04 -7.53233806e-02] [-1.85621667e-03 -6.38697461e-04 9.99998073e-01 4.50147741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters 0.2943094697412117 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:0.45 [[ 9.99978640e-01 5.65639658e-03 3.27491929e-03 2.11797309e-01] [-5.65451046e-03 9.99983842e-01 -5.84901657e-04 -7.96924267e-02] [-3.27817481e-03 5.66371098e-04 9.99994466e-01 4.50873556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872557844 meters 0.29196922640732287 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.45 [[ 9.99994512e-01 -2.99202999e-03 1.42247782e-03 1.92865338e-01] [ 2.99167254e-03 9.99995493e-01 2.53350883e-04 -7.40806879e-02] [-1.42322944e-03 -2.49093904e-04 9.99998956e-01 4.50437724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters 0.29103522794661313 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:0.45 [[ 9.99994564e-01 -3.03758179e-03 1.28238843e-03 1.93354655e-01] [ 3.03742225e-03 9.99995379e-01 1.26342091e-04 -7.35421439e-02] [-1.28276628e-03 -1.22446249e-04 9.99999170e-01 4.50136432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932557844 meters 0.2935837759506681 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.45 [[ 0.99998853 0.00390682 0.00276977 0.21692841] [-0.00389954 0.99998893 -0.00263156 -0.07307813] [-0.00278002 0.00262073 0.9999927 0.44748953] [ 0. 0. 0. 1. ]] SLAMing on 174.962557844 meters 0.29153670008736143 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 0.99998682 -0.00480056 0.00181797 0.19784333] [ 0.00480383 0.99998684 -0.00180327 -0.06639551] [-0.00180929 0.00181198 0.99999672 0.44682255] [ 0. 0. 0. 1. ]] SLAMing on 174.992557844 meters 0.29144171845344036 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.45 [[ 0.99998643 -0.00489293 0.0017913 0.19791043] [ 0.00489661 0.99998589 -0.00206077 -0.06534088] [-0.00178119 0.00206952 0.99999627 0.44684582] [ 0. 0. 0. 1. ]] SLAMing on 175.022557844 meters 0.2920081835372766 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 0.99998626 -0.00497074 0.00166566 0.19833458] [ 0.00497454 0.99998501 -0.00228848 -0.06439847] [-0.00165426 0.00229673 0.99999599 0.44661176] [ 0. 0. 0. 1. ]] SLAMing on 175.052557844 meters 0.29377944308869464 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:0.45 [[ 0.99998701 0.00423165 0.00284157 0.21939745] [-0.00422273 0.99998615 -0.00314003 -0.06449387] [-0.00285482 0.00312799 0.99999103 0.44689451] [ 0. 0. 0. 1. ]] SLAMing on 175.082557844 meters 0.29097546137672825 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99997517e-01 -1.82371921e-03 1.28040354e-03 1.95821086e-01] [ 1.82390226e-03 9.99998327e-01 -1.41804956e-04 -6.10742682e-02] [-1.28014279e-03 1.44139935e-04 9.99999170e-01 4.49458748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112557844 meters 0.2915416043353667 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 9.99997285e-01 -1.94657969e-03 1.28102218e-03 1.95678240e-01] [ 1.94720843e-03 9.99997984e-01 -4.89745224e-04 -5.96448333e-02] [-1.28006627e-03 4.92238312e-04 9.99999060e-01 4.49843063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142557844 meters 0.29091191663181437 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 0.99999668 -0.00216165 0.00139955 0.19520322] [ 0.00216315 0.99999708 -0.0010735 -0.05719631] [-0.00139722 0.00107653 0.99999844 0.45029604] [ 0. 0. 0. 1. ]] SLAMing on 175.172557844 meters 0.2906017312237347 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 0.99999648 -0.00222025 0.00145357 0.19508486] [ 0.00222203 0.99999678 -0.00122711 -0.05656702] [-0.00145084 0.00123033 0.99999819 0.45026228] [ 0. 0. 0. 1. ]] SLAMing on 175.202557844 meters 0.29091109389946923 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 0.99999647 -0.00225751 0.00140056 0.19527776] [ 0.00225936 0.99999657 -0.00132575 -0.05616277] [-0.00139757 0.0013289 0.99999814 0.45014182] [ 0. 0. 0. 1. ]] SLAMing on 175.232557844 meters 0.2911845459121818 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:0.45 [[ 0.99999647 -0.00228296 0.00135789 0.19546838] [ 0.00228485 0.99999642 -0.00139266 -0.05588498] [-0.00135471 0.00139575 0.99999811 0.44996887] [ 0. 0. 0. 1. ]] SLAMing on 175.262557844 meters 0.29224635592634535 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999637 -0.00238723 0.00124914 0.19581732] [ 0.00238929 0.99999577 -0.00165577 -0.0547917 ] [-0.00124519 0.00165875 0.99999785 0.44985474] [ 0. 0. 0. 1. ]] SLAMing on 175.29255784400002 meters 0.29195979289265556 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.9999962 -0.00245172 0.00126175 0.19574943] [ 0.00245402 0.99999533 -0.00182354 -0.05410161] [-0.00125727 0.00182663 0.99999754 0.44994733] [ 0. 0. 0. 1. ]] SLAMing on 175.32255784400002 meters 0.29216379156570577 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999598 -0.00251047 0.00131714 0.195541 ] [ 0.00251307 0.99999489 -0.00197635 -0.05347132] [-0.00131217 0.00197965 0.99999718 0.45010492] [ 0. 0. 0. 1. ]] SLAMing on 175.35255784400002 meters 0.29174793483737804 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999553 -0.002668 0.00135 0.1953233 ] [ 0.00267126 0.99999351 -0.00241943 -0.05166214] [-0.00134353 0.00242302 0.99999616 0.45046068] [ 0. 0. 0. 1. ]] SLAMing on 175.38255784400002 meters 0.29108496112918175 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999531 -0.00276766 0.00131349 0.19548759] [ 0.00277119 0.99999253 -0.00269399 -0.05053297] [-0.00130603 0.00269762 0.99999551 0.45032128] [ 0. 0. 0. 1. ]] SLAMing on 175.41255784400002 meters 0.29115006839927604 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999514 -0.00287848 0.00119642 0.19589997] [ 0.00288206 0.99999132 -0.00300733 -0.04924317] [-0.00118776 0.00301077 0.99999476 0.4500792 ] [ 0. 0. 0. 1. ]] SLAMing on 175.44255784400002 meters 0.29207147672906536 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99995057e-01 -2.99770093e-03 9.48930900e-04 1.96623602e-01] [ 3.00089374e-03 9.99989781e-01 -3.38128495e-03 -4.77063558e-02] [-9.38785121e-04 3.38411588e-03 9.99993833e-01 4.49869890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47255784400002 meters 0.29081771609978063 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99994899e-01 -3.04521542e-03 9.63521268e-04 1.96697069e-01] [ 3.04857702e-03 9.99989204e-01 -3.50685923e-03 -4.71848385e-02] [-9.52831724e-04 3.50977871e-03 9.99993387e-01 4.49628898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502557844 meters 0.29084477235168116 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.9999947 -0.00309019 0.00102621 0.19657556] [ 0.0030939 0.99998864 -0.00362603 -0.04669694] [-0.00101499 0.00362919 0.9999929 0.44955177] [ 0. 0. 0. 1. ]] SLAMing on 175.532557844 meters 0.2904342386382266 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999452 -0.00314107 0.00104495 0.19654989] [ 0.00314498 0.99998798 -0.00376202 -0.04613736] [-0.00103312 0.00376529 0.99999238 0.44951263] [ 0. 0. 0. 1. ]] SLAMing on 175.562557844 meters 0.2929446351392126 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.45 [[ 9.99997961e-01 -2.00198623e-03 2.63068006e-04 2.35738996e-01] [ 2.00274737e-03 9.99993715e-01 -2.92562998e-03 -4.79979896e-02] [-2.57209282e-04 2.92615087e-03 9.99995686e-01 4.52817572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592557844 meters 0.2914583091359293 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.45 [[ 9.99997465e-01 -2.23531168e-03 2.69805683e-04 2.35575062e-01] [ 2.23627068e-03 9.99990991e-01 -3.60803949e-03 -4.52241164e-02] [-2.61738159e-04 3.60863370e-03 9.99993455e-01 4.53197511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622557844 meters 0.2912120891680798 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.45 [[ 9.99997079e-01 -2.40264235e-03 2.62223795e-04 2.35568491e-01] [ 2.40369159e-03 9.99988799e-01 -4.07717866e-03 -4.33156140e-02] [-2.52424856e-04 4.07779705e-03 9.99991654e-01 4.53291730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652557844 meters 0.2906739733000274 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.45 [[ 9.99972121e-01 -7.36930088e-03 -1.20478656e-03 2.14000323e-01] [ 7.36892425e-03 9.99972799e-01 -3.16753916e-04 -3.68070235e-02] [ 1.20708804e-03 3.07867104e-04 9.99999224e-01 4.53705101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682557844 meters 0.2906256488860717 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.45 [[ 9.99971259e-01 -7.48752797e-03 -1.19047835e-03 2.14091672e-01] [ 7.48677907e-03 9.99971774e-01 -6.32293920e-04 -3.54940644e-02] [ 1.19517906e-03 6.23362899e-04 9.99999091e-01 4.53429383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.712557844 meters 0.29004462965662847 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.45 [[ 9.99970489e-01 -7.60425007e-03 -1.09346893e-03 2.13941158e-01] [ 7.60322296e-03 9.99970653e-01 -9.40418910e-04 -3.42166743e-02] [ 1.10058802e-03 9.32077270e-04 9.99998960e-01 4.53219326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.742557844 meters 0.2903340308253856 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.45 [[ 0.99996996 -0.00767894 -0.0010515 0.21389899] [ 0.00767774 0.99996988 -0.00113818 -0.03339842] [ 0.00106021 0.00113007 0.9999988 0.45307976] [ 0. 0. 0. 1. ]] SLAMing on 175.772557844 meters 0.291171411290029 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.45 [[ 0.99996877 -0.0078067 -0.0012267 0.214532 ] [ 0.00780488 0.99996844 -0.00148547 -0.03197802] [ 0.00123826 0.00147585 0.99999814 0.45262431] [ 0. 0. 0. 1. ]] SLAMing on 175.802557844 meters 0.29087653719273077 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.45 [[ 0.9999928 -0.00349745 -0.00147021 0.21534045] [ 0.00350157 0.99998991 0.00281413 -0.03230581] [ 0.00146035 -0.00281926 0.99999496 0.45198693] [ 0. 0. 0. 1. ]] SLAMing on 175.832557844 meters 0.29206467491841487 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.45 [[ 0.99998547 0.00525489 -0.00120099 0.23573197] [-0.00525259 0.99998439 0.00190574 -0.03653363] [ 0.00121099 -0.00189941 0.99999746 0.45242012] [ 0. 0. 0. 1. ]] SLAMing on 175.862557844 meters 0.2914119982470906 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.45 [[ 0.99999144 -0.00326614 -0.0025384 0.21552124] [ 0.00327278 0.99999122 0.00261698 -0.03093435] [ 0.00252983 -0.00262527 0.99999335 0.45175008] [ 0. 0. 0. 1. ]] SLAMing on 175.892557844 meters 0.292416447178155 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.45 [[ 9.99997505e-01 2.23183192e-03 -9.18191565e-05 2.38827230e-01] [-2.23191150e-03 9.99997126e-01 -8.75854628e-04 -3.03007962e-02] [ 8.98641323e-05 8.76057375e-04 9.99999612e-01 4.49432891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922557844 meters 0.292388062388815 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.45 [[ 9.99997770e-01 2.11153549e-03 2.98795951e-05 2.38598699e-01] [-2.11149894e-03 9.99997081e-01 -1.17459897e-03 -2.90561231e-02] [-3.23597153e-05 1.17453326e-03 9.99999310e-01 4.49270121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.952557844 meters 0.29192672338999337 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.45 [[ 9.99979877e-01 -6.32550001e-03 -4.83152346e-04 2.19172492e-01] [ 6.32533081e-03 9.99979933e-01 -3.50926768e-04 -2.28005047e-02] [ 4.85362438e-04 3.47863608e-04 9.99999822e-01 4.48097601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982557844 meters 0.29325678731553995 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.45 [[ 9.99997589e-01 2.02328605e-03 8.53815450e-04 2.39097252e-01] [-2.02195789e-03 9.99996749e-01 -1.55356271e-03 -2.59453709e-02] [-8.56955976e-04 1.55183258e-03 9.99998429e-01 4.48598084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.012557844 meters 0.290745656045046 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.45 [[ 9.99993168e-01 -3.62426790e-03 -7.27746149e-04 2.15853275e-01] [ 3.62550236e-03 9.99991979e-01 1.70218795e-03 -2.28359667e-02] [ 7.21571127e-04 -1.70481477e-03 9.99998286e-01 4.50522465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04255784400002 meters 0.290745656045046 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:0.45 [[ 9.99993168e-01 -3.62426790e-03 -7.27746149e-04 2.15853275e-01] [ 3.62550236e-03 9.99991979e-01 1.70218795e-03 -2.28359667e-02] [ 7.21571127e-04 -1.70481477e-03 9.99998286e-01 4.50522465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07255784400002 meters 0.2920464214268894 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.45 [[ 9.99986929e-01 5.10204781e-03 3.34145866e-04 2.36972219e-01] [-5.10223140e-03 9.99986832e-01 5.50894670e-04 -2.26751813e-02] [-3.31330775e-04 -5.52592359e-04 9.99999792e-01 4.50610505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10255784400002 meters 0.29202269267745223 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.45 [[ 9.99987590e-01 4.97374697e-03 2.84189380e-04 2.37191198e-01] [-4.97380904e-03 9.99987607e-01 2.18123948e-04 -2.12849180e-02] [-2.83100965e-04 -2.19534745e-04 9.99999936e-01 4.50443068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13255784400002 meters 0.29206564754781256 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99994215e-01 -3.38997687e-03 -2.81010038e-04 2.17798642e-01] [ 3.39026848e-03 9.99993708e-01 1.04382040e-03 -1.48131005e-02] [ 2.77469743e-04 -1.04476706e-03 9.99999416e-01 4.49257945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16255784400002 meters 0.2916114580797868 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993885e-01 -3.48861872e-03 -2.45830595e-04 2.17714934e-01] [ 3.48881035e-03 9.99993607e-01 7.83433321e-04 -1.37305225e-02] [ 2.43095923e-04 -7.84286186e-04 9.99999663e-01 4.49258363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19255784400002 meters 0.29044648753925933 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993379e-01 -3.63357047e-03 -1.96865125e-04 2.17489927e-01] [ 3.63365031e-03 9.99993316e-01 4.06765039e-04 -1.21775418e-02] [ 1.95385800e-04 -4.07477685e-04 9.99999898e-01 4.49519020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22255784400002 meters 0.29150844081465316 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993239e-01 -3.66991682e-03 -2.29976671e-04 2.17575789e-01] [ 3.66998751e-03 9.99993218e-01 3.07719838e-04 -1.17683466e-02] [ 2.28845805e-04 -3.08561769e-04 9.99999926e-01 4.49523688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252557844 meters 0.291312303318903 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993258e-01 -3.66927711e-03 -1.45590979e-04 2.17313694e-01] [ 3.66932227e-03 9.99993220e-01 3.11144420e-04 -1.17900622e-02] [ 1.44448317e-04 -3.11676542e-04 9.99999941e-01 4.49634927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282557844 meters 0.2914033519354101 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993177e-01 -3.69404954e-03 -9.31482142e-06 2.16751079e-01] [ 3.69405174e-03 9.99993146e-01 2.48340236e-04 -1.15579349e-02] [ 8.39737644e-06 -2.48372951e-04 9.99999969e-01 4.50179511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312557844 meters 0.2911294519119327 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993242e-01 -3.67637089e-03 3.29699861e-05 2.16707880e-01] [ 3.67636096e-03 9.99993198e-01 2.96461118e-04 -1.17513555e-02] [-3.40596629e-05 -2.96337904e-04 9.99999956e-01 4.50024869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342557844 meters 0.292580427442816 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.45 [[ 9.99993488e-01 -3.60864531e-03 2.93129355e-05 2.16836014e-01] [ 3.60863096e-03 9.99993376e-01 4.75822131e-04 -1.24873733e-02] [-3.10298146e-05 -4.75713253e-04 9.99999886e-01 4.49737726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372557844 meters 0.29087611139620595 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.45 [[ 9.99994429e-01 -3.26891056e-03 6.76011499e-04 1.78644504e-01] [ 3.26868735e-03 9.99994603e-01 3.31027908e-04 -1.03387222e-02] [-6.77089951e-04 -3.28816394e-04 9.99999717e-01 4.45799435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402557844 meters 0.2919737293909189 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.99999354 0.00300673 0.00196809 0.20197594] [-0.00300155 0.99999203 -0.00263247 -0.01183544] [-0.00197599 0.00262655 0.9999946 0.44379133] [ 0. 0. 0. 1. ]] SLAMing on 176.432557844 meters 0.2921973518202397 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.9999938 0.00297009 0.00188949 0.20220219] [-0.00296491 0.99999187 -0.00273375 -0.01140857] [-0.00189759 0.00272813 0.99999448 0.44375497] [ 0. 0. 0. 1. ]] SLAMing on 176.462557844 meters 0.2928903300614139 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.9999941 0.00292403 0.0018049 0.20235742] [-0.00291886 0.99999164 -0.00286236 -0.01088318] [-0.00181326 0.00285707 0.99999427 0.44392128] [ 0. 0. 0. 1. ]] SLAMing on 176.492557844 meters 0.29158866582103404 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.9999942 0.00289108 0.00179879 0.20229961] [-0.00288577 0.99999148 -0.002951 -0.01052471] [-0.00180731 0.0029458 0.99999403 0.44410537] [ 0. 0. 0. 1. ]] SLAMing on 176.522557844 meters 0.2920271600983083 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.9999941 0.00290028 0.00184311 0.20203651] [-0.00289488 0.99999154 -0.00292379 -0.01065628] [-0.00185157 0.00291844 0.99999403 0.44445938] [ 0. 0. 0. 1. ]] SLAMing on 176.552557844 meters 0.29149996119480037 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.99999405 0.00291362 0.00184417 0.20201679] [-0.00290829 0.9999916 -0.00288749 -0.01080633] [-0.00185257 0.00288211 0.99999413 0.4444943 ] [ 0. 0. 0. 1. ]] SLAMing on 176.582557844 meters 0.29221950952681175 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.99999427 0.00292784 0.0017014 0.20260613] [-0.00292298 0.99999167 -0.00285011 -0.01093198] [-0.00170973 0.00284512 0.99999449 0.44391289] [ 0. 0. 0. 1. ]] SLAMing on 176.612557844 meters 0.29074623703280617 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.44 [[ 0.99999448 0.00292549 0.00157427 0.20303935] [-0.00292098 0.99999164 -0.00286095 -0.0108703 ] [-0.00158262 0.00285634 0.99999467 0.44364927] [ 0. 0. 0. 1. ]] SLAMing on 176.642557844 meters 0.29304830439099155 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:0.44 [[ 9.99989811e-01 -2.95918900e-03 3.40901340e-03 2.26142149e-01] [ 2.95702369e-03 9.99995423e-01 6.40035979e-04 -1.24970858e-02] [-3.41089179e-03 -6.29948924e-04 9.99993984e-01 4.41980671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672557844 meters 0.2935471591829128 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:0.44 [[ 9.99990013e-01 -3.06338445e-03 3.25425224e-03 2.26498499e-01] [ 3.06235398e-03 9.99995259e-01 3.21591017e-04 -1.12066044e-02] [-3.25522197e-03 -3.11622133e-04 9.99994653e-01 4.42095513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702557844 meters 0.2913652003680052 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.44 [[ 9.99979860e-01 6.21096179e-03 1.30529655e-03 2.05127697e-01] [-6.21060685e-03 9.99980676e-01 -2.75800873e-04 -8.46342849e-03] [-1.30698431e-03 2.67688635e-04 9.99999110e-01 4.42431304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732557844 meters 0.2904685113723484 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:0.44 [[ 0.9999806 0.00599758 0.00168482 0.20404348] [-0.00599558 0.99998132 -0.00118915 -0.00498015] [-0.00169192 0.00117903 0.99999787 0.44303262] [ 0. 0. 0. 1. ]] SLAMing on 176.762557844 meters 0.2913941057601884 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:0.44 [[ 9.99991324e-01 -2.62451400e-03 3.23466185e-03 2.22601070e-01] [ 2.62615338e-03 9.99996425e-01 -5.02674901e-04 1.26857070e-03] [-3.23333101e-03 5.11165258e-04 9.99994642e-01 4.44592376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79255784400002 meters 0.29074671169313726 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:0.45 [[ 9.99989907e-01 -7.62455127e-04 4.42761337e-03 2.16909305e-01] [ 7.57497556e-04 9.99999084e-01 1.12126280e-03 2.25316813e-03] [-4.42846423e-03 -1.11789758e-03 9.99989569e-01 4.48216518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82255784400002 meters 0.2920433846998976 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:0.45 [[ 9.99998262e-01 -1.93477018e-04 1.85452760e-03 2.59813538e-01] [ 1.91787976e-04 9.99999567e-01 9.10901610e-04 7.82370151e-03] [-1.85470303e-03 -9.10544350e-04 9.99997865e-01 4.49859624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85255784400002 meters 0.29048765491233325 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.45 [[ 0.99998858 0.00390002 -0.00276349 0.2381062 ] [-0.00391092 0.99998455 -0.00395007 0.01646214] [ 0.00274805 0.00396083 0.99998838 0.45315509] [ 0. 0. 0. 1. ]] SLAMing on 176.88255784400002 meters 0.2905548018424939 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.45 [[ 0.99998926 0.00371265 -0.00277253 0.23797747] [-0.00372489 0.99998329 -0.00442088 0.01840508] [ 0.00275607 0.00443116 0.99998638 0.4535439 ] [ 0. 0. 0. 1. ]] SLAMing on 176.91255784400002 meters 0.29143797213928063 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:0.45 [[ 9.99997641e-01 -2.17228048e-03 -1.30042461e-05 2.57403059e-01] [ 2.17226091e-03 9.99996727e-01 -1.35172063e-03 2.43154022e-02] [ 1.59405199e-05 1.35168919e-03 9.99999086e-01 4.54302944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94255784400002 meters 0.2903281296208457 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.45 [[ 9.99997243e-01 -2.34798447e-03 3.22110337e-05 2.57333342e-01] [ 2.34803847e-03 9.99995635e-01 -1.79365474e-03 2.61352754e-02] [-2.79994196e-05 1.79372543e-03 9.99998391e-01 4.54222383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97255784400002 meters 0.2910600578708976 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.45 [[ 9.99996812e-01 -2.52372771e-03 8.02789658e-05 2.57320657e-01] [ 2.52390164e-03 9.99994293e-01 -2.24571301e-03 2.80071470e-02] [-7.46109396e-05 2.24590847e-03 9.99997475e-01 4.53993200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002557844 meters 0.29205422772420586 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.45 [[ 9.99996376e-01 -2.68942231e-03 1.20745939e-04 2.57275940e-01] [ 2.68973490e-03 9.99992824e-01 -2.66791143e-03 2.97510643e-02] [-1.13569932e-04 2.66822653e-03 9.99996434e-01 4.53887485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032557844 meters 0.29085405428630473 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.45 [[ 9.99995843e-01 -2.87627181e-03 2.01268791e-04 2.57055454e-01] [ 2.87689150e-03 9.99990902e-01 -3.14949637e-03 3.17346898e-02] [-1.92208152e-04 3.15006230e-03 9.99995020e-01 4.53963392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters 0.2914530913005279 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99994673e-01 -3.26126422e-03 1.35357064e-04 2.57024092e-01] [ 3.26178136e-03 9.99986622e-01 -4.01450909e-03 3.53477978e-02] [-1.22262878e-04 4.01492921e-03 9.99991933e-01 4.54454126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092557844 meters 0.29173847841215433 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99994325e-01 -3.36839494e-03 6.44964614e-05 2.57268950e-01] [ 3.36864101e-03 9.99985092e-01 -4.29736588e-03 3.65225422e-02] [-5.00202744e-05 4.29755876e-03 9.99990764e-01 4.54334689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122557844 meters 0.29189118069324005 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99994065e-01 -3.44498883e-03 3.19805397e-05 2.57432380e-01] [ 3.44509800e-03 9.99983902e-01 -4.50849254e-03 3.73944680e-02] [-1.64483184e-05 4.50857597e-03 9.99989836e-01 4.54155052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152557844 meters 0.2915053043521368 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99993732e-01 -3.54021564e-03 6.19114975e-05 2.57413764e-01] [ 3.54047177e-03 9.99982240e-01 -4.79414239e-03 3.85321857e-02] [-4.49381002e-05 4.79433153e-03 9.99988506e-01 4.54062754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182557844 meters 0.29167468828870075 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99993615e-01 -3.57351643e-03 2.37431377e-05 2.57533252e-01] [ 3.57358975e-03 9.99981707e-01 -4.88002391e-03 3.88882130e-02] [-6.30385775e-06 4.88007760e-03 9.99988092e-01 4.54027288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.212557844 meters 0.2912459580809845 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99999681e-01 7.81157979e-04 1.66173988e-04 2.57218132e-01] [-7.81074748e-04 9.99999570e-01 -5.00340766e-04 3.86380713e-02] [-1.66564761e-04 5.00210812e-04 9.99999861e-01 4.53876087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.242557844 meters 0.29115865211665826 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99999812e-01 6.13369769e-04 -1.19442272e-05 2.57676354e-01] [-6.13381190e-04 9.99999331e-01 -9.80860752e-04 4.06221316e-02] [ 1.13425889e-05 9.80867894e-04 9.99999519e-01 4.53906898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.272557844 meters 0.29126656433932163 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99999880e-01 4.85247320e-04 -6.76869411e-05 2.57833170e-01] [-4.85337949e-04 9.99998977e-01 -1.34541528e-03 4.21104910e-02] [ 6.70340127e-05 1.34544797e-03 9.99999093e-01 4.53900045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302557844 meters 0.2906254828276934 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99999935e-01 3.37719932e-04 -1.22278934e-04 2.57960046e-01] [-3.37938258e-04 9.99998341e-01 -1.78987932e-03 4.39007833e-02] [ 1.21674254e-04 1.78992053e-03 9.99998391e-01 4.53955070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332557844 meters 0.29086524980889766 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99999960e-01 1.84437783e-04 -2.14363575e-04 2.58200097e-01] [-1.84920820e-04 9.99997439e-01 -2.25552577e-03 4.57834257e-02] [ 2.13947022e-04 2.25556532e-03 9.99997433e-01 4.53976357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362557844 meters 0.29201055964272493 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:0.45 [[ 0.99998099 -0.0060414 0.00123708 0.28079339] [ 0.00604006 0.99998117 0.00108593 0.04707953] [-0.00124362 -0.00107844 0.99999865 0.45291714] [ 0. 0. 0. 1. ]] SLAMing on 177.392557844 meters 0.2917693693661706 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:0.45 [[ 9.99979562e-01 -6.29959686e-03 1.09144518e-03 2.81237232e-01] [ 6.29922787e-03 9.99980101e-01 3.41185869e-04 5.01483758e-02] [-1.09357279e-03 -3.34303634e-04 9.99999346e-01 4.52815367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422557844 meters 0.29224737489397346 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:0.45 [[ 9.99979239e-01 -6.35941157e-03 1.03929620e-03 2.81449821e-01] [ 6.35922383e-03 9.99979763e-01 1.83848395e-04 5.08096634e-02] [-1.04044434e-03 -1.77235461e-04 9.99999443e-01 4.52653883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452557844 meters 0.2931649648437781 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:0.45 [[ 9.99979075e-01 -6.38520704e-03 1.03876838e-03 2.81570299e-01] [ 6.38509139e-03 9.99979609e-01 1.14607418e-04 5.11085500e-02] [-1.03947899e-03 -1.07972388e-04 9.99999454e-01 4.52380516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482557844 meters 0.29096759788312676 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996567e-01 2.55256641e-03 -5.92172766e-04 2.63149898e-01] [-2.55323111e-03 9.99996108e-01 -1.12444749e-03 4.91834658e-02] [ 5.89300234e-04 1.12595558e-03 9.99999192e-01 4.50731417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512557844 meters 0.29324985892928895 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:0.45 [[ 0.99998486 -0.00481544 0.0026628 0.28475719] [ 0.00481272 0.99998789 0.00102796 0.04612504] [-0.00266771 -0.00101513 0.99999593 0.44900608] [ 0. 0. 0. 1. ]] SLAMing on 177.54255784400002 meters 0.29046884085222024 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996841e-01 2.33014611e-03 9.42128812e-04 2.61518282e-01] [-2.32860890e-03 9.99995961e-01 -1.62944789e-03 4.72983448e-02] [-9.45921859e-04 1.62724890e-03 9.99998229e-01 4.51326333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57255784400002 meters 0.2928331135354009 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.9999829 -0.00405651 0.00421292 0.28189164] [ 0.00404946 0.99999039 0.00168123 0.04458102] [-0.0042197 -0.00166414 0.99998971 0.45050337] [ 0. 0. 0. 1. ]] SLAMing on 177.60255784400002 meters 0.29136403167297326 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.999983 -0.0039739 0.00426687 0.2817386 ] [ 0.00396575 0.9999903 0.00191703 0.04360556] [-0.00427445 -0.00190008 0.99998906 0.4505181 ] [ 0. 0. 0. 1. ]] SLAMing on 177.63255784400002 meters 0.29302218336046065 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998292 -0.00393812 0.00431866 0.28166604] [ 0.00392945 0.99999025 0.00201502 0.04320841] [-0.00432655 -0.00199801 0.99998864 0.45036568] [ 0. 0. 0. 1. ]] SLAMing on 177.66255784400002 meters 0.29188603436854293 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998293 -0.00391084 0.0043418 0.28160478] [ 0.0039018 0.9999902 0.0020899 0.0428977 ] [-0.00434993 -0.00207292 0.99998839 0.45036384] [ 0. 0. 0. 1. ]] SLAMing on 177.69255784400002 meters 0.2917638488835532 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998328 -0.00391707 0.00425335 0.28183098] [ 0.00390829 0.99999022 0.00207003 0.0429846 ] [-0.00426141 -0.00205337 0.99998881 0.45036883] [ 0. 0. 0. 1. ]] SLAMing on 177.72255784400002 meters 0.29250974577661 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998335 -0.00397866 0.0041806 0.2820126 ] [ 0.00397076 0.99999032 0.00189608 0.04370555] [-0.00418811 -0.00187945 0.99998946 0.45039224] [ 0. 0. 0. 1. ]] SLAMing on 177.752557844 meters 0.2923545550803003 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998356 -0.00397691 0.0041305 0.28220774] [ 0.00396909 0.99999032 0.00189859 0.0437087 ] [-0.00413801 -0.00188216 0.99998967 0.45023359] [ 0. 0. 0. 1. ]] SLAMing on 177.782557844 meters 0.29311739962364936 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.45 [[ 0.99998362 -0.00400031 0.00409304 0.28241381] [ 0.00399284 0.99999035 0.00183319 0.04399395] [-0.00410033 -0.00181682 0.99998994 0.44997701] [ 0. 0. 0. 1. ]] SLAMing on 177.812557844 meters 0.2921984331774102 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 0.99998196 0.00523493 0.0029442 0.26164128] [-0.00523792 0.99998577 0.00100852 0.04303633] [-0.00293887 -0.00102393 0.99999516 0.44941159] [ 0. 0. 0. 1. ]] SLAMing on 177.842557844 meters 0.29129342433942856 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.45 [[ 9.99982881e-01 5.09014215e-03 2.88586571e-03 2.61589622e-01] [-5.09187945e-03 9.99986859e-01 5.94976829e-04 4.47183214e-02] [-2.88279927e-03 -6.09661124e-04 9.99995659e-01 4.49945604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872557844 meters 0.2923252726540785 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99983659e-01 5.00826056e-03 2.75662094e-03 2.61920749e-01] [-5.00927875e-03 9.99987388e-01 3.62581961e-04 4.56819739e-02] [-2.75477027e-03 -3.76384719e-04 9.99996135e-01 4.49972293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters 0.2923252726540785 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99983659e-01 5.00826056e-03 2.75662094e-03 2.61920749e-01] [-5.00927875e-03 9.99987388e-01 3.62581961e-04 4.56819739e-02] [-2.75477027e-03 -3.76384719e-04 9.99996135e-01 4.49972293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932557844 meters 0.2909167921550865 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.45 [[ 9.99995132e-01 -3.06972720e-03 5.60008820e-04 2.42754157e-01] [ 3.06918754e-03 9.99994827e-01 9.61992883e-04 5.10505279e-02] [-5.62958979e-04 -9.60269428e-04 9.99999380e-01 4.49338512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.962557844 meters 0.29153132197595616 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.45 [[ 9.99995001e-01 -3.12260935e-03 4.98086838e-04 2.43103009e-01] [ 3.12220428e-03 9.99994796e-01 8.11961383e-04 5.16977178e-02] [-5.00619685e-04 -8.10402195e-04 9.99999546e-01 4.48883356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.992557844 meters 0.29137172530877176 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.45 [[ 9.99994587e-01 -3.22523147e-03 6.50734812e-04 2.42812075e-01] [ 3.22487671e-03 9.99994651e-01 5.45475129e-04 5.28078252e-02] [-6.52490615e-04 -5.43373637e-04 9.99999640e-01 4.48651893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.022557844 meters 0.2906620519390832 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.45 [[ 9.99994553e-01 -3.22544329e-03 7.01032505e-04 2.42573163e-01] [ 3.22505928e-03 9.99994649e-01 5.48221450e-04 5.27766138e-02] [-7.02797011e-04 -5.45957593e-04 9.99999604e-01 4.48920741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052557844 meters 0.29206748047523895 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:0.45 [[ 0.99999407 0.00213686 0.00269978 0.26543778] [-0.00212948 0.999994 -0.00273354 0.05146797] [-0.00270561 0.00272778 0.99999262 0.44748229] [ 0. 0. 0. 1. ]] SLAMing on 178.082557844 meters 0.2917454399740185 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:0.45 [[ 0.99999393 0.00228441 0.0026307 0.26559578] [-0.00227827 0.99999468 -0.00233399 0.04982579] [-0.00263601 0.00232798 0.99999382 0.44750612] [ 0. 0. 0. 1. ]] SLAMing on 178.112557844 meters 0.2928980316967395 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 0.99997006 -0.00710676 0.00306074 0.28693837] [ 0.00711132 0.99997362 -0.00148215 0.05066205] [-0.00305013 0.00150387 0.99999422 0.4477578 ] [ 0. 0. 0. 1. ]] SLAMing on 178.142557844 meters 0.2930721936682325 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 0.99997069 -0.00703905 0.00301274 0.28714049] [ 0.007043 0.99997435 -0.00130222 0.04993456] [-0.0030035 0.0013234 0.99999461 0.44756453] [ 0. 0. 0. 1. ]] SLAMing on 178.172557844 meters 0.2930414252717086 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 0.99997172 -0.00693589 0.00290777 0.2875515 ] [ 0.00693886 0.99997541 -0.00101105 0.0487778 ] [-0.00290068 0.0010312 0.99999526 0.4471754 ] [ 0. 0. 0. 1. ]] SLAMing on 178.202557844 meters 0.29266333711591913 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99972099e-01 -6.88154751e-03 2.90609099e-03 2.87497982e-01] [ 6.88405525e-03 9.99975940e-01 -8.53803556e-04 4.81323442e-02] [-2.90014558e-03 8.73785425e-04 9.99995413e-01 4.47310296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232557844 meters 0.2918848250697497 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99972526e-01 -6.81223311e-03 2.92233975e-03 2.87381689e-01] [ 6.81417690e-03 9.99976568e-01 -6.55706082e-04 4.73141660e-02] [-2.91780445e-03 6.75601408e-04 9.99995515e-01 4.47480194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262557844 meters 0.29160428223857304 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99972751e-01 -6.73352270e-03 3.02600621e-03 2.86989087e-01] [ 6.73494949e-03 9.99977213e-01 -4.61566381e-04 4.64973480e-02] [-3.02282929e-03 4.81933802e-04 9.99995315e-01 4.47734824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29255784400002 meters 0.29151414596371233 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99972884e-01 -6.67769876e-03 3.10474511e-03 2.86768101e-01] [ 6.67868310e-03 9.99977650e-01 -3.06784172e-04 4.58532349e-02] [-3.10262710e-03 3.27511462e-04 9.99995133e-01 4.47774077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32255784400002 meters 0.29110670615973605 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99972916e-01 -6.65453374e-03 3.14397013e-03 2.86591700e-01] [ 6.65532207e-03 9.99977824e-01 -2.40349815e-04 4.55741147e-02] [-3.14230100e-03 2.61267439e-04 9.99995029e-01 4.47957255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35255784400002 meters 0.2909699576868964 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99973013e-01 -6.62457257e-03 3.17628046e-03 2.86465359e-01] [ 6.62509375e-03 9.99978042e-01 -1.53590221e-04 4.52148509e-02] [-3.17519325e-03 1.74629232e-04 9.99994944e-01 4.48062038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38255784400002 meters 0.291142222993192 Centerline is valid? [False, False] Translation: X:0.29, Y:0.05, Z:0.45 [[ 9.99973364e-01 -6.63202890e-03 3.04740258e-03 2.86904457e-01] [ 6.63260682e-03 9.99977988e-01 -1.79574260e-04 4.53454466e-02] [-3.04614456e-03 1.99781700e-04 9.99995341e-01 4.47790139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41255784400002 meters 0.29194045452558715 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.45 [[ 9.99999716e-01 -6.09685616e-04 -4.43495895e-04 3.04087903e-01] [ 6.08907895e-04 9.99998280e-01 -1.75164073e-03 4.40205376e-02] [ 4.44563083e-04 1.75137019e-03 9.99998368e-01 4.51953518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44255784400002 meters 0.2915785092213045 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.45 [[ 9.99999662e-01 -6.61818646e-04 -4.88536783e-04 3.04239594e-01] [ 6.60891459e-04 9.99997985e-01 -1.89561353e-03 4.46222904e-02] [ 4.89790351e-04 1.89529002e-03 9.99998084e-01 4.51880521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47255784400002 meters 0.2899446388869327 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996689e-01 -9.91073899e-05 2.57129585e-03 2.61140734e-01] [ 1.06751613e-04 9.99995575e-01 -2.97293999e-03 4.87881434e-02] [-2.57098983e-03 2.97320464e-03 9.99992275e-01 4.50439273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters 0.29027347550920035 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996536e-01 -1.57645357e-04 2.62750228e-03 2.60758843e-01] [ 1.65887874e-04 9.99995066e-01 -3.13709353e-03 4.94402313e-02] [-2.62699476e-03 3.13751853e-03 9.99991627e-01 4.51063219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532557844 meters 0.2911965120219454 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996465e-01 -2.40174320e-04 2.64810327e-03 2.60648498e-01] [ 2.49085764e-04 9.99994306e-01 -3.36540185e-03 5.03644053e-02] [-2.64727991e-03 3.36604955e-03 9.99990831e-01 4.51216968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters 0.2910476167451145 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996626e-01 -3.31675592e-04 2.57628318e-03 2.60961120e-01] [ 3.40998981e-04 9.99993392e-01 -3.61933425e-03 5.14202763e-02] [-2.57506571e-03 3.62020055e-03 9.99990132e-01 4.50941642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592557844 meters 0.2910204254019943 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.45 [[ 9.99996814e-01 -4.23779686e-04 2.48849835e-03 2.61346844e-01] [ 4.33422556e-04 9.99992395e-01 -3.87571548e-03 5.24978976e-02] [-2.48683698e-03 3.87678170e-03 9.99989393e-01 4.50596420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622557844 meters 0.2900542536197644 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.45 [[ 9.99996382e-01 -6.94118924e-04 2.59904194e-03 2.61007685e-01] [ 7.06410140e-04 9.99988558e-01 -4.73120571e-03 5.58885964e-02] [-2.59572818e-03 4.73302458e-03 9.99985430e-01 4.50772255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652557844 meters 0.2898069345425356 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.45 [[ 9.99996062e-01 -8.95800302e-04 2.65951649e-03 2.60745005e-01] [ 9.09971162e-04 9.99985371e-01 -5.33193953e-03 5.83057424e-02] [-2.65470123e-03 5.33433861e-03 9.99982249e-01 4.51078162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682557844 meters 0.29040126848243586 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.45 [[ 0.99999592 -0.00110484 0.00263527 0.26076478] [ 0.00112053 0.9999816 -0.00596207 0.06080612] [-0.00262863 0.00596499 0.99997875 0.45121985] [ 0. 0. 0. 1. ]] SLAMing on 178.712557844 meters 0.2901468703328508 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99999284 0.00276308 0.00258568 0.26098399] [-0.00275585 0.99999229 -0.00279729 0.06566473] [-0.00259339 0.00279014 0.99999274 0.45105937] [ 0. 0. 0. 1. ]] SLAMing on 178.742557844 meters 0.2905390955356364 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99999341 0.00259555 0.00253697 0.26116402] [-0.0025873 0.99999137 -0.00324987 0.06752069] [-0.00254539 0.00324329 0.9999915 0.45096146] [ 0. 0. 0. 1. ]] SLAMing on 178.772557844 meters 0.29040278284188736 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99999363 0.00244795 0.00259786 0.26100794] [-0.00243846 0.99999037 -0.00365006 0.06915804] [-0.00260677 0.0036437 0.99998996 0.45098565] [ 0. 0. 0. 1. ]] SLAMing on 178.802557844 meters 0.2904676683409504 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99999348 0.00235748 0.00273502 0.26052138] [-0.00234681 0.99998964 -0.00389942 0.07014705] [-0.00274419 0.00389298 0.99998866 0.45136573] [ 0. 0. 0. 1. ]] SLAMing on 178.832557844 meters 0.28907679622362453 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.45 [[ 0.99999284 -0.00361754 0.00110856 0.23757882] [ 0.00361882 0.99999278 -0.00115959 0.07259229] [-0.00110436 0.00116359 0.99999871 0.45310238] [ 0. 0. 0. 1. ]] SLAMing on 178.862557844 meters 0.2903867731475609 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998182 0.00534222 0.00279498 0.25877 ] [-0.00533849 0.99998485 -0.00133856 0.06968915] [-0.00280209 0.00132362 0.9999952 0.45197053] [ 0. 0. 0. 1. ]] SLAMing on 178.892557844 meters 0.2915959648619549 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998256 0.00532104 0.00256268 0.25962338] [-0.00531745 0.99998488 -0.00140482 0.0699722 ] [-0.00257012 0.00139117 0.99999573 0.45122435] [ 0. 0. 0. 1. ]] SLAMing on 178.922557844 meters 0.2920653515126887 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998319 0.00531239 0.00232555 0.26053562] [-0.00530905 0.99998487 -0.0014367 0.07014422] [-0.00233314 0.00142433 0.99999626 0.45029569] [ 0. 0. 0. 1. ]] SLAMing on 178.952557844 meters 0.29281014169966324 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998382 0.00525637 0.00217386 0.26135049] [-0.00525294 0.99998496 -0.00157902 0.07089582] [-0.00218213 0.00156758 0.99999639 0.44928734] [ 0. 0. 0. 1. ]] SLAMing on 178.982557844 meters 0.29265215146978557 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998416 0.00520878 0.00213044 0.26138044] [-0.00520515 0.999985 -0.00170733 0.07141619] [-0.0021393 0.00169621 0.99999627 0.44948621] [ 0. 0. 0. 1. ]] SLAMing on 179.012557844 meters 0.29272527471330345 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998449 0.0051352 0.0021578 0.26110441] [-0.00513109 0.99998501 -0.00191018 0.07222266] [-0.00216757 0.00189908 0.99999585 0.45000412] [ 0. 0. 0. 1. ]] SLAMing on 179.04255784400002 meters 0.29359515954022425 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:0.45 [[ 0.99998493 0.00503364 0.00219292 0.26080533] [-0.00502886 0.99998498 -0.00218065 0.07329541] [-0.00220386 0.00216959 0.99999522 0.45052402] [ 0. 0. 0. 1. ]] SLAMing on 179.07255784400002 meters 0.2923714285124962 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:0.45 [[ 0.99998591 0.00488223 0.00208582 0.26113693] [-0.00487673 0.99998464 -0.00263442 0.0751437 ] [-0.00209865 0.00262421 0.99999435 0.45040495] [ 0. 0. 0. 1. ]] SLAMing on 179.10255784400002 meters 0.2909199846424568 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999911e-01 1.03973145e-04 -4.09155702e-04 2.39457016e-01] [-1.03575750e-04 9.99999523e-01 9.71158008e-04 7.72365433e-02] [ 4.09256481e-04 -9.71115543e-04 9.99999445e-01 4.51056663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13255784400002 meters 0.29233716456659953 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999836e-01 7.30895941e-05 -5.68208357e-04 2.40031122e-01] [-7.25912836e-05 9.99999613e-01 8.76956628e-04 7.76764298e-02] [ 5.68272233e-04 -8.76915237e-04 9.99999454e-01 4.50661145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16255784400002 meters 0.2923270962849467 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999888e-01 7.11938361e-05 -4.68692733e-04 2.39511521e-01] [-7.07837120e-05 9.99999615e-01 8.74996867e-04 7.76236854e-02] [ 4.68754847e-04 -8.74963593e-04 9.99999507e-01 4.51296488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19255784400002 meters 0.2913324964012022 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999945e-01 7.72740721e-05 -3.23104620e-04 2.38880465e-01] [-7.69821213e-05 9.99999589e-01 9.03494537e-04 7.74314748e-02] [ 3.23174304e-04 -9.03469614e-04 9.99999540e-01 4.51979628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22255784400002 meters 0.29150521875422 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999975e-01 8.03386532e-05 -2.09701279e-04 2.38360385e-01] [-8.01462054e-05 9.99999576e-01 9.17570679e-04 7.73403817e-02] [ 2.09774906e-04 -9.17553849e-04 9.99999557e-01 4.52557813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252557844 meters 0.2886412088496456 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99999106e-01 5.83426160e-04 1.20286239e-03 1.96379290e-01] [-5.83599350e-04 9.99999819e-01 1.43635650e-04 8.05699607e-02] [-1.20277837e-03 -1.44337512e-04 9.99999266e-01 4.51351834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters 0.29099306884060483 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999728e-01 -6.12385895e-04 -4.11629057e-04 2.36704872e-01] [ 6.12582810e-04 9.99999698e-01 4.78424446e-04 7.73507002e-02] [ 4.11335952e-04 -4.78676473e-04 9.99999801e-01 4.54099172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312557844 meters 0.2904299211565978 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999720e-01 -6.06595506e-04 -4.38408782e-04 2.36965828e-01] [ 6.06811281e-04 9.99999695e-01 4.92211658e-04 7.73202703e-02] [ 4.38110075e-04 -4.92477552e-04 9.99999783e-01 4.53641699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342557844 meters 0.29234613793029346 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999688e-01 -6.10406814e-04 -5.02125837e-04 2.37248375e-01] [ 6.10647032e-04 9.99999699e-01 4.78389063e-04 7.73949787e-02] [ 5.01833674e-04 -4.78695535e-04 9.99999760e-01 4.53368045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372557844 meters 0.29253028717277185 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999594e-01 -6.80290197e-04 -5.91592517e-04 2.37512437e-01] [ 6.80461754e-04 9.99999726e-01 2.89837384e-04 7.81725296e-02] [ 5.91395182e-04 -2.90239822e-04 9.99999783e-01 4.53303600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402557844 meters 0.29215979076915094 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999558e-01 -7.23573693e-04 -6.00016402e-04 2.37415498e-01] [ 7.23679200e-04 9.99999723e-01 1.75641543e-04 7.86267573e-02] [ 5.99889146e-04 -1.76075684e-04 9.99999805e-01 4.53579299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432557844 meters 0.2911904795307396 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999554e-01 -7.37047524e-04 -5.90401253e-04 2.37287006e-01] [ 7.37131049e-04 9.99999718e-01 1.41266540e-04 7.87501116e-02] [ 5.90296967e-04 -1.41701680e-04 9.99999816e-01 4.53815288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.462557844 meters 0.29098977364771467 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999531e-01 -7.55098863e-04 -6.05729005e-04 2.37238155e-01] [ 7.55155521e-04 9.99999711e-01 9.33143440e-05 7.89356133e-02] [ 6.05658368e-04 -9.37717199e-05 9.99999812e-01 4.54018892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.492557844 meters 0.29139306924174185 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999256e-01 -7.39467972e-04 -9.70027961e-04 2.38315265e-01] [ 7.39577870e-04 9.99999720e-01 1.12939482e-04 7.89170631e-02] [ 9.69944174e-04 -1.13656809e-04 9.99999523e-01 4.53503745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.522557844 meters 0.29155236379556043 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99999066e-01 -7.16023119e-04 -1.16400905e-03 2.39008817e-01] [ 7.16221317e-04 9.99999729e-01 1.69863659e-04 7.87400108e-02] [ 1.16388711e-03 -1.70697189e-04 9.99999308e-01 4.52962110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552557844 meters 0.2906114680154433 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:0.45 [[ 0.99996944 0.00687552 -0.00372029 0.21902435] [-0.00688391 0.99997378 -0.00224636 0.07960385] [ 0.00370475 0.0022719 0.99999056 0.45277897] [ 0. 0. 0. 1. ]] SLAMing on 179.582557844 meters 0.2900170776328923 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:0.45 [[ 0.99997065 0.00677942 -0.00356909 0.21847616] [-0.00678855 0.9999737 -0.00255303 0.08076766] [ 0.00355169 0.00257718 0.99999037 0.45329847] [ 0. 0. 0. 1. ]] SLAMing on 179.612557844 meters 0.28967492517327276 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:0.45 [[ 0.99997084 0.00675525 -0.00356266 0.21826808] [-0.00676462 0.99997367 -0.00262596 0.08103178] [ 0.00354483 0.00264998 0.99999021 0.45382248] [ 0. 0. 0. 1. ]] SLAMing on 179.642557844 meters 0.2909092180218025 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.45 [[ 9.99998198e-01 -7.42772195e-04 -1.74712465e-03 2.38786555e-01] [ 7.42420045e-04 9.99999704e-01 -2.02199375e-04 8.23492960e-02] [ 1.74727432e-03 2.00901911e-04 9.99998453e-01 4.53855872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672557844 meters 0.2891340354367503 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.45 [[ 9.99999397e-01 8.57847871e-04 -6.85806647e-04 1.98577828e-01] [-8.58122326e-04 9.99999552e-01 -3.99999179e-04 8.57367048e-02] [ 6.85463201e-04 4.00587443e-04 9.99999685e-01 4.52034489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702557844 meters 0.2897809591493794 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.45 [[ 9.99999469e-01 8.22079892e-04 -6.21781234e-04 1.98351692e-01] [-8.22392671e-04 9.99999535e-01 -5.02949186e-04 8.61397718e-02] [ 6.21367480e-04 5.03460267e-04 9.99999680e-01 4.52216340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732557844 meters 0.29001095113449954 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.45 [[ 9.99999481e-01 8.24123749e-04 -5.99713286e-04 1.98206903e-01] [-8.24419444e-04 9.99999539e-01 -4.92980026e-04 8.60856652e-02] [ 5.99306733e-04 4.93474185e-04 9.99999699e-01 4.52443351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762557844 meters 0.29052702967434274 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.45 [[ 9.99999326e-01 8.74996553e-04 -7.63582146e-04 1.98775280e-01] [-8.75270295e-04 9.99999553e-01 -3.58237212e-04 8.55730835e-02] [ 7.63268348e-04 3.58905311e-04 9.99999644e-01 4.52035215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79255784400002 meters 0.28888181629124704 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.45 [[ 9.99999023e-01 1.39233444e-03 -1.22022363e-04 1.61243386e-01] [-1.39243626e-03 9.99998679e-01 -8.38363671e-04 8.54525627e-02] [ 1.20854919e-04 8.38532761e-04 9.99999641e-01 4.47816341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82255784400002 meters 0.29094362644087657 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99998373e-01 1.02727850e-03 -1.48275416e-03 2.02269155e-01] [-1.02686164e-03 9.99999433e-01 2.81874407e-04 8.31458408e-02] [ 1.48304288e-03 -2.80351365e-04 9.99998861e-01 4.49710617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85255784400002 meters 0.29094362644087657 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99998373e-01 1.02727850e-03 -1.48275416e-03 2.02269155e-01] [-1.02686164e-03 9.99999433e-01 2.81874407e-04 8.31458408e-02] [ 1.48304288e-03 -2.80351365e-04 9.99998861e-01 4.49710617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88255784400002 meters 0.28954192571213877 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99998454e-01 1.18165254e-03 -1.30232070e-03 2.01723789e-01] [-1.18074828e-03 9.99999061e-01 6.94893885e-04 8.14446744e-02] [ 1.30314060e-03 -6.93355098e-04 9.99998911e-01 4.49934380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91255784400002 meters 0.29049148717575146 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99998449e-01 1.27810364e-03 -1.21218130e-03 2.01350435e-01] [-1.27694624e-03 9.99998729e-01 9.55104570e-04 8.03467195e-02] [ 1.21340049e-03 -9.53555198e-04 9.99998809e-01 4.50266029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94255784400002 meters 0.2888442890095964 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.45 [[ 0.99997187 -0.00718746 -0.00214634 0.17989083] [ 0.00719099 0.9999728 0.00164007 0.08271642] [ 0.0021345 -0.00165546 0.99999635 0.45048588] [ 0. 0. 0. 1. ]] SLAMing on 179.97255784400002 meters 0.29061555344144285 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:0.45 [[ 9.99999119e-01 1.11885215e-03 -7.13832810e-04 2.01179615e-01] [-1.11781902e-03 9.99998330e-01 1.44605538e-03 7.73989526e-02] [ 7.15449540e-04 -1.44525617e-03 9.99998700e-01 4.50683657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002557844 meters 0.2886383222981786 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.45 [[ 9.99999195e-01 1.11733254e-03 6.02013950e-04 1.61711531e-01] [-1.11754187e-03 9.99999315e-01 3.47497519e-04 7.79997252e-02] [-6.01625267e-04 -3.48170015e-04 9.99999758e-01 4.47442046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032557844 meters 0.2888579920039048 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.45 [[ 9.99999219e-01 1.12941794e-03 5.35800825e-04 1.61895115e-01] [-1.12962027e-03 9.99999291e-01 3.77466627e-04 7.78809845e-02] [-5.35374128e-04 -3.78071584e-04 9.99999785e-01 4.47408763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062557844 meters 0.2884994625135267 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.45 [[ 9.99999262e-01 1.10273029e-03 5.09383901e-04 1.62009098e-01] [-1.10288503e-03 9.99999346e-01 3.03613241e-04 7.81874487e-02] [-5.09048764e-04 -3.04174809e-04 9.99999824e-01 4.47289317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092557844 meters 0.2893524959775189 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.45 [[ 9.99999418e-01 1.06472541e-03 1.74452358e-04 1.63051491e-01] [-1.06475203e-03 9.99999422e-01 1.52568147e-04 7.88416086e-02] [-1.74289814e-04 -1.52753806e-04 9.99999973e-01 4.46612032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122557844 meters 0.29061854345018423 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.45 [[ 9.99999531e-01 9.67059503e-04 6.14401562e-05 1.63440880e-01] [-9.67049958e-04 9.99999520e-01 -1.55191764e-04 8.00770124e-02] [-6.15902064e-05 1.55132275e-04 9.99999986e-01 4.46330955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152557844 meters 0.28888690609078566 Centerline is valid? [False, False] Translation: X:0.12, Y:0.08, Z:0.44 [[ 9.99997736e-01 1.73210632e-03 1.23610503e-03 1.23758182e-01] [-1.73091778e-03 9.99998039e-01 -9.61941850e-04 8.34141722e-02] [-1.23776879e-03 9.59800076e-04 9.99998773e-01 4.43542480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182557844 meters 0.2893516365980184 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:0.44 [[ 0.999998 0.00148609 0.00134217 0.12345206] [-0.00148351 0.99999705 -0.00192162 0.08705203] [-0.00134503 0.00191962 0.99999725 0.44363546] [ 0. 0. 0. 1. ]] SLAMing on 180.212557844 meters 0.2902427995393183 Centerline is valid? [False, False] Translation: X:0.15, Y:0.09, Z:0.44 [[ 0.9999852 -0.0046919 0.00275387 0.14593601] [ 0.00468831 0.99998815 0.00131112 0.09043539] [-0.00275999 -0.00129818 0.99999535 0.4422792 ] [ 0. 0. 0. 1. ]] SLAMing on 180.242557844 meters 0.2899296886667864 Centerline is valid? [False, False] Translation: X:0.15, Y:0.09, Z:0.44 [[ 9.99984501e-01 -4.84411603e-03 2.74468084e-03 1.45972296e-01] [ 4.84172733e-03 9.99987895e-01 8.76277575e-04 9.21847512e-02] [-2.74889241e-03 -8.62974997e-04 9.99995849e-01 4.42218129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.272557844 meters 0.28904769572409655 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:0.44 [[ 9.99987286e-01 4.62878183e-03 2.00053825e-03 1.24977070e-01] [-4.62881162e-03 9.99989287e-01 1.02616065e-05 9.16061181e-02] [-2.00046932e-03 -1.95215908e-05 9.99997999e-01 4.42083385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302557844 meters 0.28853029469802044 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:0.44 [[ 9.99988087e-01 4.38889867e-03 2.13644405e-03 1.24293802e-01] [-4.38750879e-03 9.99990160e-01 -6.54810672e-04 9.43308305e-02] [-2.13929693e-03 6.45429204e-04 9.99997503e-01 4.42939626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332557844 meters 0.2897971460696762 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.44 [[ 0.99998508 -0.00296714 0.00458592 0.14461591] [ 0.0029596 0.99999426 0.00164954 0.09643745] [-0.00459079 -0.00163594 0.99998812 0.4423472 ] [ 0. 0. 0. 1. ]] SLAMing on 180.362557844 meters 0.28914745457868263 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.44 [[ 0.99998545 -0.00300833 0.004477 0.1449893 ] [ 0.00300149 0.99999432 0.00153454 0.09691595] [-0.00448159 -0.00152108 0.9999888 0.44212085] [ 0. 0. 0. 1. ]] SLAMing on 180.392557844 meters 0.28992507298160203 Centerline is valid? [False, False] Translation: X:0.15, Y:0.10, Z:0.44 [[ 0.99998593 -0.00304163 0.00434638 0.14548424] [ 0.0030354 0.99999436 0.00143897 0.09732739] [-0.00435073 -0.00142576 0.99998952 0.44172361] [ 0. 0. 0. 1. ]] SLAMing on 180.422557844 meters 0.2902539789363882 Centerline is valid? [False, False] Translation: X:0.15, Y:0.10, Z:0.44 [[ 0.9999863 -0.00307501 0.00423684 0.14589925] [ 0.00306933 0.99999438 0.00134517 0.0977252 ] [-0.00424096 -0.00133214 0.99999012 0.44139654] [ 0. 0. 0. 1. ]] SLAMing on 180.452557844 meters 0.28952214155808775 Centerline is valid? [False, False] Translation: X:0.15, Y:0.10, Z:0.44 [[ 0.99998612 -0.00304664 0.00429844 0.14560686] [ 0.00304055 0.99999437 0.00142244 0.09739421] [-0.00430275 -0.00140935 0.99998975 0.4417166 ] [ 0. 0. 0. 1. ]] SLAMing on 180.482557844 meters 0.29014631372362976 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.44 [[ 9.99971306e-01 4.59539047e-03 6.02235841e-03 1.64755086e-01] [-4.59660927e-03 9.99989418e-01 1.88553699e-04 9.41177514e-02] [-6.02142820e-03 -2.16230717e-04 9.99981848e-01 4.43579171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512557844 meters 0.2889408282861417 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.44 [[ 9.99970543e-01 4.63892553e-03 6.11507702e-03 1.64280214e-01] [-4.64092430e-03 9.99989182e-01 3.12709236e-04 9.36090538e-02] [-6.11356023e-03 -3.41079634e-04 9.99981254e-01 4.44180453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54255784400002 meters 0.2887803043889435 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.44 [[ 9.99970878e-01 4.79659786e-03 5.93598901e-03 1.64759543e-01] [-4.80127610e-03 9.99988174e-01 7.74115005e-04 9.17799730e-02] [-5.93220569e-03 -8.02592783e-04 9.99982082e-01 4.44074656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57255784400002 meters 0.28923979844288766 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:0.44 [[ 0.99997085 0.00488804 0.00586611 0.16517384] [-0.00489406 0.99998751 0.0010117 0.09082844] [-0.0058611 -0.00104038 0.99998228 0.44355082] [ 0. 0. 0. 1. ]] SLAMing on 180.60255784400002 meters 0.2889326438055521 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:0.44 [[ 0.99997046 0.00498257 0.00585313 0.16529186] [-0.00499 0.99998676 0.00125471 0.0898532 ] [-0.0058468 -0.00128388 0.99998208 0.4433777 ] [ 0. 0. 0. 1. ]] SLAMing on 180.63255784400002 meters 0.288809555150704 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.44 [[ 0.9999682 0.00526498 0.00599041 0.16477051] [-0.005277 0.99998409 0.0019934 0.08686263] [-0.00597982 -0.00202495 0.99998007 0.4438903 ] [ 0. 0. 0. 1. ]] SLAMing on 180.66255784400002 meters 0.2891715061719499 Centerline is valid? [False, False] Translation: X:0.16, Y:0.09, Z:0.44 [[ 0.99996727 0.00541701 0.00600892 0.16465595] [-0.00543153 0.99998236 0.0024023 0.08519262] [-0.0059958 -0.00243486 0.99997906 0.44408108] [ 0. 0. 0. 1. ]] SLAMing on 180.69255784400002 meters 0.28986271952649345 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.44 [[ 0.99996684 0.00555331 0.00595701 0.16485921] [-0.00556975 0.99998072 0.0027471 0.08378953] [-0.00594164 -0.00278019 0.99997848 0.44395153] [ 0. 0. 0. 1. ]] SLAMing on 180.72255784400002 meters 0.2884402233763726 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:0.44 [[ 9.99977767e-01 4.00968795e-03 5.32794855e-03 1.28759186e-01] [-4.01368935e-03 9.99991671e-01 7.40541185e-04 7.89897425e-02] [-5.32493483e-03 -7.61909452e-04 9.99985532e-01 4.40283302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75255784400002 meters 0.2895038984099619 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997344 -0.00456585 0.00568117 0.14771468] [ 0.00455207 0.99998667 0.00243666 0.0822604 ] [-0.00569222 -0.00241073 0.99998089 0.44134978] [ 0. 0. 0. 1. ]] SLAMing on 180.782557844 meters 0.29052987290721355 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997371 -0.00448964 0.00569384 0.14773952] [ 0.00447458 0.99998646 0.00265535 0.08138152] [-0.00570568 -0.0026298 0.99998026 0.44123375] [ 0. 0. 0. 1. ]] SLAMing on 180.812557844 meters 0.28904173672978695 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997373 -0.00439508 0.00576316 0.14753957] [ 0.00437834 0.99998617 0.00291314 0.0803391 ] [-0.00577588 -0.00288783 0.99997915 0.44131403] [ 0. 0. 0. 1. ]] SLAMing on 180.842557844 meters 0.2894885207595361 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997507 -0.00416275 0.00570424 0.1478147 ] [ 0.00414315 0.99998548 0.00344478 0.07814508] [-0.0057185 -0.00342106 0.9999778 0.44115474] [ 0. 0. 0. 1. ]] SLAMing on 180.872557844 meters 0.28941038699076016 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997604 -0.00404172 0.0056207 0.14814628] [ 0.00402055 0.99998481 0.00377153 0.07681114] [-0.00563585 -0.00374884 0.99997709 0.44093448] [ 0. 0. 0. 1. ]] SLAMing on 180.902557844 meters 0.28955690540307005 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:0.44 [[ 0.99997681 -0.0039183 0.00556943 0.1483756 ] [ 0.00389536 0.99998391 0.00412349 0.07538232] [-0.0055855 -0.0041017 0.99997599 0.44074382] [ 0. 0. 0. 1. ]] SLAMing on 180.932557844 meters 0.29057142996857693 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:0.44 [[ 0.99997767 -0.00367678 0.00558128 0.14825329] [ 0.00364868 0.99998066 0.0050365 0.07187174] [-0.00559969 -0.00501603 0.99997174 0.4411042 ] [ 0. 0. 0. 1. ]] SLAMing on 180.962557844 meters 0.29053436710321107 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:0.44 [[ 0.99997889 -0.00352235 0.00545957 0.14852347] [ 0.00349219 0.99997864 0.00552537 0.06995128] [-0.00547892 -0.00550618 0.99996983 0.44124747] [ 0. 0. 0. 1. ]] SLAMing on 180.992557844 meters 0.28935451188437133 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:0.44 [[ 0.9999897 0.00232623 0.00389787 0.12634108] [-0.00233477 0.99999488 0.00218862 0.06594691] [-0.00389276 -0.0021977 0.99999001 0.44255522] [ 0. 0. 0. 1. ]] SLAMing on 181.022557844 meters 0.2909460563920644 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.44 [[ 0.99999009 0.00260441 0.00361057 0.12712889] [-0.00261584 0.99999157 0.00316515 0.06213901] [-0.0036023 -0.00317456 0.99998847 0.44234085] [ 0. 0. 0. 1. ]] SLAMing on 181.052557844 meters 0.29013190982028936 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.44 [[ 0.99998956 0.00275783 0.00364467 0.12703396] [-0.00277096 0.99998967 0.0036021 0.06038866] [-0.0036347 -0.00361216 0.99998687 0.44237408] [ 0. 0. 0. 1. ]] SLAMing on 181.082557844 meters 0.29061214787310613 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.44 [[ 0.99998772 0.00307059 0.00388916 0.12617197] [-0.00308862 0.99998447 0.00463832 0.05627648] [-0.00387486 -0.00465027 0.99998168 0.44299239] [ 0. 0. 0. 1. ]] SLAMing on 181.112557844 meters 0.2896423973644946 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:0.44 [[ 0.99998718 0.00325626 0.00387658 0.1261647 ] [-0.00327629 0.99998126 0.00517205 0.05412684] [-0.00385966 -0.00518468 0.99997911 0.44310546] [ 0. 0. 0. 1. ]] SLAMing on 181.142557844 meters 0.2886442780931483 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.45 [[ 9.99980834e-01 6.19020578e-03 -1.11485021e-04 1.03138066e-01] [-6.19027950e-03 9.99980613e-01 -6.73545164e-04 5.61011504e-02] [ 1.07313477e-04 6.74222379e-04 9.99999767e-01 4.47583371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172557844 meters 0.28931395700337775 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:0.45 [[ 9.99995203e-01 -2.94101646e-03 9.71980160e-04 1.24208942e-01] [ 2.94076230e-03 9.99995641e-01 2.62815397e-04 5.58066834e-02] [-9.72748868e-04 -2.59955774e-04 9.99999493e-01 4.47746901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202557844 meters 0.2900642677855299 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.45 [[ 9.99996509e-01 -2.51480969e-03 8.11197931e-04 1.24664643e-01] [ 2.51380933e-03 9.99996082e-01 1.23186309e-03 5.18087938e-02] [-8.14292654e-04 -1.22981959e-03 9.99998912e-01 4.47775696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232557844 meters 0.29052489552320016 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.45 [[ 9.99996861e-01 -2.38325609e-03 7.73578047e-04 1.24757916e-01] [ 2.38203327e-03 9.99995918e-01 1.57782481e-03 5.03987746e-02] [-7.77335250e-04 -1.57597716e-03 9.99998456e-01 4.47815069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262557844 meters 0.2891863637959313 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.45 [[ 9.99975153e-01 7.04130832e-03 3.38028539e-04 1.03087650e-01] [-7.04185033e-03 9.99973877e-01 1.62996185e-03 4.56955690e-02] [-3.26542644e-04 -1.63230170e-03 9.99998614e-01 4.47642615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29255784400002 meters 0.29019428628775124 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.45 [[ 9.99973763e-01 7.23468317e-03 3.63209924e-04 1.03048156e-01] [-7.23547759e-03 9.99971324e-01 2.23573798e-03 4.33370525e-02] [-3.47024653e-04 -2.23830732e-03 9.99997435e-01 4.47598024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32255784400002 meters 0.2901979743945941 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.45 [[ 9.99973713e-01 7.24360541e-03 3.23110911e-04 1.03235494e-01] [-7.24431647e-03 9.99971213e-01 2.25664041e-03 4.32554373e-02] [-3.06755397e-04 -2.25892181e-03 9.99997402e-01 4.47425665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35255784400002 meters 0.2906010050361077 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.45 [[ 9.99995470e-01 2.99824800e-03 2.67097173e-04 1.03387263e-01] [-2.99777522e-03 9.99993970e-01 -1.75321435e-03 4.20262573e-02] [-2.72352134e-04 1.75240571e-03 9.99998427e-01 4.47255083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38255784400002 meters 0.28926069280991235 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:0.45 [[ 0.99999257 -0.00270419 -0.00274559 0.08081173] [ 0.00270914 0.99999471 0.00180192 0.03609369] [ 0.0027407 -0.00180934 0.99999461 0.44938104] [ 0. 0. 0. 1. ]] SLAMing on 181.41255784400002 meters 0.2909613306739743 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.45 [[ 9.99994475e-01 3.24945554e-03 7.01185549e-04 1.02751388e-01] [-3.24888511e-03 9.99994392e-01 -8.13140619e-04 3.61435723e-02] [-7.03823881e-04 8.10858055e-04 9.99999424e-01 4.47373535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44255784400002 meters 0.29006792337019743 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.45 [[ 9.99993911e-01 3.41833941e-03 7.02035734e-04 1.02767273e-01] [-3.41809550e-03 9.99994098e-01 -3.48340885e-04 3.42820288e-02] [-7.03222338e-04 3.45939139e-04 9.99999693e-01 4.47363132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47255784400002 meters 0.290337052626142 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.45 [[ 9.99993355e-01 3.60162079e-03 5.64736688e-04 1.03243499e-01] [-3.60171457e-03 9.99993500e-01 1.65137638e-04 3.22254919e-02] [-5.64138254e-04 -1.67170561e-04 9.99999827e-01 4.47111262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50255784400002 meters 0.28974878518987984 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.45 [[ 9.99992804e-01 3.77354483e-03 3.90127150e-04 1.03854253e-01] [-3.77380743e-03 9.99992652e-01 6.74578370e-04 3.01791882e-02] [-3.87578731e-04 -6.76045780e-04 9.99999696e-01 4.46722418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532557844 meters 0.2895637262039284 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.45 [[ 9.99991487e-01 4.12416021e-03 1.27800833e-04 1.04667701e-01] [-4.12438395e-03 9.99989869e-01 1.80290328e-03 2.57021156e-02] [-1.20364077e-04 -1.80341503e-03 9.99998367e-01 4.46326666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562557844 meters 0.28799435420972475 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:0.45 [[ 0.99998687 -0.00494698 -0.00133769 0.08266955] [ 0.00495029 0.99998467 0.00248022 0.02418757] [ 0.0013254 -0.00248681 0.99999603 0.44687383] [ 0. 0. 0. 1. ]] SLAMing on 181.592557844 meters 0.29103270559191335 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.45 [[ 9.99999363e-01 1.32500733e-04 1.12048590e-03 1.04278945e-01] [-1.31499701e-04 9.99999592e-01 -8.93418097e-04 1.91831417e-02] [-1.12060382e-03 8.93270185e-04 9.99998973e-01 4.46564452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters 0.2894934147834122 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.45 [[ 9.99999273e-01 2.85343307e-04 1.17157955e-03 1.04154570e-01] [-2.84783807e-04 9.99999845e-01 -4.77699615e-04 1.74920998e-02] [-1.17171567e-03 4.77365621e-04 9.99999200e-01 4.46572008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652557844 meters 0.28974838156883165 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.45 [[ 9.99999310e-01 4.15124992e-04 1.09914119e-03 1.04470651e-01] [-4.14988127e-04 9.99999906e-01 -1.24745056e-04 1.60441455e-02] [-1.09919287e-03 1.24288839e-04 9.99999388e-01 4.46285828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters 0.2904144275874124 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.45 [[ 9.99999361e-01 5.38569060e-04 9.93643330e-04 1.04938953e-01] [-5.38780052e-04 9.99999832e-01 2.12086308e-04 1.46594333e-02] [-9.93528941e-04 -2.12621528e-04 9.99999484e-01 4.45848403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.712557844 meters 0.2904144275874124 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.45 [[ 9.99999361e-01 5.38569060e-04 9.93643330e-04 1.04938953e-01] [-5.38780052e-04 9.99999832e-01 2.12086308e-04 1.46594333e-02] [-9.93528941e-04 -2.12621528e-04 9.99999484e-01 4.45848403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.742557844 meters 0.29023146732605504 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:0.45 [[ 9.99999353e-01 8.20487050e-04 7.88155370e-04 1.05484994e-01] [-8.21267206e-04 9.99999173e-01 9.90037928e-04 1.15354703e-02] [-7.87342405e-04 -9.90684573e-04 9.99999199e-01 4.45897921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.772557844 meters 0.290724837692372 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:0.45 [[ 9.99999248e-01 9.39661122e-04 7.87929210e-04 1.05326519e-01] [-9.40708280e-04 9.99998674e-01 1.32968443e-03 1.01695354e-02] [-7.86678712e-04 -1.33042464e-03 9.99998806e-01 4.46301962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802557844 meters 0.28929499793344227 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.45 [[ 9.99977730e-01 6.64943212e-03 -5.69487697e-04 8.10720447e-02] [-6.65042878e-03 9.99976325e-01 -1.76645994e-03 7.75877873e-03] [ 5.57728259e-04 1.77020794e-03 9.99998278e-01 4.48719844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832557844 meters 0.28979619826825354 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.45 [[ 9.99998958e-01 -1.31830079e-03 5.88518427e-04 1.00588895e-01] [ 1.31834496e-03 9.99999128e-01 -7.46761931e-05 9.80882936e-03] [-5.88419469e-04 7.54519856e-05 9.99999824e-01 4.50205759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862557844 meters 0.2893438748568357 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.45 [[ 9.99999229e-01 -1.12974073e-03 5.14664433e-04 1.00940615e-01] [ 1.12945929e-03 9.99999213e-01 5.46795531e-04 7.34819795e-03] [-5.15281765e-04 -5.46213817e-04 9.99999718e-01 4.49778263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892557844 meters 0.2912907199101397 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998664 0.00471481 0.0021173 0.12481768] [-0.00470906 0.99998523 -0.00271443 0.00697232] [-0.00213006 0.00270443 0.99999407 0.44769358] [ 0. 0. 0. 1. ]] SLAMing on 181.922557844 meters 0.2904575664848215 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.45 [[ 0.99998653 0.00477648 0.00203334 0.12504783] [-0.00477131 0.99998539 -0.00254034 0.00626294] [-0.00204545 0.00253061 0.99999471 0.44765773] [ 0. 0. 0. 1. ]] SLAMing on 181.952557844 meters 0.2909264642748717 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.45 [[ 0.99998618 0.00485469 0.00201691 0.12489267] [-0.00485003 0.99998557 -0.00230902 0.00533948] [-0.00202809 0.00229921 0.9999953 0.4481517 ] [ 0. 0. 0. 1. ]] SLAMing on 181.982557844 meters 0.2900724178471486 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.45 [[ 0.99998591 0.0048965 0.00204829 0.12466513] [-0.00489201 0.99998563 -0.00219081 0.00486311] [-0.00205899 0.00218075 0.9999955 0.44851966] [ 0. 0. 0. 1. ]] SLAMing on 182.012557844 meters 0.28903971884396035 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.45 [[ 0.99998991 -0.00425991 0.00142281 0.10280247] [ 0.00426222 0.9999896 -0.00162266 0.00615613] [-0.00141589 0.0016287 0.99999767 0.44865822] [ 0. 0. 0. 1. ]] SLAMing on 182.04255784400002 meters 0.28960735972639795 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.45 [[ 9.99985461e-01 4.83357368e-03 2.39039672e-03 1.22760536e-01] [-4.82893485e-03 9.99986454e-01 -1.94259109e-03 8.96073758e-04] [-2.39975399e-03 1.93101978e-03 9.99995256e-01 4.49325998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07255784400002 meters 0.28978493157888247 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.45 [[ 9.99985060e-01 4.89563143e-03 2.43160038e-03 1.22657145e-01] [-4.89133522e-03 9.99986472e-01 -1.76964054e-03 1.89577181e-04] [-2.44023099e-03 1.75772033e-03 9.99995478e-01 4.49320240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10255784400002 meters 0.28999500224082353 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.45 [[ 9.99987642e-01 -3.24018333e-03 3.77043856e-03 1.42096224e-01] [ 3.24181355e-03 9.99994654e-01 -4.26335186e-04 2.64476522e-03] [-3.76903700e-03 4.38552976e-04 9.99992801e-01 4.50826864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13255784400002 meters 0.28968341174878387 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.45 [[ 9.99987148e-01 -3.12909310e-03 3.98906482e-03 1.41401936e-01] [ 3.12944205e-03 9.99995100e-01 -8.12383852e-05 1.22791887e-03] [-3.98879107e-03 9.37208883e-05 9.99992040e-01 4.51217825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16255784400002 meters 0.29021728567158706 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:0.45 [[ 9.99969992e-01 5.71429695e-03 5.23088004e-03 1.60955143e-01] [-5.71020230e-03 9.99983379e-01 -7.97384672e-04 -2.90147728e-03] [-5.23534959e-03 7.67491361e-04 9.99986001e-01 4.51729662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19255784400002 meters 0.2896579212710192 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.45 [[ 0.99999268 -0.00219296 0.00313563 0.14196079] [ 0.00218976 0.99999708 0.00102593 -0.00113545] [-0.00313787 -0.00101906 0.99999456 0.45060249] [ 0. 0. 0. 1. ]] SLAMing on 182.22255784400002 meters 0.2896582471063065 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.45 [[ 0.99999322 -0.00213475 0.002999 0.14231214] [ 0.00213116 0.99999701 0.00120019 -0.00183937] [-0.00300155 -0.00119379 0.99999478 0.45058361] [ 0. 0. 0. 1. ]] SLAMing on 182.25255784400002 meters 0.28910265992911555 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.45 [[ 0.99999362 -0.00207977 0.00290357 0.14255005] [ 0.00207579 0.9999969 0.00137394 -0.00252578] [-0.00290642 -0.00136791 0.99999484 0.45058748] [ 0. 0. 0. 1. ]] SLAMing on 182.282557844 meters 0.29137273305641564 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.45 [[ 0.99998369 0.00350356 0.00451153 0.16556253] [-0.00349456 0.99999189 -0.00200136 -0.00538541] [-0.0045185 0.00198557 0.99998782 0.44910247] [ 0. 0. 0. 1. ]] SLAMing on 182.312557844 meters 0.288940333869014 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.45 [[ 0.99998576 0.00172385 0.00505094 0.12606854] [-0.00171085 0.99999522 -0.00257673 -0.01127815] [-0.00505535 0.00256805 0.99998392 0.4466309 ] [ 0. 0. 0. 1. ]] SLAMing on 182.342557844 meters 0.2901281006272483 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.45 [[ 0.99995572 -0.00733528 0.0058945 0.14836175] [ 0.00734573 0.99997148 -0.00175308 -0.01304313] [-0.00588148 0.00179631 0.99998109 0.44622957] [ 0. 0. 0. 1. ]] SLAMing on 182.372557844 meters 0.2904063926010011 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.45 [[ 0.99995829 -0.00714806 0.00568611 0.14902394] [ 0.0071544 0.99997381 -0.00109486 -0.01560957] [-0.00567813 0.00113549 0.99998323 0.44579051] [ 0. 0. 0. 1. ]] SLAMing on 182.402557844 meters 0.2912399072046348 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.45 [[ 9.99960663e-01 -6.96004562e-03 5.49813214e-03 1.49609099e-01] [ 6.96271372e-03 9.99975651e-01 -4.66281884e-04 -1.80781377e-02] [-5.49475293e-03 5.04545462e-04 9.99984776e-01 4.45450179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432557844 meters 0.29036883097131594 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.45 [[ 9.99962346e-01 -6.65522008e-03 5.56910577e-03 1.49410686e-01] [ 6.65189860e-03 9.99977687e-01 6.14722489e-04 -2.22551883e-02] [-5.57307262e-03 -5.77654215e-04 9.99984303e-01 4.45434148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.462557844 meters 0.2912572550804458 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99973504e-01 1.71796504e-03 7.07386715e-03 1.67963636e-01] [-1.71583289e-03 9.99998481e-01 -3.07470697e-04 -2.85760381e-02] [-7.07438462e-03 2.95324976e-04 9.99974933e-01 4.46736559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.492557844 meters 0.29001238202987123 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99973100e-01 1.83387978e-03 7.10181233e-03 1.67741361e-01] [-1.83382399e-03 9.99998318e-01 -1.43666813e-05 -2.97827212e-02] [-7.10182673e-03 1.34282099e-06 9.99974782e-01 4.47042945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.522557844 meters 0.2908588640313864 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99973896e-01 1.86464507e-03 6.98069914e-03 1.68218871e-01] [-1.86519526e-03 9.99998258e-01 7.23071158e-05 -3.01222116e-02] [-6.98055215e-03 -8.53255953e-05 9.99975632e-01 4.46605658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552557844 meters 0.2917694048327963 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99974940e-01 1.87667918e-03 6.82621680e-03 1.68864556e-01] [-1.87744033e-03 9.99998232e-01 1.05098048e-04 -3.02273101e-02] [-6.82600750e-03 -1.17911229e-04 9.99976696e-01 4.45969988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582557844 meters 0.29132460574430175 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99975246e-01 1.86611344e-03 6.78418175e-03 1.69065656e-01] [-1.86667987e-03 9.99998255e-01 7.71624579e-05 -3.01049905e-02] [-6.78402592e-03 -8.98244433e-05 9.99976984e-01 4.45757580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612557844 meters 0.28991893677760033 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:0.45 [[ 9.99949664e-01 -7.67641523e-03 6.46083607e-03 1.46429946e-01] [ 7.67597898e-03 9.99970535e-01 9.23168134e-05 -2.71188796e-02] [-6.46135437e-03 -4.27189246e-05 9.99979124e-01 4.46979193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642557844 meters 0.2915123956717074 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.45 [[ 9.99960705e-01 8.52259415e-04 8.82397971e-03 1.65528895e-01] [-8.46142745e-04 9.99999399e-01 -6.96897286e-04 -3.14633992e-02] [-8.82456835e-03 6.89403554e-04 9.99960825e-01 4.47473534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672557844 meters 0.2894106417233028 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.45 [[ 9.99959190e-01 6.06943453e-04 9.01389631e-03 1.26184658e-01] [-6.02821825e-04 9.99999713e-01 -4.59962569e-04 -3.09189681e-02] [-9.01417289e-03 4.54510024e-04 9.99959268e-01 4.45424887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702557844 meters 0.2911339528510747 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.44 [[ 9.99961285e-01 6.48889896e-04 8.77537662e-03 1.26957530e-01] [-6.46023815e-04 9.99999737e-01 -3.29435546e-04 -3.14658116e-02] [-8.77558808e-03 3.23753689e-04 9.99961441e-01 4.44903019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732557844 meters 0.2902443719580928 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.44 [[ 9.99962620e-01 6.85185577e-04 8.61907373e-03 1.27499645e-01] [-6.83301328e-04 9.99999742e-01 -2.21556659e-04 -3.19116577e-02] [-8.61922331e-03 2.15658953e-04 9.99962831e-01 4.44474545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762557844 meters 0.29218323537997926 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:0.44 [[ 0.99991983 -0.00572399 0.01129458 0.1495847 ] [ 0.00569531 0.99998048 0.00256969 -0.03350061] [-0.01130907 -0.00250516 0.99993291 0.44250449] [ 0. 0. 0. 1. ]] SLAMing on 182.79255784400002 meters 0.2903733467009884 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:0.44 [[ 0.99990175 0.0036842 0.01352488 0.12504058] [-0.00371969 0.9999897 0.00259937 -0.03722105] [-0.01351517 -0.00264942 0.99990516 0.44320237] [ 0. 0. 0. 1. ]] SLAMing on 182.82255784400002 meters 0.29037016166052393 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:0.44 [[ 0.99990031 0.00367265 0.01363394 0.12460856] [-0.00370798 0.99998983 0.00256715 -0.03710786] [-0.01362437 -0.00261745 0.99990376 0.44362747] [ 0. 0. 0. 1. ]] SLAMing on 182.85255784400002 meters 0.29235327680307266 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.45 [[ 0.99992139 0.00236373 0.0123139 0.16444935] [-0.00237733 0.99999658 0.00108945 -0.03815418] [-0.01231129 -0.00111864 0.99992359 0.44653046] [ 0. 0. 0. 1. ]] SLAMing on 182.88255784400002 meters 0.2919026405184659 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.45 [[ 9.99922798e-01 2.30433893e-03 1.22101458e-02 1.64898599e-01] [-2.31583320e-03 9.99996888e-01 9.27315478e-04 -3.74877704e-02] [-1.22079710e-02 -9.55520549e-04 9.99925023e-01 4.46103963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91255784400002 meters 0.2907105674332824 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.45 [[ 0.99994645 -0.00377818 0.00963409 0.14323055] [ 0.00373905 0.9999847 0.00407596 -0.03668829] [-0.00964934 -0.00403972 0.99994528 0.44775819] [ 0. 0. 0. 1. ]] SLAMing on 182.94255784400002 meters 0.29242550776830867 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 0.99995915 -0.00345761 0.00835104 0.1829995 ] [ 0.00342279 0.9999854 0.0041807 -0.03758068] [-0.00836537 -0.00415194 0.99995639 0.45065963] [ 0. 0. 0. 1. ]] SLAMing on 182.97255784400002 meters 0.2911892945489777 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.45 [[ 0.99994267 0.00555312 0.00915481 0.16016772] [-0.00558508 0.99997838 0.00346957 -0.03986504] [-0.00913534 -0.0035205 0.99995207 0.45145016] [ 0. 0. 0. 1. ]] SLAMing on 183.00255784400002 meters 0.29168112345379693 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.45 [[ 0.99994247 0.00550552 0.00920546 0.15990063] [-0.00553647 0.9999791 0.00333977 -0.039332 ] [-0.00918688 -0.00339055 0.99995205 0.45178084] [ 0. 0. 0. 1. ]] SLAMing on 183.032557844 meters 0.29225634361634806 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.45 [[ 0.9999427 0.005446 0.00921591 0.15993232] [-0.0054755 0.99997996 0.00317872 -0.0386746 ] [-0.00919841 -0.003229 0.99995248 0.45165667] [ 0. 0. 0. 1. ]] SLAMing on 183.062557844 meters 0.2913114244458034 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99996569 -0.00318432 0.00764717 0.1399626 ] [ 0.00315476 0.99998752 0.00387439 -0.03397848] [-0.00765941 -0.00385013 0.99996325 0.45108147] [ 0. 0. 0. 1. ]] SLAMing on 183.092557844 meters 0.2907999212963578 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99996572 -0.00323498 0.00762175 0.14014344] [ 0.00320659 0.99998789 0.00373365 -0.03340342] [-0.00763374 -0.00370908 0.99996398 0.45080836] [ 0. 0. 0. 1. ]] SLAMing on 183.122557844 meters 0.2906964347356742 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99996488 -0.00331875 0.00769525 0.13987473] [ 0.00329187 0.99998845 0.00350246 -0.03246362] [-0.00770678 -0.00347701 0.99996426 0.45102497] [ 0. 0. 0. 1. ]] SLAMing on 183.152557844 meters 0.2920007241432167 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.45 [[ 9.99941070e-01 2.90624907e-03 1.04599069e-02 1.61698056e-01] [-2.91163502e-03 9.99995636e-01 4.99722617e-04 -3.19432114e-02] [-1.04584090e-02 -5.30148600e-04 9.99945169e-01 4.49214572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182557844 meters 0.29285857818402894 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.45 [[ 9.99942885e-01 2.81726717e-03 1.03097037e-02 1.62241654e-01] [-2.82007452e-03 9.99995990e-01 2.57774397e-04 -3.09277103e-02] [-1.03089362e-02 -2.86833807e-04 9.99946820e-01 4.48876750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.212557844 meters 0.2923156464695723 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.9999699 -0.00340118 0.00697289 0.14201388] [ 0.00337926 0.99998932 0.00315288 -0.0305084 ] [-0.00698354 -0.00312923 0.99997072 0.44996573] [ 0. 0. 0. 1. ]] SLAMing on 183.242557844 meters 0.29273147390134446 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99997068 -0.003406 0.00685834 0.14249366] [ 0.00338456 0.99998936 0.00313592 -0.03043934] [-0.00686895 -0.00311262 0.99997156 0.44951662] [ 0. 0. 0. 1. ]] SLAMing on 183.272557844 meters 0.291741190499027 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99997147 -0.00345571 0.00671754 0.1429512 ] [ 0.00343564 0.99998961 0.00299691 -0.02986624] [-0.00672782 -0.00297375 0.99997295 0.44928956] [ 0. 0. 0. 1. ]] SLAMing on 183.302557844 meters 0.2912811901799442 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:0.45 [[ 0.99997117 -0.0035983 0.00668614 0.14300904] [ 0.00358106 0.99999024 0.00258876 -0.02822779] [-0.00669539 -0.00256475 0.9999743 0.44935413] [ 0. 0. 0. 1. ]] SLAMing on 183.332557844 meters 0.29201479410537795 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.45 [[ 0.99995471 0.00509259 0.00803964 0.16355564] [-0.00510509 0.99998579 0.00153511 -0.02884052] [-0.00803171 -0.00157608 0.9999665 0.44972773] [ 0. 0. 0. 1. ]] SLAMing on 183.362557844 meters 0.291914271718332 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:0.45 [[ 0.99995563 0.00491785 0.00803397 0.16350454] [-0.00492624 0.99998734 0.00102443 -0.02678152] [-0.00802883 -0.00106396 0.9999672 0.4499187 ] [ 0. 0. 0. 1. ]] SLAMing on 183.392557844 meters 0.29013923273022785 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.45 [[ 0.99996607 -0.00406869 0.00716294 0.14335793] [ 0.00406092 0.99999115 0.00109861 -0.01880257] [-0.00716735 -0.00106948 0.99997374 0.45013985] [ 0. 0. 0. 1. ]] SLAMing on 183.422557844 meters 0.29162160690867445 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.45 [[ 9.99945785e-01 4.78071166e-03 9.25045420e-03 1.63837367e-01] [-4.77879236e-03 9.99988555e-01 -2.29573648e-04 -1.44252475e-02] [-9.25144586e-03 1.85355202e-04 9.99957187e-01 4.50176087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452557844 meters 0.2915595033733854 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.45 [[ 9.99948077e-01 4.56461220e-03 9.11084270e-03 1.64354435e-01] [-4.55702011e-03 9.99989252e-01 -8.53887766e-04 -1.18793195e-02] [-9.11464245e-03 8.12325136e-04 9.99958131e-01 4.49861444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482557844 meters 0.2926888681686898 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.45 [[ 0.99995187 0.00425221 0.00884227 0.16523355] [-0.00423518 0.99998914 -0.00194371 -0.00756771] [-0.00885044 0.00190617 0.99995902 0.44943074] [ 0. 0. 0. 1. ]] SLAMing on 183.512557844 meters 0.2922235473481818 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.45 [[ 0.99995213 0.0040727 0.00889673 0.16490672] [-0.00405088 0.99998874 -0.00246989 -0.0054337 ] [-0.00890669 0.00243373 0.99995737 0.44994309] [ 0. 0. 0. 1. ]] SLAMing on 183.54255784400002 meters 0.29211456853591206 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:0.45 [[ 0.99995239 0.00393689 0.00892836 0.16461156] [-0.00391155 0.99998828 -0.00285407 -0.00387501] [-0.00893949 0.00281901 0.99995607 0.45050652] [ 0. 0. 0. 1. ]] SLAMing on 183.57255784400002 meters 0.29130191568220776 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:0.45 [[ 0.99995289 0.00370244 0.00897267 0.16411197] [-0.00367096 0.99998706 -0.00352249 -0.00110281] [-0.0089856 0.00348938 0.99995354 0.45149571] [ 0. 0. 0. 1. ]] SLAMing on 183.60255784400002 meters 0.2910917769614325 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:0.45 [[ 9.99953006e-01 3.62100661e-03 8.99300512e-03 1.64028902e-01] [-3.58743538e-03 9.99986547e-01 -3.74636769e-03 -1.89552723e-04] [-9.00644977e-03 3.71392981e-03 9.99952544e-01 4.51583927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63255784400002 meters 0.290209332934367 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99995289 -0.00481605 0.00842737 0.1446954 ] [ 0.0048403 0.9999842 -0.00286018 0.00574011] [-0.00841346 0.00290084 0.9999604 0.45049403] [ 0. 0. 0. 1. ]] SLAMing on 183.66255784400002 meters 0.290209332934367 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99995289 -0.00481605 0.00842737 0.1446954 ] [ 0.0048403 0.9999842 -0.00286018 0.00574011] [-0.00841346 0.00290084 0.9999604 0.45049403] [ 0. 0. 0. 1. ]] SLAMing on 183.69255784400002 meters 0.2899075661766919 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99994878 -0.0049539 0.00882563 0.14360137] [ 0.00498381 0.9999819 -0.00337027 0.00774874] [-0.00880877 0.00341409 0.99995537 0.45093972] [ 0. 0. 0. 1. ]] SLAMing on 183.72255784400002 meters 0.290439238258647 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99994652 -0.00504715 0.00902719 0.1429018 ] [ 0.00508059 0.9999803 -0.00368527 0.00899126] [-0.00900841 0.00373093 0.99995246 0.45157118] [ 0. 0. 0. 1. ]] SLAMing on 183.75255784400002 meters 0.28942698125662736 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.46 [[ 0.99994454 -0.00294385 0.01011154 0.1372967 ] [ 0.00296253 0.99999393 -0.00183262 0.00978849] [-0.01010608 0.00186248 0.9999472 0.45529359] [ 0. 0. 0. 1. ]] SLAMing on 183.782557844 meters 0.29034775609126506 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.46 [[ 0.99994496 -0.00302278 0.0100466 0.1374034 ] [ 0.0030441 0.99999315 -0.00210737 0.01085353] [-0.01004016 0.00213784 0.99994731 0.45544289] [ 0. 0. 0. 1. ]] SLAMing on 183.812557844 meters 0.2901627590416121 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99994898 0.00116366 0.01003445 0.13774642] [-0.00118319 0.99999742 0.00194046 0.01199922] [-0.01003217 -0.00195223 0.99994777 0.45468547] [ 0. 0. 0. 1. ]] SLAMing on 183.842557844 meters 0.29046699247427776 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99994981 0.00106407 0.00996225 0.13806073] [-0.00108056 0.99999805 0.00165017 0.01318598] [-0.00996047 -0.00166085 0.99994901 0.45436621] [ 0. 0. 0. 1. ]] SLAMing on 183.872557844 meters 0.29151453602131167 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 0.99994945 0.00100416 0.01000419 0.13795013] [-0.00101903 0.99999838 0.00148149 0.01387601] [-0.01000269 -0.00149161 0.99994886 0.4543792 ] [ 0. 0. 0. 1. ]] SLAMing on 183.902557844 meters 0.2912657408440632 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99949303e-01 9.17328983e-04 1.00274757e-02 1.37898341e-01] [-9.29852468e-04 9.99998794e-01 1.24432629e-03 1.48475574e-02] [-1.00263221e-02 -1.25358728e-03 9.99948949e-01 4.54361028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932557844 meters 0.29058181692255025 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99950144e-01 9.12619142e-04 9.94365868e-03 1.38142471e-01] [-9.24908117e-04 9.99998814e-01 1.23133206e-03 1.49026249e-02] [-9.94252316e-03 -1.24046764e-03 9.99949802e-01 4.54289273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.962557844 meters 0.2921894685412178 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99951103e-01 9.36481474e-04 9.84453490e-03 1.38568408e-01] [-9.49307405e-04 9.99998707e-01 1.29825578e-03 1.46282754e-02] [-9.84330637e-03 -1.30753779e-03 9.99950699e-01 4.53868121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.992557844 meters 0.29198606631150714 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99952253e-01 9.53474947e-04 9.72538171e-03 1.39075836e-01] [-9.66600642e-04 9.99998628e-01 1.34502178e-03 1.44359066e-02] [-9.72408593e-03 -1.35435812e-03 9.99951803e-01 4.53382219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.022557844 meters 0.29180996876398874 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99954017e-01 9.71827665e-04 9.54043781e-03 1.39822117e-01] [-9.85203169e-04 9.99998538e-01 1.39738043e-03 1.42113113e-02] [-9.53906585e-03 -1.40671545e-03 9.99953513e-01 4.52613815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052557844 meters 0.29221306987223344 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.45 [[ 9.99954998e-01 9.30752249e-04 9.44115532e-03 1.40157681e-01] [-9.42869713e-04 9.99998737e-01 1.27910279e-03 1.46949749e-02] [-9.43995287e-03 -1.28794701e-03 9.99954613e-01 4.52408285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082557844 meters 0.2913109774768935 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99955653e-01 8.75546860e-04 9.37687227e-03 1.40312168e-01] [-8.86055325e-04 9.99998984e-01 1.11658347e-03 1.53519490e-02] [-9.37588512e-03 -1.12484238e-03 9.99955413e-01 4.52427249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112557844 meters 0.2916602461911726 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99955908e-01 8.33186231e-04 9.35349438e-03 1.40254924e-01] [-8.42385416e-04 9.99999165e-01 9.79605827e-04 1.58889363e-02] [-9.35267038e-03 -9.87441881e-04 9.99955775e-01 4.52743381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142557844 meters 0.2914047568757906 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99956614e-01 8.15096166e-04 9.27929699e-03 1.40350187e-01] [-8.23746489e-04 9.99999230e-01 9.28433748e-04 1.60904191e-02] [-9.27853308e-03 -9.36037256e-04 9.99956515e-01 4.52967713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172557844 meters 0.2921005569850474 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99956955e-01 7.87989239e-04 9.24481573e-03 1.40537321e-01] [-7.95864485e-04 9.99999324e-01 8.48207434e-04 1.64190173e-02] [-9.24414109e-03 -8.55528544e-04 9.99956906e-01 4.52698960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202557844 meters 0.29234582547546345 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99955965e-01 7.53670485e-04 9.35414406e-03 1.40234447e-01] [-7.60766405e-04 9.99999426e-01 7.55050618e-04 1.68036848e-02] [-9.35356963e-03 -7.62133688e-04 9.99955964e-01 4.52747618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232557844 meters 0.29144322816123075 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99954955e-01 7.34404107e-04 9.46302054e-03 1.39826450e-01] [-7.41073579e-04 9.99999479e-01 7.01305880e-04 1.70340052e-02] [-9.46250058e-03 -7.08287085e-04 9.99954979e-01 4.53063997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262557844 meters 0.2912896812781888 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99953999e-01 7.09248113e-04 9.56536356e-03 1.39297504e-01] [-7.15313595e-04 9.99999545e-01 6.30702591e-04 1.73610592e-02] [-9.56491189e-03 -6.37515813e-04 9.99954052e-01 4.53758368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29255784400002 meters 0.2901200997030495 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99954356e-01 7.01252814e-04 9.52857020e-03 1.39390010e-01] [-7.07088055e-04 9.99999565e-01 6.09039181e-04 1.74491573e-02] [-9.52813896e-03 -6.15748920e-04 9.99954417e-01 4.53758344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32255784400002 meters 0.2908450830898622 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99954599e-01 6.67032450e-04 9.50547752e-03 1.39527699e-01] [-6.71982332e-04 9.99999640e-01 5.17555662e-04 1.78201450e-02] [-9.50512887e-03 -5.23919677e-04 9.99954688e-01 4.53568270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35255784400002 meters 0.2913119801204229 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.45 [[ 9.99954803e-01 6.37890808e-04 9.48603576e-03 1.39728184e-01] [-6.42068563e-04 9.99999698e-01 4.37372216e-04 1.81452617e-02] [-9.48575390e-03 -4.43443133e-04 9.99954911e-01 4.53195647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38255784400002 meters 0.2916539679746673 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.46 [[ 0.99996142 0.00162113 0.00863361 0.17918712] [-0.00163019 0.99999813 0.00104149 0.02090705] [-0.00863191 -0.00105552 0.99996219 0.45575386] [ 0. 0. 0. 1. ]] SLAMing on 184.41255784400002 meters 0.2913585159364796 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.46 [[ 9.99961061e-01 1.54835338e-03 8.68782821e-03 1.78943283e-01] [-1.55563367e-03 9.99998444e-01 8.31292144e-04 2.17633643e-02] [-8.68652756e-03 -8.44774852e-04 9.99961915e-01 4.56009847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44255784400002 meters 0.29023068978943356 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996958 -0.00427553 0.00652414 0.15599488] [ 0.00424874 0.99998251 0.00411425 0.021154 ] [-0.00654162 -0.00408641 0.99997025 0.45802543] [ 0. 0. 0. 1. ]] SLAMing on 184.47255784400002 meters 0.2902748254620476 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996953 -0.0043239 0.00649876 0.15610061] [ 0.0042981 0.99998285 0.00397823 0.02170708] [-0.00651585 -0.00395018 0.99997097 0.45791194] [ 0. 0. 0. 1. ]] SLAMing on 184.50255784400002 meters 0.2906324532626684 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996899 -0.00436781 0.00655261 0.15604585] [ 0.00434261 0.99998314 0.00385596 0.02220984] [-0.00656934 -0.00382738 0.9999711 0.45770364] [ 0. 0. 0. 1. ]] SLAMing on 184.532557844 meters 0.29019206696650673 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996846 -0.00437605 0.00662758 0.15577673] [ 0.00435071 0.99998319 0.00383286 0.02230793] [-0.00664424 -0.0038039 0.99997069 0.45789557] [ 0. 0. 0. 1. ]] SLAMing on 184.562557844 meters 0.29028195375545934 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996803 -0.00437334 0.00669484 0.1555001 ] [ 0.0043477 0.99998318 0.00383906 0.02228726] [-0.00671152 -0.00380983 0.99997022 0.45816097] [ 0. 0. 0. 1. ]] SLAMing on 184.592557844 meters 0.2897925900111641 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996761 -0.0043203 0.00679134 0.15506172] [ 0.00429324 0.99998281 0.0039941 0.02165325] [-0.00680848 -0.00396481 0.99996896 0.45869659] [ 0. 0. 0. 1. ]] SLAMing on 184.622557844 meters 0.2900519518407924 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:0.46 [[ 0.99996781 -0.00427026 0.00679279 0.15499051] [ 0.00424223 0.99998245 0.00413456 0.02107929] [-0.00681032 -0.00410561 0.99996838 0.45887524] [ 0. 0. 0. 1. ]] SLAMing on 184.652557844 meters 0.29016029634994134 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.46 [[ 0.99997486 0.00389878 0.00592347 0.13627573] [-0.00391565 0.9999883 0.00284032 0.01597286] [-0.00591233 -0.00286345 0.99997842 0.45740706] [ 0. 0. 0. 1. ]] SLAMing on 184.682557844 meters 0.2901607563654483 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.46 [[ 0.9999752 0.00393045 0.00584431 0.13655001] [-0.00394761 0.99998792 0.00292794 0.01561232] [-0.00583273 -0.00295094 0.99997864 0.45723506] [ 0. 0. 0. 1. ]] SLAMing on 184.712557844 meters 0.2894949131386967 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.46 [[ 0.99997561 0.00394214 0.0057645 0.1370188 ] [-0.00395928 0.99998777 0.00296423 0.01545749] [-0.00575275 -0.00298698 0.99997899 0.45655004] [ 0. 0. 0. 1. ]] SLAMing on 184.742557844 meters 0.29075249156485206 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:0.46 [[ 0.99996274 -0.00495959 0.00706497 0.15710277] [ 0.00493389 0.99998116 0.00365125 0.01930017] [-0.00708295 -0.00361626 0.99996838 0.45639128] [ 0. 0. 0. 1. ]] SLAMing on 184.772557844 meters 0.2919003859992412 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.46 [[ 0.99995819 0.00321607 0.00856061 0.17658204] [-0.00323717 0.99999175 0.00245288 0.01521751] [-0.00855265 -0.00248049 0.99996035 0.45747932] [ 0. 0. 0. 1. ]] SLAMing on 184.802557844 meters 0.2914434746475682 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.46 [[ 0.99995811 0.00343273 0.00848486 0.17711057] [-0.00345819 0.99998956 0.00298792 0.01298845] [-0.00847451 -0.00301713 0.99995954 0.45680444] [ 0. 0. 0. 1. ]] SLAMing on 184.832557844 meters 0.2914462108127563 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.46 [[ 0.99997281 -0.00486401 0.00554245 0.15794404] [ 0.00484083 0.99997951 0.00418763 0.01194563] [-0.0055627 -0.00416069 0.99997587 0.45636305] [ 0. 0. 0. 1. ]] SLAMing on 184.862557844 meters 0.2916624784415776 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.46 [[ 0.99997596 0.00388451 0.00574291 0.17828465] [-0.00390536 0.9999858 0.00362489 0.00623 ] [-0.00572875 -0.00364723 0.99997694 0.45732621] [ 0. 0. 0. 1. ]] SLAMing on 184.892557844 meters 0.2926692629759614 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:0.46 [[ 0.99997545 0.0040481 0.00571983 0.17833418] [-0.00407143 0.99998341 0.00407431 0.00439067] [-0.00570324 -0.0040975 0.99997534 0.45736939] [ 0. 0. 0. 1. ]] SLAMing on 184.922557844 meters 0.2919413966534145 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:0.46 [[ 9.99982907e-01 -1.94426841e-05 5.84685110e-03 1.77823915e-01] [ 1.68245941e-05 9.99999900e-01 4.47826637e-04 1.64027315e-03] [-5.84685922e-03 -4.47720611e-04 9.99982807e-01 4.57835914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952557844 meters 0.29187883925770275 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:0.46 [[ 9.99983247e-01 1.17297140e-04 5.78722584e-03 1.78000388e-01] [-1.21925231e-04 9.99999673e-01 7.99361703e-04 2.04540150e-04] [-5.78713019e-03 -8.00053920e-04 9.99982934e-01 4.57796072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982557844 meters 0.2923881358028589 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:0.46 [[ 9.99984072e-01 1.78170200e-04 5.64128849e-03 1.78494433e-01] [-1.83542692e-04 9.99999530e-01 9.51848584e-04 -4.28464362e-04] [-5.64111624e-03 -9.52868840e-04 9.99983635e-01 4.57553126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012557844 meters 0.29206276988013324 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:0.46 [[ 0.99997345 0.00684708 0.00249303 0.15818784] [-0.00684359 0.9999756 -0.00140422 -0.00188922] [-0.00250258 0.00138713 0.99999591 0.45802051] [ 0. 0. 0. 1. ]] SLAMing on 185.04255784400002 meters 0.29100552290084997 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.46 [[ 9.99997047e-01 -1.95169168e-03 1.44825304e-03 1.38655025e-01] [ 1.95214871e-03 9.99998045e-01 -3.14222622e-04 9.27298661e-04] [-1.44763694e-03 3.17048900e-04 9.99998902e-01 4.57120244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07255784400002 meters 0.2925335607856125 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.46 [[ 9.99996865e-01 -1.95515098e-03 1.56420753e-03 1.38339369e-01] [ 1.95566194e-03 9.99998035e-01 -3.25198781e-04 9.79653293e-04] [-1.56356864e-03 3.28256822e-04 9.99998724e-01 4.57186607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10255784400002 meters 0.2919802026208342 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.46 [[ 9.99996455e-01 -1.99021015e-03 1.76882510e-03 1.37684749e-01] [ 1.99099995e-03 9.99997919e-01 -4.44865949e-04 1.46379846e-03] [-1.76793604e-03 4.48386103e-04 9.99998337e-01 4.57611811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13255784400002 meters 0.2911237285034603 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.46 [[ 9.99996519e-01 -2.04495110e-03 1.66727356e-03 1.37983415e-01] [ 2.04594269e-03 9.99997731e-01 -5.93247728e-04 2.06345725e-03] [-1.66605662e-03 5.96656809e-04 9.99998434e-01 4.57493424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16255784400002 meters 0.292115749473111 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:0.46 [[ 9.99976626e-01 6.38120365e-03 2.45499632e-03 1.58069819e-01] [-6.37622734e-03 9.99977612e-01 -2.02952806e-03 9.56424051e-06] [-2.46789219e-03 2.01382700e-03 9.99994927e-01 4.58480073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19255784400002 meters 0.29302924072110775 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:0.46 [[ 9.99976947e-01 6.33886954e-03 2.43413007e-03 1.58146430e-01] [-6.33366181e-03 9.99977650e-01 -2.14124606e-03 4.69024713e-04] [-2.44764874e-03 2.12577974e-03 9.99994745e-01 4.58426418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22255784400002 meters 0.2905624284238979 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.46 [[ 9.99997347e-01 -2.18859392e-04 2.29291200e-03 1.33087704e-01] [ 2.17002152e-04 9.99999648e-01 8.10209540e-04 1.80485768e-03] [-2.29308851e-03 -8.09709823e-04 9.99997043e-01 4.60456168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25255784400002 meters 0.2915394172709077 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99997628e-01 -7.29272975e-05 2.17676748e-03 1.69977135e-01] [ 7.17878948e-05 9.99999860e-01 5.23511454e-04 5.77372338e-03] [-2.17680536e-03 -5.23353947e-04 9.99997494e-01 4.64609073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282557844 meters 0.290554909563544 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99997413e-01 -1.42930540e-04 2.26999994e-03 1.69630508e-01] [ 1.42186562e-04 9.99999936e-01 3.27901714e-04 6.57268779e-03] [-2.27004666e-03 -3.27578102e-04 9.99997370e-01 4.64872704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312557844 meters 0.29209700699914615 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99997405e-01 -2.07784819e-04 2.26881050e-03 1.69632851e-01] [ 2.07435135e-04 9.99999967e-01 1.54360701e-04 7.28723970e-03] [-2.26884249e-03 -1.53889670e-04 9.99997414e-01 4.64859922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342557844 meters 0.2908281372261992 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99997436e-01 -4.33376488e-04 2.22262464e-03 1.69914493e-01] [ 4.34354994e-04 9.99999809e-01 -4.39784003e-04 9.70829851e-03] [-2.22243363e-03 4.40748284e-04 9.99997433e-01 4.64474104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372557844 meters 0.29172837042248745 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99997406e-01 -5.49766641e-04 2.21029660e-03 1.70056592e-01] [ 5.51419565e-04 9.99999569e-01 -7.47289513e-04 1.09581717e-02] [-2.20988482e-03 7.48506375e-04 9.99997278e-01 4.64199924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402557844 meters 0.29175939505031157 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99996895e-01 -7.67038780e-04 2.37097275e-03 1.69833039e-01] [ 7.70178635e-04 9.99998827e-01 -1.32366038e-03 1.33051528e-02] [-2.36995467e-03 1.32548234e-03 9.99996313e-01 4.63707683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432557844 meters 0.2916502512338932 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.46 [[ 9.99996627e-01 -8.48734828e-04 2.45475162e-03 1.69499327e-01] [ 8.52539903e-04 9.99998436e-01 -1.54945446e-03 1.42327718e-02] [-2.45343270e-03 1.55154200e-03 9.99995787e-01 4.63980891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.462557844 meters 0.2912397739515905 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.46 [[ 9.99996344e-01 -9.17897246e-04 2.54361471e-03 1.69089919e-01] [ 9.22322703e-04 9.99998062e-01 -1.73920347e-03 1.50290939e-02] [-2.54201337e-03 1.74154314e-03 9.99995253e-01 4.64403571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.492557844 meters 0.28992810884846026 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.46 [[ 9.99993516e-01 -3.85831036e-04 3.58026560e-03 1.30129645e-01] [ 3.90101424e-04 9.99999213e-01 -1.19213562e-03 1.54906328e-02] [-3.57980282e-03 1.19352455e-03 9.99992880e-01 4.61293367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.522557844 meters 0.292259140870104 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.46 [[ 9.99998433e-01 7.45405904e-04 1.60583368e-03 1.71706992e-01] [-7.44420216e-04 9.99999534e-01 -6.14327422e-04 1.92362483e-02] [-1.60629086e-03 6.13131044e-04 9.99998522e-01 4.63299823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552557844 meters 0.292259140870104 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.46 [[ 9.99998433e-01 7.45405904e-04 1.60583368e-03 1.71706992e-01] [-7.44420216e-04 9.99999534e-01 -6.14327422e-04 1.92362483e-02] [-1.60629086e-03 6.13131044e-04 9.99998522e-01 4.63299823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582557844 meters 0.2901526680335631 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.46 [[ 9.99996688e-01 5.54836205e-04 2.51317231e-03 1.33820840e-01] [-5.52759853e-04 9.99999505e-01 -8.26806888e-04 1.77245269e-02] [-2.51362981e-03 8.25414969e-04 9.99996500e-01 4.59133094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612557844 meters 0.2915310489392208 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.46 [[ 9.99998743e-01 7.13559832e-04 1.41590498e-03 1.72686922e-01] [-7.11460131e-04 9.99998647e-01 -1.48288956e-03 2.30648132e-02] [-1.41696119e-03 1.48188034e-03 9.99997898e-01 4.62424589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642557844 meters 0.2914390635564919 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99998666e-01 4.66812971e-04 1.56539661e-03 1.72415755e-01] [-4.63114262e-04 9.99997102e-01 -2.36232429e-03 2.64533786e-02] [-1.56649484e-03 2.36159618e-03 9.99995984e-01 4.62090756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672557844 meters 0.2913019273876286 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99998689e-01 2.95002501e-04 1.59216436e-03 1.72372064e-01] [-2.90412256e-04 9.99995803e-01 -2.88248359e-03 2.85141266e-02] [-1.59300802e-03 2.88201743e-03 9.99994578e-01 4.62009011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702557844 meters 0.29051228200685864 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.46 [[ 9.99987102e-01 -4.90297823e-03 -1.32532063e-03 1.49868001e-01] [ 4.90366574e-03 9.99987844e-01 5.16002822e-04 2.88379679e-02] [ 1.32277456e-03 -5.22495096e-04 9.99998989e-01 4.63670569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732557844 meters 0.2920313303498509 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99991445e-01 4.13535921e-03 -9.51611316e-05 1.71553310e-01] [-4.13538528e-03 9.99991411e-01 -2.75435778e-04 2.97093274e-02] [ 9.40212884e-05 2.75826949e-04 9.99999958e-01 4.63515269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762557844 meters 0.2923222902282274 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99992340e-01 3.90883231e-03 -2.04717463e-04 1.71833997e-01] [-3.90900866e-03 9.99991983e-01 -8.68228865e-04 3.21302695e-02] [ 2.01322061e-04 8.69022456e-04 9.99999602e-01 4.63451870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79255784400002 meters 0.2924359436621188 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99992566e-01 3.84856142e-03 -2.37597199e-04 1.71882749e-01] [-3.84880349e-03 9.99992066e-01 -1.02689523e-03 3.27809880e-02] [ 2.33643245e-04 1.02780206e-03 9.99999445e-01 4.63525319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82255784400002 meters 0.29214042071526375 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:0.46 [[ 9.99988273e-01 -4.76374989e-03 -8.72286150e-04 1.51012280e-01] [ 4.76364059e-03 9.99988646e-01 -1.27338286e-04 3.54885191e-02] [ 8.72882854e-04 1.23181535e-04 9.99999611e-01 4.62744603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85255784400002 meters 0.29097987779398876 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:0.46 [[ 9.99988198e-01 -4.78926001e-03 -8.16266846e-04 1.50758831e-01] [ 4.78909990e-03 9.99988513e-01 -1.97997947e-04 3.57830336e-02] [ 8.17205733e-04 1.94086427e-04 9.99999647e-01 4.62996028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88255784400002 meters 0.29175292590532703 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99990566e-01 4.23467305e-03 9.67128505e-04 1.71625247e-01] [-4.23412855e-03 9.99990877e-01 -5.64369771e-04 3.38891505e-02] [-9.69509603e-04 5.60269501e-04 9.99999373e-01 4.62946438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91255784400002 meters 0.2918611457899633 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99990731e-01 4.22186603e-03 8.45259671e-04 1.72085590e-01] [-4.22136139e-03 9.99990911e-01 -5.97920634e-04 3.40218109e-02] [-8.47776330e-04 5.94346945e-04 9.99999464e-01 4.62589654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94255784400002 meters 0.29156108934476216 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99990917e-01 4.20511858e-03 6.94873771e-04 1.72621300e-01] [-4.20467383e-03 9.99990955e-01 -6.40281995e-04 3.41915873e-02] [-6.97559947e-04 6.37354462e-04 9.99999554e-01 4.62211359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97255784400002 meters 0.29022570067201936 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:0.46 [[ 9.99990752e-01 -4.05161447e-03 -1.44261179e-03 1.53850816e-01] [ 4.05237734e-03 9.99991651e-01 5.26279722e-04 3.69403877e-02] [ 1.44046746e-03 -5.32120862e-04 9.99998821e-01 4.61196836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00255784400002 meters 0.2914374552185638 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 9.99989977e-01 4.26450025e-03 1.36348736e-03 1.73312217e-01] [-4.26367139e-03 9.99990724e-01 -6.10232474e-04 3.78389682e-02] [-1.36607705e-03 6.04412896e-04 9.99998884e-01 4.61969322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032557844 meters 0.2910538997816523 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 9.99989933e-01 4.21766809e-03 1.53137719e-03 1.72791139e-01] [-4.21653282e-03 9.99990834e-01 -7.43813161e-04 3.83945441e-02] [-1.53450031e-03 7.37348571e-04 9.99998551e-01 4.62198818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062557844 meters 0.2914257686733923 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 9.99990001e-01 4.16060000e-03 1.63945252e-03 1.72457763e-01] [-4.15912283e-03 9.99990943e-01 -9.03396661e-04 3.90535896e-02] [-1.64319635e-03 8.96568944e-04 9.99998248e-01 4.62328243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092557844 meters 0.29032765041102854 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 0.99999018 0.00411333 0.00165119 0.17243729] [-0.00411164 0.99999102 -0.00103075 0.03957607] [-0.00165542 0.00102395 0.99999811 0.4622967 ] [ 0. 0. 0. 1. ]] SLAMing on 186.122557844 meters 0.2922347688933062 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.46 [[ 0.99999529 -0.0017394 0.00252702 0.19534259] [ 0.00173375 0.999996 0.00223669 0.04399869] [-0.0025309 -0.0022323 0.99999431 0.46115073] [ 0. 0. 0. 1. ]] SLAMing on 186.152557844 meters 0.2901951251629186 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 0.99999108 0.0040387 0.00123544 0.17274889] [-0.00403683 0.99999071 -0.00151107 0.04350252] [-0.00124153 0.00150607 0.9999981 0.46259615] [ 0. 0. 0. 1. ]] SLAMing on 186.182557844 meters 0.2898429545257038 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 0.99999111 0.00398202 0.0013876 0.17214798] [-0.00397969 0.99999067 -0.00168072 0.04417953] [-0.00139428 0.00167519 0.99999762 0.46317685] [ 0. 0. 0. 1. ]] SLAMing on 186.212557844 meters 0.29040228331142337 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 0.99999124 0.00395221 0.00137996 0.17213762] [-0.00394979 0.99999066 -0.001756 0.04448739] [-0.00138689 0.00175053 0.99999751 0.46323372] [ 0. 0. 0. 1. ]] SLAMing on 186.242557844 meters 0.2895474193451876 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.46 [[ 0.99999112 0.00394793 0.00147355 0.17192451] [-0.00394532 0.99999065 -0.00176823 0.04454017] [-0.00148051 0.0017624 0.99999735 0.4631657 ] [ 0. 0. 0. 1. ]] SLAMing on 186.272557844 meters 0.28927861451595993 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.46 [[ 9.99989715e-01 -4.53397304e-03 -1.13571908e-04 1.51579491e-01] [ 4.53388436e-03 9.99989426e-01 -7.69302270e-04 4.53051190e-02] [ 1.17058703e-04 7.68779435e-04 9.99999698e-01 4.62421189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302557844 meters 0.2910396594587987 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:0.46 [[ 9.99997990e-01 1.95530125e-03 -4.42830534e-04 1.76985077e-01] [-1.95697543e-03 9.99990818e-01 -3.81229968e-03 4.50843601e-02] [ 4.35372274e-04 3.81315863e-03 9.99992635e-01 4.60437065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332557844 meters 0.29070582807864476 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.46 [[ 9.99997798e-01 1.98911554e-03 -6.68178814e-04 1.77718457e-01] [-1.99158360e-03 9.99991121e-01 -3.71357819e-03 4.46611189e-02] [ 6.60786145e-04 3.71490074e-03 9.99992881e-01 4.60051138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362557844 meters 0.28947669621534067 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99982165e-01 -3.99138636e-03 -4.44279179e-03 1.57337928e-01] [ 3.98831168e-03 9.99991801e-01 -7.00703685e-04 4.20213063e-02] [ 4.44555215e-03 6.82971949e-04 9.99989885e-01 4.61020039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392557844 meters 0.2898921673469764 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99982054e-01 -3.95118969e-03 -4.50324428e-03 1.57628096e-01] [ 3.94855751e-03 9.99992028e-01 -5.93247936e-04 4.15753859e-02] [ 4.50555241e-03 5.75455971e-04 9.99989684e-01 4.60714613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422557844 meters 0.2921637281931076 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99982704e-01 -3.95086646e-03 -4.35696021e-03 1.57240278e-01] [ 3.94830666e-03 9.99992028e-01 -5.95965169e-04 4.15926851e-02] [ 4.35928005e-03 5.78752246e-04 9.99990331e-01 4.60762602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452557844 meters 0.28999851045900854 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99983339e-01 -3.94353271e-03 -4.21550435e-03 1.56784951e-01] [ 3.94112165e-03 9.99992065e-01 -5.80106014e-04 4.15416066e-02] [ 4.21775857e-03 5.63482533e-04 9.99990946e-01 4.61003621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482557844 meters 0.28913949887855467 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99983970e-01 -3.95740033e-03 -4.04962134e-03 1.56273555e-01] [ 3.95491497e-03 9.99991986e-01 -6.21551148e-04 4.17232196e-02] [ 4.05204862e-03 6.05525276e-04 9.99991607e-01 4.61212426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512557844 meters 0.28904729042505495 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99984499e-01 -3.96343420e-03 -3.91053019e-03 1.55827313e-01] [ 3.96095492e-03 9.99991950e-01 -6.41542577e-04 4.18215233e-02] [ 3.91304142e-03 6.26043198e-04 9.99992148e-01 4.61436232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54255784400002 meters 0.28898461723110563 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99984952e-01 -3.96427952e-03 -3.79201263e-03 1.55595983e-01] [ 3.96186548e-03 9.99991944e-01 -6.43910911e-04 4.18368012e-02] [ 3.79453472e-03 6.28877778e-04 9.99992603e-01 4.61270731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57255784400002 meters 0.28880444773131375 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:0.46 [[ 9.99985101e-01 -3.91875561e-03 -3.80006239e-03 1.55748578e-01] [ 3.91679244e-03 9.99992192e-01 -5.23919057e-04 4.13352930e-02] [ 3.80208583e-03 5.09027196e-04 9.99992642e-01 4.60980987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60255784400002 meters 0.28933326152217864 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.46 [[ 0.99998616 0.00469608 -0.00237293 0.1763526 ] [-0.00469919 0.99998811 -0.00130563 0.03836678] [ 0.00236677 0.00131676 0.99999633 0.46119179] [ 0. 0. 0. 1. ]] SLAMing on 186.63255784400002 meters 0.2895630994373509 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.46 [[ 0.99998551 0.00474096 -0.00255174 0.17686683] [-0.00474395 0.99998807 -0.00116708 0.03779733] [ 0.00254618 0.00117917 0.99999606 0.46103398] [ 0. 0. 0. 1. ]] SLAMing on 186.66255784400002 meters 0.2896627600867044 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.46 [[ 0.99998493 0.00479476 -0.00267545 0.17713372] [-0.00479749 0.99998798 -0.00101142 0.03716851] [ 0.00267057 0.00102424 0.99999591 0.46116069] [ 0. 0. 0. 1. ]] SLAMing on 186.69255784400002 meters 0.2903402533376362 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.46 [[ 9.99983895e-01 4.89422738e-03 -2.87326879e-03 1.77520531e-01] [-4.89621495e-03 9.99987779e-01 -6.85118716e-04 3.58884565e-02] [ 2.86988055e-03 6.99175824e-04 9.99995637e-01 4.61450755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72255784400002 meters 0.29030746590324874 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 9.99983338e-01 4.97471234e-03 -2.92861565e-03 1.77706042e-01] [-4.97607586e-03 9.99987514e-01 -4.58482183e-04 3.49684197e-02] [ 2.92629826e-03 4.73047558e-04 9.99995606e-01 4.61354633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75255784400002 meters 0.28960580807020136 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 9.99982946e-01 5.07232981e-03 -2.89482437e-03 1.77645418e-01] [-5.07290956e-03 9.99987114e-01 -1.92965241e-04 3.38954084e-02] [ 2.89380828e-03 2.07647132e-04 9.99995791e-01 4.61308992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters 0.29031287872648276 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 9.99982385e-01 5.17686614e-03 -2.90325361e-03 1.77664028e-01] [-5.17662785e-03 9.99986597e-01 8.95836468e-05 3.27502981e-02] [ 2.90367846e-03 -7.45530053e-05 9.99995782e-01 4.61326557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812557844 meters 0.29001811635659425 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 9.99981210e-01 5.39814929e-03 -2.90512948e-03 1.77687298e-01] [-5.39620247e-03 9.99985211e-01 6.77551710e-04 3.03709810e-02] [ 2.90874404e-03 -6.61862312e-04 9.99995551e-01 4.61290694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters 0.2882399065176003 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 9.99980770e-01 5.48481331e-03 -2.89427338e-03 1.77624727e-01] [-5.48220522e-03 9.99984560e-01 9.08286610e-04 2.94314067e-02] [ 2.89921047e-03 -8.92402143e-04 9.99995399e-01 4.61381697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872557844 meters 0.28854777265599946 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 0.99998016 0.00557844 -0.00292577 0.17763736] [-0.00557508 0.99998379 0.00115527 0.02842113] [ 0.00293216 -0.00113894 0.99999505 0.46155483] [ 0. 0. 0. 1. ]] SLAMing on 186.902557844 meters 0.2891234217930751 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 0.99997959 0.00566959 -0.00294491 0.17780403] [-0.00566547 0.99998296 0.00140466 0.0274154 ] [ 0.00295283 -0.00138795 0.99999468 0.46129884] [ 0. 0. 0. 1. ]] SLAMing on 186.932557844 meters 0.28899169027343247 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 0.99997993 0.00564638 -0.00287227 0.17768622] [-0.00564255 0.99998318 0.00134121 0.0276724 ] [ 0.0028798 -0.00132498 0.99999498 0.46113612] [ 0. 0. 0. 1. ]] SLAMing on 186.962557844 meters 0.2887957070129975 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.46 [[ 0.99998051 0.00562338 -0.00271305 0.17731869] [-0.00561994 0.9999834 0.00127447 0.02794409] [ 0.00272017 -0.0012592 0.99999551 0.46104942] [ 0. 0. 0. 1. ]] SLAMing on 186.992557844 meters 0.28921403467333073 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:0.46 [[ 9.99996105e-01 -2.78733670e-03 1.41413544e-04 1.94413574e-01] [ 2.78700788e-03 9.99993530e-01 2.27444724e-03 3.30486280e-02] [-1.47752279e-04 -2.27404426e-03 9.99997403e-01 4.62095143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.022557844 meters 0.2878416873605965 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99991707e-01 3.19604658e-03 -2.52416817e-03 1.72306416e-01] [-3.19831637e-03 9.99994484e-01 -8.95699067e-04 3.36934062e-02] [ 2.52129155e-03 9.03764727e-04 9.99996413e-01 4.63808914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052557844 meters 0.28938213634561966 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.46 [[ 9.99991464e-01 3.16917227e-03 -2.65114256e-03 1.72845590e-01] [-3.17174291e-03 9.99994503e-01 -9.65993773e-04 3.39756907e-02] [ 2.64806658e-03 9.74394270e-04 9.99996019e-01 4.63247361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082557844 meters 0.29069932083389766 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.46 [[ 0.99996839 -0.0063518 -0.00478281 0.19803592] [ 0.00634639 0.9999792 -0.00114627 0.03859177] [ 0.00478999 0.00111588 0.99998791 0.46126148] [ 0. 0. 0. 1. ]] SLAMing on 187.112557844 meters 0.2915449794709165 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.46 [[ 9.99968676e-01 -6.29124613e-03 -4.80277580e-03 1.98280385e-01] [ 6.28657209e-03 9.99979752e-01 -9.87673569e-04 3.79296509e-02] [ 4.80889225e-03 9.57449635e-04 9.99987979e-01 4.60845688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142557844 meters 0.29145710546591197 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999239 0.00245115 -0.00303523 0.21827669] [-0.00245625 0.99999558 -0.00167744 0.03492449] [ 0.00303111 0.00168489 0.99999399 0.46135171] [ 0. 0. 0. 1. ]] SLAMing on 187.172557844 meters 0.28983849871371653 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999238 0.00249869 -0.00300029 0.21804558] [-0.00250335 0.99999567 -0.00154995 0.03441322] [ 0.0029964 0.00155745 0.9999943 0.46168843] [ 0. 0. 0. 1. ]] SLAMing on 187.202557844 meters 0.2888325086316608 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999249 0.00253577 -0.0029319 0.2177284 ] [-0.00254003 0.99999572 -0.00145135 0.03402357] [ 0.0029282 0.00145879 0.99999465 0.46203781] [ 0. 0. 0. 1. ]] SLAMing on 187.232557844 meters 0.28987678928692673 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999273 0.00261954 -0.0027716 0.21715975] [-0.00262288 0.99999584 -0.00119911 0.03301045] [ 0.00276844 0.00120637 0.99999544 0.46251403] [ 0. 0. 0. 1. ]] SLAMing on 187.262557844 meters 0.2888010727214556 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99992691e-01 2.69609155e-03 -2.71107680e-03 2.16990740e-01] [-2.69879602e-03 9.99995864e-01 -9.94397256e-04 3.21758812e-02] [ 2.70838460e-03 1.00170663e-03 9.99995831e-01 4.62559528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29255784400002 meters 0.2882355876155869 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99992439e-01 2.85252564e-03 -2.64306251e-03 2.16849478e-01] [-2.85394349e-03 9.99995786e-01 -5.32828107e-04 3.03264002e-02] [ 2.64153146e-03 5.40367229e-04 9.99996365e-01 4.62523061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32255784400002 meters 0.2881005343957484 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99992007e-01 2.94479407e-03 -2.70455617e-03 2.16985255e-01] [-2.94553112e-03 9.99995626e-01 -2.68578984e-04 2.92662110e-02] [ 2.70375343e-03 2.76543192e-04 9.99996307e-01 4.62590060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35255784400002 meters 0.28811349236782874 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99991647e-01 3.05616535e-03 -2.71415694e-03 2.16904221e-01] [-3.05605874e-03 9.99995329e-01 4.34249565e-05 2.80128281e-02] [ 2.71427697e-03 -3.51299708e-05 9.99996316e-01 4.62860033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38255784400002 meters 0.28986131958763983 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.46 [[ 9.99995116e-01 -3.06239313e-03 6.24311221e-04 2.38645477e-01] [ 3.06050152e-03 9.99990791e-01 3.00866866e-03 2.53653979e-02] [-6.33519197e-04 -3.00674326e-03 9.99995279e-01 4.60986362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41255784400002 meters 0.2880592136011422 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99996069e-01 2.75305626e-03 -5.32343627e-04 2.15698245e-01] [-2.75316670e-03 9.99996189e-01 -2.06847248e-04 2.19474585e-02] [ 5.31772136e-04 2.08312065e-04 9.99999837e-01 4.62296777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44255784400002 meters 0.2880034951648766 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995947e-01 2.78694963e-03 -5.82956445e-04 2.15958762e-01] [-2.78701479e-03 9.99996110e-01 -1.10999320e-04 2.15440306e-02] [ 5.82644828e-04 1.12623579e-04 9.99999824e-01 4.61990136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47255784400002 meters 0.2880034951648766 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995947e-01 2.78694963e-03 -5.82956445e-04 2.15958762e-01] [-2.78701479e-03 9.99996110e-01 -1.10999320e-04 2.15440306e-02] [ 5.82644828e-04 1.12623579e-04 9.99999824e-01 4.61990136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50255784400002 meters 0.28786012321362797 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995844e-01 2.79751148e-03 -6.97339150e-04 2.16473652e-01] [-2.79756641e-03 9.99996084e-01 -7.78101015e-05 2.14012812e-02] [ 6.97118744e-04 7.97606306e-05 9.99999754e-01 4.61427224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532557844 meters 0.2879863404230235 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995805e-01 2.76876187e-03 -8.50468246e-04 2.17137215e-01] [-2.76889688e-03 9.99996154e-01 -1.57617256e-04 2.17209612e-02] [ 8.50028571e-04 1.59971454e-04 9.99999626e-01 4.60707882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562557844 meters 0.289029206635537 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995792e-01 2.70645657e-03 -1.04421545e-03 2.17921722e-01] [-2.70684259e-03 9.99996269e-01 -3.68431053e-04 2.25349831e-02] [ 1.04321441e-03 3.71256029e-04 9.99999387e-01 4.59806272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592557844 meters 0.28809360958653607 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99996039e-01 2.62809094e-03 -1.00749918e-03 2.17876444e-01] [-2.62869750e-03 9.99996364e-01 -6.01197760e-04 2.34577268e-02] [ 1.00591551e-03 6.03843789e-04 9.99999312e-01 4.59665893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622557844 meters 0.29016615890523 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.46 [[ 9.99992647e-01 -3.83174833e-03 1.53925646e-04 2.39931624e-01] [ 3.83142615e-03 9.99990576e-01 2.04153759e-03 2.70164710e-02] [-1.61746853e-04 -2.04093282e-03 9.99997904e-01 4.59090621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652557844 meters 0.2899576648189044 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.46 [[ 9.99992252e-01 -3.93633640e-03 -1.98721296e-05 2.40459910e-01] [ 3.93636458e-03 9.99990796e-01 1.70658712e-03 2.83326008e-02] [ 1.31542457e-05 -1.70665212e-03 9.99998544e-01 4.58803438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682557844 meters 0.29066099369794823 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.46 [[ 9.99991983e-01 -4.00385562e-03 -4.56869308e-05 2.40626539e-01] [ 4.00392067e-03 9.99990820e-01 1.52574523e-03 2.90721650e-02] [ 3.95776479e-05 -1.52591592e-03 9.99998835e-01 4.58558409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.712557844 meters 0.2886578119990375 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99991994e-01 3.82190403e-03 -1.18527206e-03 2.22085276e-01] [-3.82221749e-03 9.99992661e-01 -2.62312699e-04 2.58925500e-02] [ 1.18426083e-03 2.66840966e-04 9.99999263e-01 4.56641797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.742557844 meters 0.2889821042341166 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99992306e-01 3.74815744e-03 -1.15751429e-03 2.22021530e-01] [-3.74869094e-03 9.99992868e-01 -4.59069917e-04 2.67016968e-02] [ 1.15578537e-03 4.63405548e-04 9.99999225e-01 4.56605820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.772557844 meters 0.2879423821207804 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.46 [[ 9.99986821e-01 -4.62983797e-03 -2.21875471e-03 2.01806615e-01] [ 4.63095790e-03 9.99989152e-01 4.99885367e-04 3.13463221e-02] [ 2.21641625e-03 -5.10153739e-04 9.99997414e-01 4.55710957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802557844 meters 0.2900643312491301 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99990397e-01 4.33891241e-03 -6.16320171e-04 2.22505259e-01] [-4.33901625e-03 9.99990572e-01 -1.67256798e-04 3.05246398e-02] [ 6.15588648e-04 1.69929415e-04 9.99999796e-01 4.56112052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832557844 meters 0.28939187930180743 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99990605e-01 4.29075094e-03 -6.15970252e-04 2.22448553e-01] [-4.29093282e-03 9.99990751e-01 -2.94248353e-04 3.10518847e-02] [ 6.14702009e-04 2.96888676e-04 9.99999767e-01 4.56224557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862557844 meters 0.2899529139416831 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99990711e-01 4.26225122e-03 -6.41789345e-04 2.22449335e-01] [-4.26248898e-03 9.99990847e-01 -3.69553439e-04 3.13652203e-02] [ 6.40208341e-04 3.72285626e-04 9.99999726e-01 4.56370146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892557844 meters 0.2884154159616291 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.46 [[ 9.99988484e-01 -4.76358983e-03 -5.83879113e-04 1.99904231e-01] [ 4.76371465e-03 9.99988631e-01 2.12571228e-04 3.30695239e-02] [ 5.82859873e-04 -2.15350214e-04 9.99999807e-01 4.56057873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922557844 meters 0.2875390347370143 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.46 [[ 9.99988571e-01 -4.74430630e-03 -5.91453926e-04 1.99861171e-01] [ 4.74446255e-03 9.99988710e-01 2.63045392e-04 3.28651265e-02] [ 5.90199281e-04 -2.65848516e-04 9.99999790e-01 4.56210046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952557844 meters 0.28876636243159554 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99991212e-01 4.12087761e-03 7.70630732e-04 2.20027977e-01] [-4.12050217e-03 9.99991392e-01 -4.88143200e-04 3.04580063e-02] [-7.72635677e-04 4.84963525e-04 9.99999584e-01 4.56627193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982557844 meters 0.28916232073416503 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99991256e-01 4.11984000e-03 7.17884782e-04 2.20103107e-01] [-4.11948749e-03 9.99991394e-01 -4.91831946e-04 3.04706954e-02] [-7.19904873e-04 4.88870328e-04 9.99999621e-01 4.56765633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012557844 meters 0.2875108218994962 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.46 [[ 0.99999418 -0.00267706 -0.00211682 0.19804004] [ 0.00268132 0.99999438 0.00201411 0.02831457] [ 0.00211142 -0.00201977 0.99999573 0.45884761] [ 0. 0. 0. 1. ]] SLAMing on 188.04255784400002 meters 0.28830744239825196 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 9.99984207e-01 5.61715606e-03 1.82598709e-04 2.16763893e-01] [-5.61732160e-03 9.99983800e-01 9.19070870e-04 2.52223076e-02] [-1.77433186e-04 -9.20082071e-04 9.99999561e-01 4.59976666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07255784400002 meters 0.28733568211661104 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:0.46 [[ 0.99999297 -0.00360703 -0.00101996 0.194239 ] [ 0.0036084 0.99999259 0.00134071 0.02487095] [ 0.00101512 -0.00134438 0.99999858 0.46059164] [ 0. 0. 0. 1. ]] SLAMing on 188.10255784400002 meters 0.2888250167319653 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999521 0.00278782 0.00134447 0.21817303] [-0.00278618 0.99999537 -0.00122112 0.02605818] [-0.00134787 0.00121736 0.99999835 0.45791413] [ 0. 0. 0. 1. ]] SLAMing on 188.13255784400002 meters 0.28878329401925723 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99999514 0.00285327 0.00125389 0.21850892] [-0.00285196 0.99999539 -0.00104494 0.02532184] [-0.00125687 0.00104136 0.99999867 0.45769788] [ 0. 0. 0. 1. ]] SLAMing on 188.16255784400002 meters 0.28759750066638434 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:0.46 [[ 9.99983906e-01 -5.43148988e-03 -1.63896152e-03 1.99099652e-01] [ 5.43186341e-03 9.99985222e-01 2.23540260e-04 2.45040020e-02] [ 1.63772315e-03 -2.32439277e-04 9.99998632e-01 4.57667494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19255784400002 meters 0.2884392323077522 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:0.46 [[ 9.99984409e-01 -5.32477674e-03 -1.68205300e-03 1.99206739e-01] [ 5.32562628e-03 9.99985693e-01 5.00985675e-04 2.33593613e-02] [ 1.67936130e-03 -5.09935850e-04 9.99998460e-01 4.57711112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22255784400002 meters 0.2885543304587874 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995575e-01 2.93480036e-03 -4.86171599e-04 2.18722796e-01] [-2.93512340e-03 9.99995471e-01 -6.65065760e-04 1.94689905e-02] [ 4.84217562e-04 6.66489791e-04 9.99999661e-01 4.59262145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25255784400002 meters 0.2879854294381268 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99995014e-01 3.12633932e-03 -4.45314497e-04 2.18637204e-01] [-3.12642109e-03 9.99995096e-01 -1.83042695e-04 1.74853888e-02] [ 4.44740060e-04 1.84434023e-04 9.99999884e-01 4.59257896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282557844 meters 0.28872884308216074 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99994641e-01 3.24171327e-03 -4.56654078e-04 2.18713985e-01] [-3.24165754e-03 9.99994738e-01 1.22717409e-04 1.62303449e-02] [ 4.57049490e-04 -1.21236436e-04 9.99999888e-01 4.59172098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312557844 meters 0.2878903891636984 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99994154e-01 3.38173589e-03 -5.06574252e-04 2.18978249e-01] [-3.38148252e-03 9.99994158e-01 5.00200867e-04 1.46712600e-02] [ 5.08262840e-04 -4.98484971e-04 9.99999747e-01 4.58895976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters 0.28811581616056514 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99999541e-01 -6.86784342e-04 -6.67395813e-04 2.19519244e-01] [ 6.84736774e-04 9.99995073e-01 -3.06339684e-03 1.15154445e-02] [ 6.69496417e-04 3.06293844e-03 9.99995085e-01 4.58508480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372557844 meters 0.2890032028425842 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99999528e-01 -5.41578469e-04 -8.06407617e-04 2.19995314e-01] [ 5.39411515e-04 9.99996250e-01 -2.68496646e-03 9.94526641e-03] [ 8.07858713e-04 2.68453020e-03 9.99996070e-01 4.58277009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters 0.2878900043697191 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99999494e-01 -4.17489811e-04 -9.15206457e-04 2.20393849e-01] [ 4.15335202e-04 9.99997145e-01 -2.35316035e-03 8.55670925e-03] [ 9.16186265e-04 2.35277904e-03 9.99996813e-01 4.58032732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432557844 meters 0.2889525174299732 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99999454e-01 -3.21966943e-04 -9.93967029e-04 2.20783006e-01] [ 3.19884577e-04 9.99997755e-01 -2.09445329e-03 7.47204452e-03] [ 9.94639142e-04 2.09413419e-03 9.99997313e-01 4.57610365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.462557844 meters 0.29039760245337615 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:0.46 [[ 0.99997883 -0.00615691 0.00210746 0.24291274] [ 0.00615428 0.99998028 0.00125291 0.00455818] [-0.00211513 -0.00123992 0.99999699 0.4553037 ] [ 0. 0. 0. 1. ]] SLAMing on 188.492557844 meters 0.28842411678620855 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:0.45 [[ 9.99997372e-01 2.04353465e-03 1.03908872e-03 2.23990827e-01] [-2.04397357e-03 9.99997822e-01 4.21528193e-04 -2.81794258e-03] [-1.03822505e-03 -4.23650955e-04 9.99999371e-01 4.54574225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.522557844 meters 0.2883690851714467 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.46 [[ 9.99996826e-01 2.34304900e-03 9.26132915e-04 2.23988088e-01] [-2.34445013e-03 9.99996105e-01 1.51469468e-03 -7.02116378e-03] [-9.22580303e-04 -1.51686114e-03 9.99998424e-01 4.55396773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552557844 meters 0.2883316495488511 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.46 [[ 9.99996427e-01 2.54827892e-03 8.08066573e-04 2.24234098e-01] [-2.55003463e-03 9.99994374e-01 2.17919413e-03 -9.63295483e-03] [-8.02508832e-04 -2.18124694e-03 9.99997299e-01 4.55558688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582557844 meters 0.28859815295462526 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:0.46 [[ 9.99995832e-01 2.78215728e-03 7.71190867e-04 2.24257648e-01] [-2.78440537e-03 9.99991832e-01 2.92951455e-03 -1.26017806e-02] [-7.63034198e-04 -2.93164965e-03 9.99995412e-01 4.55733929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612557844 meters 0.2875761257268058 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.45 [[ 9.99997734e-01 6.74869141e-04 2.01926113e-03 1.84049053e-01] [-6.79181849e-04 9.99997488e-01 2.13586227e-03 -1.82469502e-02] [-2.01781463e-03 -2.13722888e-03 9.99995680e-01 4.53326204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642557844 meters 0.28715009906266215 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.45 [[ 9.99997520e-01 8.74654639e-04 2.04815938e-03 1.83948546e-01] [-8.80235242e-04 9.99995899e-01 2.72537761e-03 -2.06143950e-02] [-2.04576721e-03 -2.72717372e-03 9.99994189e-01 4.53415250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672557844 meters 0.2882980288972684 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 9.99998746e-01 9.40336885e-04 1.27433877e-03 2.22452836e-01] [-9.44539384e-04 9.99994105e-01 3.30120840e-03 -2.52220666e-02] [-1.27122701e-03 -3.30240792e-03 9.99993739e-01 4.57189500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702557844 meters 0.2890246280105822 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.99999865 0.00107565 0.00123893 0.22254366] [-0.00108016 0.99999275 0.00365151 -0.02667468] [-0.001235 -0.00365284 0.99999257 0.45722439] [ 0. 0. 0. 1. ]] SLAMing on 188.732557844 meters 0.2881943882329114 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.99999858 0.00119733 0.001185 0.22276995] [-0.00120201 0.99999142 0.00396322 -0.02797097] [-0.00118024 -0.00396464 0.99999144 0.45706284] [ 0. 0. 0. 1. ]] SLAMing on 188.762557844 meters 0.2883277781187289 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.99999843 0.00141084 0.00107517 0.22322733] [-0.00141562 0.99998903 0.00446401 -0.03005149] [-0.00106886 -0.00446553 0.99998946 0.45675944] [ 0. 0. 0. 1. ]] SLAMing on 188.79255784400002 meters 0.2879150907961078 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.9999983 0.00149884 0.00107037 0.22325962] [-0.00150386 0.99998783 0.00469823 -0.03101215] [-0.00106331 -0.00469983 0.99998839 0.45673674] [ 0. 0. 0. 1. ]] SLAMing on 188.82255784400002 meters 0.2878727584776761 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.99999813 0.00158933 0.00109738 0.22319161] [-0.00159474 0.99998651 0.00494397 -0.03201776] [-0.0010895 -0.00494571 0.99998718 0.45676829] [ 0. 0. 0. 1. ]] SLAMing on 188.85255784400002 meters 0.29085332381212264 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:0.46 [[ 0.9999556 0.00862431 0.00379639 0.24480733] [-0.0086346 0.99995907 0.0027009 -0.03400937] [-0.00377294 -0.00273356 0.99998915 0.45534888] [ 0. 0. 0. 1. ]] SLAMing on 188.88255784400002 meters 0.2891715197318673 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:0.46 [[ 0.99999692 -0.00102941 0.00225703 0.22348558] [ 0.00102258 0.9999949 0.00302492 -0.0331854 ] [-0.00226013 -0.00302261 0.99999288 0.45575826] [ 0. 0. 0. 1. ]] SLAMing on 188.91255784400002 meters 0.29078888296352146 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:0.45 [[ 9.99972234e-01 5.69652572e-03 4.80415334e-03 2.45523756e-01] [-5.69809663e-03 9.99983717e-01 3.13367258e-04 -3.33564970e-02] [-4.80229001e-03 -3.40733087e-04 9.99988411e-01 4.53953038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94255784400002 meters 0.28819691496217814 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99986344e-01 4.00189661e-03 3.36114174e-03 2.03940191e-01] [-4.00063231e-03 9.99991924e-01 -3.82793177e-04 -3.67620892e-02] [-3.36264649e-03 3.69341258e-04 9.99994278e-01 4.53635937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97255784400002 meters 0.28973842465337707 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.45 [[ 0.99997827 -0.00391854 0.00530227 0.22344594] [ 0.00391204 0.99999159 0.00123419 -0.0362587 ] [-0.00530706 -0.00121342 0.99998518 0.45415089] [ 0. 0. 0. 1. ]] SLAMing on 189.00255784400002 meters 0.28863578852811805 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.45 [[ 0.9999789 -0.00379037 0.00527482 0.22341539] [ 0.0037821 0.9999916 0.00157739 -0.03767164] [-0.00528075 -0.0015574 0.99998484 0.45441848] [ 0. 0. 0. 1. ]] SLAMing on 189.032557844 meters 0.2885172103591702 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.45 [[ 0.99997979 -0.00366987 0.00519152 0.2235241 ] [ 0.00366003 0.99999149 0.00190368 -0.03901769] [-0.00519846 -0.00188464 0.99998471 0.45470236] [ 0. 0. 0. 1. ]] SLAMing on 189.062557844 meters 0.29138717553043436 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:0.46 [[ 0.99999266 -0.00248052 0.00291901 0.26716672] [ 0.0024733 0.99999388 0.00247353 -0.03948759] [-0.00292512 -0.00246629 0.99999268 0.45573668] [ 0. 0. 0. 1. ]] SLAMing on 189.092557844 meters 0.290237430359546 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99996470e-01 2.61943189e-03 4.46419286e-04 2.44819735e-01] [-2.61898126e-03 9.99996063e-01 -1.00704444e-03 -4.09186593e-02] [-4.49055413e-04 1.00587172e-03 9.99999393e-01 4.57078662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters 0.29087425577961984 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 9.99984171e-01 -5.48922164e-03 1.23541388e-03 2.64568740e-01] [ 5.48901906e-03 9.99984921e-01 1.67311838e-04 -3.75581597e-02] [-1.23631367e-03 -1.60527979e-04 9.99999223e-01 4.57901146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152557844 meters 0.29030676018368445 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 9.99984285e-01 -5.45586788e-03 1.28955697e-03 2.64357599e-01] [ 5.45553931e-03 9.99985085e-01 2.58172432e-04 -3.79150167e-02] [-1.29094629e-03 -2.51133146e-04 9.99999135e-01 4.58083973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters 0.29083121790006883 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 9.99984319e-01 -5.46114431e-03 1.23991051e-03 2.64590245e-01] [ 5.46084319e-03 9.99985059e-01 2.46117454e-04 -3.78745260e-02] [-1.24123607e-03 -2.39342638e-04 9.99999201e-01 4.57842474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.212557844 meters 0.291879238802317 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 9.99984144e-01 -5.50880187e-03 1.16860622e-03 2.64804736e-01] [ 5.50866426e-03 9.99984820e-01 1.20938369e-04 -3.73623949e-02] [-1.16925471e-03 -1.14498992e-04 9.99999310e-01 4.57768263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.242557844 meters 0.29156868741659536 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 9.99983396e-01 -5.61783347e-03 1.28338287e-03 2.64346030e-01] [ 5.61804995e-03 9.99984205e-01 -1.65138258e-04 -3.61259654e-02] [-1.28243488e-03 1.72345626e-04 9.99999163e-01 4.58080822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.272557844 meters 0.289992111427832 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99994507e-01 2.64771904e-03 1.99403822e-03 2.43599058e-01] [-2.64580689e-03 9.99996038e-01 -9.60960029e-04 -4.09230490e-02] [-1.99657468e-03 9.55678910e-04 9.99997550e-01 4.57468573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302557844 meters 0.28995412026824174 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99994153e-01 2.68836341e-03 2.11331961e-03 2.43105384e-01] [-2.68656529e-03 9.99996027e-01 -8.53230299e-04 -4.13504422e-02] [-2.11560501e-03 8.47547740e-04 9.99997403e-01 4.57949855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332557844 meters 0.2889391446237302 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99993914e-01 2.80594867e-03 2.07336637e-03 2.43051498e-01] [-2.80503556e-03 9.99995968e-01 -4.43176929e-04 -4.29565853e-02] [-2.07460154e-03 4.37358365e-04 9.99997752e-01 4.58364451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362557844 meters 0.2889391446237302 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99993914e-01 2.80594867e-03 2.07336637e-03 2.43051498e-01] [-2.80503556e-03 9.99995968e-01 -4.43176929e-04 -4.29565853e-02] [-2.07460154e-03 4.37358365e-04 9.99997752e-01 4.58364451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392557844 meters 0.28913452341361673 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.46 [[ 9.99994020e-01 2.91255250e-03 1.86454317e-03 2.43637000e-01] [-2.91234806e-03 9.99995753e-01 -1.12354006e-04 -4.43084267e-02] [-1.86486248e-03 1.06923136e-04 9.99998255e-01 4.58233317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422557844 meters 0.2893832817015985 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.46 [[ 9.99993900e-01 3.02185546e-03 1.75168402e-03 2.44007895e-01] [-3.02223165e-03 9.99995411e-01 2.12151111e-04 -4.56478213e-02] [-1.75103489e-03 -2.17443811e-04 9.99998443e-01 4.58038685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452557844 meters 0.2909416763338223 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:0.46 [[ 0.99998474 -0.00483754 0.0026686 0.26451271] [ 0.00483317 0.99998698 0.00163936 -0.04377612] [-0.0026765 -0.00162644 0.9999951 0.45892644] [ 0. 0. 0. 1. ]] SLAMing on 189.482557844 meters 0.2906868968147674 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.46 [[ 0.99998639 -0.00453225 0.00258297 0.26467662] [ 0.0045257 0.99998655 0.0025353 -0.04740181] [-0.00259443 -0.00252357 0.99999345 0.45910171] [ 0. 0. 0. 1. ]] SLAMing on 189.512557844 meters 0.2905936156375611 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.46 [[ 0.99998714 -0.00436042 0.0025892 0.26453248] [ 0.00435265 0.99998602 0.0030011 -0.04931149] [-0.00260225 -0.00298979 0.99999214 0.45943658] [ 0. 0. 0. 1. ]] SLAMing on 189.54255784400002 meters 0.2896554158172046 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.46 [[ 0.99998784 -0.00416786 0.00263537 0.26429388] [ 0.00415858 0.99998516 0.0035182 -0.05143925] [-0.00265 -0.0035072 0.99999034 0.45973787] [ 0. 0. 0. 1. ]] SLAMing on 189.57255784400002 meters 0.28962725470011746 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.46 [[ 0.99998917 -0.00386381 0.00259589 0.26437231] [ 0.00385272 0.99998349 0.0042633 -0.05451884] [-0.00261232 -0.00425325 0.99998754 0.45985059] [ 0. 0. 0. 1. ]] SLAMing on 189.60255784400002 meters 0.2900346265658637 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.46 [[ 0.99998984 -0.00375387 0.00249596 0.26476631] [ 0.00374248 0.99998263 0.00455309 -0.05573615] [-0.00251301 -0.0045437 0.99998652 0.45956112] [ 0. 0. 0. 1. ]] SLAMing on 189.63255784400002 meters 0.2904836321045494 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.46 [[ 0.99999054 -0.00366092 0.00235093 0.26529483] [ 0.00364958 0.99998178 0.00480744 -0.05681123] [-0.00236848 -0.00479881 0.99998568 0.45919626] [ 0. 0. 0. 1. ]] SLAMing on 189.66255784400002 meters 0.29115858364658354 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.46 [[ 0.99998274 0.00517368 0.00278292 0.28601102] [-0.00518482 0.99997852 0.00400995 -0.06245747] [-0.00276212 -0.00402431 0.99998809 0.46015494] [ 0. 0. 0. 1. ]] SLAMing on 189.69255784400002 meters 0.29095504336748246 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.46 [[ 9.99994823e-01 8.91086399e-04 3.09183627e-03 2.85032863e-01] [-8.90404704e-04 9.99999579e-01 -2.21851610e-04 -6.26419498e-02] [-3.09203266e-03 2.19097476e-04 9.99995196e-01 4.60535995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72255784400002 meters 0.2906808800581935 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:0.46 [[ 9.99994690e-01 1.10154995e-03 3.06707177e-03 2.84911284e-01] [-1.10245920e-03 9.99999349e-01 2.94781886e-04 -6.47856850e-02] [-3.06674505e-03 -2.98161642e-04 9.99995253e-01 4.60976242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75255784400002 meters 0.2900604220222173 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99995000e-01 1.15326687e-03 2.94441341e-03 2.85308838e-01] [-1.15457415e-03 9.99999236e-01 4.42324335e-04 -6.54147162e-02] [-2.94390104e-03 -4.45721667e-04 9.99995567e-01 4.60781264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters 0.2916590178659554 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.46 [[ 9.99997059e-01 1.95359774e-03 1.43716377e-03 3.25708483e-01] [-1.95342419e-03 9.99998085e-01 -1.22158267e-04 -6.25803903e-02] [-1.43739967e-03 1.19350517e-04 9.99998960e-01 4.63273220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812557844 meters 0.29113837037880197 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99997343e-01 8.67041611e-04 2.13615593e-03 2.87179770e-01] [-8.67668618e-04 9.99999581e-01 2.92612092e-04 -6.68826432e-02] [-2.13590133e-03 -2.94464790e-04 9.99997676e-01 4.60093022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters 0.2916896921962822 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.46 [[ 9.99997977e-01 1.49736690e-03 1.34288094e-03 3.25389192e-01] [-1.49677777e-03 9.99998783e-01 -4.39605627e-04 -6.39839929e-02] [-1.34353756e-03 4.37594743e-04 9.99999002e-01 4.63736685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872557844 meters 0.291711593605378 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.46 [[ 9.99998011e-01 1.50547822e-03 1.30801062e-03 3.25333029e-01] [-1.50493414e-03 9.99998781e-01 -4.16848308e-04 -6.40608815e-02] [-1.30863659e-03 4.14879010e-04 9.99999058e-01 4.64064988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902557844 meters 0.29101723334135476 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.47 [[ 0.99998538 -0.00515814 -0.00162386 0.30353847] [ 0.00516246 0.99998311 0.00267158 -0.06669101] [ 0.00161005 -0.00267992 0.99999511 0.46599779] [ 0. 0. 0. 1. ]] SLAMing on 189.932557844 meters 0.2905661017242027 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.47 [[ 9.99992928e-01 3.64116708e-03 -9.41296636e-04 3.23420320e-01] [-3.63994451e-03 9.99992534e-01 1.29728420e-03 -6.93986947e-02] [ 9.46013237e-04 -1.29384876e-03 9.99998716e-01 4.67103432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.962557844 meters 0.29195213780225177 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.47 [[ 0.99999293 0.00362027 -0.00101612 0.32366687] [-0.003619 0.99999267 0.00124709 -0.06920412] [ 0.00102062 -0.0012434 0.99999871 0.46698253] [ 0. 0. 0. 1. ]] SLAMing on 189.992557844 meters 0.29053604084239787 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.47 [[ 0.99998124 -0.00553567 -0.00262158 0.30406021] [ 0.00554126 0.99998238 0.00212808 -0.06666443] [ 0.00260976 -0.00214256 0.9999943 0.46630367] [ 0. 0. 0. 1. ]] SLAMing on 190.022557844 meters 0.2904967409048636 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.47 [[ 0.99998088 -0.00558422 -0.00265455 0.30410619] [ 0.00558954 0.99998237 0.00200303 -0.06614058] [ 0.00264332 -0.00201783 0.99999447 0.46638189] [ 0. 0. 0. 1. ]] SLAMing on 190.052557844 meters 0.29212238654341405 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.47 [[ 0.99999038 0.00406007 -0.00166024 0.32563935] [-0.00405768 0.99999073 0.00144228 -0.06661937] [ 0.00166608 -0.00143553 0.99999758 0.46645565] [ 0. 0. 0. 1. ]] SLAMing on 190.082557844 meters 0.29068486842130664 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99997300e-01 2.29577224e-03 -3.59712791e-04 2.85348102e-01] [-2.29539253e-03 9.99996812e-01 1.05247186e-03 -6.81766975e-02] [ 3.62127880e-04 -1.05164334e-03 9.99999381e-01 4.63890421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112557844 meters 0.2913288457307128 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99997519e-01 2.20863924e-03 -2.88826511e-04 2.85029229e-01] [-2.20840288e-03 9.99997228e-01 8.16115164e-04 -6.71687718e-02] [ 2.90628214e-04 -8.15475294e-04 9.99999625e-01 4.64192452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142557844 meters 0.2917176006091544 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99997623e-01 2.15812158e-03 -3.11344396e-04 2.85112979e-01] [-2.15790815e-03 9.99997438e-01 6.84218765e-04 -6.66272384e-02] [ 3.12820225e-04 -6.83545286e-04 9.99999717e-01 4.64128063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172557844 meters 0.2909001561164542 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.46 [[ 9.99997798e-01 2.06760505e-03 -3.59128030e-04 2.85344495e-01] [-2.06744505e-03 9.99997764e-01 4.45334146e-04 -6.56480470e-02] [ 3.60048002e-04 -4.44590688e-04 9.99999836e-01 4.63867262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202557844 meters 0.2917994800976344 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.46 [[ 9.99998024e-01 1.95014148e-03 -3.85157352e-04 2.85574409e-01] [-1.95008896e-03 9.99998089e-01 1.36687425e-04 -6.43906589e-02] [ 3.85423176e-04 -1.35936064e-04 9.99999916e-01 4.63482782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232557844 meters 0.29120518572359094 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.47 [[ 0.99998649 -0.0047855 -0.00202866 0.26251893] [ 0.00479173 0.99998379 0.00307705 -0.06348011] [ 0.00201391 -0.00308673 0.99999321 0.46525278] [ 0. 0. 0. 1. ]] SLAMing on 190.262557844 meters 0.2911742700533401 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:0.47 [[ 9.99991219e-01 4.13724994e-03 6.67016628e-04 2.81458910e-01] [-4.13863970e-03 9.99989240e-01 2.09580901e-03 -6.43765515e-02] [-6.58338565e-04 -2.09855115e-03 9.99997581e-01 4.65719519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29255784400002 meters 0.2898941650166184 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:0.47 [[ 9.99986663e-01 -5.16442430e-03 -5.18832588e-05 2.59524472e-01] [ 5.16454738e-03 9.99982888e-01 2.74803504e-03 -6.18373254e-02] [ 3.76903520e-05 -2.74826634e-03 9.99996223e-01 4.65951621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32255784400002 meters 0.2905671138135759 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:0.47 [[ 0.99999132 0.00376485 0.00178523 0.27828457] [-0.00376773 0.9999916 0.00161317 -0.06453551] [-0.00177914 -0.00161988 0.99999711 0.46689919] [ 0. 0. 0. 1. ]] SLAMing on 190.35255784400002 meters 0.29230873404748026 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.06, Z:0.47 [[ 0.99998373 -0.00496302 0.00281133 0.29958074] [ 0.00495736 0.99998568 0.00201847 -0.06199424] [-0.00282131 -0.0020045 0.99999401 0.46735299] [ 0. 0. 0. 1. ]] SLAMing on 190.38255784400002 meters 0.29241969561519626 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.06, Z:0.47 [[ 0.99998403 -0.00490305 0.0028096 0.29959356] [ 0.00489691 0.99998562 0.00218644 -0.06268161] [-0.00282027 -0.00217265 0.99999366 0.46734739] [ 0. 0. 0. 1. ]] SLAMing on 190.41255784400002 meters 0.2917574002892769 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:0.47 [[ 9.99998087e-01 7.75560399e-04 1.79542077e-03 2.76152446e-01] [-7.74197024e-04 9.99999412e-01 -7.59932542e-04 -6.57689402e-02] [-1.79600908e-03 7.58541079e-04 9.99998099e-01 4.68845302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44255784400002 meters 0.2926797438779262 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:0.47 [[ 0.99997627 -0.00509239 0.00463881 0.2988236 ] [ 0.00508204 0.99998458 0.00223978 -0.06846844] [-0.00465014 -0.00221615 0.99998673 0.46681205] [ 0. 0. 0. 1. ]] SLAMing on 190.47255784400002 meters 0.2903526707167466 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:0.47 [[ 9.99994156e-01 5.13712107e-04 3.37991715e-03 2.75732252e-01] [-5.12458978e-04 9.99999800e-01 -3.71612925e-04 -7.45349116e-02] [-3.38010737e-03 3.69878685e-04 9.99994219e-01 4.68657053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50255784400002 meters 0.2904251798374918 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 9.99994270e-01 6.21309050e-04 3.32780569e-03 2.75837116e-01] [-6.21115382e-04 9.99999805e-01 -5.92299924e-05 -7.58024764e-02] [-3.32784184e-03 5.71627017e-05 9.99994461e-01 4.68730691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532557844 meters 0.2904881929662593 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 9.99994058e-01 7.34283425e-04 3.36824042e-03 2.75694863e-01] [-7.35151577e-04 9.99999697e-01 2.56515436e-04 -7.70880957e-02] [-3.36805104e-03 -2.58990079e-04 9.99994295e-01 4.68833401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562557844 meters 0.2900887530336857 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 9.99993850e-01 8.52770927e-04 3.40174143e-03 2.75565602e-01] [-8.54785084e-04 9.99999460e-01 5.90686023e-04 -7.84504537e-02] [-3.40123587e-03 -5.93590149e-04 9.99994040e-01 4.68941079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592557844 meters 0.2897338381876106 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 0.99999366 0.0010383 0.00340681 0.27540461] [-0.00104226 0.99999879 0.00115883 -0.08072983] [-0.0034056 -0.00116237 0.99999353 0.46931389] [ 0. 0. 0. 1. ]] SLAMing on 190.622557844 meters 0.29015158591614354 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 0.99999367 0.00111896 0.00337838 0.27549149] [-0.00112364 0.99999841 0.00138385 -0.08166168] [-0.00337682 -0.00138764 0.99999334 0.46928381] [ 0. 0. 0. 1. ]] SLAMing on 190.652557844 meters 0.29083006088456603 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:0.47 [[ 0.99999376 0.00121513 0.00331794 0.27566659] [-0.00122062 0.99999789 0.00165248 -0.08277285] [-0.00331592 -0.00165652 0.99999313 0.46924877] [ 0. 0. 0. 1. ]] SLAMing on 190.682557844 meters 0.2906865370543296 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.47 [[ 0.99999393 0.00141464 0.00318544 0.27610727] [-0.00142192 0.99999638 0.00228214 -0.08533713] [-0.0031822 -0.00228665 0.99999232 0.4689837 ] [ 0. 0. 0. 1. ]] SLAMing on 190.712557844 meters 0.2912165460702038 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.47 [[ 0.99999371 0.00154107 0.00319477 0.27612115] [-0.00154945 0.99999536 0.00262333 -0.0867511 ] [-0.00319071 -0.00262826 0.99999146 0.46888814] [ 0. 0. 0. 1. ]] SLAMing on 190.742557844 meters 0.29015754661839094 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.47 [[ 9.99994313e-01 2.69168024e-04 3.36180941e-03 2.37994769e-01] [-2.78460350e-04 9.99996142e-01 2.76392264e-03 -8.88908357e-02] [-3.36105248e-03 -2.76484305e-03 9.99990529e-01 4.65789684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.772557844 meters 0.2903190921171547 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.47 [[ 9.99994533e-01 2.52141520e-04 3.29702941e-03 2.38292957e-01] [-2.61106972e-04 9.99996269e-01 2.71910365e-03 -8.87194649e-02] [-3.29633151e-03 -2.71994966e-03 9.99990868e-01 4.65457316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802557844 meters 0.29149280316153986 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.47 [[ 0.99994903 0.00914211 0.00428488 0.25850868] [-0.00914848 0.99995707 0.00146872 -0.09095122] [-0.00427127 -0.00150785 0.99998974 0.4661095 ] [ 0. 0. 0. 1. ]] SLAMing on 190.832557844 meters 0.2903653657879717 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.47 [[ 9.99989609e-01 -5.81960628e-04 4.52138181e-03 2.37572076e-01] [ 5.73557583e-04 9.99998106e-01 1.85958709e-03 -8.60070192e-02] [-4.52245546e-03 -1.85697450e-03 9.99988049e-01 4.66052987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862557844 meters 0.29143373925226085 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.47 [[ 9.99989061e-01 -6.66113083e-04 4.62966063e-03 2.37283268e-01] [ 6.58626119e-04 9.99998473e-01 1.61850991e-03 -8.50131142e-02] [-4.63073167e-03 -1.61544299e-03 9.99987973e-01 4.66082612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892557844 meters 0.29084096464690673 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99988735e-01 -7.34269666e-04 4.68934825e-03 2.37123965e-01] [ 7.27588029e-04 9.99998718e-01 1.42640098e-03 -8.42185897e-02] [-4.69038960e-03 -1.42297299e-03 9.99987988e-01 4.66096015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922557844 meters 0.2910081626184275 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99988574e-01 -8.10370451e-04 4.71124049e-03 2.37087797e-01] [ 8.04625465e-04 9.99998931e-01 1.22118871e-03 -8.33652414e-02] [-4.71222507e-03 -1.21738397e-03 9.99988156e-01 4.66045098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952557844 meters 0.29197781101189446 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.47 [[ 9.99945637e-01 8.15558063e-03 6.49683923e-03 2.56589625e-01] [-8.15635313e-03 9.99966732e-01 9.24169253e-05 -8.55103130e-02] [-6.49586939e-03 -1.45402416e-04 9.99978891e-01 4.66425908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982557844 meters 0.29137461701894524 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:0.47 [[ 9.99945958e-01 8.12905325e-03 6.48069306e-03 2.56657668e-01] [-8.12936669e-03 9.99966956e-01 2.20241747e-05 -8.52246905e-02] [-6.48029988e-03 -7.47069148e-05 9.99979000e-01 4.66364429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012557844 meters 0.2928279961487514 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:0.47 [[ 9.99946297e-01 8.10300330e-03 6.46093571e-03 2.56620837e-01] [-8.10285745e-03 9.99967170e-01 -4.87504851e-05 -8.49237332e-02] [-6.46111862e-03 -3.60417396e-06 9.99979127e-01 4.66568998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04255784400002 meters 0.2909615253705582 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99983421e-01 -9.26820572e-04 5.68323272e-03 2.36297706e-01] [ 9.20895023e-04 9.99999030e-01 1.04516521e-03 -8.22745615e-02] [-5.68419589e-03 -1.03991422e-03 9.99983304e-01 4.66009348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07255784400002 meters 0.29182100843869824 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99983201e-01 -9.34567796e-04 5.72047832e-03 2.36113715e-01] [ 9.28735783e-04 9.99999046e-01 1.02206898e-03 -8.21712162e-02] [-5.72142805e-03 -1.01673899e-03 9.99983116e-01 4.66227551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10255784400002 meters 0.29156687722796315 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99982824e-01 -9.70669086e-04 5.78002925e-03 2.35984025e-01] [ 9.65353808e-04 9.99999109e-01 9.22312533e-04 -8.17600486e-02] [-5.78091936e-03 -9.16716919e-04 9.99982870e-01 4.66168173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13255784400002 meters 0.2895193903024893 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.46 [[ 0.99998139 -0.00159687 0.0058878 0.19806116] [ 0.00158858 0.99999774 0.00141203 -0.08343796] [-0.00589005 -0.00140265 0.99998167 0.4629674 ] [ 0. 0. 0. 1. ]] SLAMing on 191.16255784400002 meters 0.2914283849242981 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.46 [[ 9.99992071e-01 -4.62422017e-04 3.95516687e-03 2.39685541e-01] [ 4.58372358e-04 9.99999370e-01 1.02473621e-03 -8.15228400e-02] [-3.95563824e-03 -1.02291515e-03 9.99991653e-01 4.64807068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19255784400002 meters 0.2906444902084645 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99987860e-01 4.86610390e-03 7.75184684e-04 2.18274182e-01] [-4.86439592e-03 9.99985770e-01 -2.19016994e-03 -8.11764882e-02] [-7.85831247e-04 2.18637255e-03 9.99997301e-01 4.66496916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22255784400002 meters 0.29074290742754794 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99987802e-01 4.89360604e-03 6.70280489e-04 2.18479904e-01] [-4.89218092e-03 9.99985804e-01 -2.11154598e-03 -8.14963900e-02] [-6.80604047e-04 2.10824108e-03 9.99997546e-01 4.66646117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25255784400002 meters 0.2923091263633374 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99987553e-01 4.94708681e-03 6.47614456e-04 2.18536338e-01] [-4.94580230e-03 9.99985828e-01 -1.97025225e-03 -8.20831513e-02] [-6.57352287e-04 1.96702476e-03 9.99997849e-01 4.66654232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters 0.2923091263633374 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99987553e-01 4.94708681e-03 6.47614456e-04 2.18536338e-01] [-4.94580230e-03 9.99985828e-01 -1.97025225e-03 -8.20831513e-02] [-6.57352287e-04 1.96702476e-03 9.99997849e-01 4.66654232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312557844 meters 0.2919656332183859 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99987295e-01 5.00451104e-03 6.03118673e-04 2.18666643e-01] [-5.00340872e-03 9.99985835e-01 -1.81555196e-03 -8.27303851e-02] [-6.12196079e-04 1.81251125e-03 9.99998170e-01 4.66615055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters 0.2917349410821762 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99986567e-01 5.15504792e-03 5.39642992e-04 2.18880692e-01] [-5.15428050e-03 9.99985717e-01 -1.41395725e-03 -8.43974728e-02] [-5.46924302e-04 1.41115678e-03 9.99998855e-01 4.66496583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372557844 meters 0.29204908468930213 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99986310e-01 5.20845371e-03 5.01366234e-04 2.18981724e-01] [-5.20781390e-03 9.99985634e-01 -1.26909427e-03 -8.49977106e-02] [-5.07969050e-04 1.26646587e-03 9.99999069e-01 4.66492293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters 0.2915987319436367 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.47 [[ 9.99985807e-01 5.28834209e-03 6.48150269e-04 2.18545460e-01] [-5.28765606e-03 9.99985463e-01 -1.05562666e-03 -8.58534989e-02] [-6.53723362e-04 1.05218448e-03 9.99999233e-01 4.66661795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432557844 meters 0.28940312912706173 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.47 [[ 0.99999679 -0.00175022 -0.0018297 0.19561115] [ 0.00175327 0.99999707 0.00166668 -0.08845719] [ 0.00182678 -0.00166988 0.99999694 0.46918174] [ 0. 0. 0. 1. ]] SLAMing on 191.462557844 meters 0.29127294378102225 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.47 [[ 9.99986113e-01 5.21366768e-03 7.69151041e-04 2.16868330e-01] [-5.21279908e-03 9.99985778e-01 -1.12702030e-03 -8.82607087e-02] [-7.75016012e-04 1.12299522e-03 9.99999069e-01 4.67870297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.492557844 meters 0.29034265574923873 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.47 [[ 9.99990779e-01 -4.20034356e-03 -8.93457266e-04 1.97454254e-01] [ 4.20006073e-03 9.99991129e-01 -3.18192787e-04 -8.63320518e-02] [ 8.94785860e-04 3.14437279e-04 9.99999550e-01 4.67428483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.522557844 meters 0.2910577645764464 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.47 [[ 0.99998527 0.00533155 -0.00101642 0.22003688] [-0.00533262 0.99998522 -0.00105855 -0.08782208] [ 0.00101076 0.00106396 0.99999892 0.46743682] [ 0. 0. 0. 1. ]] SLAMing on 191.552557844 meters 0.29219579840063553 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.47 [[ 0.99998576 0.00522272 -0.00110104 0.22044934] [-0.00522423 0.99998541 -0.00137171 -0.08656748] [ 0.00109386 0.00137744 0.99999845 0.46693377] [ 0. 0. 0. 1. ]] SLAMing on 191.582557844 meters 0.2929058696057833 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:0.47 [[ 0.99998628 0.005108 -0.00116012 0.22071915] [-0.00510996 0.99998551 -0.00169418 -0.08526943] [ 0.00115145 0.00170008 0.99999789 0.46664698] [ 0. 0. 0. 1. ]] SLAMing on 191.612557844 meters 0.2941336457835417 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:0.47 [[ 9.99999954e-01 -2.60840132e-04 -1.52226523e-04 2.44274872e-01] [ 2.61055455e-04 9.99998963e-01 1.41618558e-03 -8.21743142e-02] [ 1.51856967e-04 -1.41622526e-03 9.99998986e-01 4.65137172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642557844 meters 0.29265021830857896 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 0.99998071 0.00505306 -0.00361278 0.22187385] [-0.00506034 0.99998518 -0.00201039 -0.07619512] [ 0.00360257 0.00202863 0.99999145 0.46735044] [ 0. 0. 0. 1. ]] SLAMing on 191.672557844 meters 0.293669298304682 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.47 [[ 0.99999384 -0.00271323 -0.00222485 0.24110647] [ 0.00271065 0.99999565 -0.00116278 -0.07000396] [ 0.002228 0.00115674 0.99999685 0.46828061] [ 0. 0. 0. 1. ]] SLAMing on 191.702557844 meters 0.29316153181332466 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:0.47 [[ 0.99999369 -0.0027899 -0.00220004 0.24106112] [ 0.00278691 0.99999519 -0.0013636 -0.06917583] [ 0.00220383 0.00135746 0.99999665 0.46822364] [ 0. 0. 0. 1. ]] SLAMing on 191.732557844 meters 0.29135214902237894 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 0.99998041 0.00615103 -0.00115521 0.21879339] [-0.00615281 0.99997988 -0.00154496 -0.07263528] [ 0.00114568 0.00155204 0.99999814 0.46848876] [ 0. 0. 0. 1. ]] SLAMing on 191.762557844 meters 0.2907454579836379 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 0.99998059 0.00613631 -0.00108122 0.21836803] [-0.00613803 0.9999799 -0.00159072 -0.0724026 ] [ 0.00107144 0.00159733 0.99999815 0.46909066] [ 0. 0. 0. 1. ]] SLAMing on 191.79255784400002 meters 0.2916622949950931 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 0.99998045 0.00616124 -0.00106292 0.21809766] [-0.00616286 0.99997985 -0.00152199 -0.07265399] [ 0.00105353 0.00152851 0.99999828 0.4696525 ] [ 0. 0. 0. 1. ]] SLAMing on 191.82255784400002 meters 0.290022820032569 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.47 [[ 9.99993429e-01 -2.98941657e-03 -2.05076460e-03 1.97253859e-01] [ 2.98822866e-03 9.99995366e-01 -5.82073788e-04 -7.05028724e-02] [ 2.05249516e-03 5.75941809e-04 9.99997728e-01 4.69514827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85255784400002 meters 0.2901571147188005 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.47 [[ 9.99993912e-01 -2.88688584e-03 -1.96012812e-03 1.96960153e-01] [ 2.88633698e-03 9.99995795e-01 -2.82782143e-04 -7.17081449e-02] [ 1.96093623e-03 2.77122831e-04 9.99998039e-01 4.69702275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88255784400002 meters 0.2912299184451584 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99981595e-01 6.01267204e-03 -8.10617927e-04 2.16407801e-01] [-6.01375839e-03 9.99981013e-01 -1.34444727e-03 -7.59488868e-02] [ 8.02518816e-04 1.34929739e-03 9.99998768e-01 4.70559722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91255784400002 meters 0.2912762027613061 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.47 [[ 9.99993293e-01 -2.87069185e-03 -2.27455850e-03 1.97080616e-01] [ 2.87078185e-03 9.99995879e-01 3.63043774e-05 -7.50489402e-02] [ 2.27444491e-03 -4.28338952e-05 9.99997413e-01 4.69505085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94255784400002 meters 0.2925542183034931 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99991027e-01 4.15391720e-03 -8.31104114e-04 2.20067792e-01] [-4.15615584e-03 9.99987690e-01 -2.71023516e-03 -7.57866195e-02] [ 8.19835791e-04 2.71366504e-03 9.99995982e-01 4.67961779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97255784400002 meters 0.29140867839863066 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99990724e-01 4.19674653e-03 -9.68686237e-04 2.20365077e-01] [-4.19924508e-03 9.99987824e-01 -2.59186235e-03 -7.62712539e-02] [ 9.57797053e-04 2.59590606e-03 9.99996172e-01 4.68094992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00255784400002 meters 0.29142092156237376 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.47 [[ 0.99998293 -0.00518641 -0.0026921 0.20111737] [ 0.00518156 0.99998495 -0.00180437 -0.07377029] [ 0.00270142 0.00179039 0.99999475 0.46778763] [ 0. 0. 0. 1. ]] SLAMing on 192.032557844 meters 0.292147579563636 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 9.99996916e-01 2.46963944e-03 2.61627519e-04 2.22556920e-01] [-2.46859722e-03 9.99989302e-01 -3.91171243e-03 -7.22663226e-02] [-2.71285240e-04 3.91105451e-03 9.99992315e-01 4.66416104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters 0.2926534715054032 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 9.99996737e-01 2.51299400e-03 4.59501927e-04 2.22040980e-01] [-2.51123104e-03 9.99989635e-01 -3.79782234e-03 -7.27143186e-02] [-4.69041069e-04 3.79665603e-03 9.99992683e-01 4.66462336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092557844 meters 0.29281808032887685 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 9.99996580e-01 2.55286139e-03 5.68400584e-04 2.21772043e-01] [-2.55074563e-03 9.99989930e-01 -3.69242569e-03 -7.31384811e-02] [-5.77821111e-04 3.69096322e-03 9.99993021e-01 4.66446006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122557844 meters 0.2924794098729054 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:0.47 [[ 9.99996171e-01 2.69100032e-03 6.45750594e-04 2.21482729e-01] [-2.68882759e-03 9.99990800e-01 -3.34227072e-03 -7.45712145e-02] [-6.54738704e-04 3.34052161e-03 9.99994206e-01 4.66658308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152557844 meters 0.2912429878609903 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.07, Z:0.47 [[ 0.99997883 -0.00641227 -0.00110626 0.20163631] [ 0.00640979 0.99997696 -0.00223485 -0.07354452] [ 0.00112057 0.00222771 0.99999689 0.46647408] [ 0. 0. 0. 1. ]] SLAMing on 192.182557844 meters 0.29221043475217473 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:0.47 [[ 9.99995177e-01 3.09193664e-03 2.94443180e-04 2.22073429e-01] [-3.09113067e-03 9.99991579e-01 -2.69945563e-03 -7.71120390e-02] [-3.02787246e-04 2.69853245e-03 9.99996313e-01 4.66769266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.212557844 meters 0.2915062838178182 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.47 [[ 9.99982542e-01 -5.35903300e-03 -2.48922278e-03 2.03534240e-01] [ 5.35662742e-03 9.99985181e-01 -9.72059791e-04 -7.89055265e-02] [ 2.49439519e-03 9.58708982e-04 9.99996429e-01 4.65500271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.242557844 meters 0.2923504966257688 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.47 [[ 9.99982997e-01 -5.26358848e-03 -2.51013838e-03 2.03657962e-01] [ 5.26179902e-03 9.99985898e-01 -7.18962618e-04 -7.99612469e-02] [ 2.51388731e-03 7.05742549e-04 9.99996591e-01 4.65359501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.272557844 meters 0.2917601949826526 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.47 [[ 9.99983772e-01 -5.12420447e-03 -2.48982145e-03 2.03507861e-01] [ 5.12335560e-03 9.99986815e-01 -3.47192121e-04 -8.14810000e-02] [ 2.49156771e-03 3.34430246e-04 9.99996840e-01 4.65606145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302557844 meters 0.29306618521946637 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:0.47 [[ 9.99985048e-01 -4.88202654e-03 -2.46369335e-03 2.03314978e-01] [ 4.88290503e-03 9.99988017e-01 3.50683044e-04 -8.42940387e-02] [ 2.46195178e-03 -3.62707781e-04 9.99996904e-01 4.65952976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332557844 meters 0.2922854198754156 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.47 [[ 9.99985391e-01 -4.75951106e-03 -2.56222666e-03 2.03671425e-01] [ 4.76127852e-03 9.99988431e-01 6.84158443e-04 -8.56878613e-02] [ 2.55894075e-03 -6.96347922e-04 9.99996483e-01 4.65753774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362557844 meters 0.29193029077675825 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:0.47 [[ 9.99985511e-01 -4.66668396e-03 -2.68311360e-03 2.04216639e-01] [ 4.66924078e-03 9.99988650e-01 9.47454387e-04 -8.68268788e-02] [ 2.67866168e-03 -9.59968763e-04 9.99995952e-01 4.65205870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392557844 meters 0.29227509642903976 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99987373e-01 2.78950754e-03 -4.18005390e-03 1.86644022e-01] [-2.79038117e-03 9.99996086e-01 -2.03182009e-04 -9.38231452e-02] [ 4.17947076e-03 2.14843387e-04 9.99991243e-01 4.62728958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422557844 meters 0.29100163932162376 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:0.46 [[ 9.99962995e-01 -6.37182397e-03 -5.78000280e-03 1.67286633e-01] [ 6.37723581e-03 9.99979244e-01 9.18357719e-04 -9.22039220e-02] [ 5.77403121e-03 -9.55184176e-04 9.99982874e-01 4.62126330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452557844 meters 0.2914626695706012 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985123e-01 2.46455513e-03 -4.86625697e-03 1.86962066e-01] [-2.46657441e-03 9.99996874e-01 -4.08997780e-04 -9.49441780e-02] [ 4.86523376e-03 4.20994681e-04 9.99988076e-01 4.63720404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482557844 meters 0.29159824399563394 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985346e-01 2.43343986e-03 -4.83593508e-03 1.86963358e-01] [-2.43584988e-03 9.99996912e-01 -4.92528458e-04 -9.46096314e-02] [ 4.83472161e-03 5.04300853e-04 9.99988186e-01 4.63534005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512557844 meters 0.29187153003592414 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985481e-01 2.40777784e-03 -4.82091142e-03 1.87020453e-01] [-2.41050323e-03 9.99996938e-01 -5.59595332e-04 -9.43427277e-02] [ 4.81954927e-03 5.71208029e-04 9.99988223e-01 4.63312305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54255784400002 meters 0.29252009531612144 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985576e-01 2.37118638e-03 -4.81919833e-03 1.87058748e-01] [-2.37437293e-03 9.99996966e-01 -6.55607290e-04 -9.39502864e-02] [ 4.81762914e-03 6.67040408e-04 9.99988173e-01 4.63209662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57255784400002 meters 0.2932556132289323 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985623e-01 2.33204481e-03 -4.82855102e-03 1.87104903e-01] [-2.33572261e-03 9.99996986e-01 -7.56179874e-04 -9.35377499e-02] [ 4.82677302e-03 7.67447158e-04 9.99988057e-01 4.63157193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60255784400002 meters 0.2926624525353104 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 9.99985416e-01 2.33361581e-03 -4.87046164e-03 1.87243142e-01] [-2.33729486e-03 9.99996987e-01 -7.49824462e-04 -9.35724844e-02] [ 4.86869717e-03 7.61197232e-04 9.99987858e-01 4.63092435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63255784400002 meters 0.29002647729293246 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99991974e-01 1.08977855e-03 -3.85548099e-03 1.48098555e-01] [-1.09074325e-03 9.99999374e-01 -2.48121069e-04 -9.62697919e-02] [ 3.85520818e-03 2.52324417e-04 9.99992537e-01 4.59839481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66255784400002 meters 0.29299576032342417 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:0.46 [[ 0.99999447 0.00139961 -0.00301741 0.18733622] [-0.00140354 0.99999817 -0.00130105 -0.09234256] [ 0.00301559 0.00130527 0.9999946 0.46206956] [ 0. 0. 0. 1. ]] SLAMing on 192.69255784400002 meters 0.29034113682030965 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999176e-01 2.92087074e-04 -1.24997745e-03 1.46678098e-01] [-2.92813039e-04 9.99999789e-01 -5.80638833e-04 -9.55808136e-02] [ 1.24980759e-03 5.81004365e-04 9.99999050e-01 4.59708439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72255784400002 meters 0.29103586734247666 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999188e-01 2.81909380e-04 -1.24280811e-03 1.46484936e-01] [-2.82666095e-04 9.99999775e-01 -6.08741259e-04 -9.54413835e-02] [ 1.24263622e-03 6.09092065e-04 9.99999042e-01 4.60125652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75255784400002 meters 0.2909564442370346 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999260e-01 2.63196705e-04 -1.18789687e-03 1.46251397e-01] [-2.63980720e-04 9.99999747e-01 -6.59894565e-04 -9.52173140e-02] [ 1.18772289e-03 6.60207658e-04 9.99999077e-01 4.60344474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782557844 meters 0.29127060013454853 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999247e-01 2.80015274e-04 -1.19476722e-03 1.46398823e-01] [-2.80750005e-04 9.99999772e-01 -6.14833397e-04 -9.54227441e-02] [ 1.19459478e-03 6.15168365e-04 9.99999097e-01 4.60048668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812557844 meters 0.2911692575708278 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999226e-01 3.19231147e-04 -1.20273131e-03 1.46518852e-01] [-3.19845182e-04 9.99999819e-01 -5.10376041e-04 -9.58686762e-02] [ 1.20256816e-03 5.10760334e-04 9.99999146e-01 4.59822258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842557844 meters 0.29162587564139225 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999166e-01 3.93982814e-04 -1.22977805e-03 1.46737332e-01] [-3.94360627e-04 9.99999875e-01 -3.06993135e-04 -9.67345031e-02] [ 1.22965695e-03 3.07477855e-04 9.99999197e-01 4.59459131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872557844 meters 0.29161099301018756 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999105e-01 4.62142726e-04 -1.25544724e-03 1.46755966e-01] [-4.62304887e-04 9.99999885e-01 -1.28879564e-04 -9.74651907e-02] [ 1.25538754e-03 1.29459848e-04 9.99999204e-01 4.59574441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902557844 meters 0.2921494994983098 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.46 [[ 0.99998514 -0.00438868 0.0032332 0.16734485] [ 0.00437783 0.99998479 0.00335509 -0.10215808] [-0.00324788 -0.00334089 0.99998914 0.45778945] [ 0. 0. 0. 1. ]] SLAMing on 192.932557844 meters 0.29196774732298475 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.46 [[ 0.99998532 -0.00431609 0.00327484 0.1672171 ] [ 0.00430449 0.99998446 0.00354244 -0.10292919] [-0.00329008 -0.00352829 0.99998836 0.45784292] [ 0. 0. 0. 1. ]] SLAMing on 192.962557844 meters 0.29160286370224686 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.46 [[ 0.99998565 -0.00425479 0.00325466 0.16740437] [ 0.00424273 0.99998414 0.00370319 -0.10361564] [-0.00327037 -0.00368932 0.99998785 0.45755084] [ 0. 0. 0. 1. ]] SLAMing on 192.992557844 meters 0.29076049831855943 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999871e-01 4.15257222e-04 2.93411678e-04 1.45318742e-01] [-4.15321225e-04 9.99999890e-01 2.18105615e-04 -1.03920154e-01] [-2.93321076e-04 -2.18227447e-04 9.99999933e-01 4.58901960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.022557844 meters 0.2915133955777212 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.10, Z:0.46 [[ 9.99999865e-01 4.83002503e-04 1.91488625e-04 1.45742452e-01] [-4.83079372e-04 9.99999803e-01 4.01583926e-04 -1.04721300e-01] [-1.91294622e-04 -4.01676376e-04 9.99999901e-01 4.58542238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052557844 meters 0.2922677223714981 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.46 [[ 9.99999805e-01 6.22867774e-04 4.58103913e-05 1.46166123e-01] [-6.22903385e-04 9.99999501e-01 7.81499243e-04 -1.06290331e-01] [-4.53235977e-05 -7.81527626e-04 9.99999694e-01 4.58453417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082557844 meters 0.29146895934517675 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.46 [[ 9.99999764e-01 6.86242294e-04 1.44325118e-05 1.46292400e-01] [-6.86255696e-04 9.99999313e-01 9.50039071e-04 -1.06996290e-01] [-1.37805449e-05 -9.50048751e-04 9.99999549e-01 4.58357603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112557844 meters 0.29089898127502123 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.11, Z:0.46 [[ 9.99999671e-01 8.10039214e-04 -3.00717193e-05 1.46387058e-01] [-8.09999670e-04 9.99998837e-01 1.29247410e-03 -1.08396304e-01] [ 3.11186391e-05 -1.29244932e-03 9.99999164e-01 4.58412732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142557844 meters 0.29210356350866057 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.46 [[ 9.99998963e-01 1.14234513e-03 -8.77258674e-04 1.84883182e-01] [-1.14209693e-03 9.99999308e-01 2.83367413e-04 -1.07267892e-01] [ 8.77581770e-04 -2.82365204e-04 9.99999575e-01 4.61904458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172557844 meters 0.29210356350866057 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.46 [[ 9.99998963e-01 1.14234513e-03 -8.77258674e-04 1.84883182e-01] [-1.14209693e-03 9.99999308e-01 2.83367413e-04 -1.07267892e-01] [ 8.77581770e-04 -2.82365204e-04 9.99999575e-01 4.61904458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202557844 meters 0.2921235387749008 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.46 [[ 9.99998826e-01 1.26647298e-03 -8.62832439e-04 1.84791977e-01] [-1.26591363e-03 9.99998988e-01 6.48509461e-04 -1.08723239e-01] [ 8.63652886e-04 -6.47416428e-04 9.99999417e-01 4.62047777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232557844 meters 0.29089102491297575 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.46 [[ 9.99998656e-01 1.40506700e-03 -8.45018733e-04 1.84656574e-01] [-1.40415274e-03 9.99998429e-01 1.08156476e-03 -1.10431075e-01] [ 8.46537076e-04 -1.08037677e-03 9.99999058e-01 4.62280047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262557844 meters 0.2895676303548699 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:0.46 [[ 9.99998467e-01 1.68427073e-03 -4.77935249e-04 1.83440308e-01] [-1.68326472e-03 9.99996383e-01 2.09757160e-03 -1.14223971e-01] [ 4.81466399e-04 -2.09676390e-03 9.99997686e-01 4.63204910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29255784400002 meters 0.290534338029616 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.46 [[ 9.99998218e-01 1.82279187e-03 -4.91691980e-04 1.83412415e-01] [-1.82154263e-03 9.99995142e-01 2.52929905e-03 -1.15931780e-01] [ 4.96299977e-04 -2.52839891e-03 9.99996680e-01 4.63357061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32255784400002 meters 0.2903344216889946 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.46 [[ 9.99997941e-01 1.95153755e-03 -5.55571249e-04 1.83652068e-01] [-1.94990029e-03 9.99993799e-01 2.93242544e-03 -1.17560333e-01] [ 5.61290543e-04 -2.93133609e-03 9.99995546e-01 4.63143577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35255784400002 meters 0.29170906022565485 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.12, Z:0.47 [[ 0.99999788 0.00118802 -0.00168024 0.22339051] [-0.00118607 0.99999862 0.00116323 -0.11794032] [ 0.00168162 -0.00116123 0.99999791 0.46587333] [ 0. 0. 0. 1. ]] SLAMing on 193.38255784400002 meters 0.29056932020394655 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.46 [[ 9.99999120e-01 -1.26137743e-03 -4.09790500e-04 1.84880069e-01] [ 1.26208403e-03 9.99997709e-01 1.72864701e-03 -1.25439057e-01] [ 4.07609085e-04 -1.72916268e-03 9.99998422e-01 4.62689215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41255784400002 meters 0.28964013457437193 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.46 [[ 9.99999293e-01 -1.12105931e-03 -3.96153447e-04 1.84733278e-01] [ 1.12190382e-03 9.99997085e-01 2.13801919e-03 -1.27073901e-01] [ 3.93755446e-04 -2.13846212e-03 9.99997636e-01 4.62953103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44255784400002 meters 0.2912763653563966 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.46 [[ 9.99980790e-01 6.17845023e-03 -4.96495861e-04 2.08058522e-01] [-6.17859106e-03 9.99980872e-01 -2.82629037e-04 -1.32684146e-01] [ 4.94740154e-04 2.85691252e-04 9.99999837e-01 4.61817359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47255784400002 meters 0.2900463183803003 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.46 [[ 0.99999298 -0.002539 -0.00275542 0.18951777] [ 0.00254314 0.99999564 0.00149845 -0.13263718] [ 0.00275161 -0.00150545 0.99999508 0.46074713] [ 0. 0. 0. 1. ]] SLAMing on 193.50255784400002 meters 0.28913788855060424 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.46 [[ 0.99999356 -0.00238311 -0.00268265 0.189277 ] [ 0.00238829 0.99999528 0.00193137 -0.13439001] [ 0.00267804 -0.00193777 0.99999454 0.46087346] [ 0. 0. 0. 1. ]] SLAMing on 193.532557844 meters 0.2900544606866863 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.46 [[ 0.99999469 0.00304125 0.00117106 0.20852986] [-0.00303953 0.99999429 -0.00147398 -0.13966727] [-0.00117554 0.00147041 0.99999823 0.46056088] [ 0. 0. 0. 1. ]] SLAMing on 193.562557844 meters 0.2884898573216769 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.46 [[ 0.99998942 -0.00413943 -0.0020078 0.18724214] [ 0.00414246 0.99999028 0.00150814 -0.14397221] [ 0.00200154 -0.00151644 0.99999685 0.46280239] [ 0. 0. 0. 1. ]] SLAMing on 193.592557844 meters 0.2897570608557306 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.46 [[ 9.99992626e-01 3.51121988e-03 -1.55566796e-03 2.09159811e-01] [-3.51265871e-03 9.99993405e-01 -9.23128481e-04 -1.48010006e-01] [ 1.55241640e-03 9.28586204e-04 9.99998364e-01 4.61890471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622557844 meters 0.2866219859310453 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.46 [[ 9.99997205e-01 1.52175546e-03 -1.80955318e-03 1.72847529e-01] [-1.52259714e-03 9.99998733e-01 -4.63847546e-04 -1.53289502e-01] [ 1.80884503e-03 4.66601470e-04 9.99998255e-01 4.57759057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652557844 meters 0.2893006330211328 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.46 [[ 0.99999478 0.00181099 -0.0026765 0.2121397 ] [-0.0018151 0.99999717 -0.00153494 -0.1543605 ] [ 0.00267371 0.00153979 0.99999524 0.46054587] [ 0. 0. 0. 1. ]] SLAMing on 193.682557844 meters 0.28993745481460165 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 0.99999456 0.00192078 -0.00268195 0.21210537] [-0.0019241 0.99999739 -0.0012356 -0.15558061] [ 0.00267957 0.00124076 0.99999564 0.46063626] [ 0. 0. 0. 1. ]] SLAMing on 193.712557844 meters 0.2885736928086996 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.46 [[ 9.99965633e-01 -7.17284824e-03 -4.15725805e-03 1.93095783e-01] [ 7.17302164e-03 9.99974273e-01 2.68020228e-05 -1.52525273e-01] [ 4.15695885e-03 -5.66212036e-05 9.99991358e-01 4.59890624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.742557844 meters 0.2899353729976869 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 0.99999544 0.0018254 -0.00240706 0.21229797] [-0.00182825 0.99999763 -0.00118351 -0.15625388] [ 0.0024049 0.0011879 0.9999964 0.46028063] [ 0. 0. 0. 1. ]] SLAMing on 193.772557844 meters 0.29064745759618926 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 0.99999517 0.00183031 -0.00251266 0.21277179] [-0.00183325 0.99999764 -0.00116658 -0.15636151] [ 0.00251052 0.00117118 0.99999616 0.45980647] [ 0. 0. 0. 1. ]] SLAMing on 193.802557844 meters 0.2892303168477288 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.46 [[ 9.99965489e-01 -6.88888318e-03 -4.64376460e-03 1.94358432e-01] [ 6.89086926e-03 9.99976173e-01 4.11823750e-04 -1.54358186e-01] [ 4.64081695e-03 -4.43809112e-04 9.99989133e-01 4.58764805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832557844 meters 0.2891384420960873 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.46 [[ 9.99965197e-01 -6.83889812e-03 -4.77842743e-03 1.94825798e-01] [ 6.84164783e-03 9.99976439e-01 5.59332836e-04 -1.54996234e-01] [ 4.77448963e-03 -5.92005687e-04 9.99988427e-01 4.58448579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862557844 meters 0.2908190253660208 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 9.99991406e-01 4.09789330e-04 -4.12552455e-03 2.17929632e-01] [-4.19062320e-04 9.99997387e-01 -2.24709831e-03 -1.57998449e-01] [ 4.12459293e-03 2.24880785e-03 9.99988965e-01 4.56752621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892557844 meters 0.2913803990192082 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 9.99991568e-01 4.30010137e-04 -4.08390256e-03 2.17707723e-01] [-4.38986374e-04 9.99997490e-01 -2.19731381e-03 -1.58183973e-01] [ 4.08294744e-03 2.19908806e-03 9.99989247e-01 4.57012379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922557844 meters 0.29003596028507467 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 9.99964712e-01 -6.69805093e-03 -5.07054321e-03 1.95640157e-01] [ 6.70236406e-03 9.99977191e-01 8.34110962e-04 -1.55866071e-01] [ 5.06484064e-03 -8.68066154e-04 9.99986797e-01 4.58268043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952557844 meters 0.29009173290120444 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 9.99989519e-01 2.55834378e-03 -3.79691459e-03 2.14507681e-01] [-2.55974962e-03 9.99996657e-01 -3.65444564e-04 -1.58704000e-01] [ 3.79596697e-03 3.75159885e-04 9.99992725e-01 4.58924725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982557844 meters 0.2890594548858855 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.46 [[ 9.99968727e-01 -6.42467265e-03 -4.61170227e-03 1.95706482e-01] [ 6.42927475e-03 9.99978848e-01 9.83788116e-04 -1.54723767e-01] [ 4.60528421e-03 -1.01340725e-03 9.99988882e-01 4.57436155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012557844 meters 0.28906009998213905 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 0.99996934 -0.0063871 -0.00453104 0.19541016] [ 0.00639208 0.99997898 0.00108491 -0.15512887] [ 0.00452402 -0.00111384 0.99998915 0.45766044] [ 0. 0. 0. 1. ]] SLAMing on 194.04255784400002 meters 0.2903314278366583 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 9.99989949e-01 2.80624496e-03 -3.49655826e-03 2.13684887e-01] [-2.80669650e-03 9.99996054e-01 -1.24237888e-04 -1.59736894e-01] [ 3.49619582e-03 1.34050417e-04 9.99993879e-01 4.58925995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07255784400002 meters 0.28879905259245864 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.46 [[ 0.99997143 -0.00525572 -0.00543381 0.19380509] [ 0.0052673 0.99998388 0.00211955 -0.15880686] [ 0.00542258 -0.00214811 0.99998299 0.45885236] [ 0. 0. 0. 1. ]] SLAMing on 194.10255784400002 meters 0.2887609504020587 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:0.46 [[ 0.99998134 0.00417498 -0.00445913 0.21248284] [-0.00416929 0.99999049 0.00128304 -0.16444016] [ 0.00446445 -0.00126442 0.99998923 0.45937208] [ 0. 0. 0. 1. ]] SLAMing on 194.13255784400002 meters 0.2886467073612037 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.46 [[ 0.99996673 -0.00508438 -0.00637878 0.19447238] [ 0.00510178 0.9999833 0.00271552 -0.16429756] [ 0.00636486 -0.00274797 0.99997597 0.45785542] [ 0. 0. 0. 1. ]] SLAMing on 194.16255784400002 meters 0.28861956920923143 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.46 [[ 0.99996739 -0.00502486 -0.00632274 0.19424471] [ 0.00504311 0.99998316 0.0028726 -0.16493409] [ 0.0063082 -0.00290439 0.99997589 0.45803694] [ 0. 0. 0. 1. ]] SLAMing on 194.19255784400002 meters 0.287645772055963 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:0.46 [[ 0.99996799 -0.00499273 -0.00625304 0.19399671] [ 0.00501127 0.99998308 0.00295339 -0.16525907] [ 0.00623819 -0.00298463 0.99997609 0.45818831] [ 0. 0. 0. 1. ]] SLAMing on 194.22255784400002 meters 0.2895365912793069 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:0.46 [[ 9.99989124e-01 2.73837075e-03 -3.77522036e-03 2.14807127e-01] [-2.73564333e-03 9.99995994e-01 7.27427908e-04 -1.66514072e-01] [ 3.77719720e-03 -7.17092340e-04 9.99992609e-01 4.56600152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25255784400002 meters 0.2890000584872923 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:0.46 [[ 9.99989067e-01 2.70386065e-03 -3.81510459e-03 2.14977613e-01] [-2.70144129e-03 9.99996147e-01 6.39165765e-04 -1.66155874e-01] [ 3.81681810e-03 -6.28852496e-04 9.99992518e-01 4.56463382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282557844 meters 0.2903403387281461 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 9.99988457e-01 2.57255151e-03 -4.05813724e-03 2.15713022e-01] [-2.57140704e-03 9.99996653e-01 2.87208906e-04 -1.64736245e-01] [ 4.05886251e-03 -2.76770468e-04 9.99991724e-01 4.56190732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312557844 meters 0.2888651089081435 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 0.99996311 -0.00658605 -0.00551416 0.19718119] [ 0.00659279 0.99997754 0.0012044 -0.15872541] [ 0.00550611 -0.00124071 0.99998407 0.45575273] [ 0. 0. 0. 1. ]] SLAMing on 194.342557844 meters 0.2889574070984254 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 9.99962446e-01 -6.69558695e-03 -5.50234451e-03 1.97122037e-01] [ 6.70070697e-03 9.99977134e-01 9.12609681e-04 -1.57523537e-01] [ 5.49610823e-03 -9.49445007e-04 9.99984446e-01 4.55832470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372557844 meters 0.2886365039464409 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 9.99961297e-01 -6.90133552e-03 -5.45678644e-03 1.96849492e-01] [ 6.90362590e-03 9.99976089e-01 4.01005788e-04 -1.55378684e-01] [ 5.45388849e-03 -4.38661880e-04 9.99985031e-01 4.56210159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402557844 meters 0.28853101392343916 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.46 [[ 9.99960526e-01 -6.98320931e-03 -5.49371179e-03 1.97058994e-01] [ 6.98434929e-03 9.99975591e-01 1.88349164e-04 -1.54518501e-01] [ 5.49226241e-03 -2.26711731e-04 9.99984892e-01 4.55964035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432557844 meters 0.2886330241664271 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.46 [[ 9.99959437e-01 -7.06023612e-03 -5.59267752e-03 1.97518440e-01] [ 7.06027177e-03 9.99975076e-01 -1.33680499e-05 -1.53716435e-01] [ 5.59263251e-03 -2.61183155e-05 9.99984361e-01 4.55490644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.462557844 meters 0.290655956419159 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:0.45 [[ 9.99957371e-01 -7.17617257e-03 -5.81024826e-03 1.98349367e-01] [ 7.17435641e-03 9.99974208e-01 -3.33361124e-04 -1.52446894e-01] [ 5.81249066e-03 2.91662122e-04 9.99983065e-01 4.54733019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.492557844 meters 0.29053502924614005 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 0.99998607 0.00193955 -0.00490886 0.21728734] [-0.00194739 0.99999684 -0.0015919 -0.15650388] [ 0.00490575 0.00160144 0.99998668 0.45547829] [ 0. 0. 0. 1. ]] SLAMing on 194.522557844 meters 0.28991667830934537 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 0.99998674 0.00190599 -0.00478473 0.21675157] [-0.00191408 0.99999674 -0.00168739 -0.15610591] [ 0.0047815 0.00169653 0.99998713 0.45604938] [ 0. 0. 0. 1. ]] SLAMing on 194.552557844 meters 0.2880607220741699 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.46 [[ 9.99959331e-01 -5.25907544e-03 -7.32661230e-03 1.94482398e-01] [ 5.26624930e-03 9.99985672e-01 9.60202346e-04 -1.56272596e-01] [ 7.32145755e-03 -9.98747062e-04 9.99972699e-01 4.58652466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582557844 meters 0.28848413597781125 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.16, Z:0.46 [[ 9.99961625e-01 2.64522551e-03 -8.35173582e-03 1.74661516e-01] [-2.64631570e-03 9.99996491e-01 -1.19485904e-04 -1.59066670e-01] [ 8.35139045e-03 1.41582648e-04 9.99965117e-01 4.57812879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612557844 meters 0.2883205609402129 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 0.9999825 -0.00293982 -0.00513384 0.19587435] [ 0.00295467 0.99999147 0.00288698 -0.16065586] [ 0.00512531 -0.0029021 0.99998265 0.45641994] [ 0. 0. 0. 1. ]] SLAMing on 194.642557844 meters 0.28881738150022673 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 0.99998217 -0.00301334 -0.00515462 0.19605759] [ 0.00302727 0.99999178 0.00269601 -0.15987512] [ 0.00514646 -0.00271157 0.99998308 0.45613782] [ 0. 0. 0. 1. ]] SLAMing on 194.672557844 meters 0.2889566195520563 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.46 [[ 0.99998179 -0.00310119 -0.00517621 0.19617815] [ 0.00311395 0.99999213 0.00245842 -0.15890619] [ 0.00516854 -0.00247449 0.99998358 0.45600355] [ 0. 0. 0. 1. ]] SLAMing on 194.702557844 meters 0.2896448432858235 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 9.99985994e-01 4.43298251e-03 -2.89142443e-03 2.16410505e-01] [-4.43357517e-03 9.99990152e-01 -1.98593604e-04 -1.58959474e-01] [ 2.89051559e-03 2.11410170e-04 9.99995800e-01 4.55431483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732557844 meters 0.28996498607371707 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.46 [[ 9.99986564e-01 4.28186570e-03 -2.92178504e-03 2.16399809e-01] [-4.28374248e-03 9.99990622e-01 -6.36384111e-04 -1.57182397e-01] [ 2.91903273e-03 6.48891735e-04 9.99995529e-01 4.55688160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762557844 meters 0.2884172986884658 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.46 [[ 0.99998751 0.00404722 -0.00293257 0.21637594] [-0.00405159 0.99999069 -0.00148498 -0.1538544 ] [ 0.00292653 0.00149685 0.9999946 0.45590839] [ 0. 0. 0. 1. ]] SLAMing on 194.79255784400002 meters 0.28957271331688533 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.15, Z:0.46 [[ 9.99992472e-01 -3.52152459e-03 -1.62958298e-03 2.34911527e-01] [ 3.52077373e-03 9.99993695e-01 -4.63403322e-04 -1.47498775e-01] [ 1.63120459e-03 4.57662441e-04 9.99998565e-01 4.57536637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82255784400002 meters 0.288150527208114 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.46 [[ 9.99999110e-01 -1.19780649e-03 -5.87150728e-04 2.30348445e-01] [ 1.19828288e-03 9.99998953e-01 8.11685872e-04 -1.39720770e-01] [ 5.86177870e-04 -8.12388723e-04 9.99999498e-01 4.60297953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85255784400002 meters 0.2899376271497144 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:0.46 [[ 9.99967622e-01 7.94037075e-03 1.30597068e-03 2.50108540e-01] [-7.93970722e-03 9.99968349e-01 -5.12479385e-04 -1.39981587e-01] [-1.30999862e-03 5.02093767e-04 9.99999016e-01 4.59872562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88255784400002 meters 0.2887406564014685 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.46 [[ 9.99999500e-01 -8.21082936e-04 5.71481316e-04 2.31347792e-01] [ 8.20780192e-04 9.99999523e-01 5.29784918e-04 -1.32753147e-01] [-5.71916041e-04 -5.29315592e-04 9.99999696e-01 4.58370763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91255784400002 meters 0.28820426795950904 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.46 [[ 9.99999252e-01 -1.11426979e-03 5.04817936e-04 2.31600674e-01] [ 1.11434578e-03 9.99999368e-01 -1.50270427e-04 -1.29950025e-01] [-5.04650175e-04 1.50832857e-04 9.99999861e-01 4.58265754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94255784400002 meters 0.2895824226326418 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.46 [[ 9.99999094e-01 -1.26117695e-03 4.70420457e-04 2.31699889e-01] [ 1.26142508e-03 9.99999065e-01 -5.27543524e-04 -1.28398739e-01] [-4.69754692e-04 5.28136446e-04 9.99999750e-01 4.58292004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97255784400002 meters 0.2894894886820109 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.46 [[ 9.99998856e-01 -1.45809084e-03 4.02621109e-04 2.31968866e-01] [ 1.45850433e-03 9.99998407e-01 -1.02861990e-03 -1.26337339e-01] [-4.01120646e-04 1.02920595e-03 9.99999390e-01 4.58131386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00255784400002 meters 0.2897203749717084 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.46 [[ 9.99996911e-01 2.48479253e-03 5.66099228e-05 2.33351964e-01] [-2.48490890e-03 9.99994584e-01 2.15794947e-03 -1.22014060e-01] [-5.12475595e-05 -2.15808348e-03 9.99997670e-01 4.56881707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032557844 meters 0.29007625438004786 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.46 [[ 9.99997449e-01 2.25863959e-03 -2.60265862e-05 2.33851946e-01] [-2.25859572e-03 9.99996205e-01 1.57773076e-03 -1.19602047e-01] [ 2.95900126e-05 -1.57766795e-03 9.99998755e-01 4.56295218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062557844 meters 0.29007625438004786 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.46 [[ 9.99997449e-01 2.25863959e-03 -2.60265862e-05 2.33851946e-01] [-2.25859572e-03 9.99996205e-01 1.57773076e-03 -1.19602047e-01] [ 2.95900126e-05 -1.57766795e-03 9.99998755e-01 4.56295218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092557844 meters 0.290134141052728 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.46 [[ 9.99997884e-01 2.05480982e-03 -1.01564681e-04 2.34162759e-01] [-2.05470348e-03 9.99997352e-01 1.03624294e-03 -1.17371515e-01] [ 1.03693694e-04 -1.03603206e-03 9.99999458e-01 4.56084796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122557844 meters 0.2881174521344625 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:0.46 [[ 0.99998783 -0.00480787 -0.00110848 0.21009766] [ 0.00481126 0.99998369 0.00307821 -0.10996867] [ 0.00109367 -0.0030835 0.99999465 0.45876426] [ 0. 0. 0. 1. ]] SLAMing on 195.152557844 meters 0.2896143976373849 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 0.99999165 0.00385691 0.00135002 0.229369 ] [-0.00385913 0.99999119 0.00164933 -0.1103203 ] [-0.00134365 -0.00165452 0.99999773 0.45880244] [ 0. 0. 0. 1. ]] SLAMing on 195.182557844 meters 0.28889826438640165 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 9.99992762e-01 3.52917735e-03 1.42145854e-03 2.29186641e-01] [-3.53040247e-03 9.99993398e-01 8.60294547e-04 -1.07053663e-01] [-1.41841303e-03 -8.65306641e-04 9.99998620e-01 4.58877500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.212557844 meters 0.2904143709947329 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 9.99993099e-01 3.41827176e-03 1.45513170e-03 2.29183566e-01] [-3.41908742e-03 9.99993999e-01 5.58420532e-04 -1.05820725e-01] [-1.45321413e-03 -5.63391901e-04 9.99998785e-01 4.58721385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.242557844 meters 0.2890699287634676 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.46 [[ 9.99993447e-01 3.34473317e-03 1.38490824e-03 2.29402545e-01] [-3.34521961e-03 9.99994344e-01 3.49074344e-04 -1.04973399e-01] [-1.38373285e-03 -3.53704879e-04 9.99998980e-01 4.58640845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.272557844 meters 0.29067150612582365 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 0.99999047 -0.00268935 -0.00343794 0.24866226] [ 0.00269452 0.99999525 0.00149739 -0.10341167] [ 0.0034339 -0.00150664 0.99999297 0.46284657] [ 0. 0. 0. 1. ]] SLAMing on 195.302557844 meters 0.2910898859331609 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 0.99999024 -0.00270226 -0.00349544 0.24883778] [ 0.00270738 0.99999527 0.00146212 -0.1032678 ] [ 0.00349147 -0.00147157 0.99999282 0.46278915] [ 0. 0. 0. 1. ]] SLAMing on 195.332557844 meters 0.2910266450070181 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 0.99999001 -0.00272575 -0.00354291 0.24898152] [ 0.00273071 0.99999529 0.00139814 -0.10300684] [ 0.00353909 -0.0014078 0.99999275 0.4627495 ] [ 0. 0. 0. 1. ]] SLAMing on 195.362557844 meters 0.29114536312003947 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 9.99969571e-01 5.40747512e-03 -5.62292052e-03 2.29209800e-01] [-5.40509932e-03 9.99985297e-01 4.37631625e-04 -1.05254843e-01] [ 5.62520433e-03 -4.07225864e-04 9.99984095e-01 4.62435889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392557844 meters 0.29043769979508477 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 9.99969925e-01 5.40951579e-03 -5.55751324e-03 2.28845773e-01] [-5.40714079e-03 9.99985283e-01 4.42285556e-04 -1.05280207e-01] [ 5.55982400e-03 -4.12221998e-04 9.99984459e-01 4.62914245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422557844 meters 0.29079943604336156 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.46 [[ 9.99970180e-01 5.39143587e-03 -5.52908645e-03 2.28661364e-01] [-5.38932645e-03 9.99985399e-01 3.96342396e-04 -1.05084070e-01] [ 5.53114257e-03 -3.66532525e-04 9.99984636e-01 4.63175053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452557844 meters 0.2909264550775932 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.46 [[ 9.99970633e-01 5.35069752e-03 -5.48659364e-03 2.28451149e-01] [-5.34917827e-03 9.99985651e-01 2.91539818e-04 -1.04647765e-01] [ 5.48807486e-03 -2.62182489e-04 9.99984906e-01 4.63412437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482557844 meters 0.2899208846845293 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.46 [[ 9.99970864e-01 5.33814508e-03 -5.45662990e-03 2.28371132e-01] [-5.33680884e-03 9.99985725e-01 2.59415493e-04 -1.04517537e-01] [ 5.45793681e-03 -2.30286944e-04 9.99985079e-01 4.63423711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512557844 meters 0.29156635311892737 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99985743e-01 -3.43953099e-03 -4.08441714e-03 2.49719461e-01] [ 3.44218323e-03 9.99993869e-01 6.42502829e-04 -1.03253524e-01] [ 4.08218219e-03 -6.56552982e-04 9.99991452e-01 4.63367588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54255784400002 meters 0.2906257531062362 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99986097e-01 -3.41448408e-03 -4.01828563e-03 2.49354277e-01] [ 3.41738427e-03 9.99993905e-01 7.15105698e-04 -1.03530751e-01] [ 4.01581942e-03 -7.28827782e-04 9.99991671e-01 4.63838732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57255784400002 meters 0.29027502657096255 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99985875e-01 -3.42325487e-03 -4.06594103e-03 2.49351389e-01] [ 3.42610237e-03 9.99993890e-01 6.93571817e-04 -1.03433303e-01] [ 4.06354191e-03 -7.07492350e-04 9.99991494e-01 4.64131258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60255784400002 meters 0.2904495741641501 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99985748e-01 -3.42473117e-03 -4.09564413e-03 2.49292235e-01] [ 3.42759009e-03 9.99993887e-01 6.91222655e-04 -1.03414777e-01] [ 4.09325184e-03 -7.05250993e-04 9.99991374e-01 4.64444755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63255784400002 meters 0.28927876282106196 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99986173e-01 -3.42369318e-03 -3.99154820e-03 2.48828141e-01] [ 3.42649496e-03 9.99993888e-01 6.95302749e-04 -1.03430828e-01] [ 3.98914330e-03 -7.08970155e-04 9.99991792e-01 4.64918255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66255784400002 meters 0.2887370381880704 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99986171e-01 -3.47802300e-03 -3.94470066e-03 2.48721911e-01] [ 3.48022693e-03 9.99993792e-01 5.51979707e-04 -1.02842744e-01] [ 3.94275637e-03 -5.65700527e-04 9.99992067e-01 4.64899630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69255784400002 meters 0.2889446830349678 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99986077e-01 -3.54545000e-03 -3.90847847e-03 2.48641831e-01] [ 3.54693312e-03 9.99993640e-01 3.72596715e-04 -1.02108554e-01] [ 3.90713259e-03 -3.86454639e-04 9.99992292e-01 4.64891725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72255784400002 meters 0.2900911598725844 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99985758e-01 -3.63966310e-03 -3.90330494e-03 2.48647295e-01] [ 3.64019245e-03 9.99993366e-01 1.28520371e-04 -1.01102854e-01] [ 3.90281127e-03 -1.42727322e-04 9.99992374e-01 4.64876893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75255784400002 meters 0.2900611122667056 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.47 [[ 9.99992332e-01 5.49861766e-04 -3.87729995e-03 2.48513511e-01] [-5.34714226e-04 9.99992226e-01 3.90667863e-03 -9.90114305e-02] [ 3.87941794e-03 -3.90457542e-03 9.99984852e-01 4.65041052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78255784400002 meters 0.291157076223608 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99992060e-01 4.91913393e-04 -3.95442619e-03 2.48768324e-01] [-4.77110031e-04 9.99992879e-01 3.74356403e-03 -9.83520250e-02] [ 3.95623954e-03 -3.74164761e-03 9.99985174e-01 4.64909923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812557844 meters 0.2913933515781156 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99991716e-01 4.65945086e-04 -4.04365846e-03 2.49095308e-01] [-4.51121329e-04 9.99993178e-01 3.66606518e-03 -9.80422436e-02] [ 4.04533906e-03 -3.66421063e-03 9.99985104e-01 4.64664849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842557844 meters 0.29137555290276607 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99990952e-01 4.61143142e-04 -4.22890328e-03 2.49821570e-01] [-4.45705988e-04 9.99993237e-01 3.65060803e-03 -9.79793396e-02] [ 4.23055814e-03 -3.64869015e-03 9.99984395e-01 4.63899965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872557844 meters 0.29060244655678763 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99990709e-01 4.38857483e-04 -4.28826277e-03 2.50080523e-01] [-4.23459003e-04 9.99993462e-01 3.59109161e-03 -9.77343703e-02] [ 4.28981072e-03 -3.58924234e-03 9.99984357e-01 4.63661552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902557844 meters 0.29264589553969816 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99990411e-01 3.80844458e-04 -4.36271837e-03 2.50423251e-01] [-3.65845445e-04 9.99994022e-01 3.43827924e-03 -9.70939391e-02] [ 4.36400174e-03 -3.43665018e-03 9.99984572e-01 4.63342939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932557844 meters 0.2913122640901977 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.46 [[ 9.99990050e-01 2.75191302e-04 -4.45241941e-03 2.50723741e-01] [-2.61137936e-04 9.99994984e-01 3.15661725e-03 -9.59275816e-02] [ 4.45326575e-03 -3.15542315e-03 9.99985106e-01 4.63216944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.962557844 meters 0.29042126929727174 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.46 [[ 9.99990256e-01 1.13073639e-04 -4.41311508e-03 2.50431905e-01] [-1.01230389e-04 9.99996394e-01 2.68377989e-03 -9.39735310e-02] [ 4.41340262e-03 -2.68330700e-03 9.99986661e-01 4.63762842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.992557844 meters 0.2915995046313921 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.46 [[ 9.99990182e-01 3.21239348e-05 -4.43120131e-03 2.50383664e-01] [-2.12120929e-05 9.99996968e-01 2.46252696e-03 -9.30615468e-02] [ 4.43126698e-03 -2.46240879e-03 9.99987150e-01 4.64008916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.022557844 meters 0.292036102382942 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.46 [[ 9.99989619e-01 -5.32369276e-05 -4.55626590e-03 2.50743191e-01] [ 6.33993440e-05 9.99997511e-01 2.23031117e-03 -9.21053646e-02] [ 4.55613582e-03 -2.23057688e-03 9.99987133e-01 4.63954352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052557844 meters 0.29072323804328426 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.46 [[ 9.99945465e-01 5.89535698e-03 -8.62043701e-03 2.31279642e-01] [-5.90249633e-03 9.99982258e-01 -8.02982050e-04 -8.73278893e-02] [ 8.61555020e-03 8.53820357e-04 9.99962521e-01 4.64029823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082557844 meters 0.2902905733842287 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.46 [[ 9.99945359e-01 5.82959224e-03 -8.67728881e-03 2.31430599e-01] [-5.83830653e-03 9.99982477e-01 -9.79271838e-04 -8.66014093e-02] [ 8.67142800e-03 1.02987900e-03 9.99961872e-01 4.64041388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112557844 meters 0.2893368359836882 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.46 [[ 0.99994638 0.00575015 -0.00861211 0.23121015] [-0.0057607 0.99998269 -0.00120156 -0.08569253] [ 0.00860505 0.00125111 0.99996219 0.46420325] [ 0. 0. 0. 1. ]] SLAMing on 196.142557844 meters 0.2887650426503238 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.46 [[ 0.99994724 0.00563274 -0.00858983 0.23104667] [-0.0056462 0.99998287 -0.00154432 -0.0842959 ] [ 0.00858098 0.00159274 0.99996191 0.46450356] [ 0. 0. 0. 1. ]] SLAMing on 196.172557844 meters 0.2887494664178021 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.46 [[ 0.99994879 0.00543615 -0.00853585 0.23076506] [-0.00545554 0.99998259 -0.00225053 -0.08154119] [ 0.00852347 0.00229698 0.99996104 0.46499104] [ 0. 0. 0. 1. ]] SLAMing on 196.202557844 meters 0.2907873330372631 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.46 [[ 9.99980837e-01 5.86275812e-05 -6.19046441e-03 2.54939454e-01] [-5.48466170e-05 9.99999812e-01 6.10940297e-04 -8.12771332e-02] [ 6.19049906e-03 -6.10589063e-04 9.99980652e-01 4.62678291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232557844 meters 0.2925426615820769 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:0.46 [[ 9.99980249e-01 -1.31931894e-04 -6.28370470e-03 2.55304534e-01] [ 1.32265795e-04 9.99999990e-01 5.27219678e-05 -7.90313061e-02] [ 6.28369768e-03 -5.35520457e-05 9.99980256e-01 4.62427275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262557844 meters 0.291403649974977 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:0.46 [[ 9.99979491e-01 -5.63791786e-04 -6.37965752e-03 2.55748327e-01] [ 5.55599805e-04 9.99999019e-01 -1.28577789e-03 -7.36994818e-02] [ 6.38037617e-03 1.28220698e-03 9.99978823e-01 4.62068515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29255784400002 meters 0.29107916522558047 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:0.46 [[ 9.99979677e-01 -7.93072864e-04 -6.32588126e-03 2.55610922e-01] [ 7.81242588e-04 9.99997942e-01 -1.87239074e-03 -7.13017689e-02] [ 6.32735318e-03 1.86741064e-03 9.99978238e-01 4.62109038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32255784400002 meters 0.2916133366972595 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:0.46 [[ 9.99979573e-01 -1.00219218e-03 -6.31269195e-03 2.55523574e-01] [ 9.87091089e-04 9.99996645e-01 -2.39484128e-03 -6.91475226e-02] [ 6.31507087e-03 2.38856115e-03 9.99977207e-01 4.62274698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35255784400002 meters 0.28950802139925425 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:0.46 [[ 9.99989859e-01 -4.99964581e-05 -4.50326852e-03 2.14409504e-01] [ 4.29019037e-05 9.99998758e-01 -1.57550619e-03 -6.42817827e-02] [ 4.50334170e-03 1.57529702e-03 9.99988619e-01 4.59794109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38255784400002 meters 0.29008278024148726 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.46 [[ 0.9999809 -0.00588094 -0.00190307 0.23567888] [ 0.00588303 0.9999821 0.00109434 -0.05896561] [ 0.0018966 -0.00110551 0.99999759 0.45874073] [ 0. 0. 0. 1. ]] SLAMing on 196.41255784400002 meters 0.28976543823580214 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:0.46 [[ 9.99979983e-01 -6.05550742e-03 -1.83415870e-03 2.35612981e-01] [ 6.05673029e-03 9.99981439e-01 6.61896219e-04 -5.71821738e-02] [ 1.83011654e-03 -6.72991974e-04 9.99998099e-01 4.58512154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44255784400002 meters 0.2897258378824742 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:0.46 [[ 9.99991312e-01 2.61869912e-03 -3.24326842e-03 2.15149623e-01] [-2.62008138e-03 9.99996479e-01 -4.22018061e-04 -5.60777562e-02] [ 3.24215186e-03 4.30512022e-04 9.99994652e-01 4.57951319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47255784400002 meters 0.29017898413967225 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.46 [[ 0.99999142 0.00235178 -0.00340938 0.21562825] [-0.00235555 0.99999662 -0.00110048 -0.05329074] [ 0.00340678 0.0011085 0.99999358 0.45789695] [ 0. 0. 0. 1. ]] SLAMing on 196.50255784400002 meters 0.2920819642434471 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:0.46 [[ 9.99991818e-01 -3.97636840e-03 -7.42791611e-04 2.37586574e-01] [ 3.97754036e-03 9.99990837e-01 1.58301997e-03 -5.37109372e-02] [ 7.36490133e-04 -1.58596150e-03 9.99998471e-01 4.56547474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53255784400002 meters 0.2910255765660825 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.46 [[ 9.99986199e-01 4.69891403e-03 -2.34992073e-03 2.17803188e-01] [-4.69746456e-03 9.99988773e-01 6.21956067e-04 -5.44709164e-02] [ 2.35281687e-03 -6.10908814e-04 9.99997046e-01 4.55989601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562557844 meters 0.291263749720292 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99998664 -0.00390352 -0.00338747 0.19805186] [ 0.00390792 0.99999153 0.00129456 -0.04846667] [ 0.00338239 -0.00130778 0.99999342 0.45467048] [ 0. 0. 0. 1. ]] SLAMing on 196.592557844 meters 0.2906402291245801 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99998637 -0.00395495 -0.00340816 0.19815132] [ 0.00395891 0.99999149 0.00115636 -0.04789727] [ 0.00340355 -0.00116983 0.99999352 0.45457791] [ 0. 0. 0. 1. ]] SLAMing on 196.622557844 meters 0.29054185269626587 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99986023e-01 -4.02999043e-03 -3.42228708e-03 1.98227629e-01] [ 4.03329708e-03 9.99991406e-01 9.59860107e-04 -4.70793215e-02] [ 3.41838944e-03 -9.73649792e-04 9.99993683e-01 4.54506060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652557844 meters 0.29017585389607153 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:0.45 [[ 9.99979288e-01 4.68292181e-03 -4.41526468e-03 1.77189881e-01] [-4.68313925e-03 9.99989033e-01 -3.89106744e-05 -4.68691645e-02] [ 4.41503404e-03 5.95871678e-05 9.99990252e-01 4.54006360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682557844 meters 0.2936329200084659 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99986446e-01 4.40782773e-03 -2.77116912e-03 2.23595579e-01] [-4.41060049e-03 9.99989778e-01 -9.95261939e-04 -4.51827681e-02] [ 2.76675385e-03 1.00747097e-03 9.99995665e-01 4.51674658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.712557844 meters 0.2909788795821409 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998533 -0.00129635 -0.00525976 0.20113358] [ 0.00130781 0.99999678 0.00217628 -0.04287262] [ 0.00525693 -0.00218313 0.9999838 0.45345869] [ 0. 0. 0. 1. ]] SLAMing on 196.742557844 meters 0.29134275956058264 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998441 -0.00141061 -0.00540283 0.20156751] [ 0.00142063 0.99999728 0.00185197 -0.04153234] [ 0.00540021 -0.00185962 0.99998369 0.4533225 ] [ 0. 0. 0. 1. ]] SLAMing on 196.772557844 meters 0.2909468520148693 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998427 -0.00152354 -0.00539889 0.20147777] [ 0.00153186 0.99999765 0.00153578 -0.04023778] [ 0.00539653 -0.00154402 0.99998425 0.45353865] [ 0. 0. 0. 1. ]] SLAMing on 196.802557844 meters 0.29137243520622164 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.45 [[ 0.99998901 0.00431201 -0.00184039 0.22102826] [-0.00431576 0.9999886 -0.00204132 -0.03821299] [ 0.00183156 0.00204924 0.99999622 0.45363106] [ 0. 0. 0. 1. ]] SLAMing on 196.832557844 meters 0.2905886679003513 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:0.45 [[ 0.99998929 0.00428869 -0.00173832 0.22054176] [-0.00429234 0.99998858 -0.00210264 -0.037981 ] [ 0.00172928 0.00211008 0.99999628 0.45419259] [ 0. 0. 0. 1. ]] SLAMing on 196.862557844 meters 0.29000703937685024 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.45 [[ 0.99998817 -0.00436829 -0.00214039 0.20018952] [ 0.00436567 0.99998972 -0.00122745 -0.03363073] [ 0.00214573 0.0012181 0.99999696 0.45367738] [ 0. 0. 0. 1. ]] SLAMing on 196.892557844 meters 0.28973139138210535 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.45 [[ 0.99998843 -0.0043187 -0.00212054 0.2001328 ] [ 0.0043164 0.99999009 -0.0010923 -0.03418561] [ 0.00212524 0.00108313 0.99999716 0.45368203] [ 0. 0. 0. 1. ]] SLAMing on 196.922557844 meters 0.2906382939471138 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99988978e-01 -4.15301304e-03 -2.19024094e-03 2.00483323e-01] [ 4.15182631e-03 9.99991232e-01 -5.46094263e-04 -3.63845118e-02] [ 2.19248967e-03 5.36994744e-04 9.99997452e-01 4.53148442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952557844 meters 0.2907129757817498 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99989688e-01 -4.04722676e-03 -2.05999901e-03 2.00055137e-01] [ 4.04673373e-03 9.99991782e-01 -2.43449273e-04 -3.76246735e-02] [ 2.06096737e-03 2.35110495e-04 9.99997849e-01 4.53367038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982557844 meters 0.2907129757817498 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99989688e-01 -4.04722676e-03 -2.05999901e-03 2.00055137e-01] [ 4.04673373e-03 9.99991782e-01 -2.43449273e-04 -3.76246735e-02] [ 2.06096737e-03 2.35110495e-04 9.99997849e-01 4.53367038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012557844 meters 0.289314194240084 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99990251e-01 -3.97071972e-03 -1.93141819e-03 1.99620109e-01] [ 3.97068336e-03 9.99992117e-01 -2.26587099e-05 -3.85501049e-02] [ 1.93149293e-03 1.49894390e-05 9.99998135e-01 4.53622848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04255784400002 meters 0.2900331822953035 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99990423e-01 -3.91685063e-03 -1.95230219e-03 1.99567936e-01] [ 3.91709667e-03 9.99992321e-01 1.22216867e-04 -3.91487602e-02] [ 1.95180849e-03 -1.29863053e-04 9.99998087e-01 4.53857544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07255784400002 meters 0.29065187913974816 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99990334e-01 -3.89842334e-03 -2.03322355e-03 1.99805195e-01] [ 3.89878062e-03 9.99992385e-01 1.71786275e-04 -3.93472498e-02] [ 2.03253837e-03 -1.79711707e-04 9.99997918e-01 4.53774680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10255784400002 meters 0.29114896093412657 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99989876e-01 -3.89965003e-03 -2.24498512e-03 2.00445047e-01] [ 3.90001713e-03 9.99992382e-01 1.59168168e-04 -3.92805381e-02] [ 2.24434732e-03 -1.67922037e-04 9.99997467e-01 4.53463446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13255784400002 meters 0.29150956551806984 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99990089e-01 -3.87325722e-03 -2.19546070e-03 2.00195782e-01] [ 3.87377384e-03 9.99992470e-01 2.31108620e-04 -3.95829696e-02] [ 2.19454902e-03 -2.39611047e-04 9.99997563e-01 4.53740155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16255784400002 meters 0.2912089590576645 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99990649e-01 -3.79073299e-03 -2.08135461e-03 1.99724790e-01] [ 3.79169117e-03 9.99992707e-01 4.56611915e-04 -4.05362077e-02] [ 2.07960854e-03 -4.64499500e-04 9.99997730e-01 4.54153428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19255784400002 meters 0.28914481567014527 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:0.45 [[ 9.99984356e-01 5.58782997e-03 2.51604298e-04 1.74972013e-01] [-5.58798911e-03 9.99984185e-01 6.36303274e-04 -4.57222746e-02] [-2.48044764e-04 -6.37699282e-04 9.99999766e-01 4.54722819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22255784400002 meters 0.290788921358053 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999377 -0.00308372 0.00171903 0.19650458] [ 0.00308106 0.99999406 0.00154458 -0.04698943] [-0.00172378 -0.00153927 0.99999733 0.45495033] [ 0. 0. 0. 1. ]] SLAMing on 197.25255784400002 meters 0.29023845018654865 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999409 -0.00298373 0.0017084 0.19658267] [ 0.00298059 0.99999387 0.00183814 -0.04816568] [-0.00171388 -0.00183304 0.99999685 0.4548006 ] [ 0. 0. 0. 1. ]] SLAMing on 197.28255784400002 meters 0.2904547802980143 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999445 -0.00290569 0.00162982 0.19681286] [ 0.00290233 0.99999367 0.00206028 -0.04906084] [-0.0016358 -0.00205554 0.99999655 0.45470142] [ 0. 0. 0. 1. ]] SLAMing on 197.312557844 meters 0.2902509821913757 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999474 -0.00279662 0.00164018 0.19667228] [ 0.00279272 0.99999328 0.00237348 -0.05033806] [-0.0016468 -0.00236889 0.99999584 0.45493475] [ 0. 0. 0. 1. ]] SLAMing on 197.342557844 meters 0.29052157795600275 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.46 [[ 0.99999493 -0.00274847 0.00160939 0.19670111] [ 0.00274444 0.9999931 0.00250191 -0.05087057] [-0.00161626 -0.00249748 0.99999558 0.4550389 ] [ 0. 0. 0. 1. ]] SLAMing on 197.372557844 meters 0.29068269990974105 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999522 -0.00269589 0.00151562 0.19703206] [ 0.00269188 0.99999289 0.00264038 -0.05143338] [-0.00152272 -0.00263629 0.99999537 0.45480996] [ 0. 0. 0. 1. ]] SLAMing on 197.402557844 meters 0.2895406697618841 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.9999955 -0.00265101 0.00140606 0.19745739] [ 0.00264713 0.9999927 0.00275664 -0.05190827] [-0.00141336 -0.00275291 0.99999521 0.45444857] [ 0. 0. 0. 1. ]] SLAMing on 197.432557844 meters 0.2904800134417844 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999574 -0.00268146 0.00115641 0.19820082] [ 0.00267838 0.99999288 0.00265798 -0.05150083] [-0.00116353 -0.00265487 0.9999958 0.45413008] [ 0. 0. 0. 1. ]] SLAMing on 197.462557844 meters 0.29154808499358664 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999563 -0.00276314 0.00105188 0.19842855] [ 0.00276059 0.99999325 0.00242497 -0.05054423] [-0.00105858 -0.00242206 0.99999651 0.4542456 ] [ 0. 0. 0. 1. ]] SLAMing on 197.492557844 meters 0.2902706894866381 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999532 -0.00286997 0.00105681 0.19835173] [ 0.00286772 0.99999365 0.00211747 -0.04929202] [-0.00106288 -0.00211443 0.9999972 0.4544215 ] [ 0. 0. 0. 1. ]] SLAMing on 197.522557844 meters 0.2904154753900698 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 0.99999481 -0.00305336 0.0010307 0.19845456] [ 0.00305179 0.99999419 0.00151866 -0.04692449] [-0.00103533 -0.00151551 0.99999832 0.45435033] [ 0. 0. 0. 1. ]] SLAMing on 197.552557844 meters 0.2904362046546712 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:0.45 [[ 9.99994649e-01 -3.14261064e-03 9.08989516e-04 1.98897465e-01] [ 3.14145708e-03 9.99994262e-01 1.26772116e-03 -4.58826469e-02] [-9.12968255e-04 -1.26485883e-03 9.99998783e-01 4.54062090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582557844 meters 0.2923719830244507 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 9.99983747e-01 5.42021818e-03 1.76851531e-03 2.18851779e-01] [-5.42044366e-03 9.99985302e-01 1.22727297e-04 -4.98053457e-02] [-1.76782411e-03 -1.32311440e-04 9.99998429e-01 4.54360507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612557844 meters 0.2902624722595563 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 9.99991939e-01 3.98771016e-03 4.68724023e-04 1.77278141e-01] [-3.98715193e-03 9.99991348e-01 -1.18591144e-03 -4.39236435e-02] [-4.73449039e-04 1.18403301e-03 9.99999187e-01 4.54014465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642557844 meters 0.2907883813850778 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99999267 -0.00269044 0.00272522 0.19942408] [ 0.00268665 0.99999542 0.00139121 -0.04453541] [-0.00272895 -0.00138388 0.99999532 0.45250661] [ 0. 0. 0. 1. ]] SLAMing on 197.672557844 meters 0.2903944594959621 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99999267 -0.00271788 0.00269535 0.19965493] [ 0.00271435 0.99999545 0.00131408 -0.0442092 ] [-0.00269891 -0.00130675 0.9999955 0.45214572] [ 0. 0. 0. 1. ]] SLAMing on 197.702557844 meters 0.29244049139823297 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:0.45 [[ 0.99998505 0.00347791 0.00421888 0.22305075] [-0.0034703 0.99999234 -0.00181009 -0.04526254] [-0.00422514 0.00179542 0.99998946 0.44978088] [ 0. 0. 0. 1. ]] SLAMing on 197.732557844 meters 0.29189821478799965 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99999424 -0.00283688 0.0018626 0.20205441] [ 0.00283467 0.99999528 0.00118895 -0.04313778] [-0.00186597 -0.00118366 0.99999756 0.45095367] [ 0. 0. 0. 1. ]] SLAMing on 197.762557844 meters 0.29192501680816374 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99999442 -0.00288696 0.00167819 0.20255851] [ 0.0028852 0.99999529 0.00105116 -0.04255451] [-0.00168122 -0.00104631 0.99999804 0.45090115] [ 0. 0. 0. 1. ]] SLAMing on 197.79255784400002 meters 0.29129077508701007 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 9.99994497e-01 -2.91727824e-03 1.57954498e-03 2.02852783e-01] [ 2.91575224e-03 9.99995281e-01 9.67546503e-04 -4.22007552e-02] [-1.58236012e-03 -9.62935617e-04 9.99998284e-01 4.50816014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82255784400002 meters 0.2916591419610487 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99999461 -0.00289718 0.00154346 0.20299936] [ 0.00289561 0.99999529 0.00102157 -0.04241964] [-0.00154642 -0.00101709 0.99999829 0.45068065] [ 0. 0. 0. 1. ]] SLAMing on 197.85255784400002 meters 0.28982664022170124 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 9.99993517e-01 3.58380493e-03 3.50500636e-04 1.81121005e-01] [-3.58303171e-03 9.99991200e-01 -2.18235421e-03 -4.15071595e-02] [-3.58318683e-04 2.18108420e-03 9.99997557e-01 4.51349757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88255784400002 meters 0.2919894278608285 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998471 -0.00460512 0.00305992 0.20034954] [ 0.00460882 0.99998866 -0.00120177 -0.04031017] [-0.00305435 0.00121586 0.9999946 0.45214506] [ 0. 0. 0. 1. ]] SLAMing on 197.91255784400002 meters 0.29157182911445995 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998452 -0.00461999 0.00310219 0.20010043] [ 0.00462386 0.99998854 -0.00124066 -0.04015002] [-0.00309642 0.00125498 0.99999442 0.45248822] [ 0. 0. 0. 1. ]] SLAMing on 197.94255784400002 meters 0.2927191878811691 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.45 [[ 0.99998453 -0.00467153 0.0030201 0.20024366] [ 0.00467572 0.99998811 -0.0013823 -0.03956679] [-0.00301361 0.0013964 0.99999448 0.45266187] [ 0. 0. 0. 1. ]] SLAMing on 197.97255784400002 meters 0.29110454312366235 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 0.99999237 0.00360604 0.00150197 0.18035439] [-0.00360197 0.99998987 -0.00270083 -0.04047374] [-0.00151169 0.0026954 0.99999522 0.45158085] [ 0. 0. 0. 1. ]] SLAMing on 198.00255784400002 meters 0.2903154141722104 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 0.99999289 0.00351529 0.00136582 0.18077846] [-0.00351123 0.99998946 -0.00295947 -0.03940537] [-0.00137621 0.00295465 0.99999469 0.45141298] [ 0. 0. 0. 1. ]] SLAMing on 198.03255784400002 meters 0.29054338141824443 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 0.99999342 0.00339936 0.00126555 0.18110958] [-0.00339517 0.99998878 -0.00330193 -0.03801387] [-0.00127676 0.00329761 0.99999375 0.45124491] [ 0. 0. 0. 1. ]] SLAMing on 198.062557844 meters 0.2903943415114799 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.45 [[ 0.99999409 0.00318292 0.00129803 0.18089399] [-0.00317767 0.99998683 -0.00402976 -0.03514896] [-0.00131084 0.00402561 0.99999104 0.45165724] [ 0. 0. 0. 1. ]] SLAMing on 198.092557844 meters 0.29084046981482536 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.45 [[ 0.99999444 0.0030555 0.00133611 0.18069039] [-0.0030496 0.9999857 -0.00439268 -0.033671 ] [-0.00134952 0.00438858 0.99998946 0.45195331] [ 0. 0. 0. 1. ]] SLAMing on 198.122557844 meters 0.29045728435457535 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.45 [[ 0.99999473 0.00293041 0.00139393 0.18043624] [-0.00292378 0.9999845 -0.00473841 -0.03226017] [-0.00140779 0.00473431 0.9999878 0.45225944] [ 0. 0. 0. 1. ]] SLAMing on 198.152557844 meters 0.29032276930535983 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.46 [[ 0.99999547 -0.00280126 -0.00109886 0.19506469] [ 0.00279904 0.99999404 -0.00201883 -0.03025081] [ 0.0011045 0.00201575 0.99999736 0.4587588 ] [ 0. 0. 0. 1. ]] SLAMing on 198.182557844 meters 0.29137924051183917 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.46 [[ 0.99999455 -0.00309278 -0.0011566 0.19523182] [ 0.00308956 0.99999139 -0.00277176 -0.02719407] [ 0.00116517 0.00276817 0.99999549 0.45877021] [ 0. 0. 0. 1. ]] SLAMing on 198.212557844 meters 0.28989981274079696 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.46 [[ 0.99998231 0.00567186 -0.00179196 0.17419588] [-0.00567894 0.99997599 -0.00397185 -0.02668958] [ 0.00176939 0.00398195 0.99999051 0.4580269 ] [ 0. 0. 0. 1. ]] SLAMing on 198.242557844 meters 0.28967627341096686 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.46 [[ 0.99998324 0.00551308 -0.00176903 0.17412538] [-0.0055208 0.99997511 -0.00439423 -0.02495611] [ 0.00174476 0.00440392 0.99998878 0.45810648] [ 0. 0. 0. 1. ]] SLAMing on 198.272557844 meters 0.29071899504192633 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.46 [[ 9.99996329e-01 -2.69515879e-03 -2.79790289e-04 1.93366077e-01] [ 2.69416523e-03 9.99990271e-01 -3.49273518e-03 -1.95531035e-02] [ 2.89201043e-04 3.49196855e-03 9.99993861e-01 4.59618253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302557844 meters 0.2897056607587309 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.46 [[ 9.99995717e-01 -2.90341945e-03 -3.69141879e-04 1.93613423e-01] [ 2.90189955e-03 9.99987575e-01 -4.05331468e-03 -1.72782670e-02] [ 3.80905765e-04 4.05222611e-03 9.99991717e-01 4.59619678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332557844 meters 0.2896696514841858 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.46 [[ 9.99994268e-01 -3.32714298e-03 -6.26970120e-04 1.94286966e-01] [ 3.32372960e-03 9.99980064e-01 -5.36883092e-03 -1.21244309e-02] [ 6.44820489e-04 5.36671627e-03 9.99985391e-01 4.59659216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362557844 meters 0.28970648379023584 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.46 [[ 9.99999394e-01 9.44769280e-04 -5.65543845e-04 1.94124224e-01] [-9.45471278e-04 9.99998781e-01 -1.24230224e-03 -1.14198824e-02] [ 5.64369467e-04 1.24283619e-03 9.99999068e-01 4.59642626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392557844 meters 0.28970302553617433 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.46 [[ 9.99999568e-01 7.31188407e-04 -5.74468440e-04 1.94225296e-01] [-7.32236002e-04 9.99998066e-01 -1.82550076e-03 -9.03134904e-03] [ 5.73132544e-04 1.82592062e-03 9.99998169e-01 4.59508073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422557844 meters 0.29238288187916267 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:0.46 [[ 0.99998583 -0.00516856 -0.00127236 0.21915112] [ 0.00517004 0.99998596 0.00116118 -0.00270792] [ 0.00126634 -0.00116774 0.99999852 0.45811134] [ 0. 0. 0. 1. ]] SLAMing on 198.452557844 meters 0.29074634219519135 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:0.46 [[ 9.99985061e-01 -5.30170806e-03 -1.33048097e-03 2.19444524e-01] [ 5.30281175e-03 9.99985598e-01 8.27390452e-04 -1.31932039e-03] [ 1.32607523e-03 -8.34433382e-04 9.99998773e-01 4.57829324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482557844 meters 0.28943751744495033 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:0.46 [[ 9.99989789e-01 3.77635628e-03 -2.48218841e-03 1.98889165e-01] [-3.77669543e-03 9.99992860e-01 -1.31961648e-04 -7.92441295e-04] [ 2.48167235e-03 1.41334770e-04 9.99996911e-01 4.57395550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512557844 meters 0.2905020096843817 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:0.46 [[ 9.99989252e-01 -4.60955512e-03 -4.97290842e-04 2.18335057e-01] [ 4.60993622e-03 9.99989079e-01 7.67951975e-04 2.63291224e-03] [ 4.93745494e-04 -7.70236200e-04 9.99999581e-01 4.58795960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54255784400002 meters 0.28997175417162196 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.46 [[ 9.99996774e-01 -2.47750791e-03 5.59515634e-04 2.12554244e-01] [ 2.47612691e-03 9.99993920e-01 2.45554390e-03 5.07463240e-03] [-5.65595861e-04 -2.45415055e-03 9.99996829e-01 4.63353241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57255784400002 meters 0.2904129112477233 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.46 [[ 9.99996631e-01 -2.53479775e-03 5.58873075e-04 2.12533479e-01] [ 2.53350477e-03 9.99994140e-01 2.30224868e-03 5.70266761e-03] [-5.64705535e-04 -2.30082502e-03 9.99997194e-01 4.63416797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60255784400002 meters 0.2893638177235248 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.46 [[ 9.99996596e-01 -2.56918093e-03 4.55841404e-04 2.12967415e-01] [ 2.56816846e-03 9.99994265e-01 2.20794975e-03 6.10545466e-03] [-4.61511412e-04 -2.20677156e-03 9.99997459e-01 4.63013697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63255784400002 meters 0.2904120210592767 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:0.46 [[ 9.99980509e-01 6.24317474e-03 5.97805523e-05 2.34223591e-01] [-6.24326822e-03 9.99979035e-01 1.71761616e-03 8.58006366e-04] [-4.90559212e-05 -1.71795591e-03 9.99998523e-01 4.62844902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66255784400002 meters 0.29061415317353056 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:0.46 [[ 9.99981088e-01 6.14998123e-03 -3.25110592e-05 2.34443252e-01] [-6.14992668e-03 9.99980005e-01 1.47275120e-03 1.87406436e-03] [ 4.15678014e-05 -1.47252341e-03 9.99998915e-01 4.62919003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69255784400002 meters 0.2903637198754658 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:0.46 [[ 0.9999962 -0.00215893 0.00171418 0.25346008] [ 0.00215433 0.99999409 0.00268094 0.00476803] [-0.00171995 -0.00267724 0.99999494 0.46491282] [ 0. 0. 0. 1. ]] SLAMing on 198.72255784400002 meters 0.28928262807392396 Centerline is valid? [False, False] Translation: X:0.23, Y:0.01, Z:0.47 [[ 9.99990549e-01 4.22290809e-03 -1.03437742e-03 2.30802142e-01] [-4.22337559e-03 9.99990980e-01 -4.50195404e-04 8.52415698e-03] [ 1.03246695e-03 4.54559713e-04 9.99999364e-01 4.67603239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75255784400002 meters 0.2901280493314916 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:0.47 [[ 9.99995839e-01 -2.88428293e-03 4.80609470e-05 2.53427819e-01] [ 2.88417416e-03 9.99993578e-01 2.12741225e-03 9.19684067e-03] [-5.41966971e-05 -2.12726478e-03 9.99997736e-01 4.66192280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78255784400002 meters 0.2892529676682961 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:0.46 [[ 9.99997002e-01 -2.31060321e-03 8.10435078e-04 2.16100560e-01] [ 2.30900486e-03 9.99995398e-01 1.96762773e-03 1.20404504e-02] [-8.14977755e-04 -1.96575053e-03 9.99997736e-01 4.61744129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812557844 meters 0.29106847759684223 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:0.46 [[ 0.99999159 0.00350883 0.00212306 0.23962135] [-0.00350619 0.99999308 -0.00124717 0.01043592] [-0.00212742 0.00123971 0.99999697 0.45979387] [ 0. 0. 0. 1. ]] SLAMing on 198.842557844 meters 0.2899292560699138 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99987387e-01 -4.90752851e-03 1.06905644e-03 2.19846491e-01] [ 4.90800616e-03 9.99987857e-01 -4.44630186e-04 1.53324481e-02] [-1.06686142e-03 4.49871514e-04 9.99999330e-01 4.59266210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872557844 meters 0.2899292560699138 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99987387e-01 -4.90752851e-03 1.06905644e-03 2.19846491e-01] [ 4.90800616e-03 9.99987857e-01 -4.44630186e-04 1.53324481e-02] [-1.06686142e-03 4.49871514e-04 9.99999330e-01 4.59266210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters 0.28973427984515077 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99987326e-01 -4.92740780e-03 1.03337700e-03 2.19783356e-01] [ 4.92792630e-03 9.99987733e-01 -4.99810255e-04 1.55464791e-02] [-1.03090156e-03 5.04896326e-04 9.99999341e-01 4.59634314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932557844 meters 0.29152384909895307 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:0.46 [[ 0.99999189 0.00379833 0.00133548 0.24153357] [-0.00379667 0.99999202 -0.00124665 0.01373487] [-0.00134021 0.00124157 0.99999833 0.46025088] [ 0. 0. 0. 1. ]] SLAMing on 198.962557844 meters 0.289695640479163 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99989541e-01 -4.56883762e-03 2.09532414e-04 2.22489583e-01] [ 4.56894970e-03 9.99989418e-01 -5.37596446e-04 2.03598902e-02] [-2.07074006e-04 5.38548166e-04 9.99999834e-01 4.59550888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.992557844 meters 0.29003820538007424 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.99999215 0.00359932 0.00165932 0.24219499] [-0.00359623 0.9999918 -0.00186318 0.01773081] [-0.00166601 0.0018572 0.99999689 0.46006215] [ 0. 0. 0. 1. ]] SLAMing on 199.022557844 meters 0.28993410366274175 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99997346e-01 -2.27057064e-03 -3.91130433e-04 2.20357950e-01] [ 2.27106791e-03 9.99996607e-01 1.27565332e-03 1.98182106e-02] [ 3.88232646e-04 -1.27653822e-03 9.99999110e-01 4.61250368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052557844 meters 0.29012209371289704 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 9.99980474e-01 6.22142793e-03 5.87451967e-04 2.40687261e-01] [-6.22172191e-03 9.99980520e-01 4.99938731e-04 1.52242224e-02] [-5.84330190e-04 -5.03583933e-04 9.99999702e-01 4.61222834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082557844 meters 0.29043080315532194 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 9.99980658e-01 6.19796131e-03 5.19498718e-04 2.40977926e-01] [-6.19818634e-03 9.99980697e-01 4.32688462e-04 1.55145696e-02] [-5.16806904e-04 -4.35900043e-04 9.99999771e-01 4.60951834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112557844 meters 0.29084571772749035 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 9.99980721e-01 6.19506823e-03 4.23024578e-04 2.41315326e-01] [-6.19524524e-03 9.99980722e-01 4.18424374e-04 1.55857021e-02] [-4.20424255e-04 -4.21037049e-04 9.99999823e-01 4.60726104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142557844 meters 0.2902036518066372 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 9.99997224e-01 -2.20006553e-03 -8.44184813e-04 2.21152110e-01] [ 2.20100014e-03 9.99996964e-01 1.10778796e-03 2.08765857e-02] [ 8.41745044e-04 -1.10964294e-03 9.99999030e-01 4.60403508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172557844 meters 0.29066513908902414 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.9999926 0.00364453 0.00123565 0.24333999] [-0.00364194 0.99999119 -0.00208754 0.0199701 ] [-0.00124325 0.00208302 0.99999706 0.4589015 ] [ 0. 0. 0. 1. ]] SLAMing on 199.202557844 meters 0.2911296332026458 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.99999246 0.0036651 0.00128486 0.24311397] [-0.00366249 0.99999123 -0.00203132 0.01972343] [-0.00129229 0.0020266 0.99999711 0.45912286] [ 0. 0. 0. 1. ]] SLAMing on 199.232557844 meters 0.2911132396316526 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 0.99998473 -0.00509153 0.00214799 0.22038375] [ 0.0050948 0.99998586 -0.00152301 0.02343586] [-0.0021402 0.00153394 0.99999653 0.45980354] [ 0. 0. 0. 1. ]] SLAMing on 199.262557844 meters 0.29096389963556085 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 0.99998489 -0.00505085 0.00216906 0.22010575] [ 0.00505392 0.99998623 -0.00141026 0.02294539] [-0.0021619 0.0014212 0.99999665 0.46033717] [ 0. 0. 0. 1. ]] SLAMing on 199.29255784400002 meters 0.2899143532012233 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 0.99998502 -0.00501328 0.00219671 0.2199586 ] [ 0.00501616 0.99998656 -0.00130756 0.02251439] [-0.00219012 0.00131856 0.99999673 0.46050625] [ 0. 0. 0. 1. ]] SLAMing on 199.32255784400002 meters 0.28813401922179754 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:0.46 [[ 9.99997435e-01 2.09121532e-03 -8.70293375e-04 1.98316815e-01] [-2.09426003e-03 9.99991639e-01 -3.51239425e-03 2.36723753e-02] [ 8.62940926e-04 3.51420786e-03 9.99993453e-01 4.62351908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35255784400002 meters 0.29023732840742333 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 0.99999502 -0.00216638 0.00229307 0.22262072] [ 0.00216386 0.99999705 0.00110301 0.01814606] [-0.00229546 -0.00109804 0.99999676 0.45880771] [ 0. 0. 0. 1. ]] SLAMing on 199.38255784400002 meters 0.2902874673623853 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.46 [[ 0.99999538 -0.0021817 0.00211819 0.22306176] [ 0.00217947 0.99999707 0.00105051 0.01837017] [-0.00212048 -0.00104589 0.9999972 0.45879827] [ 0. 0. 0. 1. ]] SLAMing on 199.41255784400002 meters 0.291303220938198 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:0.46 [[ 0.99998221 0.00413781 0.00429642 0.24528719] [-0.00413008 0.99998984 -0.00180709 0.01861259] [-0.00430385 0.00178931 0.99998914 0.45703683] [ 0. 0. 0. 1. ]] SLAMing on 199.44255784400002 meters 0.29166488207646957 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.99998247 0.00395483 0.00440682 0.2447299 ] [-0.00394409 0.99998924 -0.00244117 0.02110406] [-0.00441643 0.00242374 0.99998731 0.45786051] [ 0. 0. 0. 1. ]] SLAMing on 199.47255784400002 meters 0.292608305219168 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.9999826 0.00382753 0.00448844 0.24428772] [-0.00381498 0.9999888 -0.0028027 0.02257949] [-0.00449912 0.00278553 0.999986 0.45848954] [ 0. 0. 0. 1. ]] SLAMing on 199.50255784400002 meters 0.291014057198972 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.99998264 0.00371745 0.004571 0.24390091] [-0.00370329 0.99998833 -0.00310131 0.02378902] [-0.00458248 0.00308433 0.99998474 0.45894249] [ 0. 0. 0. 1. ]] SLAMing on 199.53255784400002 meters 0.29123551786061214 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.46 [[ 0.99998254 0.00365813 0.00464024 0.24358865] [-0.00364304 0.99998806 -0.00325794 0.02441756] [-0.0046521 0.00324098 0.99998393 0.45927469] [ 0. 0. 0. 1. ]] SLAMing on 199.562557844 meters 0.2915303685515856 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.46 [[ 0.99998217 0.0035772 0.00478159 0.24325163] [-0.0035606 0.99998762 -0.00347496 0.02528931] [-0.00479396 0.00345788 0.99998253 0.45924851] [ 0. 0. 0. 1. ]] SLAMing on 199.592557844 meters 0.2886797688930724 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.46 [[ 0.9999924 0.00363507 0.00141239 0.19905298] [-0.0036296 0.99998598 -0.0038555 0.03093595] [-0.00142639 0.00385034 0.99999157 0.46156688] [ 0. 0. 0. 1. ]] SLAMing on 199.622557844 meters 0.2891951547522063 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.46 [[ 0.99998474 -0.00503495 0.00227566 0.21954987] [ 0.00504156 0.99998306 -0.00290914 0.03431536] [-0.00226098 0.00292057 0.99999318 0.46234098] [ 0. 0. 0. 1. ]] SLAMing on 199.652557844 meters 0.2917529981478146 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.47 [[ 0.9999878 -0.0044154 0.002213 0.25662838] [ 0.00441951 0.99998851 -0.00185832 0.03353282] [-0.00220476 0.00186807 0.99999582 0.4667767 ] [ 0. 0. 0. 1. ]] SLAMing on 199.682557844 meters 0.2894106544952004 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.47 [[ 9.99992122e-01 -2.37255662e-03 3.18215226e-03 2.15308838e-01] [ 2.37552492e-03 9.99996747e-01 -9.29339368e-04 3.73377965e-02] [-3.17993700e-03 9.36891329e-04 9.99994505e-01 4.65503442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.712557844 meters 0.29028543798650625 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.47 [[ 0.99999217 -0.00249557 0.00306979 0.21562925] [ 0.00249948 0.99999607 -0.00126874 0.03873392] [-0.00306662 0.0012764 0.99999448 0.46545468] [ 0. 0. 0. 1. ]] SLAMing on 199.742557844 meters 0.29056354491319897 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.99999246 -0.00269195 0.002798 0.21655989] [ 0.00269729 0.99999454 -0.00190828 0.04138993] [-0.00279284 0.00191581 0.99999426 0.46483813] [ 0. 0. 0. 1. ]] SLAMing on 199.772557844 meters 0.29080767084615705 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.99999212 -0.00280635 0.00280617 0.21658032] [ 0.00281258 0.99999358 -0.00222008 0.04267564] [-0.00279992 0.00222795 0.9999936 0.46477288] [ 0. 0. 0. 1. ]] SLAMing on 199.802557844 meters 0.29144410190739817 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.9999919 -0.00291213 0.00277931 0.21664614] [ 0.0029191 0.9999926 -0.00250527 0.0438443 ] [-0.00277199 0.00251336 0.999993 0.46480856] [ 0. 0. 0. 1. ]] SLAMing on 199.832557844 meters 0.28937008622640675 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999184 -0.00302483 0.00267883 0.21701507] [ 0.00303233 0.99999148 -0.00280141 0.04507894] [-0.00267033 0.00280951 0.99999249 0.46459034] [ 0. 0. 0. 1. ]] SLAMing on 199.862557844 meters 0.29104847287413216 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 9.99998308e-01 -1.19342720e-03 1.40021461e-03 2.23320431e-01] [ 1.19481185e-03 9.99998798e-01 -9.88465078e-04 4.56825225e-02] [-1.39903327e-03 9.90136399e-04 9.99998531e-01 4.60552915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892557844 meters 0.2920127128422006 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999843 -0.0012336 0.00127176 0.22375774] [ 0.001235 0.99999863 -0.00110306 0.04616051] [-0.0012704 0.00110463 0.99999858 0.46028704] [ 0. 0. 0. 1. ]] SLAMing on 199.922557844 meters 0.2914247631700446 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999838 -0.00128488 0.00126198 0.22376325] [ 0.00128644 0.9999984 -0.00124222 0.04672664] [-0.00126038 0.00124385 0.99999843 0.46034264] [ 0. 0. 0. 1. ]] SLAMing on 199.952557844 meters 0.2912031768575798 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999821 -0.00134958 0.00132851 0.22349493] [ 0.00135145 0.99999809 -0.00141384 0.04741657] [-0.0013266 0.00141563 0.99999812 0.4605913 ] [ 0. 0. 0. 1. ]] SLAMing on 199.982557844 meters 0.2922945064399551 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999802 -0.00150675 0.00130159 0.22333921] [ 0.00150908 0.99999725 -0.00179259 0.04900538] [-0.00129888 0.00179455 0.99999755 0.46107102] [ 0. 0. 0. 1. ]] SLAMing on 200.012557844 meters 0.2909660765022365 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:0.46 [[ 9.99997881e-01 -3.12590690e-04 2.03493313e-03 1.84734365e-01] [ 3.16123842e-04 9.99998443e-01 -1.73615960e-03 5.23661390e-02] [-2.03438725e-03 1.73679921e-03 9.99996422e-01 4.57922804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04255784400002 meters 0.2933745309282056 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 9.99999276e-01 -5.68455754e-04 1.06047474e-03 2.24542643e-01] [ 5.70183376e-04 9.99998510e-01 -1.62951172e-03 5.01557442e-02] [-1.05954686e-03 1.63011520e-03 9.99998110e-01 4.60668721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07255784400002 meters 0.29165145369836304 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.46 [[ 0.9999954 0.00112249 0.00281633 0.18271335] [-0.00111838 0.9999983 -0.00146328 0.055496 ] [-0.00281797 0.00146013 0.99999496 0.45949739] [ 0. 0. 0. 1. ]] SLAMing on 200.10255784400002 meters 0.2905918214047909 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.46 [[ 0.99999537 0.00102458 0.00286662 0.1823537 ] [-0.00101955 0.99999794 -0.00175589 0.05667132] [-0.00286842 0.00175296 0.99999435 0.46011772] [ 0. 0. 0. 1. ]] SLAMing on 200.13255784400002 meters 0.2905790567407698 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:0.46 [[ 9.99995467e-01 9.26681481e-04 2.86470446e-03 1.82209158e-01] [-9.20827810e-04 9.99997487e-01 -2.04402105e-03 5.78123209e-02] [-2.86659141e-03 2.04137388e-03 9.99993808e-01 4.60513136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16255784400002 meters 0.2933293182534484 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998071e-01 7.57118558e-04 1.81235232e-03 2.21827914e-01] [-7.54197929e-04 9.99998417e-01 -1.61165423e-03 5.63848688e-02] [-1.81356967e-03 1.61028425e-03 9.99997059e-01 4.63369406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19255784400002 meters 0.29069268737232046 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 0.99998984 -0.00427428 -0.00143359 0.19910743] [ 0.00427649 0.99998967 0.0015422 0.05696684] [ 0.00142698 -0.00154832 0.99999778 0.465897 ] [ 0. 0. 0. 1. ]] SLAMing on 200.22255784400002 meters 0.2908741541958358 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 0.99998964 -0.00433227 -0.00139565 0.19898737] [ 0.00433421 0.99998964 0.00139203 0.05758029] [ 0.00138961 -0.00139806 0.99999806 0.46595406] [ 0. 0. 0. 1. ]] SLAMing on 200.25255784400002 meters 0.2910173441857378 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 0.99998957 -0.00437266 -0.00131555 0.19860186] [ 0.00437435 0.9999896 0.00128949 0.05798622] [ 0.00130989 -0.00129524 0.9999983 0.46636972] [ 0. 0. 0. 1. ]] SLAMing on 200.28255784400002 meters 0.2921114506844328 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.47 [[ 9.99992832e-01 3.65003015e-03 1.00622761e-03 2.17016775e-01] [-3.65022000e-03 9.99993320e-01 1.86898825e-04 5.48516061e-02] [-1.00553870e-03 -1.90570437e-04 9.99999476e-01 4.67734438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312557844 meters 0.29027464878551923 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 9.99989811e-01 -4.48134087e-03 -5.43544881e-04 1.96761875e-01] [ 4.48178181e-03 9.99989626e-01 8.12728303e-04 5.97054739e-02] [ 5.39897130e-04 -8.15156072e-04 9.99999522e-01 4.67331442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters 0.29230283235125 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99992099e-01 3.97101544e-03 1.80282056e-04 2.17506448e-01] [-3.97104078e-03 9.99992106e-01 1.40427974e-04 5.56080023e-02] [-1.79722991e-04 -1.41142771e-04 9.99999974e-01 4.67334839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372557844 meters 0.2921642848507382 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99992599e-01 3.84121112e-03 2.14978972e-04 2.17466691e-01] [-3.84117394e-03 9.99992608e-01 -1.73094166e-04 5.69117625e-02] [-2.15642274e-04 1.72267114e-04 9.99999962e-01 4.67246957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters 0.29162124444158827 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99992803e-01 3.78324004e-03 2.84088666e-04 2.17176638e-01] [-3.78314665e-03 9.99992790e-01 -3.28561081e-04 5.75321065e-02] [-2.85329643e-04 3.27483967e-04 9.99999906e-01 4.67536043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.432557844 meters 0.29240628486854175 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99992921e-01 3.74574268e-03 3.57466439e-04 2.16906526e-01] [-3.74558898e-03 9.99992893e-01 -4.29670397e-04 5.79265377e-02] [-3.59073333e-04 4.28328433e-04 9.99999844e-01 4.67747603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.462557844 meters 0.2919492327085209 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993070e-01 3.70999857e-03 3.10806222e-04 2.17038500e-01] [-3.70983398e-03 9.99992979e-01 -5.28476238e-04 5.83349662e-02] [-3.12764686e-04 5.27319536e-04 9.99999812e-01 4.67729108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.492557844 meters 0.2923347644566401 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993268e-01 3.65869553e-03 2.80039840e-04 2.17235444e-01] [-3.65850757e-03 9.99993084e-01 -6.68765785e-04 5.89256992e-02] [-2.82484714e-04 6.67736755e-04 9.99999737e-01 4.67464006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.522557844 meters 0.29240244263702786 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993585e-01 3.57574627e-03 2.08064696e-04 2.17663105e-01] [-3.57555888e-03 9.99993208e-01 -8.94154290e-04 5.99053086e-02] [-2.11260551e-04 8.93404607e-04 9.99999579e-01 4.66901717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552557844 meters 0.29256168275067895 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993721e-01 3.53979276e-03 1.66822341e-04 2.17778916e-01] [-3.53962579e-03 9.99993245e-01 -9.90796571e-04 6.03084388e-02] [-1.70328429e-04 9.90199862e-04 9.99999495e-01 4.66891260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582557844 meters 0.2928559636817929 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993804e-01 3.51793832e-03 1.27070011e-04 2.17764540e-01] [-3.51780306e-03 9.99993262e-01 -1.04947470e-03 6.05392404e-02] [-1.30761142e-04 1.04902119e-03 9.99999441e-01 4.67162492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612557844 meters 0.2924321288073221 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993695e-01 3.54977851e-03 9.46008944e-05 2.17655813e-01] [-3.54968531e-03 9.99993232e-01 -9.67799822e-04 6.01708387e-02] [-9.80357292e-05 9.67457917e-04 9.99999527e-01 4.67596495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642557844 meters 0.2913357404062842 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 9.99989181e-01 -4.55824708e-03 -9.27834366e-04 1.97771933e-01] [ 4.55823798e-03 9.99989611e-01 -1.19227229e-05 6.35302456e-02] [ 9.27879074e-04 7.69330403e-06 9.99999569e-01 4.66667217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672557844 meters 0.2927338258418472 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.47 [[ 9.99993901e-01 3.49125141e-03 -9.46084904e-05 2.17127716e-01] [-3.49132263e-03 9.99993614e-01 -7.63351183e-04 5.65063029e-02] [ 9.19428353e-05 7.63676837e-04 9.99999704e-01 4.66995472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702557844 meters 0.2907615823594035 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.47 [[ 9.99988865e-01 -4.53570967e-03 -1.30292289e-03 1.97535752e-01] [ 4.53598088e-03 9.99989691e-01 2.05270544e-04 6.10955434e-02] [ 1.30197841e-03 -2.11178292e-04 9.99999130e-01 4.66177031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732557844 meters 0.2923663579217527 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998366e-01 1.59885932e-03 8.43977101e-04 2.20252645e-01] [-1.59692783e-03 9.99996116e-01 -2.28429242e-03 5.93665632e-02] [-8.47626085e-04 2.28294092e-03 9.99997035e-01 4.64259232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762557844 meters 0.2944478458234655 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998388e-01 1.69014777e-03 6.06928756e-04 2.20940872e-01] [-1.68890185e-03 9.99996478e-01 -2.04750665e-03 5.84200468e-02] [-6.10387207e-04 2.04647830e-03 9.99997720e-01 4.64001516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79255784400002 meters 0.2944478458234655 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998388e-01 1.69014777e-03 6.06928756e-04 2.20940872e-01] [-1.68890185e-03 9.99996478e-01 -2.04750665e-03 5.84200468e-02] [-6.10387207e-04 2.04647830e-03 9.99997720e-01 4.64001516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82255784400002 meters 0.29319160651158943 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998327e-01 1.73836304e-03 5.70155598e-04 2.21028123e-01] [-1.73726450e-03 9.99996645e-01 -1.92161072e-03 5.79003429e-02] [-5.73494142e-04 1.92061699e-03 9.99997991e-01 4.64010423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85255784400002 meters 0.29215814442947485 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.46 [[ 9.99998197e-01 1.78421488e-03 6.50811312e-04 2.20761816e-01] [-1.78304351e-03 9.99996798e-01 -1.79602592e-03 5.73732234e-02] [-6.54013724e-04 1.79486226e-03 9.99998175e-01 4.64137405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88255784400002 meters 0.2915223462048467 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.46 [[ 9.99979486e-01 -6.38082539e-03 5.59675205e-04 2.00392185e-01] [ 6.38127638e-03 9.99979313e-01 -8.07750146e-04 6.13200927e-02] [-5.54509514e-04 8.11305018e-04 9.99999517e-01 4.63293093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91255784400002 meters 0.29169737553898634 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999718 0.00140789 0.00191266 0.21888826] [-0.00140434 0.99999729 -0.00185645 0.05478515] [-0.00191527 0.00185376 0.99999645 0.46457806] [ 0. 0. 0. 1. ]] SLAMing on 200.94255784400002 meters 0.29045603236241996 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 0.99999673 0.00160632 0.00198747 0.2187995 ] [-0.00160373 0.99999786 -0.00130715 0.05254667] [-0.00198957 0.00130395 0.99999717 0.4643063 ] [ 0. 0. 0. 1. ]] SLAMing on 200.97255784400002 meters 0.29352731164141427 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.47 [[ 9.99999511e-01 9.85526662e-04 7.85232110e-05 2.59451755e-01] [-9.85492133e-04 9.99999418e-01 -4.38557573e-04 4.77598556e-02] [-7.89553755e-05 4.38479975e-04 9.99999901e-01 4.66945588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00255784400002 meters 0.2911976722558521 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.46 [[ 9.99998529e-01 1.46130156e-03 8.97775126e-04 2.19935022e-01] [-1.46054198e-03 9.99998575e-01 -8.46141953e-04 5.10839427e-02] [-8.99010316e-04 8.44829470e-04 9.99999239e-01 4.64316236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03255784400002 meters 0.29374714358012377 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99992909e-01 3.97373086e-04 3.74477559e-03 2.62706484e-01] [-3.94580659e-04 9.99999644e-01 -7.46395572e-04 4.39109393e-02] [-3.74507086e-03 7.44912663e-04 9.99992710e-01 4.63476427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters 0.2931240954846655 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99992175e-01 4.92341921e-04 3.92528601e-03 2.62058946e-01] [-4.90457954e-04 9.99999764e-01 -4.80904929e-04 4.27650263e-02] [-3.92552186e-03 4.78975978e-04 9.99992180e-01 4.63873514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092557844 meters 0.2942141605331284 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99991671e-01 5.83901723e-04 4.03937096e-03 2.61676873e-01] [-5.82990061e-04 9.99999804e-01 -2.26867737e-04 4.16865215e-02] [-4.03950263e-03 2.24510934e-04 9.99991816e-01 4.64060122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters 0.29069020663713013 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 9.99987700e-01 1.18696677e-03 4.81574688e-03 2.21984834e-01] [-1.18515240e-03 9.99999226e-01 -3.79593741e-04 4.46573727e-02] [-4.81619372e-03 3.73881678e-04 9.99988332e-01 4.61678627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152557844 meters 0.29311697261772224 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99995648e-01 8.88376529e-04 2.81322509e-03 2.62893029e-01] [-8.90632278e-04 9.99999283e-01 8.00685994e-04 4.00841595e-02] [-2.81251176e-03 -8.03188059e-04 9.99995722e-01 4.64103274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.182557844 meters 0.29212030588298177 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 9.99994320e-01 8.42980345e-04 3.26337730e-03 2.25045338e-01] [-8.42791636e-04 9.99999643e-01 -5.92009576e-05 4.25624922e-02] [-3.26342605e-03 5.64502742e-05 9.99994673e-01 4.60508628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.212557844 meters 0.2933006310338304 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99997832e-01 -6.47129794e-05 2.08116924e-03 2.64123596e-01] [ 6.46828021e-05 9.99999998e-01 1.45674815e-05 3.88346935e-02] [-2.08117018e-03 -1.44328341e-05 9.99997834e-01 4.63928277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.242557844 meters 0.29152603727590337 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 9.99992825e-01 6.31484559e-04 3.73522652e-03 2.22999833e-01] [-6.29503649e-04 9.99999661e-01 -5.31483932e-04 4.33200612e-02] [-3.73556088e-03 5.29128780e-04 9.99992883e-01 4.62251623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.272557844 meters 0.29265774115398485 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99993838e-01 1.34307385e-03 3.24349655e-03 2.61969470e-01] [-1.34601484e-03 9.99998685e-01 9.04724066e-04 4.24459647e-02] [-3.24227717e-03 -9.09084285e-04 9.99994331e-01 4.65236861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302557844 meters 0.29217474520505016 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99994064e-01 1.26744540e-03 3.20407128e-03 2.62146507e-01] [-1.26967403e-03 9.99998953e-01 6.93625446e-04 4.33193434e-02] [-3.20318879e-03 -6.97689455e-04 9.99994626e-01 4.65078134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332557844 meters 0.29254107421864756 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 9.99994283e-01 1.19046567e-03 3.16494483e-03 2.62341681e-01] [-1.19200536e-03 9.99999172e-01 4.84640254e-04 4.41887916e-02] [-3.16436526e-03 -4.88410114e-04 9.99994874e-01 4.64876059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362557844 meters 0.2911340647280919 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.46 [[ 9.99994651e-01 1.10430969e-03 3.07877215e-03 2.62585724e-01] [-1.10506141e-03 9.99999360e-01 2.42472421e-04 4.51968639e-02] [-3.07850241e-03 -2.45873356e-04 9.99995231e-01 4.64831986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392557844 meters 0.2936011036931405 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.46 [[ 9.99994942e-01 1.07571558e-03 2.99303584e-03 2.62778225e-01] [-1.07621443e-03 9.99999407e-01 1.65061732e-04 4.55173368e-02] [-2.99285650e-03 -1.68282045e-04 9.99995507e-01 4.64898331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422557844 meters 0.29074517522385035 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.47 [[ 9.99994719e-01 1.07566933e-03 3.06662520e-03 2.62485473e-01] [-1.07618886e-03 9.99999407e-01 1.67771490e-04 4.54881064e-02] [-3.06644291e-03 -1.71070872e-04 9.99995284e-01 4.65153968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452557844 meters 0.2920643442986611 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.47 [[ 9.99994416e-01 1.10953102e-03 3.15225748e-03 2.62150854e-01] [-1.11037365e-03 9.99999348e-01 2.65571965e-04 4.50698003e-02] [-3.15196076e-03 -2.69070666e-04 9.99994996e-01 4.65442624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482557844 meters 0.2917391323807059 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99993544e-01 1.17583048e-03 3.39550168e-03 2.61440061e-01] [-1.17750735e-03 9.99999186e-01 4.91893253e-04 4.41045421e-02] [-3.39492053e-03 -4.95888306e-04 9.99994114e-01 4.65714111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512557844 meters 0.2911910617821982 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99993481e-01 1.25646707e-03 3.38519798e-03 2.61623898e-01] [-1.25891957e-03 9.99998947e-01 7.22444391e-04 4.31820163e-02] [-3.38428669e-03 -7.26701373e-04 9.99994009e-01 4.65305998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54255784400002 meters 0.29198233644055 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99993601e-01 1.34232910e-03 3.31599419e-03 2.61857276e-01] [-1.34551618e-03 9.99998635e-01 9.59081493e-04 4.22280270e-02] [-3.31470226e-03 -9.63537080e-04 9.99994042e-01 4.65137729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57255784400002 meters 0.29272045487057075 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 0.99999363 0.00141319 0.00327909 0.26199438] [-0.00141698 0.99999833 0.00115263 0.04143886] [-0.00327745 -0.00115727 0.99999396 0.46501661] [ 0. 0. 0. 1. ]] SLAMing on 201.60255784400002 meters 0.2914209354909257 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 0.99999357 0.00143754 0.00328433 0.26170133] [-0.00144155 0.99999822 0.00122095 0.04112925] [-0.00328257 -0.00122568 0.99999386 0.46569089] [ 0. 0. 0. 1. ]] SLAMing on 201.63255784400002 meters 0.2920776886998902 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 0.9999937 0.00140658 0.00325975 0.26169669] [-0.00141029 0.99999836 0.00113619 0.04147066] [-0.00325815 -0.00114078 0.99999404 0.46585715] [ 0. 0. 0. 1. ]] SLAMing on 201.66255784400002 meters 0.2939588052550642 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:0.47 [[ 0.99996167 -0.00776456 0.00404582 0.28235187] [ 0.00775685 0.99996808 0.00191707 0.04366653] [-0.00406057 -0.00188562 0.99998998 0.46657187] [ 0. 0. 0. 1. ]] SLAMing on 201.69255784400002 meters 0.29195936062418243 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99997625e-01 8.63509217e-04 2.00102219e-03 2.63233771e-01] [-8.65075883e-04 9.99999320e-01 7.82199638e-04 4.20719981e-02] [-2.00034539e-03 -7.83928816e-04 9.99997692e-01 4.65262324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72255784400002 meters 0.2913359697905821 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99997521e-01 9.11634232e-04 2.03143988e-03 2.63187663e-01] [-9.13496362e-04 9.99999163e-01 9.15915717e-04 4.15246587e-02] [-2.03060320e-03 -9.17769159e-04 9.99997517e-01 4.65177090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75255784400002 meters 0.2923240798811808 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 9.99997369e-01 9.63298859e-04 2.08202520e-03 2.63074367e-01] [-9.65518299e-04 9.99998966e-01 1.06525825e-03 4.09209633e-02] [-2.08099689e-03 -1.06726568e-03 9.99997265e-01 4.65136466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78255784400002 meters 0.2928872986054201 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.47 [[ 0.99999716 0.00101257 0.00215544 0.26287637] [-0.00101518 0.99999875 0.00120973 0.04033246] [-0.00215421 -0.00121192 0.99999695 0.46515774] [ 0. 0. 0. 1. ]] SLAMing on 201.812557844 meters 0.29372498893446725 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 0.99999701 0.00116651 0.00214837 0.26304472] [-0.00117019 0.99999785 0.00171351 0.03835106] [-0.00214637 -0.00171602 0.99999622 0.46470487] [ 0. 0. 0. 1. ]] SLAMing on 201.842557844 meters 0.2939641966895917 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:0.46 [[ 0.99999693 0.0012649 0.00213111 0.26324689] [-0.00126913 0.99999723 0.00198321 0.03726747] [-0.00212859 -0.00198591 0.99999576 0.46431233] [ 0. 0. 0. 1. ]] SLAMing on 201.872557844 meters 0.29270583572567177 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.99999547 0.00104861 0.00282053 0.22485815] [-0.0010517 0.99999885 0.0010922 0.04004398] [-0.00281938 -0.00109516 0.99999543 0.46081226] [ 0. 0. 0. 1. ]] SLAMing on 201.902557844 meters 0.29341945045530266 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999568 0.00108805 0.00273051 0.22512295] [-0.00109132 0.99999869 0.00119688 0.03963014] [-0.00272921 -0.00119985 0.99999556 0.46071275] [ 0. 0. 0. 1. ]] SLAMing on 201.932557844 meters 0.2934258863379735 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999584 0.00115901 0.0026414 0.22525864] [-0.00116274 0.99999833 0.00141023 0.03877961] [-0.00263976 -0.0014133 0.99999552 0.46089884] [ 0. 0. 0. 1. ]] SLAMing on 201.962557844 meters 0.2929470993730604 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999579 0.0011817 0.00265084 0.22515581] [-0.00118559 0.99999822 0.00146664 0.03854168] [-0.0026491 -0.00146978 0.99999541 0.46106086] [ 0. 0. 0. 1. ]] SLAMing on 201.992557844 meters 0.29194761050504564 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.99999521 0.00118394 0.00285996 0.22426507] [-0.00118816 0.99999821 0.0014745 0.03841054] [-0.00285821 -0.00147789 0.99999482 0.4618807 ] [ 0. 0. 0. 1. ]] SLAMing on 202.022557844 meters 0.29046643038701836 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.9999948 0.00119674 0.00299341 0.22375658] [-0.00120129 0.99999813 0.00151754 0.038222 ] [-0.00299159 -0.00152113 0.99999437 0.46234787] [ 0. 0. 0. 1. ]] SLAMing on 202.052557844 meters 0.290723828029437 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.46 [[ 0.99999433 0.00123442 0.00313266 0.22332653] [-0.00123952 0.99999791 0.00162643 0.0377655 ] [-0.00313064 -0.0016303 0.99999377 0.46255182] [ 0. 0. 0. 1. ]] SLAMing on 202.082557844 meters 0.29217728417558414 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997044e-01 -1.13881877e-03 2.14813214e-03 2.28771016e-01] [ 1.13933324e-03 9.99999323e-01 -2.38290091e-04 3.39524994e-02] [-2.14785931e-03 2.40736825e-04 9.99997664e-01 4.58626883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112557844 meters 0.29363986249278295 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997382e-01 -1.03676176e-03 2.03984300e-03 2.29318048e-01] [ 1.03668621e-03 9.99999462e-01 3.80939676e-05 3.28126706e-02] [-2.03988140e-03 -3.59791907e-05 9.99997919e-01 4.57926908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142557844 meters 0.2921263958773586 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997658e-01 -9.92991433e-04 1.92293913e-03 2.29771141e-01] [ 9.92704694e-04 9.99999496e-01 1.50063623e-04 3.23742664e-02] [-1.92308717e-03 -1.48154361e-04 9.99998140e-01 4.57546432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172557844 meters 0.2915516790550376 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997677e-01 -9.99953648e-04 1.90938895e-03 2.29683692e-01] [ 9.99704387e-04 9.99999492e-01 1.31494577e-04 3.24410090e-02] [-1.90951947e-03 -1.29585447e-04 9.99998168e-01 4.57853490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202557844 meters 0.2924975387590373 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997544e-01 -1.07451907e-03 1.93845197e-03 2.29439981e-01] [ 1.07466234e-03 9.99999420e-01 -7.28708451e-05 3.32680842e-02] [-1.93837255e-03 7.49538475e-05 9.99998119e-01 4.58276370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232557844 meters 0.2920117591866733 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.46 [[ 9.99997306e-01 -1.15562193e-03 2.01291134e-03 2.29208685e-01] [ 1.15621851e-03 9.99999288e-01 -2.95238591e-04 3.41712476e-02] [-2.01256872e-03 2.97565161e-04 9.99997931e-01 4.58391105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262557844 meters 0.29292286350404645 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 9.99997052e-01 -1.31160203e-03 2.04359813e-03 2.29272950e-01] [ 1.31309509e-03 9.99998872e-01 -7.29434250e-04 3.59524543e-02] [-2.04263909e-03 7.32115538e-04 9.99997646e-01 4.58083646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29255784400002 meters 0.29223390543702443 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 9.99996947e-01 -1.37178437e-03 2.05526310e-03 2.29305051e-01] [ 1.37360538e-03 9.99998665e-01 -8.84872127e-04 3.65991982e-02] [-2.05404650e-03 8.87692546e-04 9.99997496e-01 4.57954710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32255784400002 meters 0.2933082536243754 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 9.99996865e-01 -1.40384473e-03 2.07355900e-03 2.29360271e-01] [ 1.40585766e-03 9.99998542e-01 -9.69620941e-04 3.69590947e-02] [-2.07219478e-03 9.72533030e-04 9.99997380e-01 4.57726289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35255784400002 meters 0.293269315057136 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999694 -0.00144006 0.00200993 0.2295966 ] [ 0.00144221 0.99999839 -0.00106973 0.03737246] [-0.00200838 0.00107263 0.99999741 0.45755907] [ 0. 0. 0. 1. ]] SLAMing on 202.38255784400002 meters 0.2926046119386561 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999723 -0.00147272 0.00183443 0.23016231] [ 0.00147485 0.99999824 -0.00116215 0.03776677] [-0.00183272 0.00116485 0.99999764 0.45725779] [ 0. 0. 0. 1. ]] SLAMing on 202.41255784400002 meters 0.29335287492359335 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999734 -0.00152838 0.00172531 0.23046794] [ 0.00153063 0.99999798 -0.00130651 0.03836743] [-0.00172331 0.00130915 0.99999766 0.45721441] [ 0. 0. 0. 1. ]] SLAMing on 202.44255784400002 meters 0.2929698109937823 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999736 -0.00161907 0.0016282 0.23073951] [ 0.00162159 0.99999749 -0.00154662 0.03936486] [-0.00162569 0.00154926 0.99999748 0.4571895 ] [ 0. 0. 0. 1. ]] SLAMing on 202.47255784400002 meters 0.2930462056764469 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.9999973 -0.00168294 0.00160134 0.23082035] [ 0.00168569 0.99999711 -0.00171628 0.04006738] [-0.00159845 0.00171898 0.99999725 0.45717421] [ 0. 0. 0. 1. ]] SLAMing on 202.50255784400002 meters 0.29222349447714746 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999701 -0.00175175 0.00170516 0.23044516] [ 0.00175498 0.99999667 -0.0018947 0.04078553] [-0.00170183 0.00189769 0.99999675 0.45746277] [ 0. 0. 0. 1. ]] SLAMing on 202.53255784400002 meters 0.29271985323040933 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999683 -0.00175654 0.00180214 0.23012752] [ 0.00175997 0.99999664 -0.00190304 0.04080467] [-0.00179879 0.0019062 0.99999657 0.45763173] [ 0. 0. 0. 1. ]] SLAMing on 202.562557844 meters 0.2927127037273513 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999669 -0.00173972 0.00189403 0.22983726] [ 0.00174323 0.99999676 -0.00185461 0.04059327] [-0.0018908 0.00185791 0.99999649 0.45776314] [ 0. 0. 0. 1. ]] SLAMing on 202.592557844 meters 0.29254260383639924 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999657 -0.00173823 0.00195769 0.22960956] [ 0.00174185 0.99999677 -0.00184929 0.04056295] [-0.00195447 0.0018527 0.99999637 0.45792133] [ 0. 0. 0. 1. ]] SLAMing on 202.622557844 meters 0.2922647568120728 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999671 -0.00172648 0.00189864 0.22972783] [ 0.00172994 0.99999685 -0.00182059 0.04044258] [-0.00189549 0.00182387 0.99999654 0.45799457] [ 0. 0. 0. 1. ]] SLAMing on 202.652557844 meters 0.2918935366260752 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999681 -0.00171403 0.00185543 0.22985648] [ 0.00171735 0.99999692 -0.00178908 0.04031563] [-0.00185235 0.00179226 0.99999668 0.45794776] [ 0. 0. 0. 1. ]] SLAMing on 202.682557844 meters 0.2918935366260752 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999681 -0.00171403 0.00185543 0.22985648] [ 0.00171735 0.99999692 -0.00178908 0.04031563] [-0.00185235 0.00179226 0.99999668 0.45794776] [ 0. 0. 0. 1. ]] SLAMing on 202.712557844 meters 0.29376748446284795 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:0.46 [[ 0.9999768 0.00621545 0.00278756 0.24945608] [-0.00620707 0.99997622 -0.0030051 0.03580436] [-0.00280617 0.00298772 0.9999916 0.45881717] [ 0. 0. 0. 1. ]] SLAMing on 202.742557844 meters 0.291958853864777 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.46 [[ 0.99999386 -0.00249391 0.00246109 0.22855059] [ 0.00250075 0.99999301 -0.0027808 0.04262825] [-0.00245413 0.00278693 0.99999311 0.45936425] [ 0. 0. 0. 1. ]] SLAMing on 202.772557844 meters 0.29302002899854224 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.46 [[ 0.99999635 -0.00168806 0.00210972 0.26679624] [ 0.0016909 0.99999767 -0.001344 0.03972387] [-0.00210745 0.00134756 0.99999687 0.46264898] [ 0. 0. 0. 1. ]] SLAMing on 202.802557844 meters 0.2931086278551004 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.46 [[ 0.99999631 -0.00174295 0.00208246 0.26689057] [ 0.00174607 0.99999736 -0.00149537 0.04034226] [-0.00207985 0.001499 0.99999671 0.46260235] [ 0. 0. 0. 1. ]] SLAMing on 202.832557844 meters 0.29226794885569135 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.46 [[ 0.99999641 -0.00175672 0.0020249 0.26714147] [ 0.00175983 0.99999727 -0.00153536 0.0405297 ] [-0.0020222 0.00153892 0.99999677 0.46236001] [ 0. 0. 0. 1. ]] SLAMing on 202.862557844 meters 0.29187020820122955 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.46 [[ 0.99999639 -0.00172796 0.00205853 0.26703416] [ 0.00173097 0.99999744 -0.00145733 0.0402029 ] [-0.00205601 0.00146089 0.99999682 0.46240487] [ 0. 0. 0. 1. ]] SLAMing on 202.892557844 meters 0.2925859388866893 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.46 [[ 0.99997484 0.00643831 0.00297649 0.28606631] [-0.00643109 0.99997637 -0.00242819 0.03466119] [-0.00299206 0.00240898 0.99999262 0.46351952] [ 0. 0. 0. 1. ]] SLAMing on 202.922557844 meters 0.2928118723101789 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.46 [[ 0.99997482 0.00645846 0.00294085 0.28623605] [-0.0064515 0.99997638 -0.00237068 0.03443378] [-0.00295609 0.00235165 0.99999287 0.4633066 ] [ 0. 0. 0. 1. ]] SLAMing on 202.952557844 meters 0.29066041729583464 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:0.46 [[ 0.99999756 -0.00179573 0.00128815 0.26580963] [ 0.00179784 0.99999704 -0.00164102 0.03743331] [-0.0012852 0.00164333 0.99999782 0.46286704] [ 0. 0. 0. 1. ]] SLAMing on 202.982557844 meters 0.292830666829012 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.47 [[ 9.99997338e-01 -2.30460638e-03 -1.15094581e-04 3.06185464e-01] [ 2.30450431e-03 9.99996958e-01 -8.79208214e-04 3.24240722e-02] [ 1.17120460e-04 8.78940637e-04 9.99999607e-01 4.65147729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012557844 meters 0.2939333517022543 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.47 [[ 9.99997458e-01 -2.25297606e-03 -9.43987395e-05 3.06179976e-01] [ 2.25290585e-03 9.99997190e-01 -7.37317065e-04 3.18473121e-02] [ 9.60596320e-05 7.37102519e-04 9.99999724e-01 4.65024792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04255784400002 meters 0.2931712560484818 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.47 [[ 9.99997561e-01 -2.20853913e-03 -2.87723548e-05 3.05998194e-01] [ 2.20852098e-03 9.99997371e-01 -6.16137665e-04 3.13443671e-02] [ 3.01330433e-05 6.16072618e-04 9.99999810e-01 4.65049268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07255784400002 meters 0.291643178627963 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:0.46 [[ 0.99999657 -0.00199404 0.00169792 0.26473847] [ 0.00199589 0.99999742 -0.00108718 0.03288239] [-0.00169575 0.00109057 0.99999797 0.46308056] [ 0. 0. 0. 1. ]] SLAMing on 203.10255784400002 meters 0.293858513899155 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.47 [[ 9.99996712e-01 -2.53155932e-03 4.09601213e-04 3.05112552e-01] [ 2.53174337e-03 9.99996694e-01 -4.49439438e-04 2.75410124e-02] [-4.08462076e-04 4.50474965e-04 9.99999815e-01 4.65463435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13255784400002 meters 0.2924730297794615 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.46 [[ 9.99997164e-01 -2.35629599e-03 3.46362203e-04 3.05499012e-01] [ 2.35628471e-03 9.99997223e-01 3.29681430e-05 2.55706438e-02] [-3.46438924e-04 -3.21519216e-05 9.99999939e-01 4.64868563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16255784400002 meters 0.2918671924681148 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.46 [[ 9.99997338e-01 -2.27400723e-03 3.90862537e-04 3.05375952e-01] [ 2.27390778e-03 9.99997382e-01 2.54685043e-04 2.46587007e-02] [-3.91440669e-04 -2.53795580e-04 9.99999891e-01 4.64871248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19255784400002 meters 0.2941019539170064 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 9.99997464e-01 -2.20983669e-03 4.35138971e-04 3.05142983e-01] [ 2.20965160e-03 9.99997468e-01 4.25387027e-04 2.39404144e-02] [-4.36077905e-04 -4.24424443e-04 9.99999815e-01 4.65129026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22255784400002 meters 0.2927577510462165 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99997613e-01 -2.12805830e-03 4.95704475e-04 3.04819260e-01] [ 2.12774054e-03 9.99997531e-01 6.40682318e-04 2.30223369e-02] [-4.97066660e-04 -6.39626058e-04 9.99999672e-01 4.65489951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25255784400002 meters 0.2925278656591889 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99997928e-01 -1.98823420e-03 4.36056875e-04 3.04811463e-01] [ 1.98779705e-03 9.99997524e-01 1.00064819e-03 2.15267795e-02] [-4.38045318e-04 -9.99779328e-04 9.99999404e-01 4.65823364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28255784400002 meters 0.29190738881715556 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 9.99998099e-01 -1.91353021e-03 3.75550787e-04 3.05049247e-01] [ 1.91307918e-03 9.99997453e-01 1.19768259e-03 2.07257588e-02] [-3.77841632e-04 -1.19696185e-03 9.99999212e-01 4.65610763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312557844 meters 0.29267011091120665 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 9.99998230e-01 -1.84503280e-03 3.67339254e-04 3.05191275e-01] [ 1.84452369e-03 9.99997345e-01 1.38151219e-03 1.99831098e-02] [-3.69887214e-04 -1.38083218e-03 9.99998978e-01 4.65314445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342557844 meters 0.29197291140555465 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99998328e-01 -1.77087573e-03 4.56203875e-04 3.04993505e-01] [ 1.77015215e-03 9.99997182e-01 1.58163400e-03 1.91588609e-02] [-4.59003467e-04 -1.58082381e-03 9.99998645e-01 4.65219420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372557844 meters 0.2918037702513703 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99998428e-01 -1.60688106e-03 7.49020679e-04 3.03970446e-01] [ 1.60535292e-03 9.99996638e-01 2.03633432e-03 1.71181995e-02] [-7.52290308e-04 -2.03512868e-03 9.99997646e-01 4.65779646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402557844 meters 0.29182708465420765 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99998475e-01 -1.55349835e-03 7.97403711e-04 3.03762839e-01] [ 1.55175435e-03 9.99996413e-01 2.18307050e-03 1.65001562e-02] [-8.00792247e-04 -2.18182980e-03 9.99997299e-01 4.65965643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.432557844 meters 0.29145501315559663 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99998695e-01 -1.49238289e-03 6.18520218e-04 3.04370981e-01] [ 1.49092919e-03 9.99996141e-01 2.34412741e-03 1.58755634e-02] [-6.22016167e-04 -2.34320218e-03 9.99997061e-01 4.65522736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.462557844 meters 0.2927047471602974 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.46 [[ 9.99998823e-01 -1.45986218e-03 4.71611077e-04 3.04952874e-01] [ 1.45871069e-03 9.99995977e-01 2.43279932e-03 1.55238259e-02] [-4.75160731e-04 -2.43210852e-03 9.99996930e-01 4.64940745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.492557844 meters 0.2924454000790363 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.46 [[ 9.99998949e-01 -1.39277309e-03 4.02050768e-04 3.05361756e-01] [ 1.39171876e-03 9.99995623e-01 2.61084592e-03 1.47911691e-02] [-4.05685324e-04 -2.61028364e-03 9.99996511e-01 4.64375289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.522557844 meters 0.2942210819463543 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:0.46 [[ 9.99988936e-01 3.60960173e-03 3.01627108e-03 3.26779286e-01] [-3.60660697e-03 9.99992998e-01 -9.97718781e-04 1.20845279e-02] [-3.01985133e-03 9.86829238e-04 9.99994953e-01 4.63554837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552557844 meters 0.29248497698725223 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.46 [[ 9.99983708e-01 -4.61111728e-03 3.36482560e-03 3.06201551e-01] [ 4.61066539e-03 9.99989361e-01 1.42041764e-04 1.67096572e-02] [-3.36544477e-03 -1.26525365e-04 9.99994329e-01 4.63094059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582557844 meters 0.29232676631291515 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.46 [[ 9.99983687e-01 -4.56871347e-03 3.42815675e-03 3.05913700e-01] [ 4.56783798e-03 9.99989533e-01 2.63168016e-04 1.61958982e-02] [-3.42932321e-03 -2.47504458e-04 9.99994089e-01 4.63390042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612557844 meters 0.2922077052498077 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.46 [[ 9.99984489e-01 -4.39780204e-03 3.41774895e-03 3.06214892e-01] [ 4.39548541e-03 9.99990105e-01 6.85041026e-04 1.44008639e-02] [-3.42072781e-03 -6.70007735e-04 9.99993925e-01 4.62766434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642557844 meters 0.29185183145722104 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.46 [[ 9.99985131e-01 -4.30021989e-03 3.35355309e-03 3.06492488e-01] [ 4.29709391e-03 9.99990327e-01 9.38790622e-04 1.33614288e-02] [-3.35755766e-03 -9.24366131e-04 9.99993936e-01 4.62497910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672557844 meters 0.29285236011926324 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.46 [[ 0.99998562 -0.00423997 0.00328373 0.30671533] [ 0.00423638 0.99999042 0.00109948 0.01271091] [-0.00328836 -0.00108555 0.999994 0.4623813 ] [ 0. 0. 0. 1. ]] SLAMing on 203.702557844 meters 0.2918799336461741 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 9.99980495e-01 5.20089886e-03 3.45839285e-03 2.83918627e-01] [-5.20397197e-03 9.99986072e-01 8.80189986e-04 1.01590256e-02] [-3.45376691e-03 -8.98170197e-04 9.99993632e-01 4.62672352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732557844 meters 0.2914722165265809 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 9.99980775e-01 5.17660763e-03 3.41361289e-03 2.83929935e-01] [-5.17941571e-03 9.99986255e-01 8.14284369e-04 1.04219486e-02] [-3.40935074e-03 -8.31949235e-04 9.99993842e-01 4.62920780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762557844 meters 0.2927431882624244 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 9.99981214e-01 5.14870441e-03 3.32613681e-03 2.84186270e-01] [-5.15119001e-03 9.99986459e-01 7.39160332e-04 1.07366201e-02] [-3.32228606e-03 -7.56280009e-04 9.99994195e-01 4.62855931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79255784400002 meters 0.29164616092613094 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:0.46 [[ 0.99999383 -0.00310341 0.00164627 0.26550031] [ 0.00310062 0.99999375 0.00169674 0.01609289] [-0.00165153 -0.00169162 0.99999721 0.46216645] [ 0. 0. 0. 1. ]] SLAMing on 203.82255784400002 meters 0.2922012225629995 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:0.46 [[ 0.9999938 -0.00314783 0.00158145 0.26565366] [ 0.00314534 0.99999381 0.00157384 0.01659692] [-0.00158639 -0.00156886 0.99999751 0.4622055 ] [ 0. 0. 0. 1. ]] SLAMing on 203.85255784400002 meters 0.29278837938449187 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:0.46 [[ 0.99999382 -0.00310532 0.00164897 0.26546312] [ 0.00310253 0.99999376 0.00168761 0.01612502] [-0.0016542 -0.00168249 0.99999722 0.46223531] [ 0. 0. 0. 1. ]] SLAMing on 203.88255784400002 meters 0.2935001224636387 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:0.46 [[ 0.9999939 -0.00305745 0.00168612 0.26533338] [ 0.00305439 0.99999369 0.00181587 0.01559721] [-0.00169166 -0.00181071 0.99999693 0.46230793] [ 0. 0. 0. 1. ]] SLAMing on 203.91255784400002 meters 0.29174048462009594 Centerline is valid? [False, False] Translation: X:0.27, Y:0.01, Z:0.46 [[ 0.99999396 -0.00300224 0.00175277 0.26518968] [ 0.00299879 0.99999356 0.00197025 0.01497323] [-0.00175868 -0.00196498 0.99999652 0.46223568] [ 0. 0. 0. 1. ]] SLAMing on 203.94255784400002 meters 0.29310747043913665 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 9.99984089e-01 4.87663151e-03 2.83540821e-03 2.83038242e-01] [-4.87863443e-03 9.99987854e-01 6.99907276e-04 7.05201544e-03] [-2.83196058e-03 -7.13729060e-04 9.99995735e-01 4.63366654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97255784400002 meters 0.2933744965312841 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 9.99983479e-01 4.96707762e-03 2.89292744e-03 2.82833731e-01] [-4.96987550e-03 9.99987189e-01 9.60762302e-04 5.99552035e-03] [-2.88811820e-03 -9.75123919e-04 9.99995354e-01 4.63473590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00255784400002 meters 0.29222378216542455 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.46 [[ 0.99998291 0.00505072 0.00294475 0.28265667] [-0.00505426 0.99998651 0.0011949 0.00504085] [-0.00293867 -0.00120976 0.99999495 0.46354786] [ 0. 0. 0. 1. ]] SLAMing on 204.03255784400002 meters 0.29269159088570174 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.46 [[ 0.99998201 0.00517647 0.00303018 0.2825723 ] [-0.0051812 0.99998537 0.00155318 0.00359681] [-0.0030221 -0.00156885 0.9999942 0.46317979] [ 0. 0. 0. 1. ]] SLAMing on 204.062557844 meters 0.2924482276045745 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:0.46 [[ 9.99990705e-01 4.22669535e-03 8.51110807e-04 2.40497827e-01] [-4.22695516e-03 9.99991020e-01 3.03698716e-04 7.73717260e-03] [-8.49819523e-04 -3.07293501e-04 9.99999592e-01 4.63346448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092557844 meters 0.2922015374108226 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.47 [[ 9.99996630e-01 2.58889046e-03 -1.95863715e-04 2.80278064e-01] [-2.58902211e-03 9.99996421e-01 -6.74918659e-04 4.86740639e-03] [ 1.94115723e-04 6.75423479e-04 9.99999753e-01 4.66169116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters 0.29183321079755536 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:0.47 [[ 9.99996572e-01 2.60955854e-03 -2.14142014e-04 2.80221395e-01] [-2.60969102e-03 9.99996402e-01 -6.20724843e-04 4.63497147e-03] [ 2.12521426e-04 6.21281560e-04 9.99999784e-01 4.66399095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152557844 meters 0.2916920866992085 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99996574e-01 2.57773423e-03 -4.55408589e-04 2.80676718e-01] [-2.57806343e-03 9.99996415e-01 -7.23779141e-04 5.04787813e-03] [ 4.53541246e-04 7.24950733e-04 9.99999634e-01 4.66769000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.182557844 meters 0.29249359217851933 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99996664e-01 2.50029284e-03 -6.49029555e-04 2.81187245e-01] [-2.50091572e-03 9.99996411e-01 -9.60690864e-04 6.01089446e-03] [ 6.46625218e-04 9.62310827e-04 9.99999328e-01 4.66735792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.212557844 meters 0.29172432710528134 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99996858e-01 2.39810164e-03 -7.29731390e-04 2.81380009e-01] [-2.39902471e-03 9.99996320e-01 -1.26670101e-03 7.24089380e-03] [ 7.26691027e-04 1.26844767e-03 9.99998931e-01 4.66788981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.242557844 meters 0.2923164436353641 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99997481e-01 2.17843041e-03 -5.41181969e-04 2.80794810e-01] [-2.17953459e-03 9.99995527e-01 -2.04816292e-03 1.02893232e-02] [ 5.36717768e-04 2.04933728e-03 9.99997756e-01 4.67227511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.272557844 meters 0.29171591040163586 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99997749e-01 2.05242151e-03 -5.38829913e-04 2.80776853e-01] [-2.05371002e-03 9.99995007e-01 -2.40176121e-03 1.17072312e-02] [ 5.33897796e-04 2.40286240e-03 9.99996971e-01 4.67285298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302557844 meters 0.2920153294352962 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99997929e-01 1.93900912e-03 -6.18516095e-04 2.81029952e-01] [-1.94067981e-03 9.99994439e-01 -2.71206686e-03 1.29808807e-02] [ 6.13253934e-04 2.71326158e-03 9.99996131e-01 4.67211550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332557844 meters 0.29376825369277804 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99998006e-01 1.85614829e-03 -7.36749460e-04 2.81672140e-01] [-1.85831710e-03 9.99993910e-01 -2.95406366e-03 1.40397129e-02] [ 7.31261793e-04 2.95542688e-03 9.99995365e-01 4.66290910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362557844 meters 0.2925789859458076 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99997854e-01 1.89268009e-03 -8.42222630e-04 2.82171484e-01] [-1.89508074e-03 9.99994118e-01 -2.85876602e-03 1.36487036e-02] [ 8.36806947e-04 2.86035597e-03 9.99995559e-01 4.65709586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392557844 meters 0.2921530474485457 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.47 [[ 9.99997783e-01 1.90751560e-03 -8.91282363e-04 2.82399186e-01] [-1.91002249e-03 9.99994199e-01 -2.82034584e-03 1.34954605e-02] [ 8.85897339e-04 2.82204196e-03 9.99995626e-01 4.65467783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422557844 meters 0.2912840956837053 Centerline is valid? [False, False] Translation: X:0.28, Y:0.02, Z:0.47 [[ 9.99991541e-01 4.10946283e-03 1.76337665e-04 2.76262927e-01] [-4.10928937e-03 9.99991083e-01 -9.73002328e-04 1.56067952e-02] [-1.80334610e-04 9.72269474e-04 9.99999511e-01 4.70188906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452557844 meters 0.291155132087256 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:0.47 [[ 9.99988716e-01 -4.40692256e-03 1.77413894e-03 2.94693527e-01] [ 4.40703532e-03 9.99990287e-01 -5.96554168e-05 2.07970184e-02] [-1.77385881e-03 6.74734366e-05 9.99998424e-01 4.71860875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482557844 meters 0.29161519658520185 Centerline is valid? [False, False] Translation: X:0.30, Y:0.02, Z:0.47 [[ 9.99988239e-01 -4.64157831e-03 1.40593366e-03 2.95784020e-01] [ 4.64282948e-03 9.99988828e-01 -8.87968416e-04 2.41062535e-02] [-1.40179638e-03 8.94485483e-04 9.99998617e-01 4.71373422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512557844 meters 0.2909109672316224 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:0.47 [[ 0.99998773 -0.00475179 0.00139912 0.2958823 ] [ 0.00475347 0.99998799 -0.00119608 0.02536684] [-0.00139342 0.00120272 0.99999831 0.47119608] [ 0. 0. 0. 1. ]] SLAMing on 204.54255784400002 meters 0.2909910106972093 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:0.47 [[ 0.99998709 -0.00485703 0.00149279 0.29558582] [ 0.00485924 0.9999871 -0.00147822 0.02651452] [-0.00148559 0.00148545 0.99999779 0.47135081] [ 0. 0. 0. 1. ]] SLAMing on 204.57255784400002 meters 0.2924169205702595 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 0.9999877 0.00317371 0.00381091 0.31467176] [-0.00316354 0.99999143 -0.00267127 0.02403172] [-0.00381935 0.00265918 0.99998917 0.47180914] [ 0. 0. 0. 1. ]] SLAMing on 204.60255784400002 meters 0.2924169205702595 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 0.9999877 0.00317371 0.00381091 0.31467176] [-0.00316354 0.99999143 -0.00267127 0.02403172] [-0.00381935 0.00265918 0.99998917 0.47180914] [ 0. 0. 0. 1. ]] SLAMing on 204.63255784400002 meters 0.29071894929374853 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.47 [[ 9.99994218e-01 -3.03919912e-03 1.52537381e-03 2.92499382e-01] [ 3.03923742e-03 9.99995381e-01 -2.27957448e-05 2.55360135e-02] [-1.52529749e-03 2.74315862e-05 9.99998836e-01 4.73692342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66255784400002 meters 0.2923743144112224 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:0.47 [[ 0.99998147 0.00548946 0.00263216 0.31225801] [-0.00548679 0.99998443 -0.00102061 0.02261879] [-0.00263772 0.00100615 0.99999602 0.47400833] [ 0. 0. 0. 1. ]] SLAMing on 204.69255784400002 meters 0.2932979202654436 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99990300e-01 -3.06044088e-03 3.16766232e-03 3.32230244e-01] [ 3.06002214e-03 9.99995309e-01 1.37031378e-04 2.64840592e-02] [-3.16806684e-03 -1.27336931e-04 9.99994974e-01 4.75430725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72255784400002 meters 0.2919763597020812 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989659e-01 -3.23946295e-03 3.19197873e-03 3.32102873e-01] [ 3.24042747e-03 9.99994706e-01 -2.97046441e-04 2.82689276e-02] [-3.19099956e-03 3.07386745e-04 9.99994862e-01 4.75584715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75255784400002 meters 0.29180088454518716 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989318e-01 -3.32385622e-03 3.21173166e-03 3.32041316e-01] [ 3.32553578e-03 9.99994336e-01 -5.17745954e-04 2.91751933e-02] [-3.20999256e-03 5.28421152e-04 9.99994708e-01 4.75617656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78255784400002 meters 0.29032794018422314 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989178e-01 -3.39742132e-03 3.17831903e-03 3.32092750e-01] [ 3.39971094e-03 9.99993965e-01 -7.15261178e-04 2.99869111e-02] [-3.17586981e-03 7.26058803e-04 9.99994693e-01 4.75706380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812557844 meters 0.29206258432998583 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 0.99998904 -0.00359041 0.0030032 0.33268206] [ 0.00359419 0.99999275 -0.00125373 0.03221258] [-0.00299867 0.00126451 0.9999947 0.47537635] [ 0. 0. 0. 1. ]] SLAMing on 204.842557844 meters 0.2907530102465932 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.47 [[ 0.9999845 0.00545427 0.00111923 0.31276735] [-0.00545181 0.99998274 -0.002192 0.03286286] [-0.00113117 0.00218586 0.99999697 0.47472677] [ 0. 0. 0. 1. ]] SLAMing on 204.872557844 meters 0.2922736634896188 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998987e-01 -1.15286235e-03 8.34546367e-04 3.36836631e-01] [ 1.15217367e-03 9.99998996e-01 8.25223479e-04 3.51572177e-02] [-8.35496898e-04 -8.24261101e-04 9.99999311e-01 4.73816017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters 0.29295977929895767 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998977e-01 -1.19929752e-03 7.79733204e-04 3.36955051e-01] [ 1.19875084e-03 9.99999036e-01 7.01202319e-04 3.56674538e-02] [-7.80573403e-04 -7.00266896e-04 9.99999450e-01 4.73877003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.932557844 meters 0.29254842100069517 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998874e-01 -1.26160189e-03 8.12595983e-04 3.36781142e-01] [ 1.26116660e-03 9.99999061e-01 5.35967939e-04 3.63375856e-02] [-8.13271398e-04 -5.34942516e-04 9.99999526e-01 4.74089504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.962557844 meters 0.2911742907415679 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998743e-01 -1.31979535e-03 8.78982883e-04 3.36551064e-01] [ 1.31946386e-03 9.99999058e-01 3.77597682e-04 3.69740523e-02] [-8.79480407e-04 -3.76437421e-04 9.99999542e-01 4.74244263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.992557844 meters 0.2911727681886007 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998303e-01 -1.47469137e-03 1.10411733e-03 3.35829117e-01] [ 1.47477393e-03 9.99998910e-01 -7.39655815e-05 3.87937392e-02] [-1.10400705e-03 7.55937794e-05 9.99999388e-01 4.74745013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.022557844 meters 0.2910941801408645 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998080e-01 -1.53112287e-03 1.22292462e-03 3.35442904e-01] [ 1.53139416e-03 9.99998803e-01 -2.20932976e-04 3.93800880e-02] [-1.22258488e-03 2.22805332e-04 9.99999228e-01 4.74956367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052557844 meters 0.2905743602406122 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.48 [[ 9.99998042e-01 -1.54266795e-03 1.23917848e-03 3.35281135e-01] [ 1.54298026e-03 9.99998778e-01 -2.51114387e-04 3.94891804e-02] [-1.23878958e-03 2.53025923e-04 9.99999201e-01 4.75241798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082557844 meters 0.290629472827466 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.48 [[ 9.99998200e-01 -1.53206920e-03 1.11904118e-03 3.35655000e-01] [ 1.53232344e-03 9.99998800e-01 -2.26371299e-04 3.94024118e-02] [-1.11869302e-03 2.28085624e-04 9.99999348e-01 4.75080180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112557844 meters 0.2910426080786599 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998572e-01 -1.41844217e-03 9.18193562e-04 3.36385045e-01] [ 1.41836601e-03 9.99998991e-01 8.35820346e-05 3.81155921e-02] [-9.18311191e-04 -8.22795807e-05 9.99999575e-01 4.74418692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142557844 meters 0.29172934328394456 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998750e-01 -1.33839056e-03 8.41383453e-04 3.36733143e-01] [ 1.33814738e-03 9.99999063e-01 2.89511632e-04 3.72789879e-02] [-8.41770144e-04 -2.88385375e-04 9.99999604e-01 4.74074423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172557844 meters 0.2929399309358223 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998898e-01 -1.26141138e-03 7.82937867e-04 3.36928569e-01] [ 1.26103001e-03 9.99999086e-01 4.87409412e-04 3.64709065e-02] [-7.83551976e-04 -4.86421567e-04 9.99999575e-01 4.73968890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202557844 meters 0.29093415414371476 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:0.47 [[ 9.99998907e-01 -1.15469726e-03 9.23241849e-04 3.36413915e-01] [ 1.15397683e-03 9.99999030e-01 7.80478823e-04 3.52486153e-02] [-9.24142170e-04 -7.79412571e-04 9.99999269e-01 4.74370501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232557844 meters 0.29067663668916893 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.47 [[ 9.99998794e-01 -1.12250480e-03 1.07308084e-03 3.35854079e-01] [ 1.12156786e-03 9.99998990e-01 8.73331176e-04 3.48564766e-02] [-1.07406007e-03 -8.72126590e-04 9.99999043e-01 4.74815773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262557844 meters 0.29180709951138095 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.48 [[ 0.99999876 -0.00106187 0.00116231 0.33550072] [ 0.00106067 0.9999989 0.00103598 0.03416801] [-0.00116341 -0.00103474 0.99999879 0.47509718] [ 0. 0. 0. 1. ]] SLAMing on 205.29255784400002 meters 0.2914541238002915 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.47 [[ 9.99998871e-01 -9.99440722e-04 1.12199290e-03 3.35684938e-01] [ 9.98099516e-04 9.99998788e-01 1.19530256e-03 3.35257974e-02] [-1.12318617e-03 -1.19418135e-03 9.99998656e-01 4.74913405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32255784400002 meters 0.29063344631195465 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.47 [[ 9.99999160e-01 -8.15190485e-04 1.00759487e-03 3.36317372e-01] [ 8.13499619e-04 9.99998262e-01 1.67739270e-03 3.15329153e-02] [-1.00896051e-03 -1.67657161e-03 9.99998086e-01 4.74047059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35255784400002 meters 0.29249013759002557 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.47 [[ 9.99999229e-01 -7.34179144e-04 1.00170646e-03 3.36411631e-01] [ 7.32285493e-04 9.99997947e-01 1.88948431e-03 3.06661443e-02] [-1.00309162e-03 -1.88874932e-03 9.99997713e-01 4.73868553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38255784400002 meters 0.29293411213843695 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.47 [[ 9.99999265e-01 -6.56156021e-04 1.01987978e-03 3.36321071e-01] [ 6.54020144e-04 9.99997595e-01 2.09316919e-03 2.98237017e-02] [-1.02125078e-03 -2.09250062e-03 9.99997289e-01 4.73962834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41255784400002 meters 0.29079272751074225 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.48 [[ 0.99999245 0.00352645 -0.00163098 0.31117196] [-0.0035308 0.9999902 -0.00267106 0.03188069] [ 0.00162155 0.0026768 0.9999951 0.47847126] [ 0. 0. 0. 1. ]] SLAMing on 205.44255784400002 meters 0.2914160220774344 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99984370e-01 -5.58815954e-03 1.76777936e-04 3.31794557e-01] [ 5.58850203e-03 9.99982384e-01 -2.00017880e-03 3.19299981e-02] [-1.65597503e-04 2.00113546e-03 9.99997984e-01 4.78571018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47255784400002 meters 0.2905866950529008 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99984948e-01 -5.48118088e-03 2.44195579e-04 3.31597296e-01] [ 5.48159423e-03 9.99983487e-01 -1.72550360e-03 3.07929597e-02] [-2.34733750e-04 1.72681621e-03 9.99998482e-01 4.78613750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50255784400002 meters 0.2898624536220761 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.48 [[ 9.99994512e-01 3.29629917e-03 3.31836849e-04 3.11307622e-01] [-3.29541110e-03 9.99991080e-01 -2.64212951e-03 2.60540679e-02] [-3.40543138e-04 2.64102147e-03 9.99996455e-01 4.77155992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53255784400002 meters 0.2909034006719199 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987336e-01 -4.60240609e-03 2.03630060e-03 3.29646085e-01] [ 4.60348109e-03 9.99989267e-01 -5.23546496e-04 2.67627944e-02] [-2.03386918e-03 5.32913937e-04 9.99997790e-01 4.78989039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters 0.29144705442520225 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987521e-01 -4.57045618e-03 2.01722871e-03 3.29654239e-01] [ 4.57135397e-03 9.99989454e-01 -4.40678297e-04 2.64209321e-02] [-2.01519334e-03 4.49894264e-04 9.99997868e-01 4.79081456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592557844 meters 0.2901952094754662 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987683e-01 -4.53845628e-03 2.00920270e-03 3.29629914e-01] [ 4.53918225e-03 9.99989634e-01 -3.56909202e-04 2.60714095e-02] [-2.00756206e-03 3.66024943e-04 9.99997918e-01 4.79181860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters 0.29097603395303767 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987370e-01 -4.56160883e-03 2.10978357e-03 3.29268602e-01] [ 4.56249082e-03 9.99989506e-01 -4.13423693e-04 2.62972259e-02] [-2.10787555e-03 4.23044339e-04 9.99997689e-01 4.79411509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652557844 meters 0.2888641622204155 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.48 [[ 0.99998975 0.00437296 0.00116959 0.30861564] [-0.00437138 0.99998953 -0.00135262 0.02501211] [-0.0011755 0.00134749 0.9999984 0.47850407] [ 0. 0. 0. 1. ]] SLAMing on 205.682557844 meters 0.2904015865382067 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989404e-01 -4.08716617e-03 2.11841593e-03 3.27487925e-01] [ 4.08720581e-03 9.99991647e-01 -1.43842999e-05 2.91859411e-02] [-2.11833945e-03 2.30425494e-05 9.99997756e-01 4.79773261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.712557844 meters 0.2909405125501548 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:0.48 [[ 9.99980964e-01 4.56103057e-03 4.15549280e-03 3.47636364e-01] [-4.55807849e-03 9.99989353e-01 -7.19598971e-04 2.78653379e-02] [-4.15873067e-03 7.00644211e-04 9.99991107e-01 4.80118538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.742557844 meters 0.28973104876930306 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99986838e-01 -4.16516266e-03 2.99587360e-03 3.27513909e-01] [ 4.16580934e-03 9.99991301e-01 -2.09648838e-04 3.19785886e-02] [-2.99497431e-03 2.22126317e-04 9.99995490e-01 4.79815766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.772557844 meters 0.28918554283727604 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99986812e-01 -4.16263448e-03 3.00804235e-03 3.27446254e-01] [ 4.16325750e-03 9.99991313e-01 -2.00886055e-04 3.19427898e-02] [-3.00718000e-03 2.13406661e-04 9.99995456e-01 4.79902567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802557844 meters 0.28962003541624787 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987366e-01 -4.17614745e-03 2.79772295e-03 3.28048787e-01] [ 4.17685522e-03 9.99991246e-01 -2.47186390e-04 3.21388898e-02] [-2.79666617e-03 2.58868950e-04 9.99996056e-01 4.79678916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832557844 meters 0.2892885114416712 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99987740e-01 -4.19117707e-03 2.63686752e-03 3.28555458e-01] [ 4.19196557e-03 9.99991171e-01 -2.93571648e-04 3.23397497e-02] [-2.63561382e-03 3.04621707e-04 9.99996480e-01 4.79428070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862557844 meters 0.2903155594776024 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99988064e-01 -4.19740551e-03 2.50076797e-03 3.28973757e-01] [ 4.19820772e-03 9.99991138e-01 -3.15620937e-04 3.24321810e-02] [-2.49942102e-03 3.26115913e-04 9.99996823e-01 4.79239199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892557844 meters 0.2885469867877722 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.48 [[ 0.99998743 0.00490291 0.0010484 0.30914933] [-0.00490174 0.99998736 -0.00111865 0.0307244 ] [-0.00105387 0.0011135 0.99999882 0.47775811] [ 0. 0. 0. 1. ]] SLAMing on 205.922557844 meters 0.2896112258587534 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989802e-01 -3.88967352e-03 2.29479731e-03 3.28322607e-01] [ 3.88983068e-03 9.99992433e-01 -6.40237386e-05 3.40620348e-02] [-2.29453091e-03 7.29494587e-05 9.99997365e-01 4.78414925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952557844 meters 0.2887022467973177 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.48 [[ 9.99985910e-01 4.91474577e-03 2.00618244e-03 3.07320397e-01] [-4.91286178e-03 9.99987487e-01 -9.42946025e-04 3.12947481e-02] [-2.01079167e-03 9.33076642e-04 9.99997543e-01 4.77377047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982557844 meters 0.29077116439372475 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99988929e-01 -7.75683258e-04 4.64120816e-03 3.30497767e-01] [ 7.64370844e-04 9.99996734e-01 2.43866321e-03 2.92572596e-02] [-4.64308463e-03 -2.43508861e-03 9.99986256e-01 4.75166250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012557844 meters 0.28945631449338544 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.48 [[ 9.99989310e-01 -6.48132593e-04 4.57808446e-03 3.30668432e-01] [ 6.35498786e-04 9.99995988e-01 2.76054318e-03 2.79347276e-02] [-4.57985529e-03 -2.75760431e-03 9.99985710e-01 4.75156178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04255784400002 meters 0.2888826349845754 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.47 [[ 9.99989641e-01 -5.58038584e-04 4.51744032e-03 3.30897305e-01] [ 5.44477140e-04 9.99995344e-01 3.00269300e-03 2.69442923e-02] [-4.51909490e-03 -3.00020226e-03 9.99985288e-01 4.74991143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07255784400002 meters 0.29047262782607997 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:0.47 [[ 0.99998766 -0.00317608 0.00382078 0.33508838] [ 0.0031715 0.99999425 0.00120172 0.02113436] [-0.00382458 -0.00118959 0.99999198 0.47174877] [ 0. 0. 0. 1. ]] SLAMing on 206.10255784400002 meters 0.2896328308286195 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:0.47 [[ 0.99998796 -0.0030141 0.00387209 0.33510862] [ 0.00300789 0.99999418 0.0016089 0.01945749] [-0.00387692 -0.00159723 0.99999121 0.47142922] [ 0. 0. 0. 1. ]] SLAMing on 206.13255784400002 meters 0.28860846957636105 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:0.47 [[ 9.99991886e-01 3.59792339e-03 1.81165773e-03 3.15087512e-01] [-3.59620268e-03 9.99993080e-01 -9.52164259e-04 1.46417503e-02] [-1.81507101e-03 9.45641445e-04 9.99997906e-01 4.71438446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16255784400002 meters 0.29024297137884403 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:0.47 [[ 0.99998862 -0.00299947 0.00371108 0.33602122] [ 0.00299137 0.99999314 0.00218618 0.01389141] [-0.00371761 -0.00217506 0.99999072 0.47087963] [ 0. 0. 0. 1. ]] SLAMing on 206.19255784400002 meters 0.2891208880463677 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:0.47 [[ 0.99998878 -0.00293988 0.00371523 0.33592672] [ 0.00293112 0.99999292 0.00235973 0.01319379] [-0.00372214 -0.00234881 0.99999031 0.47109742] [ 0. 0. 0. 1. ]] SLAMing on 206.22255784400002 meters 0.2896113474086329 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:0.47 [[ 0.9999887 -0.00291783 0.00375201 0.33582946] [ 0.00290874 0.99999283 0.00242621 0.01292758] [-0.00375906 -0.00241527 0.99999002 0.47111417] [ 0. 0. 0. 1. ]] SLAMing on 206.25255784400002 meters 0.29059814801884887 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 9.99971724e-01 4.40391943e-03 6.09564106e-03 3.56783229e-01] [-4.40679602e-03 9.99990185e-01 4.58558845e-04 1.11598309e-02] [-6.09356177e-03 -4.85408126e-04 9.99981316e-01 4.70003375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28255784400002 meters 0.28973971621404915 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 9.99971536e-01 4.47864885e-03 6.07190484e-03 3.57013818e-01] [-4.48270513e-03 9.99989738e-01 6.54595727e-04 1.03609843e-02] [-6.06891083e-03 -6.81795654e-04 9.99981352e-01 4.69621232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312557844 meters 0.2900118686777511 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 9.99971625e-01 4.58641446e-03 5.97615476e-03 3.57420094e-01] [-4.59214090e-03 9.99989010e-01 9.44845245e-04 9.15523461e-03] [-5.97175562e-03 -9.72261780e-04 9.99981696e-01 4.69258301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342557844 meters 0.28861953885985875 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:0.47 [[ 0.99998543 -0.00395315 0.00367664 0.33714689] [ 0.00394501 0.99998976 0.00221814 0.00592716] [-0.00368537 -0.00220361 0.99999078 0.46924793] [ 0. 0. 0. 1. ]] SLAMing on 206.372557844 meters 0.2902138706382402 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997928 0.00169423 0.00621026 0.35919779] [-0.00168751 0.99999798 -0.00108799 0.00580154] [-0.00621209 0.00107748 0.99998012 0.46814013] [ 0. 0. 0. 1. ]] SLAMing on 206.402557844 meters 0.28841853345841284 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.47 [[ 9.99977947e-01 1.76462343e-03 6.40240991e-03 3.58447861e-01] [-1.75901197e-03 9.99998064e-01 -8.81986878e-04 4.92903908e-03] [-6.40395388e-03 8.70705512e-04 9.99979115e-01 4.68984584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.432557844 meters 0.28833911348561253 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 9.99976836e-01 1.72277118e-03 6.58486026e-03 3.57899024e-01] [-1.71619237e-03 9.99998023e-01 -1.00460171e-03 5.44727313e-03] [-6.58657794e-03 9.93277549e-04 9.99977815e-01 4.69205633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.462557844 meters 0.2882758633290953 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997688 0.00163664 0.00659991 0.35785081] [-0.00162844 0.9999979 -0.00124762 0.00643495] [-0.00660194 0.00123685 0.99997744 0.46922546] [ 0. 0. 0. 1. ]] SLAMing on 206.492557844 meters 0.2882758633290953 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997688 0.00163664 0.00659991 0.35785081] [-0.00162844 0.9999979 -0.00124762 0.00643495] [-0.00660194 0.00123685 0.99997744 0.46922546] [ 0. 0. 0. 1. ]] SLAMing on 206.522557844 meters 0.2874928812103098 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997733 0.00155073 0.00655272 0.35811107] [-0.00154101 0.99999771 -0.00148738 0.007421 ] [-0.00655501 0.00147725 0.99997742 0.46887748] [ 0. 0. 0. 1. ]] SLAMing on 206.552557844 meters 0.28895382291492616 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997871 0.00143522 0.00636499 0.35873174] [-0.00142357 0.99999731 -0.00183381 0.00884129] [-0.0063676 0.00182471 0.99997806 0.46850835] [ 0. 0. 0. 1. ]] SLAMing on 206.582557844 meters 0.28818745450628636 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997887 0.00139314 0.00635042 0.35866425] [-0.00138081 0.99999715 -0.00194553 0.0093022 ] [-0.00635311 0.00193672 0.99997794 0.46874546] [ 0. 0. 0. 1. ]] SLAMing on 206.612557844 meters 0.2876947684902106 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997975 0.00140231 0.00620731 0.35886996] [-0.00139042 0.99999719 -0.00191916 0.00919105] [-0.00620998 0.00191049 0.99997889 0.46911808] [ 0. 0. 0. 1. ]] SLAMing on 206.642557844 meters 0.287530319670572 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997993 0.00146182 0.00616394 0.35897409] [-0.001451 0.9999974 -0.0017591 0.00853151] [-0.00616649 0.00175012 0.99997946 0.46914411] [ 0. 0. 0. 1. ]] SLAMing on 206.672557844 meters 0.2879992077711791 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:0.47 [[ 0.99997987 0.00151589 0.00616167 0.3589084 ] [-0.001506 0.99999757 -0.00160927 0.00791899] [-0.00616409 0.00159996 0.99997972 0.46932014] [ 0. 0. 0. 1. ]] SLAMing on 206.702557844 meters 0.2886242508670356 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:0.47 [[ 9.99948442e-01 -6.43119621e-03 7.85836922e-03 3.77879303e-01] [ 6.43120347e-03 9.99979319e-01 2.43468231e-05 1.01343962e-02] [-7.85836328e-03 2.61932035e-05 9.99969122e-01 4.70389965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732557844 meters 0.2874861985687131 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.47 [[ 9.99970428e-01 2.46699332e-03 7.28402944e-03 3.57688659e-01] [-2.46561820e-03 9.99996941e-01 -1.97759472e-04 4.14728127e-03] [-7.28449503e-03 1.79793989e-04 9.99973452e-01 4.69504981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762557844 meters 0.28781537774168936 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.47 [[ 9.99970945e-01 2.54201110e-03 7.18660238e-03 3.58079557e-01] [-2.54208742e-03 9.99996769e-01 1.48610103e-06 3.32481697e-03] [-7.18657538e-03 -1.97550294e-05 9.99974176e-01 4.69184748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79255784400002 meters 0.2894533509425753 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:0.47 [[ 0.99995363 -0.00352414 0.00896228 0.38257119] [ 0.003497 0.99998926 0.00304263 0.0022612 ] [-0.0089729 -0.00301115 0.99995521 0.46583167] [ 0. 0. 0. 1. ]] SLAMing on 206.82255784400002 meters 0.2897835910249497 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:0.47 [[ 0.99995458 -0.00347997 0.00887286 0.38300236] [ 0.00345204 0.99998905 0.00316101 0.00178324] [-0.00888377 -0.00313024 0.99995564 0.46536985] [ 0. 0. 0. 1. ]] SLAMing on 206.85255784400002 meters 0.2890387043321871 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:0.47 [[ 0.99995491 -0.00344809 0.00884756 0.38308228] [ 0.00341936 0.99998884 0.00326111 0.00139214] [-0.00885871 -0.00323071 0.99995554 0.46533786] [ 0. 0. 0. 1. ]] SLAMing on 206.88255784400002 meters 0.2871141244135296 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.47 [[ 9.99977717e-01 2.56582841e-03 6.16289603e-03 3.61252320e-01] [-2.56623313e-03 9.99996706e-01 5.77636164e-05 2.29630070e-03] [-6.16272752e-03 -7.35777572e-05 9.99981008e-01 4.67044617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91255784400002 meters 0.28661667287199394 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.47 [[ 9.99978002e-01 2.55624309e-03 6.12060646e-03 3.61395012e-01] [-2.55649311e-03 9.99996732e-01 3.30261150e-05 2.40134812e-03] [-6.12050203e-03 -4.86726767e-05 9.99981268e-01 4.66943655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94255784400002 meters 0.28962089514364653 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:0.46 [[ 9.99955198e-01 3.59542922e-03 8.75646341e-03 4.05134735e-01] [-3.60183709e-03 9.99993257e-01 7.16127192e-04 5.69561493e-03] [-8.75382958e-03 -7.47634463e-04 9.99961405e-01 4.64902760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97255784400002 meters 0.2896360730420206 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:0.46 [[ 9.99954103e-01 3.57489025e-03 8.88892853e-03 4.04759278e-01] [-3.58089847e-03 9.99993371e-01 6.60098410e-04 5.93074762e-03] [-8.88650983e-03 -6.91898464e-04 9.99960275e-01 4.64984341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00255784400002 meters 0.2888423899918428 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:0.47 [[ 9.99953950e-01 3.57330587e-03 8.90665101e-03 4.04682948e-01] [-3.57929099e-03 9.99993379e-01 6.56134742e-04 5.94760085e-03] [-8.90424747e-03 -6.87984023e-04 9.99960120e-01 4.65054254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03255784400002 meters 0.2884699997191966 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:0.46 [[ 9.99955341e-01 3.58289512e-03 8.74522171e-03 4.05216461e-01] [-3.58904736e-03 9.99993323e-01 6.87903998e-04 5.80077118e-03] [-8.74269863e-03 -7.19260292e-04 9.99961523e-01 4.64740847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters 0.2887956712455928 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:0.46 [[ 9.99957201e-01 3.60991682e-03 8.51845343e-03 4.05967409e-01] [-3.61662516e-03 9.99993162e-01 7.72234583e-04 5.43209824e-03] [-8.51560747e-03 -8.03009586e-04 9.99963419e-01 4.64280557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092557844 meters 0.2897242826268161 Centerline is valid? [False, False] Translation: X:0.41, Y:0.00, Z:0.46 [[ 9.99958563e-01 3.65132149e-03 8.33903308e-03 4.06553298e-01] [-3.65887192e-03 9.99992910e-01 8.90355798e-04 4.92955202e-03] [-8.33572298e-03 -9.20830358e-04 9.99964833e-01 4.63972944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters 0.2881159016534065 Centerline is valid? [False, False] Translation: X:0.39, Y:0.00, Z:0.46 [[ 0.99996213 -0.00539603 0.00682802 0.38531344] [ 0.00538524 0.99998422 0.00159701 0.00427725] [-0.00683653 -0.00156017 0.99997541 0.46439035] [ 0. 0. 0. 1. ]] SLAMing on 207.152557844 meters 0.29083053613814797 Centerline is valid? [False, False] Translation: X:0.42, Y:0.00, Z:0.47 [[ 0.99997236 -0.00487386 0.00561473 0.42481122] [ 0.00486246 0.99998609 0.00204144 0.00434974] [-0.0056246 -0.00201408 0.99998215 0.46767906] [ 0. 0. 0. 1. ]] SLAMing on 207.182557844 meters 0.28771356188860864 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:0.47 [[ 9.99986029e-01 1.08377456e-03 5.17371476e-03 4.00471964e-01] [-1.07961439e-03 9.99999092e-01 -8.06821807e-04 -2.48424927e-04] [-5.17458448e-03 8.01224917e-04 9.99986291e-01 4.70132056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.212557844 meters 0.28887020402039604 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:0.47 [[ 9.99986174e-01 1.21598935e-03 5.11590357e-03 4.00561560e-01] [-1.21371932e-03 9.99999164e-01 -4.46800629e-04 -1.73148225e-03] [-5.11644260e-03 4.40585181e-04 9.99986814e-01 4.70292448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.242557844 meters 0.28808670911865697 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:0.47 [[ 9.99986142e-01 1.31903367e-03 5.09664010e-03 4.00644535e-01] [-1.31816143e-03 9.99999116e-01 -1.74494965e-04 -2.86036535e-03] [-5.09686575e-03 1.67774353e-04 9.99986997e-01 4.70234924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.272557844 meters 0.2878536584929151 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:0.47 [[ 9.99986012e-01 1.41579907e-03 5.09615262e-03 4.00693757e-01] [-1.41621771e-03 9.99998994e-01 7.85406005e-05 -3.90823114e-03] [-5.09603630e-03 -8.57567635e-05 9.99987011e-01 4.70144769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302557844 meters 0.2883212437549839 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.47 [[ 9.99953113e-01 -7.36541805e-03 6.28672904e-03 4.21104702e-01] [ 7.35969965e-03 9.99972482e-01 9.32249952e-04 -1.81715413e-03] [-6.29342245e-03 -8.85937804e-04 9.99979804e-01 4.69830974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332557844 meters 0.28844662146072403 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.47 [[ 0.99995312 -0.00731182 0.00634833 0.42093509] [ 0.00730513 0.99997274 0.00107706 -0.00240686] [-0.00635603 -0.00103064 0.99997927 0.46987559] [ 0. 0. 0. 1. ]] SLAMing on 207.362557844 meters 0.28776774125846677 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.47 [[ 0.99995344 -0.00721223 0.00641046 0.42059285] [ 0.00720374 0.99997315 0.00134708 -0.00351182] [-0.00642 -0.00130084 0.99997855 0.47034916] [ 0. 0. 0. 1. ]] SLAMing on 207.392557844 meters 0.28809837531941024 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.47 [[ 0.9999546 -0.00712784 0.00632436 0.42083725] [ 0.00711804 0.99997343 0.00157017 -0.0044477 ] [-0.00633539 -0.00152508 0.99997877 0.47033442] [ 0. 0. 0. 1. ]] SLAMing on 207.422557844 meters 0.2884392853161485 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:0.47 [[ 0.99995593 -0.00705176 0.00619713 0.42121426] [ 0.00704092 0.99997365 0.00177009 -0.0052906 ] [-0.00620944 -0.00172638 0.99997923 0.47025751] [ 0. 0. 0. 1. ]] SLAMing on 207.452557844 meters 0.2881689210059977 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:0.47 [[ 0.99995651 -0.00691784 0.0062551 0.42101108] [ 0.00690464 0.9999739 0.00212957 -0.00679149] [-0.00626967 -0.00208629 0.99997817 0.47044948] [ 0. 0. 0. 1. ]] SLAMing on 207.482557844 meters 0.28927167675665416 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.47 [[ 0.99996194 0.00157552 0.00858159 0.43967282] [-0.00158561 0.99999806 0.00116922 -0.00966652] [-0.00857973 -0.00118279 0.99996249 0.47141056] [ 0. 0. 0. 1. ]] SLAMing on 207.512557844 meters 0.2863286274558247 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:0.47 [[ 9.99985151e-01 3.45220536e-04 5.43857428e-03 3.96493341e-01] [-3.47642559e-04 9.99999841e-01 4.44402565e-04 -1.32511727e-02] [-5.43842000e-03 -4.46286646e-04 9.99985112e-01 4.73008098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54255784400002 meters 0.28758384581815544 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.47 [[ 9.99995737e-01 -5.89242147e-04 2.85993165e-03 4.39229316e-01] [ 5.89508617e-04 9.99999822e-01 -9.23312912e-05 -1.57578500e-02] [-2.85987673e-03 9.40168520e-05 9.99995906e-01 4.74631536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57255784400002 meters 0.28727707464232877 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.47 [[ 9.99996288e-01 -4.69470925e-04 2.68377686e-03 4.39810096e-01] [ 4.68819370e-04 9.99999860e-01 2.43399264e-04 -1.71646429e-02] [-2.68389075e-03 -2.42140155e-04 9.99996369e-01 4.74332802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60255784400002 meters 0.2872068068644552 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.47 [[ 9.99996619e-01 -2.64067065e-04 2.58705304e-03 4.40168296e-01] [ 2.62007652e-04 9.99999649e-01 7.96352198e-04 -1.94592000e-02] [-2.58726242e-03 -7.95671678e-04 9.99996336e-01 4.74114171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63255784400002 meters 0.2874323931342283 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:0.47 [[ 9.99996612e-01 -1.81540306e-04 2.59685937e-03 4.40135281e-01] [ 1.78901918e-04 9.99999468e-01 1.01618807e-03 -2.03669490e-02] [-2.59704247e-03 -1.01572005e-03 9.99996112e-01 4.74149515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66255784400002 meters 0.29000936962499285 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.48 [[ 9.99998807e-01 1.98013432e-04 1.53170454e-03 4.79303467e-01] [-1.99380044e-04 9.99999582e-01 8.92115587e-04 -1.87550073e-02] [-1.53152725e-03 -8.92419914e-04 9.99998429e-01 4.77375637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69255784400002 meters 0.28855124847111174 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.48 [[ 9.99998809e-01 2.50887771e-04 1.52261252e-03 4.79376252e-01] [-2.52459364e-04 9.99999436e-01 1.03206385e-03 -1.93294375e-02] [-1.52235273e-03 -1.03244702e-03 9.99998308e-01 4.77276088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72255784400002 meters 0.28922319760404025 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.48 [[ 9.99998974e-01 4.23314065e-04 1.36867599e-03 4.79910423e-01] [-4.25347290e-04 9.99998806e-01 1.48559248e-03 -2.12273304e-02] [-1.36804549e-03 -1.48617312e-03 9.99997960e-01 4.76995924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75255784400002 meters 0.2885721310228451 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.48 [[ 9.99999033e-01 5.47218321e-04 1.27844780e-03 4.80128072e-01] [-5.49542848e-04 9.99998195e-01 1.81859847e-03 -2.25982757e-02] [-1.27745032e-03 -1.81929927e-03 9.99997529e-01 4.77071338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78255784400002 meters 0.2880062809479013 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:0.48 [[ 9.99998932e-01 7.01844434e-04 1.28198102e-03 4.80072086e-01] [-7.04734587e-04 9.99997208e-01 2.25538413e-03 -2.43670703e-02] [-1.28039451e-03 -2.25628518e-03 9.99996635e-01 4.77210729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812557844 meters 0.2898822284953326 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99999720e-01 -2.62992061e-04 7.00711761e-04 5.18188602e-01] [ 2.61806324e-04 9.99998535e-01 1.69174487e-03 -2.84621784e-02] [-7.01155650e-04 -1.69156094e-03 9.99998323e-01 4.81070407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842557844 meters 0.28870180753356733 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99999757e-01 -8.64423514e-05 6.92460207e-04 5.18215020e-01] [ 8.49246703e-05 9.99997595e-01 2.19145287e-03 -3.04953019e-02] [-6.92647976e-04 -2.19139353e-03 9.99997359e-01 4.81074041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872557844 meters 0.2879053613639298 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99999768e-01 5.94762678e-05 6.78957248e-04 5.18294696e-01] [-6.12303896e-05 9.99996660e-01 2.58382421e-03 -3.21057681e-02] [-6.78801304e-04 -2.58386518e-03 9.99996431e-01 4.80994234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902557844 meters 0.28941712855239143 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:0.48 [[ 9.99973776e-01 6.97171179e-03 1.96042696e-03 5.40184261e-01] [-6.97176680e-03 9.99975697e-01 2.12304757e-05 -3.52291473e-02] [-1.96023130e-03 -3.48975586e-05 9.99998078e-01 4.80019836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.932557844 meters 0.2881126096762345 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99997546e-01 -2.15822444e-03 4.99388948e-04 5.19729527e-01] [ 2.15779136e-03 9.99997297e-01 8.66154070e-04 -3.40568330e-02] [-5.01256953e-04 -8.65074368e-04 9.99999500e-01 4.79860495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.962557844 meters 0.28881592478819834 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99997721e-01 -2.07846397e-03 4.87465470e-04 5.19677922e-01] [ 2.07793531e-03 9.99997255e-01 1.08251481e-03 -3.49451704e-02] [-4.89714100e-04 -1.08149943e-03 9.99999295e-01 4.80072024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.992557844 meters 0.28963502965499605 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99997961e-01 -1.98717409e-03 3.58156027e-04 5.20124500e-01] [ 1.98670263e-03 9.99997166e-01 1.31191436e-03 -3.59239322e-02] [-3.60762015e-04 -1.31120014e-03 9.99999075e-01 4.79843764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.022557844 meters 0.28860786627909457 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:0.48 [[ 0.99999387 0.00321886 -0.00137723 0.49815395] [-0.00322223 0.99999181 -0.00244918 -0.0376176 ] [ 0.00136933 0.0024536 0.99999605 0.48051136] [ 0. 0. 0. 1. ]] SLAMing on 208.052557844 meters 0.2894668716395216 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.48 [[ 9.99987721e-01 -4.89292392e-03 -7.85883563e-04 5.17975010e-01] [ 4.89194103e-03 9.99987256e-01 -1.24777231e-03 -3.42743062e-02] [ 7.91978802e-04 1.24391249e-03 9.99998913e-01 4.81660912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082557844 meters 0.2896327652246484 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99988451e-01 -4.73525152e-03 -8.22142361e-04 5.17943563e-01] [ 4.73456298e-03 9.99988441e-01 -8.37438184e-04 -3.59746443e-02] [ 8.26098339e-04 8.33536027e-04 9.99999311e-01 4.81983089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.112557844 meters 0.28932445502760684 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99989063e-01 -4.61093721e-03 -7.82414068e-04 5.17715138e-01] [ 4.61053540e-03 9.99989239e-01 -5.14581616e-04 -3.73065364e-02] [ 7.84778352e-04 5.10968641e-04 9.99999562e-01 4.82286877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142557844 meters 0.2902785880575047 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99989661e-01 -4.48713058e-03 -7.37642376e-04 5.17495478e-01] [ 4.48698378e-03 9.99989913e-01 -2.00546944e-04 -3.86189764e-02] [ 7.38534816e-04 1.97235081e-04 9.99999708e-01 4.82531714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.172557844 meters 0.28968868100500206 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99990520e-01 -4.30406813e-03 -6.58853481e-04 5.17360602e-01] [ 4.30424351e-03 9.99990702e-01 2.65000170e-04 -4.05589207e-02] [ 6.57706776e-04 -2.67833524e-04 9.99999748e-01 4.82423784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202557844 meters 0.2886145935533526 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.48 [[ 9.99991538e-01 3.70069477e-03 -1.79660730e-03 4.98122937e-01] [-3.70188456e-03 9.99992931e-01 -6.59367724e-04 -4.56528303e-02] [ 1.79415448e-03 6.66012977e-04 9.99998169e-01 4.80908939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.232557844 meters 0.28848494707685 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:0.48 [[ 9.99991189e-01 3.77394231e-03 -1.83824677e-03 4.98250443e-01] [-3.77480274e-03 9.99992767e-01 -4.64827009e-04 -4.64605828e-02] [ 1.83647924e-03 4.71761933e-04 9.99998202e-01 4.80872972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262557844 meters 0.28911168261910497 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.04, Z:0.48 [[ 9.99988141e-01 -4.71850467e-03 -1.20574741e-03 5.18941664e-01] [ 4.71895477e-03 9.99988797e-01 3.70720489e-04 -4.40494465e-02] [ 1.20398466e-03 -3.76405960e-04 9.99999204e-01 4.81383768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29255784400002 meters 0.2893515973028481 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:0.48 [[ 0.99998914 -0.0044594 -0.00135306 0.51951595] [ 0.00446076 0.99998954 0.00100574 -0.04676714] [ 0.00134856 -0.00101177 0.99999858 0.48108666] [ 0. 0. 0. 1. ]] SLAMing on 208.32255784400002 meters 0.289035642582731 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.05, Z:0.48 [[ 0.9999895 -0.00436455 -0.00139396 0.51975344] [ 0.00436631 0.99998968 0.00125785 -0.0478265 ] [ 0.00138846 -0.00126392 0.99999824 0.4808054 ] [ 0. 0. 0. 1. ]] SLAMing on 208.35255784400002 meters 0.29030897176670944 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99987521e-01 4.98471549e-03 -3.31252236e-04 5.40213847e-01] [-4.98445603e-03 9.99987274e-01 7.79511219e-04 -5.10903332e-02] [ 3.35133662e-04 -7.77850380e-04 9.99999641e-01 4.81023211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38255784400002 meters 0.28904481985288716 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99987055e-01 5.08373140e-03 -2.14236763e-04 5.39863303e-01] [-5.08350640e-03 9.99986540e-01 1.03800494e-03 -5.21493119e-02] [ 2.19510818e-04 -1.03690243e-03 9.99999438e-01 4.81174822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41255784400002 meters 0.28904481985288716 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99987055e-01 5.08373140e-03 -2.14236763e-04 5.39863303e-01] [-5.08350640e-03 9.99986540e-01 1.03800494e-03 -5.21493119e-02] [ 2.19510818e-04 -1.03690243e-03 9.99999438e-01 4.81174822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44255784400002 meters 0.28985725589316735 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 9.99994734e-01 -3.08931966e-03 9.93900437e-04 5.59728563e-01] [ 3.08730756e-03 9.99993195e-01 2.01965311e-03 -4.87408866e-02] [-1.00013303e-03 -2.01657399e-03 9.99997467e-01 4.81787139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47255784400002 meters 0.2897036025241286 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 9.99994973e-01 -3.02271992e-03 9.57259480e-04 5.59943567e-01] [ 3.02061370e-03 9.99993031e-01 2.19411563e-03 -4.94863212e-02] [-9.63885006e-04 -2.19121309e-03 9.99997135e-01 4.81535120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50255784400002 meters 0.2885776322562817 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 0.99999693 0.00201123 -0.00144401 0.53796708] [-0.00201309 0.99999714 -0.0012886 -0.05071482] [ 0.00144142 0.0012915 0.99999813 0.48247508] [ 0. 0. 0. 1. ]] SLAMing on 208.53255784400002 meters 0.2901511203721382 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999102 -0.00403968 0.00128384 0.55827368] [ 0.0040375 0.99999041 0.00169554 -0.05032013] [-0.00129068 -0.00169034 0.99999774 0.48160794] [ 0. 0. 0. 1. ]] SLAMing on 208.562557844 meters 0.28891551484270594 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999141 -0.00392082 0.00134756 0.55803979] [ 0.00391808 0.99999027 0.00202627 -0.05167007] [-0.00135549 -0.00202097 0.99999704 0.48180361] [ 0. 0. 0. 1. ]] SLAMing on 208.592557844 meters 0.28935158380251724 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999167 -0.00384702 0.00136268 0.557964 ] [ 0.00384398 0.99999014 0.0022248 -0.05248483] [-0.00137122 -0.00221955 0.9999966 0.48190431] [ 0. 0. 0. 1. ]] SLAMing on 208.622557844 meters 0.2899855422925833 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999197 -0.00377577 0.00134081 0.55799243] [ 0.00377253 0.99998997 0.00241463 -0.05326727] [-0.00134991 -0.00240955 0.99999619 0.48198071] [ 0. 0. 0. 1. ]] SLAMing on 208.652557844 meters 0.2909037027948607 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.48 [[ 0.99998333 0.00519255 0.00252358 0.57797164] [-0.00519616 0.99998548 0.00142582 -0.05576588] [-0.00251614 -0.0014389 0.9999958 0.48273884] [ 0. 0. 0. 1. ]] SLAMing on 208.682557844 meters 0.28771240515113294 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:0.48 [[ 9.99993146e-01 3.47126893e-03 1.28760453e-03 5.38922128e-01] [-3.47209510e-03 9.99993767e-01 6.39954968e-04 -5.62555846e-02] [-1.28537505e-03 -6.44421267e-04 9.99998966e-01 4.80595283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.712557844 meters 0.2889496705180483 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:0.48 [[ 9.99993284e-01 3.42389538e-03 1.30737145e-03 5.38890326e-01] [-3.42456644e-03 9.99994005e-01 5.11399801e-04 -5.57287074e-02] [-1.30561263e-03 -5.15873546e-04 9.99999015e-01 4.80546119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.742557844 meters 0.2914899620048166 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999217 -0.00172203 0.003562 0.56220557] [ 0.0017087 0.99999154 0.00374056 -0.05454194] [-0.00356841 -0.00373444 0.99998666 0.47864169] [ 0. 0. 0. 1. ]] SLAMing on 208.772557844 meters 0.2897292277485974 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999115 -0.00185569 0.00377535 0.56135095] [ 0.00184306 0.9999927 0.00334647 -0.05281011] [-0.00378153 -0.00333948 0.99998727 0.47941074] [ 0. 0. 0. 1. ]] SLAMing on 208.802557844 meters 0.2888274102835717 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.48 [[ 0.99999094 -0.00192499 0.00379745 0.56125314] [ 0.00191298 0.99999316 0.00316467 -0.05205186] [-0.00380351 -0.00315738 0.99998778 0.47948855] [ 0. 0. 0. 1. ]] SLAMing on 208.832557844 meters 0.28824513998509627 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99993644e-01 3.54524818e-03 3.77091640e-04 5.40655736e-01] [-3.54519034e-03 9.99993704e-01 -1.53951931e-04 -5.06802835e-02] [-3.77635064e-04 1.52614091e-04 9.99999917e-01 4.80922270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862557844 meters 0.28877173129605627 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99994277e-01 3.37193676e-03 2.75508940e-04 5.41162098e-01] [-3.37176760e-03 9.99994128e-01 -6.12156594e-04 -4.87635208e-02] [-2.77571475e-04 6.11224139e-04 9.99999775e-01 4.80285966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892557844 meters 0.2897030106630677 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99994409e-01 3.33783458e-03 2.00479955e-04 5.41387661e-01] [-3.33769368e-03 9.99994186e-01 -6.99114007e-04 -4.84149794e-02] [-2.02812316e-04 6.98440958e-04 9.99999736e-01 4.80203566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922557844 meters 0.29007934858914847 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99994747e-01 3.23720178e-03 1.64373559e-04 5.41356460e-01] [-3.23704250e-03 9.99994300e-01 -9.60227590e-04 -4.73193804e-02] [-1.67481072e-04 9.59690462e-04 9.99999525e-01 4.80476987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952557844 meters 0.28975961242326215 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99989079e-01 -4.44269795e-03 1.45043128e-03 5.60451841e-01] [ 4.44232628e-03 9.99990099e-01 2.59369740e-04 -4.19655454e-02] [-1.45156922e-03 -2.52923619e-04 9.99998914e-01 4.81784266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982557844 meters 0.2898046106019213 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99988865e-01 -4.49355456e-03 1.44179442e-03 5.60479538e-01] [ 4.49337369e-03 9.99989896e-01 1.28664746e-04 -4.14254061e-02] [-1.44235802e-03 -1.22184792e-04 9.99998952e-01 4.81762539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012557844 meters 0.29043325003973997 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99988846e-01 -4.45852304e-03 1.55837796e-03 5.60090472e-01] [ 4.45818832e-03 9.99990038e-01 2.18190746e-04 -4.17940505e-02] [-1.55933525e-03 -2.11240770e-04 9.99998762e-01 4.81979730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04255784400002 meters 0.28889416852878136 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99993226e-01 3.50062953e-03 1.13738815e-03 5.40286153e-01] [-3.49965640e-03 9.99993509e-01 -8.56449250e-04 -4.71218289e-02] [-1.14037888e-03 8.52462980e-04 9.99998986e-01 4.80946352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07255784400002 meters 0.29003816802857585 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99987430e-01 -4.21400030e-03 2.71684610e-03 5.59148032e-01] [ 4.21251206e-03 9.99990974e-01 5.53270660e-04 -4.35519879e-02] [-2.71915306e-03 -5.41818959e-04 9.99996156e-01 4.82219737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10255784400002 meters 0.2902593389892068 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99987627e-01 -4.18477932e-03 2.68936770e-03 5.59198910e-01] [ 4.18309775e-03 9.99991052e-01 6.30588235e-04 -4.38716253e-02] [-2.69198251e-03 -6.19330545e-04 9.99996185e-01 4.82271913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13255784400002 meters 0.28922633691190414 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99994066e-01 3.34817451e-03 8.10584030e-04 5.40391600e-01] [-3.34748350e-03 9.99994034e-01 -8.52348124e-04 -4.69667112e-02] [-8.13433005e-04 8.49629649e-04 9.99999308e-01 4.80145566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16255784400002 meters 0.28813576589283196 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.05, Z:0.48 [[ 9.99994172e-01 3.31505749e-03 8.15933943e-04 5.40545322e-01] [-3.31429001e-03 9.99994066e-01 -9.40170693e-04 -4.66225815e-02] [-8.19045821e-04 9.37460972e-04 9.99999225e-01 4.79746566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19255784400002 meters 0.28942651316151347 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99985295e-01 -5.11600213e-03 1.79875056e-03 5.59857428e-01] [ 5.11634442e-03 9.99986894e-01 -1.85744105e-04 -4.11726015e-02] [-1.79777672e-03 1.94944401e-04 9.99998365e-01 4.79715148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22255784400002 meters 0.29076251368780515 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99998942 0.00347441 0.00301608 0.57932942] [-0.00346936 0.99999258 -0.00167592 -0.04229599] [-0.00302188 0.00166544 0.99999405 0.48110975] [ 0. 0. 0. 1. ]] SLAMing on 209.25255784400002 meters 0.2902596915941029 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99998946 0.0034447 0.003037 0.57919266] [-0.00343938 0.99999255 -0.00175468 -0.0419649 ] [-0.00304302 0.00174422 0.99999385 0.48129715] [ 0. 0. 0. 1. ]] SLAMing on 209.28255784400002 meters 0.2885961914835553 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99995448e-01 -2.87928672e-03 9.02460393e-04 5.56331107e-01] [ 2.87781807e-03 9.99994540e-01 1.62447566e-03 -4.37534175e-02] [-9.07132797e-04 -1.62187115e-03 9.99998273e-01 4.83694911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312557844 meters 0.2893417455508092 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99995598e-01 -2.83689780e-03 8.68986120e-04 5.56463481e-01] [ 2.83538402e-03 9.99994469e-01 1.73831200e-03 -4.42298823e-02] [-8.73912728e-04 -1.73584044e-03 9.99998112e-01 4.83597816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342557844 meters 0.2912275858284213 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999032 0.00377413 0.00226246 0.57937166] [-0.00377075 0.99999177 -0.00149486 -0.04339362] [-0.00226809 0.00148632 0.99999632 0.48189446] [ 0. 0. 0. 1. ]] SLAMing on 209.372557844 meters 0.2903986242897837 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 0.99998991 0.00391787 0.00219615 0.57975042] [-0.00391551 0.99999175 -0.00108025 -0.04511422] [-0.00220037 0.00107164 0.999997 0.48138735] [ 0. 0. 0. 1. ]] SLAMing on 209.402557844 meters 0.28972240289791207 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99989734e-01 3.95629014e-03 2.20902166e-03 5.79634869e-01] [-3.95413275e-03 9.99991702e-01 -9.80138828e-04 -4.55188785e-02] [-2.21288104e-03 9.71394001e-04 9.99997080e-01 4.81579994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.432557844 meters 0.2911279877262622 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99989573e-01 4.00384296e-03 2.19635304e-03 5.79587868e-01] [-4.00197299e-03 9.99991626e-01 -8.55131378e-04 -4.60285738e-02] [-2.19975846e-03 8.46332715e-04 9.99997222e-01 4.81766341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.462557844 meters 0.2912604451942853 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99989671e-01 4.03682774e-03 2.08833188e-03 5.79861923e-01] [-4.03523750e-03 9.99991566e-01 -7.65141793e-04 -4.64050450e-02] [-2.09140302e-03 7.56706975e-04 9.99997527e-01 4.81785320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.492557844 meters 0.29197723031718836 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99989935e-01 4.07691922e-03 1.87337425e-03 5.80624368e-01] [-4.07569468e-03 9.99991478e-01 -6.57007911e-04 -4.69089622e-02] [-1.87603686e-03 6.49365996e-04 9.99998029e-01 4.81285906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.522557844 meters 0.2919217765647016 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99990145e-01 4.03514237e-03 1.85144849e-03 5.80779452e-01] [-4.03373634e-03 9.99991574e-01 -7.62530039e-04 -4.64802335e-02] [-1.85450981e-03 7.55054269e-04 9.99997995e-01 4.81064939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552557844 meters 0.2906179566091367 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99989073e-01 -4.66186903e-03 3.48978009e-04 5.61564630e-01] [ 4.66171980e-03 9.99989043e-01 4.27213447e-04 -4.34767124e-02] [-3.50965799e-04 -4.25581940e-04 9.99999848e-01 4.79980380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582557844 meters 0.290438227963763 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99988367e-01 -4.79645651e-03 5.09374835e-04 5.61086302e-01] [ 4.79641545e-03 9.99988494e-01 8.18023505e-05 -4.20065354e-02] [-5.09761335e-04 -7.93582256e-05 9.99999867e-01 4.80070783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612557844 meters 0.2889596223061968 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99987938e-01 -4.87799577e-03 5.73156268e-04 5.60836672e-01] [ 4.87806963e-03 9.99988094e-01 -1.27541534e-04 -4.11182168e-02] [-5.72527297e-04 1.30335892e-04 9.99999828e-01 4.80236149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642557844 meters 0.2897010635935461 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99987506e-01 -4.95742271e-03 6.42386492e-04 5.60576279e-01] [ 4.95763790e-03 9.99987655e-01 -3.33834857e-04 -4.02513542e-02] [-6.40723601e-04 3.37015405e-04 9.99999738e-01 4.80399322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672557844 meters 0.2897108264773092 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99987224e-01 -5.01338026e-03 6.46452688e-04 5.60523598e-01] [ 5.01369228e-03 9.99987315e-01 -4.81956251e-04 -3.96400140e-02] [-6.44028258e-04 4.85191209e-04 9.99999675e-01 4.80480629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702557844 meters 0.2886988444817732 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:0.48 [[ 9.99986892e-01 -5.05964020e-03 7.85251479e-04 5.60072635e-01] [ 5.06012098e-03 9.99987011e-01 -6.11493222e-04 -3.90991968e-02] [-7.82147343e-04 6.15458674e-04 9.99999505e-01 4.80724209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732557844 meters 0.28942969231234783 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999029 0.00398105 0.00189175 0.57937399] [-0.00397775 0.99999056 -0.00174578 -0.04107996] [-0.00189868 0.00173824 0.99999669 0.48161351] [ 0. 0. 0. 1. ]] SLAMing on 209.762557844 meters 0.289819210749521 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999051 0.00393034 0.00188143 0.5794233 ] [-0.0039268 0.99999051 -0.00188477 -0.04051359] [-0.00188882 0.00187736 0.99999645 0.48155783] [ 0. 0. 0. 1. ]] SLAMing on 209.79255784400002 meters 0.2888351499968224 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999055 0.0038991 0.00192102 0.57933239] [-0.00389531 0.99999046 -0.00197453 -0.0401487 ] [-0.0019287 0.00196703 0.99999621 0.48153231] [ 0. 0. 0. 1. ]] SLAMing on 209.82255784400002 meters 0.28891156216850294 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999062 0.00390997 0.00186245 0.57947176] [-0.00390635 0.99999048 -0.001943 -0.04028043] [-0.00187003 0.00193571 0.99999638 0.48155161] [ 0. 0. 0. 1. ]] SLAMing on 209.85255784400002 meters 0.2889930366763129 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 0.99999055 0.00395078 0.00181534 0.57956529] [-0.00394745 0.99999053 -0.0018328 -0.04073301] [-0.00182256 0.00182562 0.99999667 0.48161505] [ 0. 0. 0. 1. ]] SLAMing on 209.88255784400002 meters 0.29013633538329486 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.48 [[ 9.99989041e-01 -3.80888804e-03 2.72207352e-03 5.99134375e-01] [ 3.81004551e-03 9.99992653e-01 -4.20157787e-04 -3.73902866e-02] [-2.72045319e-03 4.30524406e-04 9.99996207e-01 4.83073739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91255784400002 meters 0.2897006526640695 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.48 [[ 9.99989549e-01 -3.66447577e-03 2.73368592e-03 5.99098664e-01] [ 3.66455304e-03 9.99993285e-01 -2.32575418e-05 -3.90248420e-02] [-2.73358234e-03 3.32750358e-05 9.99996263e-01 4.83103249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94255784400002 meters 0.28886370153240054 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 9.99996376e-01 2.67386161e-03 3.12980558e-04 5.79087268e-01] [-2.67304082e-03 9.99993063e-01 -2.59416821e-03 -4.18166757e-02] [-3.19914834e-04 2.59332220e-03 9.99996586e-01 4.83324352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97255784400002 meters 0.28829080352077874 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 9.99996188e-01 2.74984248e-03 2.49048805e-04 5.79325547e-01] [-2.74923737e-03 9.99993345e-01 -2.39827796e-03 -4.26425003e-02] [-2.55642034e-04 2.39758412e-03 9.99997093e-01 4.83164506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00255784400002 meters 0.2886437962828639 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.48 [[ 9.99996078e-01 2.78951682e-03 2.51080722e-04 5.79418957e-01] [-2.78893380e-03 9.99993482e-01 -2.29318172e-03 -4.30828855e-02] [-2.57475954e-04 2.29247248e-03 9.99997339e-01 4.82943394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03255784400002 meters 0.29123180825814227 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.48 [[ 0.99999636 -0.00247325 0.00107922 0.60337851] [ 0.00247175 0.99999597 0.00139348 -0.04197248] [-0.00108267 -0.00139081 0.99999845 0.48113861] [ 0. 0. 0. 1. ]] SLAMing on 210.06255784400003 meters 0.2908907671501905 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.48 [[ 0.99999646 -0.00244733 0.0010483 0.60355161] [ 0.0024458 0.99999594 0.00146231 -0.04226127] [-0.00105187 -0.00145974 0.99999838 0.48093559] [ 0. 0. 0. 1. ]] SLAMing on 210.092557844 meters 0.29020305025299103 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.48 [[ 9.99996841e-01 -2.32395683e-03 9.57384606e-04 6.03852859e-01] [ 2.32226033e-03 9.99995738e-01 1.76933585e-03 -4.35726848e-02] [-9.61492386e-04 -1.76710696e-03 9.99997976e-01 4.80839808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters 0.28901972059007985 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99983874e-01 5.67854402e-03 -8.10474642e-05 5.84433899e-01] [-5.67847390e-03 9.99983524e-01 8.40636410e-04 -4.85849553e-02] [ 8.58197198e-05 -8.40162628e-04 9.99999643e-01 4.79879043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152557844 meters 0.28908150172955244 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 9.99983652e-01 5.71771888e-03 -5.66087786e-05 5.84320483e-01] [-5.71766293e-03 9.99983209e-01 9.43677424e-04 -4.90013920e-02] [ 6.20035103e-05 -9.43338327e-04 9.99999553e-01 4.80003982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.182557844 meters 0.29058768397022283 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.48 [[ 0.99999558 -0.00249361 0.00162148 0.60452027] [ 0.00249068 0.99999526 0.00181015 -0.04619936] [-0.00162598 -0.00180611 0.99999705 0.48036525] [ 0. 0. 0. 1. ]] SLAMing on 210.212557844 meters 0.2886365651632017 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 0.99999491 0.00282712 0.00148042 0.58097871] [-0.00282494 0.99999493 -0.00147094 -0.05104606] [-0.00148457 0.00146675 0.99999782 0.48145918] [ 0. 0. 0. 1. ]] SLAMing on 210.242557844 meters 0.29027468792640077 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.48 [[ 0.99999454 0.00294925 0.00149219 0.58086768] [-0.00294753 0.99999499 -0.00115364 -0.05236312] [-0.00149559 0.00114923 0.99999822 0.48165078] [ 0. 0. 0. 1. ]] SLAMing on 210.272557844 meters 0.29013291716005063 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.48 [[ 9.99983852e-01 -4.79177805e-03 3.05539902e-03 6.00004031e-01] [ 4.79095386e-03 9.99988485e-01 2.77010892e-04 -4.97870553e-02] [-3.05669122e-03 -2.62368142e-04 9.99995294e-01 4.82735908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302557844 meters 0.2893570025177413 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.48 [[ 9.99984178e-01 -4.68082108e-03 3.11993877e-03 5.99712342e-01] [ 4.67906948e-03 9.99988892e-01 5.68483881e-04 -5.09820746e-02] [-3.12256508e-03 -5.53876477e-04 9.99994971e-01 4.83050145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332557844 meters 0.2893570025177413 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.48 [[ 9.99984178e-01 -4.68082108e-03 3.11993877e-03 5.99712342e-01] [ 4.67906948e-03 9.99988892e-01 5.68483881e-04 -5.09820746e-02] [-3.12256508e-03 -5.53876477e-04 9.99994971e-01 4.83050145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362557844 meters 0.28923155222252406 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.48 [[ 9.99991271e-01 3.31418145e-03 2.54456668e-03 5.80583721e-01] [-3.31403938e-03 9.99994507e-01 -6.00461783e-05 -5.83434312e-02] [-2.54475171e-03 5.16128599e-05 9.99996761e-01 4.82125555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392557844 meters 0.29060509260989104 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:0.48 [[ 9.99991391e-01 3.97192493e-03 1.20041236e-03 6.20714496e-01] [-3.97165180e-03 9.99992087e-01 -2.29827421e-04 -5.73835841e-02] [-1.20131572e-03 2.25057822e-04 9.99999253e-01 4.84871385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422557844 meters 0.2890025676703062 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.48 [[ 9.99995370e-01 2.36530814e-03 1.91430618e-03 5.81940189e-01] [-2.36477235e-03 9.99997164e-01 -2.82100615e-04 -6.13556584e-02] [-1.91496800e-03 2.77572411e-04 9.99998128e-01 4.81594760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452557844 meters 0.2886217429432397 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.48 [[ 9.99994608e-01 2.62702576e-03 1.97064332e-03 5.81641540e-01] [-2.62797047e-03 9.99996433e-01 4.76953541e-04 -6.44487175e-02] [-1.96938332e-03 -4.82129762e-04 9.99997945e-01 4.81933931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482557844 meters 0.2899974394353497 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:0.49 [[ 9.99994805e-01 2.91452070e-03 1.37704769e-03 6.19349274e-01] [-2.91435776e-03 9.99995746e-01 -1.20318876e-04 -6.37459629e-02] [-1.37739251e-03 1.16305041e-04 9.99999045e-01 4.86142979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.512557844 meters 0.29030816951614824 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.06, Z:0.49 [[ 9.99994571e-01 2.99237983e-03 1.38002202e-03 6.19282492e-01] [-2.99249869e-03 9.99995519e-01 8.40743629e-05 -6.45866708e-02] [-1.37976425e-03 -8.82036205e-05 9.99999044e-01 4.86285505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54255784400002 meters 0.28850881152512353 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:0.49 [[ 0.99999177 -0.00383605 -0.00132227 0.59817753] [ 0.00384027 0.9999875 0.00320288 -0.06718621] [ 0.00130996 -0.00320793 0.999994 0.48758535] [ 0. 0. 0. 1. ]] SLAMing on 210.57255784400002 meters 0.2900984919159615 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:0.49 [[ 9.99996364e-01 2.42467575e-03 1.18054087e-03 6.20730193e-01] [-2.42467637e-03 9.99997060e-01 -9.01637889e-07 -6.66664186e-02] [-1.18053959e-03 -1.96079494e-06 9.99999303e-01 4.85626434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60255784400002 meters 0.28952348084544455 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:0.49 [[ 9.99996661e-01 8.38505131e-04 2.44450089e-03 6.15485433e-01] [-8.35326647e-04 9.99998805e-01 -1.30098987e-03 -6.72795299e-02] [-2.44558885e-03 1.29894357e-03 9.99996166e-01 4.88477946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63255784400002 meters 0.2900704213318689 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:0.49 [[ 9.99996379e-01 1.00930323e-03 2.49461471e-03 6.15205797e-01] [-1.00718830e-03 9.99999132e-01 -8.48905245e-04 -6.91439089e-02] [-2.49546935e-03 8.46389625e-04 9.99996528e-01 4.88821722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66255784400002 meters 0.2901360555716646 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:0.49 [[ 9.99995434e-01 1.30123544e-03 2.72729218e-03 6.14340277e-01] [-1.30130571e-03 9.99999153e-01 2.39917166e-05 -7.26990716e-02] [-2.72725865e-03 -2.75406480e-05 9.99996281e-01 4.89586970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69255784400002 meters 0.289261629695845 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:0.49 [[ 9.99995021e-01 1.44812409e-03 2.80380457e-03 6.14096022e-01] [-1.44930724e-03 9.99998862e-01 4.19991262e-04 -7.43162624e-02] [-2.80319318e-03 -4.24052745e-04 9.99995981e-01 4.89699298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72255784400002 meters 0.290935516942919 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:0.49 [[ 9.99994840e-01 1.58925264e-03 2.79184419e-03 6.14196685e-01] [-1.59144124e-03 9.99998428e-01 7.81876646e-04 -7.58254116e-02] [-2.79059720e-03 -7.86315668e-04 9.99995797e-01 4.89543601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75255784400002 meters 0.2899538827807406 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.49 [[ 9.99978504e-01 6.55471915e-03 -1.67174603e-04 5.93602149e-01] [-6.55513446e-03 9.99975087e-01 -2.61813108e-03 -7.87724184e-02] [ 1.50009324e-04 2.61917065e-03 9.99996559e-01 4.89607157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78255784400002 meters 0.2892216150812915 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.49 [[ 9.99978343e-01 6.56930653e-03 -3.97586068e-04 5.94375084e-01] [-6.57030776e-03 9.99975108e-01 -2.57166277e-03 -7.89956211e-02] [ 3.80682130e-04 2.57421934e-03 9.99996614e-01 4.89097991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81255784400003 meters 0.28922488637683247 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 0.99999272 -0.00215398 -0.00315053 0.57707444] [ 0.00214968 0.99999675 -0.0013671 -0.07589333] [ 0.00315346 0.00136032 0.9999941 0.4877711 ] [ 0. 0. 0. 1. ]] SLAMing on 210.842557844 meters 0.28965354293744855 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 0.9999921 -0.00218443 -0.00332152 0.57763344] [ 0.00217962 0.99999657 -0.00145124 -0.07556978] [ 0.00332467 0.00144399 0.99999343 0.48740389] [ 0. 0. 0. 1. ]] SLAMing on 210.872557844 meters 0.2903224253981384 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 0.99999213 -0.00219038 -0.0033082 0.57777746] [ 0.00218554 0.99999654 -0.00146421 -0.07552603] [ 0.0033114 0.00145696 0.99999346 0.48692628] [ 0. 0. 0. 1. ]] SLAMing on 210.902557844 meters 0.2898881270777576 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 0.99999221 -0.00218306 -0.00328887 0.5777727 ] [ 0.00217832 0.99999659 -0.00144389 -0.07561222] [ 0.00329201 0.00143671 0.99999355 0.48682535] [ 0. 0. 0. 1. ]] SLAMing on 210.932557844 meters 0.29108562266655963 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 0.99999237 -0.00210475 -0.00328946 0.57780172] [ 0.00210066 0.99999702 -0.00124571 -0.07644421] [ 0.00329208 0.00123879 0.99999381 0.48677907] [ 0. 0. 0. 1. ]] SLAMing on 210.962557844 meters 0.28989103187819415 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 9.99992887e-01 -1.90662134e-03 -3.25441524e-03 5.77559360e-01] [ 1.90424481e-03 9.99997918e-01 -7.33190564e-04 -7.85414473e-02] [ 3.25580638e-03 7.26988145e-04 9.99994436e-01 4.87142007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.992557844 meters 0.2892173401148396 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 9.99992981e-01 -1.80500134e-03 -3.28312950e-03 5.77607168e-01] [ 1.80348414e-03 9.99998266e-01 -4.65023106e-04 -7.96474924e-02] [ 3.28396317e-03 4.59098770e-04 9.99994502e-01 4.87214939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.022557844 meters 0.2891506926242564 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 9.99992839e-01 -1.70721159e-03 -3.37751070e-03 5.77906576e-01] [ 1.70655374e-03 9.99998524e-01 -1.97645595e-04 -8.07685956e-02] [ 3.37784314e-03 1.91880276e-04 9.99994277e-01 4.87093571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052557844 meters 0.29118954617847204 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 9.99992354e-01 -1.60482187e-03 -3.56608309e-03 5.78674867e-01] [ 1.60523701e-03 9.99998705e-01 1.13554630e-04 -8.21540939e-02] [ 3.56589624e-03 -1.19278170e-04 9.99993635e-01 4.86347706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082557844 meters 0.28978333322118455 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.49 [[ 9.99992488e-01 -1.52157972e-03 -3.56497545e-03 5.78746360e-01] [ 1.52276958e-03 9.99998786e-01 3.31075033e-04 -8.30729577e-02] [ 3.56446737e-03 -3.36501182e-04 9.99993591e-01 4.86187866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.112557844 meters 0.2887821708946327 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.49 [[ 0.99997681 0.0038932 -0.00558721 0.55611876] [-0.00390857 0.9999886 -0.00274377 -0.08424042] [ 0.00557646 0.00276554 0.99998063 0.48765876] [ 0. 0. 0. 1. ]] SLAMing on 211.142557844 meters 0.2904633209764133 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.49 [[ 9.99993698e-01 -1.33344177e-03 -3.29030919e-03 5.79341441e-01] [ 1.33552039e-03 9.99998910e-01 6.29626183e-04 -8.56852831e-02] [ 3.28946603e-03 -6.34016490e-04 9.99994389e-01 4.85771790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.172557844 meters 0.2908474987638761 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.49 [[ 9.99993564e-01 -1.31514719e-03 -3.33807111e-03 5.79602006e-01] [ 1.31742018e-03 9.99998902e-01 6.78820576e-04 -8.59112564e-02] [ 3.33717469e-03 -6.83213849e-04 9.99994198e-01 4.85465357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202557844 meters 0.2894764383847408 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.48 [[ 9.99972003e-01 6.04742794e-03 -4.40691950e-03 5.60969405e-01] [-6.05112475e-03 9.99981351e-01 -8.26013305e-04 -8.97460506e-02] [ 4.40184205e-03 8.52656999e-04 9.99989948e-01 4.83137060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.232557844 meters 0.29050790731768134 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.48 [[ 0.99997356 0.00598866 -0.00412581 0.56021848] [-0.00599287 0.99998153 -0.00100964 -0.08893489] [ 0.00411968 0.00103434 0.99999098 0.48324679] [ 0. 0. 0. 1. ]] SLAMing on 211.262557844 meters 0.29075697085862195 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997637e-01 -1.48062543e-03 -1.59192307e-03 5.78342798e-01] [ 1.48085504e-03 9.99998893e-01 1.43065916e-04 -8.39719010e-02] [ 1.59170948e-03 -1.45422985e-04 9.99998723e-01 4.84464029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29255784400002 meters 0.2895081297855764 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997719e-01 -1.53169388e-03 -1.48829218e-03 5.77984904e-01] [ 1.53170494e-03 9.99998827e-01 6.29107929e-06 -8.33789001e-02] [ 1.48828080e-03 -8.57068944e-06 9.99998892e-01 4.84662517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32255784400002 meters 0.28966775999966415 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997730e-01 -1.56036651e-03 -1.45092664e-03 5.77807833e-01] [ 1.56026672e-03 9.99998780e-01 -6.99019755e-05 -8.30484484e-02] [ 1.45103394e-03 6.76379843e-05 9.99998945e-01 4.84842235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35255784400002 meters 0.289919525519961 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997693e-01 -1.63254376e-03 -1.39598474e-03 5.77673254e-01] [ 1.63218678e-03 9.99998635e-01 -2.56819621e-04 -8.22670985e-02] [ 1.39640211e-03 2.54540521e-04 9.99998993e-01 4.84818905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38255784400002 meters 0.2896619689266182 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997614e-01 -1.69982329e-03 -1.37174897e-03 5.77680096e-01] [ 1.69923366e-03 9.99998463e-01 -4.30894949e-04 -8.15579438e-02] [ 1.37247931e-03 4.28562999e-04 9.99998966e-01 4.84654653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41255784400002 meters 0.29017363909404303 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997496e-01 -1.75973522e-03 -1.38254265e-03 5.77762068e-01] [ 1.75892924e-03 9.99998283e-01 -5.83969050e-04 -8.09345042e-02] [ 1.38356790e-03 5.81535793e-04 9.99998874e-01 4.84529999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44255784400002 meters 0.2893016743093818 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997504e-01 -1.80383379e-03 -1.31829613e-03 5.77653037e-01] [ 1.80291004e-03 9.99998129e-01 -7.01571256e-04 -8.04549884e-02] [ 1.31955918e-03 6.99192735e-04 9.99998885e-01 4.84397476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47255784400002 meters 0.2889496358689197 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997582e-01 -1.80689173e-03 -1.25358846e-03 5.77443040e-01] [ 1.80599800e-03 9.99998114e-01 -7.13703601e-04 -8.04003863e-02] [ 1.25487569e-03 7.11437897e-04 9.99998960e-01 4.84492132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50255784400002 meters 0.28937785996430876 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997552e-01 -1.79468752e-03 -1.29395652e-03 5.77607804e-01] [ 1.79380653e-03 9.99998159e-01 -6.81688063e-04 -8.05439573e-02] [ 1.29517755e-03 6.79365287e-04 9.99998930e-01 4.84357298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53255784400002 meters 0.2887621267777008 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997632e-01 -1.74535341e-03 -1.29992702e-03 5.77709485e-01] [ 1.74463602e-03 9.99998325e-01 -5.52794269e-04 -8.10968674e-02] [ 1.30088966e-03 5.50525060e-04 9.99999002e-01 4.84163740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56255784400003 meters 0.2887564529632708 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997742e-01 -1.67155316e-03 -1.31217665e-03 5.77867487e-01] [ 1.67107208e-03 9.99998536e-01 -3.67639990e-04 -8.19027711e-02] [ 1.31278926e-03 3.65446418e-04 9.99999072e-01 4.83885086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592557844 meters 0.28880457557638956 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997756e-01 -1.64791567e-03 -1.33133203e-03 5.77988487e-01] [ 1.64751278e-03 9.99998597e-01 -3.03662382e-04 -8.21784961e-02] [ 1.33183057e-03 3.01468314e-04 9.99999068e-01 4.83724318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622557844 meters 0.28992569997476975 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997691e-01 -1.65846115e-03 -1.36660728e-03 5.78171657e-01] [ 1.65801342e-03 9.99998571e-01 -3.28691434e-04 -8.20903299e-02] [ 1.36715045e-03 3.26424822e-04 9.99999012e-01 4.83508014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652557844 meters 0.2903288537769903 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997587e-01 -1.66151209e-03 -1.43748255e-03 5.78444068e-01] [ 1.66103522e-03 9.99998565e-01 -3.32866381e-04 -8.20861917e-02] [ 1.43803355e-03 3.30477869e-04 9.99998911e-01 4.83297576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.682557844 meters 0.28907450229025233 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997677e-01 -1.56474384e-03 -1.48230433e-03 5.78468994e-01] [ 1.56461555e-03 9.99998772e-01 -8.77033688e-05 -8.30933348e-02] [ 1.48243974e-03 8.53839287e-05 9.99998898e-01 4.83512448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.712557844 meters 0.2885257247304189 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997862e-01 -1.48656633e-03 -1.43714534e-03 5.78182632e-01] [ 1.48673111e-03 9.99998888e-01 1.13595097e-04 -8.39138930e-02] [ 1.43697488e-03 -1.15731503e-04 9.99998961e-01 4.83910956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.742557844 meters 0.28841717227891334 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99998091e-01 -1.46968219e-03 -1.28769693e-03 5.77673864e-01] [ 1.46987739e-03 9.99998908e-01 1.50658240e-04 -8.40158767e-02] [ 1.28747411e-03 -1.52550709e-04 9.99999160e-01 4.84224491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.772557844 meters 0.28948654697275644 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.48 [[ 9.99965386e-01 8.31783378e-03 2.02746057e-04 5.98916026e-01] [-8.31778331e-03 9.99965376e-01 -2.48515198e-04 -8.42580224e-02] [-2.04806145e-04 2.46820198e-04 9.99999949e-01 4.83804760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802557844 meters 0.2890869888969735 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.48 [[ 9.99966233e-01 8.21561671e-03 1.91123459e-04 5.99104153e-01] [-8.21551479e-03 9.99966113e-01 -5.28092903e-04 -8.31346881e-02] [-1.95455591e-04 5.26504894e-04 9.99999842e-01 4.83427344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832557844 meters 0.28927876019031457 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99998146e-01 -9.95155338e-04 -1.64834080e-03 5.80568576e-01] [ 9.95626164e-04 9.99999464e-01 2.84840079e-04 -7.93481413e-02] [ 1.64805646e-03 -2.86480682e-04 9.99998601e-01 4.82275198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862557844 meters 0.2902355938148096 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997687e-01 -1.18417154e-03 -1.79569949e-03 5.81035845e-01] [ 1.18379433e-03 9.99999277e-01 -2.11109382e-04 -7.72972996e-02] [ 1.79594819e-03 2.08983155e-04 9.99998365e-01 4.82046019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892557844 meters 0.2906733032826003 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997707e-01 -1.20713237e-03 -1.76909646e-03 5.80941467e-01] [ 1.20665185e-03 9.99999235e-01 -2.72658375e-04 -7.70387812e-02] [ 1.76942425e-03 2.70523066e-04 9.99998398e-01 4.82095466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922557844 meters 0.28957617886408205 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997846e-01 -1.14401479e-03 -1.73196459e-03 5.80675073e-01] [ 1.14387723e-03 9.99999343e-01 -8.04137115e-05 -7.77656463e-02] [ 1.73205545e-03 7.84323835e-05 9.99998497e-01 4.82551322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952557844 meters 0.28949642077555243 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997785e-01 -1.06876309e-03 -1.81296445e-03 5.80913309e-01] [ 1.06902537e-03 9.99999418e-01 1.43707568e-04 -7.86851067e-02] [ 1.81280981e-03 -1.45645355e-04 9.99998346e-01 4.82472508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982557844 meters 0.2890312690081719 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997472e-01 -1.01257093e-03 -2.00778370e-03 5.81489811e-01] [ 1.01321401e-03 9.99999436e-01 3.19301036e-04 -7.94305287e-02] [ 2.00745925e-03 -3.21334543e-04 9.99997933e-01 4.82252465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012557844 meters 0.29021725638393975 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997253e-01 -9.26537165e-04 -2.15308815e-03 5.81987082e-01] [ 9.27747283e-04 9.99999412e-01 5.61107814e-04 -8.04605031e-02] [ 2.15256700e-03 -5.63103794e-04 9.99997525e-01 4.81967622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04255784400002 meters 0.28992125063847685 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997213e-01 -8.49905690e-04 -2.20259361e-03 5.82165334e-01] [ 8.51586111e-04 9.99999347e-01 7.62102600e-04 -8.13080011e-02] [ 2.20194445e-03 -7.63976174e-04 9.99997284e-01 4.81866164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07255784400002 meters 0.28976701874416483 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997675e-01 -7.86575090e-04 -2.00778345e-03 5.81503941e-01] [ 7.88432901e-04 9.99999262e-01 9.24680648e-04 -8.19291539e-02] [ 2.00705463e-03 -9.26261501e-04 9.99997557e-01 4.82324183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10255784400002 meters 0.2886026595043015 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99998019e-01 -7.74026716e-04 -1.83372579e-03 5.80963979e-01] [ 7.75772814e-04 9.99999246e-01 9.51693251e-04 -8.20088015e-02] [ 1.83298777e-03 -9.53113921e-04 9.99997866e-01 4.82556054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13255784400002 meters 0.2877668118550572 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99998218e-01 -7.59779197e-04 -1.72848188e-03 5.80676729e-01] [ 7.61485386e-04 9.99999223e-01 9.86658642e-04 -8.21396155e-02] [ 1.72773089e-03 -9.87973097e-04 9.99998019e-01 4.82605654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16255784400002 meters 0.2899822860615749 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:0.48 [[ 9.99978370e-01 6.55486410e-03 -5.41065178e-04 6.04403656e-01] [-6.55583713e-03 9.99976860e-01 -1.81661887e-03 -8.13580269e-02] [ 5.29144968e-04 1.82012672e-03 9.99998204e-01 4.79881031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19255784400002 meters 0.289310846114275 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99991189e-01 -1.98001108e-03 -3.70152708e-03 5.86260632e-01] [ 1.97810407e-03 9.99997909e-01 -5.18786149e-04 -8.03500540e-02] [ 3.70254655e-03 5.11459572e-04 9.99993015e-01 4.78954526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22255784400002 meters 0.289310846114275 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99991189e-01 -1.98001108e-03 -3.70152708e-03 5.86260632e-01] [ 1.97810407e-03 9.99997909e-01 -5.18786149e-04 -8.03500540e-02] [ 3.70254655e-03 5.11459572e-04 9.99993015e-01 4.78954526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25255784400002 meters 0.28769767743301006 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99991270e-01 -1.95479006e-03 -3.69311034e-03 5.86348376e-01] [ 1.95313780e-03 9.99997991e-01 -4.50945218e-04 -8.06456442e-02] [ 3.69398443e-03 4.43728128e-04 9.99993079e-01 4.78699594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28255784400002 meters 0.29094870054014216 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:0.48 [[ 9.99991594e-01 -2.95013085e-04 -4.08963323e-03 6.25576304e-01] [ 2.93696063e-04 9.99999905e-01 -3.22636002e-04 -7.83988587e-02] [ 4.08972802e-03 3.21432181e-04 9.99991585e-01 4.81362266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31255784400003 meters 0.2896144464522703 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99993063e-01 -1.47179600e-03 -3.42179607e-03 5.87792464e-01] [ 1.47141420e-03 9.99998911e-01 -1.14093587e-04 -8.09127259e-02] [ 3.42196027e-03 1.09057916e-04 9.99994139e-01 4.77411123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters 0.2905619120196895 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99992766e-01 -1.47744534e-03 -3.50497725e-03 5.88065486e-01] [ 1.47700850e-03 9.99998901e-01 -1.27218341e-04 -8.08768889e-02] [ 3.50516136e-03 1.22040540e-04 9.99993849e-01 4.77266755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372557844 meters 0.28979436847718193 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99992518e-01 -1.48038290e-03 -3.57381444e-03 5.88305097e-01] [ 1.47991743e-03 9.99998896e-01 -1.32886303e-04 -8.08662084e-02] [ 3.57400722e-03 1.27596359e-04 9.99993605e-01 4.77130236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters 0.2898105292307696 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:0.48 [[ 9.99992516e-01 -1.51534681e-03 -3.55961318e-03 5.88327865e-01] [ 1.51456827e-03 9.99998829e-01 -2.21399698e-04 -8.05062594e-02] [ 3.55994451e-03 2.16006764e-04 9.99993640e-01 4.76994279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.432557844 meters 0.28875581963243757 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.48 [[ 0.99998428 0.00368522 -0.00422494 0.56360292] [-0.00370049 0.99998663 -0.00361277 -0.08187924] [ 0.00421157 0.00362835 0.99998455 0.47910051] [ 0. 0. 0. 1. ]] SLAMing on 212.462557844 meters 0.28951658285714654 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:0.48 [[ 9.99997808e-01 -2.02175588e-03 -5.45093852e-04 5.84449904e-01] [ 2.02134684e-03 9.99997676e-01 -7.49911241e-04 -8.39884839e-02] [ 5.46608722e-04 7.48807773e-04 9.99999570e-01 4.77770503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.492557844 meters 0.2896240964357298 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99997999e-01 -1.92657564e-03 -5.38025640e-04 5.84330862e-01] [ 1.92631961e-03 9.99998031e-01 -4.75998181e-04 -8.50820634e-02] [ 5.38941627e-04 4.74960819e-04 9.99999742e-01 4.78026658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.522557844 meters 0.28916618041952136 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99998167e-01 -1.85166681e-03 -4.86880612e-04 5.84159162e-01] [ 1.85153693e-03 9.99998250e-01 -2.67074508e-04 -8.59203331e-02] [ 4.87374293e-04 2.66172541e-04 9.99999846e-01 4.78141964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552557844 meters 0.28892475360258857 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99998520e-01 -1.65747637e-03 -4.60451035e-04 5.84016282e-01] [ 1.65762720e-03 9.99998573e-01 3.27382489e-04 -8.82655951e-02] [ 4.59907749e-04 -3.28145260e-04 9.99999840e-01 4.78381322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582557844 meters 0.2883845812006133 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99998646e-01 -1.54298173e-03 -5.72668785e-04 5.84302725e-01] [ 1.54335447e-03 9.99998597e-01 6.51015885e-04 -8.95919909e-02] [ 5.71663476e-04 -6.51898834e-04 9.99999624e-01 4.78389790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612557844 meters 0.28934678269622577 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99998763e-01 -1.42257623e-03 -6.70435200e-04 5.84572272e-01] [ 1.42323384e-03 9.99998506e-01 9.81402963e-04 -9.09566911e-02] [ 6.69038078e-04 -9.82355936e-04 9.99999294e-01 4.78353009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642557844 meters 0.28806272806379135 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:0.48 [[ 9.99998847e-01 -1.34140883e-03 -7.12263481e-04 5.84603779e-01] [ 1.34226448e-03 9.99998377e-01 1.20218975e-03 -9.18558453e-02] [ 7.10649697e-04 -1.20314441e-03 9.99999024e-01 4.78530126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672557844 meters 0.28705297789622436 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:0.48 [[ 0.99999068 0.00369298 -0.00223536 0.56065981] [-0.00369724 0.99999135 -0.00190384 -0.09464136] [ 0.00222831 0.00191209 0.99999569 0.48066318] [ 0. 0. 0. 1. ]] SLAMing on 212.702557844 meters 0.2879204713920975 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.48 [[ 9.99996784e-01 -2.33210975e-03 9.96152632e-04 5.81877913e-01] [ 2.33132557e-03 9.99996972e-01 7.87653359e-04 -9.68442011e-02] [-9.97986510e-04 -7.85328470e-04 9.99999194e-01 4.79087869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732557844 meters 0.2884326668124271 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.48 [[ 9.99997118e-01 -2.22612698e-03 8.98565365e-04 5.82120940e-01] [ 2.22514684e-03 9.99996930e-01 1.09031143e-03 -9.80773212e-02] [-9.00989778e-04 -1.08830885e-03 9.99999002e-01 4.79102282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762557844 meters 0.2884458921492985 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.48 [[ 9.99997478e-01 -2.10312178e-03 7.88153624e-04 5.82446130e-01] [ 2.10198556e-03 9.99996754e-01 1.43968032e-03 -9.95137168e-02] [-7.91178889e-04 -1.43802000e-03 9.99998653e-01 4.78997689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79255784400002 meters 0.2886074752011725 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.48 [[ 9.99997916e-01 -1.86396882e-03 8.32731450e-04 5.82263911e-01] [ 1.86218186e-03 9.99995973e-01 2.14154715e-03 -1.02342366e-01] [-8.36719873e-04 -2.13999199e-03 9.99997360e-01 4.79184313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82255784400002 meters 0.2876673734092418 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:0.48 [[ 9.99998139e-01 -1.72239488e-03 8.69013989e-04 5.81998309e-01] [ 1.72018385e-03 9.99995298e-01 2.53866925e-03 -1.03943410e-01] [-8.73382494e-04 -2.53716966e-03 9.99996400e-01 4.79601113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85255784400002 meters 0.28926675440765276 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:0.48 [[ 9.99983947e-01 4.65461531e-03 3.23106468e-03 6.02908192e-01] [-4.65209186e-03 9.99988868e-01 -7.88074294e-04 -1.05962346e-01] [-3.23469689e-03 7.73030434e-04 9.99994470e-01 4.78849153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88255784400002 meters 0.2885609016857798 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:0.48 [[ 9.99982660e-01 4.94106257e-03 3.20384694e-03 6.02780840e-01] [-4.94104012e-03 9.99987793e-01 -1.49217931e-05 -1.09085012e-01] [-3.20388156e-03 -9.08801958e-07 9.99994868e-01 4.79252502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91255784400002 meters 0.28917580870261983 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:0.48 [[ 9.99982306e-01 5.05877716e-03 3.12985428e-03 6.03003596e-01] [-5.05974917e-03 9.99987154e-01 3.02722199e-04 -1.10403426e-01] [-3.12828267e-03 -3.18553120e-04 9.99995056e-01 4.79179792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94255784400002 meters 0.2883920525283851 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:0.48 [[ 9.99981858e-01 5.16794630e-03 3.09452083e-03 6.03185440e-01] [-5.16982468e-03 9.99986457e-01 5.99312866e-04 -1.11645767e-01] [-3.09138170e-03 -6.15300124e-04 9.99995032e-01 4.78965311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97255784400002 meters 0.28791258249709184 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:0.48 [[ 0.99998019 0.00545303 0.00314537 0.60292523] [-0.00545751 0.9999841 0.00141664 -0.11493872] [-0.0031376 -0.00143378 0.99999405 0.47925575] [ 0. 0. 0. 1. ]] SLAMing on 213.00255784400002 meters 0.28748267341999134 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99997904 0.00560672 0.00323735 0.60252995] [-0.00561271 0.99998255 0.00184342 -0.11665385] [-0.00322696 -0.00186155 0.99999306 0.4796266 ] [ 0. 0. 0. 1. ]] SLAMing on 213.03255784400002 meters 0.28790984698024014 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99997829 0.00575521 0.00320991 0.60247346] [-0.00576248 0.99998084 0.00226148 -0.11833473] [-0.00319683 -0.00227993 0.99999229 0.47992299] [ 0. 0. 0. 1. ]] SLAMing on 213.06255784400003 meters 0.2883560625148438 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99999376 0.00151478 0.00319215 0.60270753] [-0.00150885 0.99999714 -0.00185832 -0.11921011] [-0.00319495 0.00185349 0.99999318 0.47943113] [ 0. 0. 0. 1. ]] SLAMing on 213.092557844 meters 0.28883498939147856 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.9999939 0.00159339 0.00310839 0.60306038] [-0.00158831 0.9999974 -0.00163522 -0.1201577 ] [-0.00311098 0.00163027 0.99999383 0.47908243] [ 0. 0. 0. 1. ]] SLAMing on 213.122557844 meters 0.28856762529299673 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99999391 0.00163748 0.00308227 0.60328053] [-0.00163281 0.99999752 -0.00151615 -0.12067191] [-0.00308474 0.00151111 0.9999941 0.47871819] [ 0. 0. 0. 1. ]] SLAMing on 213.152557844 meters 0.28894158778551327 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.9999943 0.0016243 0.00296073 0.60360142] [-0.00161972 0.99999749 -0.00154667 -0.12055226] [-0.00296323 0.00154186 0.99999442 0.478695 ] [ 0. 0. 0. 1. ]] SLAMing on 213.182557844 meters 0.28865695765436866 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99999452 0.00146999 0.00296566 0.6035237 ] [-0.00146416 0.99999699 -0.00196759 -0.11879841] [-0.00296854 0.00196323 0.99999367 0.47885926] [ 0. 0. 0. 1. ]] SLAMing on 213.212557844 meters 0.2874157308922383 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:0.48 [[ 0.99999463 0.00131113 0.00300384 0.60342139] [-0.0013039 0.99999625 -0.00240824 -0.11698967] [-0.00300699 0.00240431 0.99999259 0.47888054] [ 0. 0. 0. 1. ]] SLAMing on 213.242557844 meters 0.2895514715801577 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:0.48 [[ 0.99999393 0.00275036 0.00214058 0.64243454] [-0.00274376 0.99999149 -0.00308164 -0.11235501] [-0.00214904 0.00307575 0.99999296 0.48159595] [ 0. 0. 0. 1. ]] SLAMing on 213.272557844 meters 0.2895447192943468 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:0.48 [[ 0.99999461 0.00254559 0.00207427 0.64280038] [-0.00253805 0.99999021 -0.00362574 -0.11015036] [-0.00208348 0.00362046 0.99999128 0.48117874] [ 0. 0. 0. 1. ]] SLAMing on 213.302557844 meters 0.2890443920808056 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.10, Z:0.48 [[ 9.99991037e-01 -4.14262874e-03 -8.74357118e-04 6.22620808e-01] [ 4.14159005e-03 9.99990720e-01 -1.18642873e-03 -1.04247132e-01] [ 8.79263938e-04 1.18279687e-03 9.99998914e-01 4.81542140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332557844 meters 0.28972017571496156 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 0.99999552 -0.00236881 -0.00182792 0.66199389] [ 0.0023665 0.9999964 -0.0012648 -0.1007952 ] [ 0.00183091 0.00126046 0.99999753 0.4841657 ] [ 0. 0. 0. 1. ]] SLAMing on 213.362557844 meters 0.28960645985356487 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 0.99999546 -0.00245342 -0.00175093 0.66166897] [ 0.00245079 0.99999587 -0.00149982 -0.09983484] [ 0.0017546 0.00149552 0.99999734 0.48447937] [ 0. 0. 0. 1. ]] SLAMing on 213.392557844 meters 0.28936671497735345 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 0.99999562 -0.00250583 -0.00157367 0.66091933] [ 0.00250323 0.9999955 -0.00165281 -0.09917807] [ 0.0015778 0.00164887 0.9999974 0.48526547] [ 0. 0. 0. 1. ]] SLAMing on 213.422557844 meters 0.28886038540957376 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 9.99996459e-01 -2.53539402e-03 -8.08496704e-04 6.58475982e-01] [ 2.53397139e-03 9.99995248e-01 -1.75578719e-03 -9.85682911e-02] [ 8.12944475e-04 1.75373226e-03 9.99998132e-01 4.86759053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452557844 meters 0.28727056224111414 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.10, Z:0.48 [[ 9.99994227e-01 -3.36798149e-03 -4.51115098e-04 6.20115320e-01] [ 3.36741330e-03 9.99993543e-01 -1.25443474e-03 -9.90533572e-02] [ 4.55337098e-04 1.25290840e-03 9.99999111e-01 4.83828134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482557844 meters 0.28989863578569874 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 9.99996846e-01 -1.91724212e-03 -1.62229817e-03 6.60360824e-01] [ 1.91581402e-03 9.99997776e-01 -8.81388788e-04 -1.00040286e-01] [ 1.62398439e-03 8.78277987e-04 9.99998296e-01 4.86087870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512557844 meters 0.2881726345829793 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 9.99996814e-01 -1.88348461e-03 -1.68056391e-03 6.60490516e-01] [ 1.88216046e-03 9.99997917e-01 -7.89157135e-04 -1.00408561e-01] [ 1.68204677e-03 7.85991530e-04 9.99998276e-01 4.86111040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54255784400002 meters 0.2885262249270078 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 9.99996901e-01 -1.85505873e-03 -1.66012036e-03 6.60309313e-01] [ 1.85387686e-03 9.99998027e-01 -7.13172953e-04 -1.00705831e-01] [ 1.66144006e-03 7.10093085e-04 9.99998368e-01 4.86417963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57255784400002 meters 0.2881795964318036 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.49 [[ 9.99997049e-01 -1.83072096e-03 -1.59690830e-03 6.60016874e-01] [ 1.82968553e-03 9.99998115e-01 -6.49619152e-04 -1.00955370e-01] [ 1.59809456e-03 6.46695395e-04 9.99998514e-01 4.86728707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60255784400002 meters 0.2872961745695307 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:0.49 [[ 0.99997953 0.0060919 -0.00195509 0.63981755] [-0.0060955 0.99997973 -0.0018373 -0.10353426] [ 0.00194386 0.00184918 0.9999964 0.48545032] [ 0. 0. 0. 1. ]] SLAMing on 213.63255784400002 meters 0.28967665626759476 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.48 [[ 9.99999373e-01 6.10277035e-04 9.39039011e-04 6.63050291e-01] [-6.11239885e-04 9.99999287e-01 1.02541164e-03 -1.05200364e-01] [-9.38412557e-04 -1.02598498e-03 9.99999033e-01 4.82959818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66255784400002 meters 0.28910638728408194 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999445e-01 5.08248502e-04 9.22397851e-04 6.63243850e-01] [-5.08932180e-04 9.99999596e-01 7.41113987e-04 -1.04056801e-01] [-9.22020808e-04 -7.41583013e-04 9.99999300e-01 4.82606213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69255784400002 meters 0.28918572267047143 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999544e-01 4.20862481e-04 8.57410853e-04 6.63513885e-01] [-4.21299036e-04 9.99999782e-01 5.09038868e-04 -1.03115904e-01] [-8.57196431e-04 -5.09399862e-04 9.99999503e-01 4.82386599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72255784400002 meters 0.28967992836510986 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999640e-01 3.13899421e-04 7.88796613e-04 6.63807737e-01] [-3.14071691e-04 9.99999927e-01 2.18281233e-04 -1.01941794e-01] [-7.88728037e-04 -2.18528893e-04 9.99999665e-01 4.82124438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75255784400002 meters 0.28821607978672636 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999685e-01 1.87069959e-04 7.71768053e-04 6.63949876e-01] [-1.86953566e-04 9.99999971e-01 -1.50883208e-04 -1.00468444e-01] [-7.71796256e-04 1.50738875e-04 9.99999691e-01 4.81894217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78255784400002 meters 0.28852456328993115 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999769e-01 -4.19479167e-05 6.77739250e-04 6.64295740e-01] [ 4.26086068e-05 9.99999524e-01 -9.74859094e-04 -9.72998994e-02] [-6.77698034e-04 9.74887747e-04 9.99999295e-01 4.81649056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81255784400003 meters 0.2890954289276641 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999801e-01 -1.50781645e-04 6.12005193e-04 6.64492591e-01] [ 1.51566899e-04 9.99999165e-01 -1.28324156e-03 -9.60543051e-02] [-6.11811193e-04 1.28333407e-03 9.99998989e-01 4.81592090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters 0.2882077143476005 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99999845e-01 -2.36403569e-04 5.03360617e-04 6.64863059e-01] [ 2.37167571e-04 9.99998819e-01 -1.51828442e-03 -9.51001446e-02] [-5.03001095e-04 1.51840356e-03 9.99998721e-01 4.81380161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872557844 meters 0.2889026912451277 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.48 [[ 9.99999860e-01 -3.01848775e-04 4.33811032e-04 6.65218386e-01] [ 3.02583367e-04 9.99998519e-01 -1.69427967e-03 -9.43933480e-02] [-4.33298973e-04 1.69441069e-03 9.99998471e-01 4.80966249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters 0.289041098884386 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.48 [[ 9.99999849e-01 -4.08100859e-04 3.68008505e-04 6.65542836e-01] [ 4.08827490e-04 9.99997963e-01 -1.97658553e-03 -9.32457879e-02] [-3.67201109e-04 1.97673568e-03 9.99997979e-01 4.80609203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.932557844 meters 0.2891009854949936 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.48 [[ 9.99999879e-01 -3.93435641e-04 2.94389541e-04 6.65751123e-01] [ 3.94005135e-04 9.99998047e-01 -1.93694093e-03 -9.34105275e-02] [-2.93626905e-04 1.93705669e-03 9.99998081e-01 4.80563111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.962557844 meters 0.2900520597090508 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.48 [[ 9.99999895e-01 -4.10229381e-04 2.04180932e-04 6.66057523e-01] [ 4.10633309e-04 9.99997951e-01 -1.98219440e-03 -9.32343190e-02] [-2.03367359e-04 1.98227804e-03 9.99998015e-01 4.80387972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.992557844 meters 0.2890040208368456 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:0.48 [[ 0.999972 -0.00707524 -0.00243651 0.64450425] [ 0.00707771 0.99997445 0.00100442 -0.09359466] [ 0.00242934 -0.00102164 0.99999653 0.48193549] [ 0. 0. 0. 1. ]] SLAMing on 214.022557844 meters 0.2893347645367679 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:0.48 [[ 9.99971679e-01 -7.10185155e-03 -2.49084860e-03 6.44626648e-01] [ 7.10419837e-03 9.99974328e-01 9.34599087e-04 -9.33085521e-02] [ 2.48414728e-03 -9.52268101e-04 9.99996461e-01 4.81973676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052557844 meters 0.2895105445103692 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:0.48 [[ 9.99971340e-01 -7.14993735e-03 -2.48950635e-03 6.44567453e-01] [ 7.15196198e-03 9.99974100e-01 8.05313536e-04 -9.27706680e-02] [ 2.48368393e-03 -8.23095311e-04 9.99996577e-01 4.82106232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082557844 meters 0.29000275414776305 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.48 [[ 9.99997912e-01 1.57681197e-03 -1.30021051e-03 6.63838989e-01] [-1.57756718e-03 9.99998587e-01 -5.80019280e-04 -9.52853964e-02] [ 1.29929409e-03 5.82069238e-04 9.99998987e-01 4.83225454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112557844 meters 0.2897348150836252 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 9.99998011e-01 1.50091242e-03 -1.31318343e-03 6.63841075e-01] [-1.50194649e-03 9.99998563e-01 -7.86819930e-04 -9.44376040e-02] [ 1.31200059e-03 7.88790697e-04 9.99998828e-01 4.83308498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142557844 meters 0.2897348150836252 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 9.99998011e-01 1.50091242e-03 -1.31318343e-03 6.63841075e-01] [-1.50194649e-03 9.99998563e-01 -7.86819930e-04 -9.44376040e-02] [ 1.31200059e-03 7.88790697e-04 9.99998828e-01 4.83308498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172557844 meters 0.28959292699488026 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 0.99999816 0.00138535 -0.00132791 0.66391657] [-0.00138681 0.99999843 -0.00110156 -0.09316455] [ 0.00132638 0.0011034 0.99999851 0.48323723] [ 0. 0. 0. 1. ]] SLAMing on 214.202557844 meters 0.2904949710480942 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 0.99999849 0.00115141 -0.00129879 0.66393054] [-0.00115369 0.99999779 -0.00175775 -0.09053424] [ 0.00129676 0.00175925 0.99999761 0.48306267] [ 0. 0. 0. 1. ]] SLAMing on 214.232557844 meters 0.28969346997090595 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 0.99999868 0.00102733 -0.0012553 0.66368228] [-0.00102996 0.99999728 -0.0020935 -0.08914784] [ 0.00125315 0.00209479 0.99999702 0.48339868] [ 0. 0. 0. 1. ]] SLAMing on 214.262557844 meters 0.2898526117933094 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 9.99998870e-01 8.99741682e-04 -1.20471058e-03 6.63407608e-01] [-9.02669534e-04 9.99996635e-01 -2.43200206e-03 -8.77422897e-02] [ 1.20251835e-03 2.43308676e-03 9.99996317e-01 4.83754453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29255784400002 meters 0.28951860888588815 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.48 [[ 9.99999034e-01 7.48174464e-04 -1.17154499e-03 6.63152757e-01] [-7.51473641e-04 9.99995747e-01 -2.81818785e-03 -8.61163383e-02] [ 1.16943151e-03 2.81906551e-03 9.99995343e-01 4.84144954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32255784400002 meters 0.2889123966891926 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.48 [[ 9.99999361e-01 3.16856477e-04 -1.08483461e-03 6.62705456e-01] [-3.21032923e-04 9.99992530e-01 -3.85183919e-03 -8.18806982e-02] [ 1.08360602e-03 3.85218500e-03 9.99991993e-01 4.84568057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35255784400002 meters 0.28855481483225426 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.48 [[ 9.99999457e-01 1.23154857e-04 -1.03444215e-03 6.62574720e-01] [-1.27657905e-04 9.99990512e-01 -4.35417984e-03 -7.98246624e-02] [ 1.03389610e-03 4.35430954e-03 9.99989985e-01 4.84605683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38255784400002 meters 0.28889493901443897 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.48 [[ 9.99999509e-01 -5.64826171e-05 -9.89382392e-04 6.62502331e-01] [ 5.17124905e-05 9.99988379e-01 -4.82067966e-03 -7.79223673e-02] [ 9.89643179e-04 4.82062613e-03 9.99987891e-01 4.84537833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41255784400002 meters 0.28814271762395516 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.48 [[ 9.99999518e-01 -1.96710053e-04 -9.62114623e-04 6.62399294e-01] [ 1.91720952e-04 9.99986550e-01 -5.18290337e-03 -7.64415534e-02] [ 9.63121212e-04 5.18271641e-03 9.99986106e-01 4.84646227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44255784400002 meters 0.2904348225663715 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:0.48 [[ 9.99981612e-01 -6.04223588e-03 5.17040563e-04 6.84776579e-01] [ 6.04341304e-03 9.99979079e-01 -2.30627470e-03 -7.21748824e-02] [-5.03094690e-04 2.30935698e-03 9.99997207e-01 4.83930544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47255784400002 meters 0.28870063300436966 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:0.48 [[ 0.99998196 -0.00589516 0.00115617 0.64553061] [ 0.00589702 0.9999813 -0.00161819 -0.07043865] [-0.00114661 0.00162498 0.99999802 0.48126774] [ 0. 0. 0. 1. ]] SLAMing on 214.50255784400002 meters 0.2895031880670844 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:0.48 [[ 0.99999237 0.00303667 0.00245585 0.66498712] [-0.00302999 0.99999171 -0.00271894 -0.07404528] [-0.00246409 0.00271148 0.99999329 0.4815562 ] [ 0. 0. 0. 1. ]] SLAMing on 214.53255784400002 meters 0.2894101604503279 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.48 [[ 0.99999287 0.0028688 0.00245578 0.66500981] [-0.002861 0.99999086 -0.00317651 -0.07219609] [-0.00246487 0.00316946 0.99999194 0.48157014] [ 0. 0. 0. 1. ]] SLAMing on 214.56255784400003 meters 0.2891476023462836 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.48 [[ 0.99999346 0.00270023 0.00240792 0.66525136] [-0.00269152 0.99998985 -0.00361457 -0.07040407] [-0.00241766 0.00360806 0.99999057 0.48134196] [ 0. 0. 0. 1. ]] SLAMing on 214.592557844 meters 0.28914056687991124 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.48 [[ 0.9999941 0.00256886 0.00228234 0.66568147] [-0.00255975 0.99998878 -0.00398491 -0.06890587] [-0.00229255 0.00397904 0.99998946 0.48110996] [ 0. 0. 0. 1. ]] SLAMing on 214.622557844 meters 0.289270630533494 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.48 [[ 0.99999476 0.00242686 0.00214112 0.66615677] [-0.00241744 0.99998744 -0.00438999 -0.0672722 ] [-0.00215175 0.00438479 0.99998807 0.48085182] [ 0. 0. 0. 1. ]] SLAMing on 214.652557844 meters 0.2901260014844528 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.48 [[ 0.99999549 0.00211572 0.0021304 0.66630008] [-0.00210409 0.99998296 -0.00544555 -0.06316273] [-0.00214189 0.00544104 0.9999829 0.4806131 ] [ 0. 0. 0. 1. ]] SLAMing on 214.682557844 meters 0.29019857232198315 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.48 [[ 0.99999574 0.00193795 0.00218337 0.66617444] [-0.00192489 0.99998032 -0.00597148 -0.06106403] [-0.0021949 0.00596725 0.99997979 0.48063176] [ 0. 0. 0. 1. ]] SLAMing on 214.712557844 meters 0.29043581054536083 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.48 [[ 0.99999623 0.00174656 0.00212021 0.6664104 ] [-0.00173269 0.9999772 -0.00652672 -0.05883879] [-0.00213156 0.00652302 0.99997645 0.48050716] [ 0. 0. 0. 1. ]] SLAMing on 214.742557844 meters 0.28888897349290915 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:0.48 [[ 9.99991993e-01 -3.98234497e-03 -3.94512615e-04 6.44707926e-01] [ 3.98102923e-03 9.99986691e-01 -3.28157685e-03 -5.58010305e-02] [ 4.07575735e-04 3.27998000e-03 9.99994538e-01 4.81748956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.772557844 meters 0.2905009289583806 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.48 [[ 9.99990714e-01 -4.26202736e-03 -6.38027931e-04 6.45497353e-01] [ 4.25938450e-03 9.99982574e-01 -4.08781476e-03 -5.24938378e-02] [ 6.55439191e-04 4.08505920e-03 9.99991441e-01 4.81354743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802557844 meters 0.2895077333044558 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.48 [[ 9.99990321e-01 -4.35254446e-03 -6.43287097e-04 6.45455833e-01] [ 4.34972214e-03 9.99981185e-01 -4.32549441e-03 -5.15211679e-02] [ 6.62101900e-04 4.32265442e-03 9.99990438e-01 4.81494751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832557844 meters 0.2902581386611645 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.48 [[ 9.99989973e-01 -4.43839465e-03 -5.96121242e-04 6.45205483e-01] [ 4.43563722e-03 9.99979811e-01 -4.54992376e-03 -5.05924554e-02] [ 6.16303564e-04 4.54723396e-03 9.99989471e-01 4.81808902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862557844 meters 0.2904889767193324 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:0.48 [[ 9.99999915e-01 -1.42928550e-04 -3.85544235e-04 6.44459583e-01] [ 1.42789485e-04 9.99999925e-01 -3.60700825e-04 -5.02758573e-02] [ 3.85595761e-04 3.60645743e-04 9.99999861e-01 4.82294206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892557844 meters 0.29050432696577627 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:0.48 [[ 9.99999902e-01 -1.97720723e-04 -3.95501803e-04 6.44487644e-01] [ 1.97519436e-04 9.99999851e-01 -5.08913328e-04 -4.96733664e-02] [ 3.95602367e-04 5.08835159e-04 9.99999792e-01 4.82291167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922557844 meters 0.2900617257606037 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:0.48 [[ 9.99999874e-01 -2.59793708e-04 -4.28920540e-04 6.44654147e-01] [ 2.59503295e-04 9.99999737e-01 -6.76995749e-04 -4.89884711e-02] [ 4.29096307e-04 6.76884358e-04 9.99999679e-01 4.82109069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952557844 meters 0.2912342177404895 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.48 [[ 9.99999688e-01 -5.03975796e-04 -6.08773193e-04 6.45331022e-01] [ 5.03199102e-04 9.99999060e-01 -1.27531466e-03 -4.65143242e-02] [ 6.09415349e-04 1.27500792e-03 9.99999001e-01 4.81720554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982557844 meters 0.29141864209468493 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:0.48 [[ 9.99999554e-01 -6.60351766e-04 -6.75698662e-04 6.45516605e-01] [ 6.59222121e-04 9.99998387e-01 -1.67067677e-03 -4.48955996e-02] [ 6.76800806e-04 1.67023059e-03 9.99998376e-01 4.81725773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012557844 meters 0.29036183459018194 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:0.49 [[ 9.99999588e-01 7.79958129e-04 4.65168154e-04 6.39966916e-01] [-7.79728553e-04 9.99999574e-01 -4.93511890e-04 -4.35121126e-02] [-4.65552875e-04 4.93148981e-04 9.99999770e-01 4.85496825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04255784400002 meters 0.2895816802898802 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:0.49 [[ 9.99999679e-01 6.49907537e-04 4.67853817e-04 6.39874363e-01] [-6.49512883e-04 9.99999434e-01 -8.43200972e-04 -4.20863882e-02] [-4.68401555e-04 8.42896825e-04 9.99999535e-01 4.85724209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07255784400002 meters 0.29112538049924597 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999348e-01 6.46231352e-04 -9.41742151e-04 6.79115758e-01] [-6.47647894e-04 9.99998658e-01 -1.50464343e-03 -4.09110815e-02] [ 9.40768540e-04 1.50525236e-03 9.99998425e-01 4.89212721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10255784400002 meters 0.2909313118415179 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999378e-01 5.08605953e-04 -9.92773342e-04 6.79305560e-01] [-5.10443923e-04 9.99998155e-01 -1.85197447e-03 -3.94789329e-02] [ 9.91829585e-04 1.85248008e-03 9.99997792e-01 4.89114778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13255784400002 meters 0.2908362075346214 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999514e-01 2.45412442e-04 -9.54972393e-04 6.79163029e-01] [-2.47752949e-04 9.99996964e-01 -2.45151702e-03 -3.70001769e-02] [ 9.54367861e-04 2.45175242e-03 9.99996539e-01 4.89231232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16255784400002 meters 0.29161573083534675 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999576e-01 1.90106578e-04 -9.00507532e-04 6.78993272e-01] [-1.92446667e-04 9.99996603e-01 -2.59926024e-03 -3.64017402e-02] [ 9.00010337e-04 2.59943243e-03 9.99996216e-01 4.89315198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19255784400002 meters 0.29078689468358676 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999642e-01 1.40553997e-04 -8.33944109e-04 6.78856900e-01] [-1.42838389e-04 9.99996236e-01 -2.73983581e-03 -3.58347646e-02] [ 8.33555876e-04 2.73995395e-03 9.99995899e-01 4.89246023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22255784400002 meters 0.28944461940785443 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:0.49 [[ 9.99974192e-01 -6.24414461e-03 -3.55326455e-03 6.56931255e-01] [ 6.24434499e-03 9.99980503e-01 4.53027021e-05 -3.58421602e-02] [ 3.55291239e-03 -6.74893427e-05 9.99993686e-01 4.90996164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25255784400002 meters 0.29048974790820425 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99993999e-01 2.84156927e-03 -1.98185610e-03 6.76479452e-01] [-2.84269698e-03 9.99995799e-01 -5.66434595e-04 -3.89271676e-02] [ 1.98023821e-03 5.72065012e-04 9.99997876e-01 4.91019027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28255784400002 meters 0.28983594132552926 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99994225e-01 2.81570646e-03 -1.90295768e-03 6.76255460e-01] [-2.81691950e-03 9.99995831e-01 -6.35072758e-04 -3.86511662e-02] [ 1.90116157e-03 6.40429569e-04 9.99997988e-01 4.91074147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31255784400003 meters 0.289592567426044 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99994410e-01 2.79995081e-03 -1.82761068e-03 6.76027196e-01] [-2.80119440e-03 9.99995847e-01 -6.78239290e-04 -3.84806707e-02] [ 1.82570406e-03 6.83354992e-04 9.99998100e-01 4.91163834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters 0.29013607758888604 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99994458e-01 2.77899898e-03 -1.83313384e-03 6.76065513e-01] [-2.78035314e-03 9.99995864e-01 -7.36577481e-04 -3.82432726e-02] [ 1.83107931e-03 7.41670159e-04 9.99998049e-01 4.91111802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372557844 meters 0.28904006393514897 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.49 [[ 9.99979895e-01 -5.67430238e-03 -2.83041932e-03 6.56513631e-01] [ 5.67503577e-03 9.99983865e-01 2.51144772e-04 -3.32005665e-02] [ 2.82894859e-03 -2.67202453e-04 9.99995963e-01 4.90179214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters 0.29229858255710184 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 0.999984 -0.00395825 -0.00404245 0.69709737] [ 0.0039642 0.99999107 0.00146557 -0.03262043] [ 0.00403661 -0.00148157 0.99999076 0.49296263] [ 0. 0. 0. 1. ]] SLAMing on 215.432557844 meters 0.2896704697427059 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.50 [[ 0.99997243 0.00274799 -0.00689825 0.67460804] [-0.00275541 0.99999564 -0.00106587 -0.02929353] [ 0.00689529 0.00108484 0.99997564 0.49510985] [ 0. 0. 0. 1. ]] SLAMing on 215.462557844 meters 0.2900297337489857 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.50 [[ 0.99997291 0.0026293 -0.00687513 0.67450975] [-0.00263886 0.99999557 -0.00138072 -0.02800266] [ 0.00687147 0.00139883 0.99997541 0.49522151] [ 0. 0. 0. 1. ]] SLAMing on 215.492557844 meters 0.29098062802512786 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.49 [[ 0.9999731 0.00249467 -0.00689695 0.67477063] [-0.00250668 0.99999536 -0.0017337 -0.02653971] [ 0.00689259 0.00175094 0.99997471 0.49477565] [ 0. 0. 0. 1. ]] SLAMing on 215.522557844 meters 0.2900823355215444 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99997285 0.00242992 -0.00695687 0.67501116] [-0.00244323 0.9999952 -0.00190565 -0.02582934] [ 0.0069522 0.00192259 0.99997398 0.49458752] [ 0. 0. 0. 1. ]] SLAMing on 215.552557844 meters 0.29041496833204744 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99997277 0.00238018 -0.00698563 0.6751965 ] [-0.00239447 0.99999506 -0.00203771 -0.02528097] [ 0.00698074 0.00205438 0.99997352 0.49434273] [ 0. 0. 0. 1. ]] SLAMing on 215.582557844 meters 0.2894557366614256 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:0.49 [[ 0.99998042 0.00203599 -0.00591719 0.63540531] [-0.0020507 0.99999482 -0.00248228 -0.02218254] [ 0.00591211 0.00249437 0.99997941 0.49165916] [ 0. 0. 0. 1. ]] SLAMing on 215.612557844 meters 0.29106802251643904 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99999498 0.00176192 -0.00263448 0.6802452 ] [-0.00176899 0.99999484 -0.00268244 -0.0240175 ] [ 0.00262974 0.00268709 0.99999293 0.48982328] [ 0. 0. 0. 1. ]] SLAMing on 215.642557844 meters 0.2907300774169118 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99999512 0.00175564 -0.00258568 0.68002088] [-0.00176261 0.9999948 -0.00269877 -0.02395405] [ 0.00258092 0.00270332 0.99999302 0.4900469 ] [ 0. 0. 0. 1. ]] SLAMing on 215.672557844 meters 0.2895391135472003 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99999523 0.00172631 -0.00256141 0.67984345] [-0.00173342 0.99999464 -0.00277727 -0.02363337] [ 0.0025566 0.0027817 0.99999286 0.49031953] [ 0. 0. 0. 1. ]] SLAMing on 215.702557844 meters 0.2899474326597723 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99999562 0.00166035 -0.00245162 0.67946183] [-0.00166757 0.99999426 -0.00294942 -0.02292563] [ 0.00244671 0.0029535 0.99999265 0.4905667 ] [ 0. 0. 0. 1. ]] SLAMing on 215.732557844 meters 0.29102770095643354 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99990012e-01 -4.39071791e-03 8.34970578e-04 7.00177575e-01] [ 4.39062886e-03 9.99990355e-01 1.08452219e-04 -2.38599552e-02] [-8.35438708e-04 -1.04785090e-04 9.99999646e-01 4.89307313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762557844 meters 0.2911260223510879 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99989727e-01 -4.44995327e-03 8.62859619e-04 7.00038238e-01] [ 4.44999758e-03 9.99990097e-01 -4.94371092e-05 -2.32117671e-02] [-8.62631082e-04 5.32763245e-05 9.99999627e-01 4.89468678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79255784400002 meters 0.2911043963893867 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99989448e-01 -4.51465616e-03 8.49002925e-04 7.00027953e-01] [ 4.51484608e-03 9.99989783e-01 -2.21916296e-04 -2.25023434e-02] [-8.47992375e-04 2.25747072e-04 9.99999615e-01 4.89583062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82255784400002 meters 0.29010311515573745 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99988820e-01 -4.64988149e-03 8.59579237e-04 6.99840934e-01] [ 4.65037810e-03 9.99989021e-01 -5.76646578e-04 -2.10412309e-02] [-8.56888461e-04 5.80637500e-04 9.99999464e-01 4.89959972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85255784400002 meters 0.2914004230054683 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.02, Z:0.49 [[ 0.99999082 0.00390603 0.00175904 0.7193897 ] [-0.00390321 0.9999911 -0.00160127 -0.02445611] [-0.00176528 0.00159439 0.99999717 0.49085943] [ 0. 0. 0. 1. ]] SLAMing on 215.88255784400002 meters 0.29042116056423856 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.02, Z:0.49 [[ 0.99999084 0.00388738 0.00179289 0.71935361] [-0.00388441 0.99999109 -0.00165379 -0.0242434 ] [-0.0017993 0.00164681 0.99999703 0.49074429] [ 0. 0. 0. 1. ]] SLAMing on 215.91255784400002 meters 0.291684528925342 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.02, Z:0.49 [[ 0.99999062 0.00391149 0.00185898 0.71924185] [-0.00390854 0.9999911 -0.00158736 -0.02451671] [-0.00186517 0.00158008 0.99999701 0.4906004 ] [ 0. 0. 0. 1. ]] SLAMing on 215.94255784400002 meters 0.291634281929 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985299e-01 -5.38527683e-03 6.33449296e-04 6.98066070e-01] [ 5.38609003e-03 9.99984664e-01 -1.28913274e-03 -2.31126652e-02] [-6.26497245e-04 1.29252561e-03 9.99998968e-01 4.90480698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97255784400002 meters 0.2898863710481961 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985639e-01 -5.33163564e-03 5.44429386e-04 6.98372602e-01] [ 5.33225585e-03 9.99985129e-01 -1.14416277e-03 -2.36981742e-02] [-5.38321031e-04 1.14704937e-03 9.99999197e-01 4.90271887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00255784400002 meters 0.290086587631469 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985864e-01 -5.29930430e-03 4.34690060e-04 6.98791498e-01] [ 5.29976286e-03 9.99985394e-01 -1.06061423e-03 -2.40260509e-02] [-4.29063193e-04 1.06290299e-03 9.99999343e-01 4.89937093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03255784400002 meters 0.290086587631469 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985864e-01 -5.29930430e-03 4.34690060e-04 6.98791498e-01] [ 5.29976286e-03 9.99985394e-01 -1.06061423e-03 -2.40260509e-02] [-4.29063193e-04 1.06290299e-03 9.99999343e-01 4.89937093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06255784400003 meters 0.2902589523310365 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.9999924 0.00336531 -0.00196771 0.6791967 ] [-0.00336901 0.99999255 -0.0018817 -0.02445797] [ 0.00196136 0.00188831 0.99999629 0.48928049] [ 0. 0. 0. 1. ]] SLAMing on 216.092557844 meters 0.29125099320905323 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985651e-01 -5.26632515e-03 -9.81215730e-04 6.99548151e-01] [ 5.26544438e-03 9.99985734e-01 -8.98061242e-04 -2.18702810e-02] [ 9.85931215e-04 8.92881820e-04 9.99999115e-01 4.90050859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters 0.28990604691128696 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99999268 0.00332315 -0.00189855 0.67899869] [-0.00332693 0.99999248 -0.00199045 -0.0232059 ] [ 0.00189192 0.00199675 0.99999622 0.48892182] [ 0. 0. 0. 1. ]] SLAMing on 216.152557844 meters 0.29075156801678886 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986685e-01 -5.16050084e-03 1.44424950e-06 6.98540637e-01] [ 5.16049952e-03 9.99986135e-01 -1.04835075e-03 -2.05476192e-02] [ 3.96578546e-06 1.04834424e-03 9.99999450e-01 4.89697094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.182557844 meters 0.2907354085250851 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986489e-01 -5.19763444e-03 8.42551302e-05 6.98318567e-01] [ 5.19772749e-03 9.99985837e-01 -1.14455126e-03 -2.01582713e-02] [-7.83049778e-05 1.14497373e-03 9.99999341e-01 4.89730626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.212557844 meters 0.2908360273945656 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986630e-01 -5.17097527e-03 4.24128782e-05 6.98541568e-01] [ 5.17101787e-03 9.99986053e-01 -1.07467021e-03 -2.04355039e-02] [-3.68551935e-05 1.07487516e-03 9.99999422e-01 4.89454743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.242557844 meters 0.29214900982329395 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986770e-01 -5.14387838e-03 -3.65528588e-05 6.98934536e-01] [ 5.14383903e-03 9.99986265e-01 -1.00544758e-03 -2.07017348e-02] [ 4.17242568e-05 1.00524625e-03 9.99999494e-01 4.88992380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.272557844 meters 0.29126737135940955 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986704e-01 -5.15410192e-03 -1.66891004e-04 6.99378709e-01] [ 5.15392583e-03 9.99986179e-01 -1.03885012e-03 -2.05484476e-02] [ 1.72243037e-04 1.03797617e-03 9.99999446e-01 4.88716551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302557844 meters 0.2915574272699304 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986423e-01 -5.20498756e-03 -2.50313043e-04 6.99561825e-01] [ 5.20468872e-03 9.99985759e-01 -1.18005828e-03 -1.99720377e-02] [ 2.56451667e-04 1.17873945e-03 9.99999272e-01 4.88793474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332557844 meters 0.2914016942259739 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99986029e-01 -5.28151081e-03 -2.16911289e-04 6.99363464e-01] [ 5.28120327e-03 9.99985082e-01 -1.39473189e-03 -1.91017098e-02] [ 2.24274345e-04 1.39356685e-03 9.99999004e-01 4.89072353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362557844 meters 0.2917860084120595 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99985508e-01 -5.37998249e-03 -1.99255078e-04 6.99183835e-01] [ 5.37964068e-03 9.99984122e-01 -1.67800793e-03 -1.79678568e-02] [ 2.08279568e-04 1.67691169e-03 9.99998572e-01 4.89432661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392557844 meters 0.29125821795601337 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99999539e-01 -9.51686233e-04 -1.28215026e-04 6.98708230e-01] [ 9.52048171e-04 9.99995477e-01 2.85305554e-03 -1.91012574e-02] [ 1.25499232e-04 -2.85317629e-03 9.99995922e-01 4.89860646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422557844 meters 0.2914498274348155 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99999387e-01 -1.10743661e-03 4.73054489e-06 6.98176967e-01] [ 1.10742191e-03 9.99996456e-01 2.42089696e-03 -1.73042504e-02] [-7.41151806e-06 -2.42089024e-03 9.99997070e-01 4.90375935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452557844 meters 0.29026509262882233 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.49 [[ 9.99982676e-01 5.08539763e-03 -2.96423625e-03 6.76785836e-01] [-5.08758376e-03 9.99986791e-01 -7.30425706e-04 -1.45741766e-02] [ 2.96048259e-03 7.45493852e-04 9.99995340e-01 4.91920780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482557844 meters 0.2908181338447791 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.49 [[ 9.99982958e-01 5.04845463e-03 -2.93217902e-03 6.76701550e-01] [-5.05090793e-03 9.99986900e-01 -8.29883034e-04 -1.41692450e-02] [ 2.92795098e-03 8.44679057e-04 9.99995357e-01 4.91933979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512557844 meters 0.2895598927522381 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.49 [[ 9.99989666e-01 -3.77817238e-03 -2.52833545e-03 6.54543493e-01] [ 3.77715118e-03 9.99992783e-01 -4.08555116e-04 -9.60566414e-03] [ 2.52986080e-03 3.99000989e-04 9.99996720e-01 4.91400970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54255784400002 meters 0.28918304080340546 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.49 [[ 9.99989989e-01 -3.74831161e-03 -2.44358223e-03 6.54246030e-01] [ 3.74752325e-03 9.99992925e-01 -3.27122579e-04 -9.94901671e-03] [ 2.44479110e-03 3.17961923e-04 9.99996961e-01 4.91595165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57255784400002 meters 0.2902314254309463 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 0.9999866 0.00483725 -0.00184295 0.67370277] [-0.00483935 0.99998764 -0.00114021 -0.01512257] [ 0.00183741 0.00114911 0.99999765 0.49265009] [ 0. 0. 0. 1. ]] SLAMing on 216.60255784400002 meters 0.2906089111808214 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 0.99998634 0.00484751 -0.00195514 0.67411715] [-0.00484969 0.99998762 -0.00111318 -0.01522557] [ 0.00194972 0.00112265 0.99999747 0.49233649] [ 0. 0. 0. 1. ]] SLAMing on 216.63255784400002 meters 0.2903332781965089 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 9.99985934e-01 4.91950735e-03 -1.98257508e-03 6.74350784e-01] [-4.92131806e-03 9.99987477e-01 -9.09471395e-04 -1.60491964e-02] [ 1.97807610e-03 9.19215484e-04 9.99997621e-01 4.91907716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66255784400002 meters 0.29059421268336083 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 9.99985961e-01 4.95416733e-03 -1.87981181e-03 6.74011448e-01] [-4.95570351e-03 9.99987390e-01 -8.13421138e-04 -1.64638683e-02] [ 1.87575828e-03 8.22725508e-04 9.99997902e-01 4.92076133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69255784400002 meters 0.2913170622882563 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.49 [[ 9.99994025e-01 -3.45439455e-03 1.27397377e-04 6.93761671e-01] [ 3.45433785e-03 9.99993936e-01 4.42604943e-04 -1.63966063e-02] [-1.28925536e-04 -4.42162225e-04 9.99999894e-01 4.93226525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72255784400002 meters 0.2906877585411201 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.49 [[ 9.99994283e-01 -3.37476448e-03 2.10551313e-04 6.93411836e-01] [ 3.37462488e-03 9.99994088e-01 6.59867591e-04 -1.73050867e-02] [-2.12776966e-04 -6.59153287e-04 9.99999760e-01 4.93524044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75255784400002 meters 0.29130158801365924 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.49 [[ 9.99994972e-01 -3.17102726e-03 -1.50652547e-05 6.94147886e-01] [ 3.17104360e-03 9.99994193e-01 1.24841264e-03 -1.97011097e-02] [ 1.11064167e-05 -1.24845414e-03 9.99999221e-01 4.93022676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78255784400002 meters 0.2905671679131876 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.49 [[ 9.99995373e-01 -3.03999018e-03 -1.14853511e-04 6.94655717e-01] [ 3.04017125e-03 9.99994081e-01 1.61075547e-03 -2.12021781e-02] [ 1.09956150e-04 -1.61109719e-03 9.99998696e-01 4.92376770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81255784400003 meters 0.29146521070134634 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99995931e-01 -2.84503548e-03 -2.11049808e-04 6.95112067e-01] [ 2.84547780e-03 9.99993692e-01 2.12597707e-03 -2.33366024e-02] [ 2.04999996e-04 -2.12656895e-03 9.99997718e-01 4.91872658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters 0.29095439166056675 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.49 [[ 9.99996679e-01 -2.57008891e-03 -1.91287633e-04 6.94918284e-01] [ 2.57061720e-03 9.99992735e-01 2.81471207e-03 -2.61992773e-02] [ 1.84052183e-04 -2.81519445e-03 9.99996020e-01 4.92108401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872557844 meters 0.2900227634461223 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 9.99987574e-01 4.26847034e-03 -2.57509624e-03 6.72053791e-01] [-4.26746000e-03 9.99990815e-01 3.97717775e-04 -2.49497395e-02] [ 2.57677024e-03 -3.86723713e-04 9.99996605e-01 4.94333110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters 0.29138365981383263 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.49 [[ 9.99997248e-01 -2.27264770e-03 5.81579988e-04 6.93399297e-01] [ 2.27088059e-03 9.99992857e-01 3.02129767e-03 -2.78790385e-02] [-5.88442179e-04 -3.01996866e-03 9.99995267e-01 4.93260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.932557844 meters 0.2902810920256779 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.49 [[ 9.99997457e-01 -2.16663636e-03 6.25991375e-04 6.93233257e-01] [ 2.16457454e-03 9.99992292e-01 3.27580562e-03 -2.89345519e-02] [-6.33084029e-04 -3.27444229e-03 9.99994439e-01 4.93333946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.962557844 meters 0.28982837953459345 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.49 [[ 9.99997651e-01 -2.07424728e-03 6.28679591e-04 6.93297939e-01] [ 2.07202201e-03 9.99991659e-01 3.51981483e-03 -2.99337604e-02] [-6.35975313e-04 -3.51850392e-03 9.99993608e-01 4.93155389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.992557844 meters 0.28954906121038887 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.49 [[ 9.99980631e-01 6.20786621e-03 -4.47925686e-04 6.74066184e-01] [-6.20675432e-03 9.99977755e-01 2.44240780e-03 -3.42355182e-02] [ 4.63077863e-04 -2.43958033e-03 9.99996917e-01 4.91484927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.022557844 meters 0.29051460706855037 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:0.49 [[ 0.99999522 -0.00290704 0.00104846 0.69566051] [ 0.00290382 0.9999911 0.00305946 -0.03534713] [-0.00105735 -0.0030564 0.99999477 0.49142954] [ 0. 0. 0. 1. ]] SLAMing on 217.052557844 meters 0.2887542182382204 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99995914e-01 2.81770140e-03 -4.82509374e-04 6.71874678e-01] [-2.81767665e-03 9.99996029e-01 5.19697817e-05 -3.81624620e-02] [ 4.82653893e-04 -5.06100139e-05 9.99999882e-01 4.93368847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082557844 meters 0.2896110546726963 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99995468e-01 2.94998528e-03 -6.01971731e-04 6.72163795e-01] [-2.94974485e-03 9.99995570e-01 3.99894863e-04 -3.95840942e-02] [ 6.03148748e-04 -3.98117387e-04 9.99999739e-01 4.93361367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112557844 meters 0.28921633038699474 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99995137e-01 3.03891844e-03 -7.01023413e-04 6.72445719e-01] [-3.03847513e-03 9.99995184e-01 6.32568074e-04 -4.05393000e-02] [ 7.02942360e-04 -6.30434955e-04 9.99999554e-01 4.93270632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142557844 meters 0.2897960163674201 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99994801e-01 3.13005178e-03 -7.75185103e-04 6.72818919e-01] [-3.12937685e-03 9.99994725e-01 8.70356228e-04 -4.15053681e-02] [ 7.77905274e-04 -8.67925857e-04 9.99999321e-01 4.92806206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172557844 meters 0.2910734491009315 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:0.49 [[ 9.99983624e-01 -5.69914124e-03 5.20938135e-04 6.93504824e-01] [ 5.69830191e-03 9.99982487e-01 1.59870634e-03 -3.96895454e-02] [-5.30040265e-04 -1.59571170e-03 9.99998586e-01 4.92760255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202557844 meters 0.2890942725737127 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99995773e-01 2.87410596e-03 -4.40509468e-04 6.72473765e-01] [-2.87382239e-03 9.99995664e-01 6.43004693e-04 -4.08294736e-02] [ 4.42355622e-04 -6.41736029e-04 9.99999696e-01 4.91766101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232557844 meters 0.2895003024179992 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99995918e-01 2.81827110e-03 -4.70358166e-04 6.72603472e-01] [-2.81804419e-03 9.99995913e-01 4.82392693e-04 -4.01733991e-02] [ 4.71715757e-04 -4.81065234e-04 9.99999773e-01 4.91647252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262557844 meters 0.290609142007038 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99996251e-01 2.66806738e-03 -6.16284855e-04 6.72907343e-01] [-2.66807779e-03 9.99996441e-01 -1.60637928e-05 -3.81832280e-02] [ 6.16239802e-04 1.77080285e-05 9.99999810e-01 4.91837059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29255784400002 meters 0.2903639868250134 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.49 [[ 9.99996553e-01 2.55294596e-03 -6.13636230e-04 6.72861970e-01] [-2.55315735e-03 9.99996682e-01 -3.43941344e-04 -3.68575942e-02] [ 6.12756130e-04 3.45506868e-04 9.99999753e-01 4.91961111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32255784400002 meters 0.2889257134648393 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:0.49 [[ 9.99981263e-01 -6.07648540e-03 -7.41445741e-04 6.53271901e-01] [ 6.07670110e-03 9.99981495e-01 2.89012879e-04 -2.96460281e-02] [ 7.39675838e-04 -2.93513008e-04 9.99999683e-01 4.91202334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35255784400002 meters 0.29073915545198664 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.49 [[ 0.99999577 0.00207751 0.00203611 0.67332635] [-0.00207489 0.99999702 -0.0012899 -0.02648381] [-0.00203878 0.00128567 0.9999971 0.49156864] [ 0. 0. 0. 1. ]] SLAMing on 217.38255784400002 meters 0.2898270559052648 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 0.9999962 0.0018895 0.00200559 0.67343439] [-0.00188597 0.99999667 -0.00176223 -0.0245388 ] [-0.00200892 0.00175844 0.99999644 0.49154599] [ 0. 0. 0. 1. ]] SLAMing on 217.41255784400002 meters 0.2897543219861394 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 0.99999653 0.00169604 0.00201552 0.67351664] [-0.00169148 0.99999602 -0.00225885 -0.02248364] [-0.00201935 0.00225543 0.99999542 0.49135203] [ 0. 0. 0. 1. ]] SLAMing on 217.44255784400002 meters 0.2895600553787923 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 0.99999674 0.00154724 0.00202888 0.67360823] [-0.00154186 0.9999953 -0.00265187 -0.02086669] [-0.00203297 0.00264874 0.99999443 0.49109532] [ 0. 0. 0. 1. ]] SLAMing on 217.47255784400002 meters 0.29145618528399014 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99977011e-01 -5.46139853e-03 4.01890098e-03 6.96506753e-01] [ 5.46376004e-03 9.99984907e-01 -5.76857508e-04 -1.89468810e-02] [-4.01568987e-03 5.98802557e-04 9.99991758e-01 4.88943778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50255784400002 meters 0.28996448905175815 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.49 [[ 9.99999212e-01 8.34593990e-04 9.37998413e-04 6.73415856e-01] [-8.31538422e-04 9.99994363e-01 -3.25322416e-03 -1.51945705e-02] [-9.40708246e-04 3.25244161e-03 9.99994268e-01 4.91411759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53255784400002 meters 0.2897014679751057 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.49 [[ 0.99996901 -0.00775834 0.00133887 0.69468028] [ 0.00776138 0.99996729 -0.00227718 -0.01305594] [-0.00132116 0.0022875 0.99999651 0.49250394] [ 0. 0. 0. 1. ]] SLAMing on 217.56255784400003 meters 0.2911218242400554 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.49 [[ 0.99999305 -0.00349946 0.00128905 0.6948988 ] [ 0.00349692 0.99999194 0.00197021 -0.01330465] [-0.00129593 -0.00196569 0.99999723 0.49219543] [ 0. 0. 0. 1. ]] SLAMing on 217.592557844 meters 0.2894994468242051 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 9.99988440e-01 4.80473171e-03 -1.87065429e-04 6.76336631e-01] [-4.80461874e-03 9.99988278e-01 5.99745632e-04 -1.63602456e-02] [ 1.89944853e-04 -5.98839921e-04 9.99999803e-01 4.90629709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters 0.2895624293238806 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 9.99988371e-01 4.82101069e-03 1.27537714e-04 6.75508358e-01] [-4.82109476e-03 9.99988156e-01 6.67336552e-04 -1.66809646e-02] [-1.24318967e-04 -6.67943663e-04 9.99999769e-01 4.90759370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652557844 meters 0.2909513001515884 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 9.99988276e-01 4.83754020e-03 2.15567294e-04 6.75214971e-01] [-4.83769303e-03 9.99988043e-01 7.14151240e-04 -1.68869726e-02] [-2.12109982e-04 -7.15185716e-04 9.99999722e-01 4.90909148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.682557844 meters 0.29086913506253764 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 9.99988345e-01 4.82615345e-03 1.38187351e-04 6.75452702e-01] [-4.82624665e-03 9.99988121e-01 6.82249879e-04 -1.67512572e-02] [-1.34893067e-04 -6.82908854e-04 9.99999758e-01 4.90828230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.712557844 meters 0.2885867547989147 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.49 [[ 9.99985649e-01 5.32371074e-03 -5.99812978e-04 6.39548113e-01] [-5.32315691e-03 9.99985408e-01 9.21183259e-04 -1.34766864e-02] [ 6.04708338e-04 -9.17977141e-04 9.99999396e-01 4.86388416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.742557844 meters 0.28972700333592905 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.49 [[ 9.99985564e-01 5.32322175e-03 -7.31219227e-04 6.39943721e-01] [-5.32254926e-03 9.99985413e-01 9.18574239e-04 -1.34503935e-02] [ 7.36098335e-04 -9.14669029e-04 9.99999311e-01 4.86219929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.772557844 meters 0.2917471281616236 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 9.99990987e-01 3.81166171e-03 -1.87027997e-03 6.80086657e-01] [-3.81228560e-03 9.99992679e-01 -3.30131342e-04 -1.56927609e-02] [ 1.86900792e-03 3.37258408e-04 9.99998197e-01 4.89206087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802557844 meters 0.2900007329418135 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 9.99982609e-01 -5.15226145e-03 -2.86976312e-03 6.59591990e-01] [ 5.15262518e-03 9.99986718e-01 1.19367004e-04 -1.08034227e-02] [ 2.86910999e-03 -1.34151742e-04 9.99995875e-01 4.89481409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832557844 meters 0.2901421093670432 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 9.99982520e-01 -5.15608941e-03 -2.89383030e-03 6.59545846e-01] [ 5.15642607e-03 9.99986700e-01 1.08888634e-04 -1.07715010e-02] [ 2.89323037e-03 -1.23808553e-04 9.99995807e-01 4.89734652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862557844 meters 0.2908438218723366 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 9.99982404e-01 -5.16639720e-03 -2.91536089e-03 6.59415070e-01] [ 5.16665350e-03 9.99986650e-01 8.03880094e-05 -1.06599074e-02] [ 2.91490665e-03 -9.54492544e-05 9.99995747e-01 4.90216917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892557844 meters 0.29131893690222527 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.49 [[ 0.99999419 0.00299482 -0.00162784 0.67914014] [-0.00299671 0.99999484 -0.00116022 -0.01427739] [ 0.00162435 0.00116509 0.999998 0.49149967] [ 0. 0. 0. 1. ]] SLAMing on 217.922557844 meters 0.28929756274112384 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 9.99978981e-01 -6.10676111e-03 -2.17821569e-03 6.58969086e-01] [ 6.10503590e-03 9.99981046e-01 -7.97801121e-04 -8.79887025e-03] [ 2.18304638e-03 7.84486268e-04 9.99997309e-01 4.91339552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952557844 meters 0.28929756274112384 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 9.99978981e-01 -6.10676111e-03 -2.17821569e-03 6.58969086e-01] [ 6.10503590e-03 9.99981046e-01 -7.97801121e-04 -8.79887025e-03] [ 2.18304638e-03 7.84486268e-04 9.99997309e-01 4.91339552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982557844 meters 0.2886828540374653 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.49 [[ 0.99997897 -0.00622879 -0.0018047 0.65783201] [ 0.00622659 0.99997987 -0.00122329 -0.00713014] [ 0.00181228 0.00121203 0.99999762 0.49203579] [ 0. 0. 0. 1. ]] SLAMing on 218.012557844 meters 0.29125927240352084 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:0.49 [[ 9.99989089e-01 -4.27405271e-03 -1.88506682e-03 6.96952011e-01] [ 4.27499196e-03 9.99990740e-01 4.94508395e-04 -7.32087910e-03] [ 1.88293581e-03 -5.02561645e-04 9.99998101e-01 4.94957806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04255784400002 meters 0.28980734146049497 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.49 [[ 9.99985619e-01 4.78733951e-03 -2.41740226e-03 6.75100323e-01] [-4.78829125e-03 9.99988461e-01 -3.88069243e-04 -5.81109043e-03] [ 2.41551655e-03 3.99638889e-04 9.99997003e-01 4.94205111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07255784400002 meters 0.29064336927875095 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:0.49 [[ 9.99986522e-01 4.62663385e-03 -2.35589981e-03 6.75011657e-01] [-4.62862801e-03 9.99988934e-01 -8.41705550e-04 -3.97643143e-03] [ 2.35197947e-03 8.52598789e-04 9.99996871e-01 4.94086728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10255784400002 meters 0.28918771832734563 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.49 [[ 9.99987999e-01 4.37742254e-03 -2.20014937e-03 6.74701633e-01] [-4.38094869e-03 9.99989123e-01 -1.60042980e-03 -9.37791361e-04] [ 2.19311968e-03 1.61004934e-03 9.99996299e-01 4.93962192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13255784400002 meters 0.2887923229030529 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.49 [[ 0.99998881 0.00420259 -0.00217251 0.67454712] [-0.0042071 0.999989 -0.00207541 0.00100344] [ 0.00216376 0.00208453 0.99999549 0.49418581] [ 0. 0. 0. 1. ]] SLAMing on 218.16255784400002 meters 0.2898546939530411 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.50 [[ 9.99993701e-01 -3.48985192e-03 -6.46958235e-04 6.92777290e-01] [ 3.48956885e-03 9.99993815e-01 -4.38153098e-04 6.48057778e-03] [ 6.48483323e-04 4.35892733e-04 9.99999695e-01 4.96216171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19255784400002 meters 0.29023217366882215 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.50 [[ 9.99993208e-01 -3.61751548e-03 -7.05858833e-04 6.93015258e-01] [ 3.61697560e-03 9.99993166e-01 -7.64636101e-04 7.82715088e-03] [ 7.08620092e-04 7.62077833e-04 9.99999459e-01 4.96047973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22255784400002 meters 0.289641623612435 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.50 [[ 9.99992836e-01 -3.71405713e-03 -7.30551495e-04 6.93454873e-01] [ 3.71330845e-03 9.99992582e-01 -1.02350606e-03 8.90753777e-03] [ 7.34347435e-04 1.02078596e-03 9.99999209e-01 4.95137542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25255784400002 meters 0.2908939543317478 Centerline is valid? [False, False] Translation: X:0.71, Y:0.00, Z:0.50 [[ 9.99988716e-01 4.72680690e-03 4.73847302e-04 7.12991699e-01] [-4.72585279e-03 9.99986843e-01 -1.99482604e-03 4.40917105e-03] [-4.83270225e-04 1.99256420e-03 9.99997898e-01 4.95634076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28255784400002 meters 0.2893841343124672 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994442e-01 -3.32525605e-03 -2.41739279e-04 6.93594234e-01] [ 3.32512047e-03 9.99994315e-01 -5.59112321e-04 8.41945784e-03] [ 2.43597096e-04 5.58305401e-04 9.99999814e-01 4.94089332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31255784400003 meters 0.28907105423971025 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994609e-01 -3.27076806e-03 -2.88749393e-04 6.93747228e-01] [ 3.27064841e-03 9.99994566e-01 -4.13865871e-04 7.82379366e-03] [ 2.90101483e-04 4.12919242e-04 9.99999873e-01 4.94005184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters 0.290290344245434 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994773e-01 -3.21576501e-03 -3.34441845e-04 6.93931082e-01] [ 3.21567444e-03 9.99994793e-01 -2.70982685e-04 7.23631905e-03] [ 3.35311520e-04 2.69905813e-04 9.99999907e-01 4.93851852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372557844 meters 0.2897700863642276 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994774e-01 -3.20111169e-03 -4.52515634e-04 6.94296922e-01] [ 3.20100603e-03 9.99994849e-01 -2.34025293e-04 7.09036360e-03] [ 4.53262444e-04 2.32575565e-04 9.99999870e-01 4.93692398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters 0.2897289020152818 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994701e-01 -3.20202902e-03 -5.86716372e-04 6.94708239e-01] [ 3.20188998e-03 9.99994846e-01 -2.37770075e-04 7.11338664e-03] [ 5.87474694e-04 2.35890213e-04 9.99999800e-01 4.93507318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.432557844 meters 0.29073659261796814 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99994490e-01 -3.20036370e-03 -8.81886728e-04 6.95397113e-01] [ 3.20016118e-03 9.99994853e-01 -2.30957326e-04 7.12169480e-03] [ 8.82621337e-04 2.28133873e-04 9.99999584e-01 4.93557466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.462557844 meters 0.2894715166073108 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99994357e-01 -3.24349392e-03 -8.75160826e-04 6.95316766e-01] [ 3.24318232e-03 9.99994677e-01 -3.57232792e-04 7.62432293e-03] [ 8.76314850e-04 3.54392470e-04 9.99999553e-01 4.93722775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.492557844 meters 0.28991152590712405 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99994195e-01 -3.30103118e-03 -8.44410017e-04 6.95227137e-01] [ 3.30059306e-03 9.99994418e-01 -5.19707274e-04 8.27956817e-03] [ 8.46120874e-04 5.16917204e-04 9.99999508e-01 4.93757431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.522557844 meters 0.28887240201081443 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99993914e-01 -3.39557140e-03 -8.01666483e-04 6.95167710e-01] [ 3.39493130e-03 9.99993918e-01 -7.98476254e-04 9.37821612e-03] [ 8.04372891e-04 7.95749791e-04 9.99999360e-01 4.93636252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552557844 meters 0.2896249303439221 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99993769e-01 -3.40527059e-03 -9.30661376e-04 6.95583930e-01] [ 3.40450144e-03 9.99993863e-01 -8.26793055e-04 9.49802784e-03] [ 9.33471118e-04 8.23619465e-04 9.99999225e-01 4.93405091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582557844 meters 0.28997502492980115 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99993576e-01 -3.39417443e-03 -1.15240171e-03 6.96280857e-01] [ 3.39325661e-03 9.99993925e-01 -7.97470269e-04 9.39871292e-03] [ 1.15510146e-03 7.93554751e-04 9.99999018e-01 4.93021195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612557844 meters 0.29050423411022597 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99993204e-01 -3.42301848e-03 -1.36956359e-03 6.96999256e-01] [ 3.42180294e-03 9.99993751e-01 -8.88904073e-04 9.76490148e-03] [ 1.37259777e-03 8.84211655e-04 9.99998667e-01 4.92541514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642557844 meters 0.28974540206884625 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.49 [[ 0.99998735 0.00478985 -0.00153715 0.6764381 ] [-0.0047932 0.99998612 -0.00218911 0.00627978] [ 0.00152664 0.00219645 0.99999642 0.49137083] [ 0. 0. 0. 1. ]] SLAMing on 218.672557844 meters 0.2903805985212257 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.49 [[ 0.99998753 0.00477946 -0.00144605 0.67611429] [-0.00478266 0.99998611 -0.00221649 0.00639231] [ 0.00143544 0.00222337 0.9999965 0.49161057] [ 0. 0. 0. 1. ]] SLAMing on 218.702557844 meters 0.28988073956472143 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.49 [[ 0.99998771 0.0047842 -0.00130229 0.67574478] [-0.00478706 0.99998612 -0.00220224 0.0063387 ] [ 0.00129173 0.00220845 0.99999673 0.49163521] [ 0. 0. 0. 1. ]] SLAMing on 218.732557844 meters 0.2897827277539114 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.49 [[ 0.99998743 0.00487831 -0.00115844 0.67553979] [-0.00488057 0.99998619 -0.00195136 0.00531081] [ 0.00114891 0.00195699 0.99999743 0.49125613] [ 0. 0. 0. 1. ]] SLAMing on 218.762557844 meters 0.28904183612382606 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:0.49 [[ 0.99998716 0.00494527 -0.00110316 0.6754356 ] [-0.00494722 0.99998619 -0.0017726 0.00458055] [ 0.00109438 0.00177804 0.99999782 0.49116674] [ 0. 0. 0. 1. ]] SLAMing on 218.79255784400002 meters 0.2878498607978801 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:0.49 [[ 9.99986960e-01 5.00901231e-03 -9.94698586e-04 6.75041113e-01] [-5.01060157e-03 9.99986164e-01 -1.60171832e-03 3.87787094e-03] [ 9.86661797e-04 1.60668147e-03 9.99998223e-01 4.91457098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82255784400002 meters 0.28875469954333055 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994646e-01 -3.12927942e-03 9.57083260e-04 6.93671649e-01] [ 3.12949789e-03 9.99995077e-01 -2.26853251e-04 6.60312988e-03] [-9.56368662e-04 2.29847227e-04 9.99999516e-01 4.92721720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85255784400002 meters 0.2880129930320477 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994711e-01 -3.12563431e-03 8.99425182e-04 6.93738691e-01] [ 3.12582582e-03 9.99995092e-01 -2.11597383e-04 6.54668211e-03] [-8.98759392e-04 2.14407710e-04 9.99999573e-01 4.92911737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88255784400002 meters 0.28850642349313793 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994637e-01 -3.14313822e-03 9.19778835e-04 6.93702784e-01] [ 3.14337971e-03 9.99995025e-01 -2.61225207e-04 6.74817377e-03] [-9.18953193e-04 2.64115020e-04 9.99999543e-01 4.92871371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91255784400002 meters 0.2875207857588073 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994482e-01 -3.16986987e-03 9.94250657e-04 6.93494806e-01] [ 3.17020927e-03 9.99994917e-01 -3.39971451e-04 7.06612194e-03] [-9.93167938e-04 3.43121557e-04 9.99999448e-01 4.92926580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94255784400002 meters 0.2889787749147309 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99994244e-01 -3.22281695e-03 1.06062705e-03 6.93335985e-01] [ 3.22334871e-03 9.99994680e-01 -5.00034593e-04 7.70694111e-03] [-1.05900989e-03 5.03450486e-04 9.99999313e-01 4.92899924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97255784400002 meters 0.2880650673491638 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.49 [[ 9.99980952e-01 6.16255054e-03 3.44048585e-04 6.71238819e-01] [-6.16224815e-03 9.99980632e-01 -8.73184209e-04 8.24847536e-03] [-3.49422964e-04 8.71047464e-04 9.99999560e-01 4.92901016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00255784400002 meters 0.2873654685399932 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.49 [[ 9.99981317e-01 6.10122946e-03 3.73970800e-04 6.71195605e-01] [-6.10083579e-03 9.99980844e-01 -1.04491444e-03 8.94569137e-03] [-3.80338899e-04 1.04261338e-03 9.99999384e-01 4.92820369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03255784400002 meters 0.2898968823634193 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.49 [[ 9.99995801e-01 -2.73381942e-03 9.61423115e-04 6.91828479e-01] [ 2.73427974e-03 9.99996148e-01 -4.77801553e-04 1.38315982e-02] [-9.60113188e-04 4.80428346e-04 9.99999424e-01 4.92962242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06255784400003 meters 0.28828246988141903 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.49 [[ 0.99998725 0.00464388 -0.00198172 0.67475896] [-0.00464874 0.99998618 -0.00245477 0.01106681] [ 0.00197029 0.00246395 0.99999502 0.4908933 ] [ 0. 0. 0. 1. ]] SLAMing on 219.092557844 meters 0.2893963753679561 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.49 [[ 0.99999364 -0.00334814 -0.00122894 0.69390443] [ 0.0033469 0.99999389 -0.00100749 0.01525657] [ 0.0012323 0.00100337 0.99999874 0.49258797] [ 0. 0. 0. 1. ]] SLAMing on 219.122557844 meters 0.28885091582869815 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.49 [[ 9.99993702e-01 -3.33643586e-03 -1.20988118e-03 6.93730681e-01] [ 3.33525434e-03 9.99993960e-01 -9.77268511e-04 1.51451338e-02] [ 1.21313446e-03 9.73227095e-04 9.99998791e-01 4.92879074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152557844 meters 0.28800836419865905 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.49 [[ 0.99998302 0.00563395 -0.00149015 0.6728556 ] [-0.0056363 0.99998287 -0.00157697 0.01179407] [ 0.00148124 0.00158534 0.99999765 0.49246455] [ 0. 0. 0. 1. ]] SLAMing on 219.182557844 meters 0.2881825954099284 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.49 [[ 9.99994763e-01 -3.19606169e-03 -5.08648174e-04 6.93613367e-01] [ 3.19551159e-03 9.99994313e-01 -1.07865335e-03 1.57188980e-02] [ 5.12092724e-04 1.07702231e-03 9.99999289e-01 4.92618811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.212557844 meters 0.2881483469279474 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.49 [[ 0.99998654 0.00477897 -0.00202065 0.67492304] [-0.00478404 0.9999854 -0.00251293 0.01182408] [ 0.00200861 0.00252256 0.9999948 0.49080819] [ 0. 0. 0. 1. ]] SLAMing on 219.242557844 meters 0.29046710092570416 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99998791e-01 -1.37617398e-03 -7.24098363e-04 6.98955539e-01] [ 1.37662002e-03 9.99998863e-01 6.15851432e-04 1.14559757e-02] [ 7.23250021e-04 -6.16847495e-04 9.99999548e-01 4.88461811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.272557844 meters 0.28927872434442925 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.49 [[ 0.99998053 0.00434512 -0.00447802 0.67865675] [-0.0043568 0.99998713 -0.00260127 0.01294576] [ 0.00446666 0.00262072 0.99998659 0.48926339] [ 0. 0. 0. 1. ]] SLAMing on 219.302557844 meters 0.2900922535602432 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99997620e-01 -1.31734298e-03 -1.73932009e-03 7.00543018e-01] [ 1.31874335e-03 9.99998807e-01 8.04226138e-04 1.20395842e-02] [ 1.73825857e-03 -8.06517940e-04 9.99998164e-01 4.87716150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332557844 meters 0.2902647545822542 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99997727e-01 -1.29009068e-03 -1.69755940e-03 7.00226426e-01] [ 1.29158059e-03 9.99998781e-01 8.76874352e-04 1.17515265e-02] [ 1.69642608e-03 -8.79064893e-04 9.99998175e-01 4.88218370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362557844 meters 0.2889407751022332 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 9.99997876e-01 -1.24980784e-03 -1.63859933e-03 6.99924997e-01] [ 1.25142741e-03 9.99998729e-01 9.87732061e-04 1.13135992e-02] [ 1.63736277e-03 -9.89780552e-04 9.99998170e-01 4.88602538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392557844 meters 0.28967993487540916 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.49 [[ 9.99973572e-01 7.26915675e-03 -1.23904167e-04 7.20256970e-01] [-7.26914346e-03 9.99973574e-01 1.07369301e-04 8.41665427e-03] [ 1.24681377e-04 -1.06465786e-04 9.99999987e-01 4.89320696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422557844 meters 0.2916553602121195 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:0.49 [[ 9.99998786e-01 -1.49434853e-03 -4.40997417e-04 7.40793498e-01] [ 1.49474583e-03 9.99998476e-01 9.01964092e-04 1.24463844e-02] [ 4.39648896e-04 -9.02622176e-04 9.99999496e-01 4.90028730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452557844 meters 0.290321030211352 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.49 [[ 0.99998606 0.00494253 -0.00185729 0.71937748] [-0.00494627 0.99998574 -0.00201405 0.01002039] [ 0.00184731 0.00202321 0.99999625 0.49041758] [ 0. 0. 0. 1. ]] SLAMing on 219.482557844 meters 0.28919072077956814 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.49 [[ 0.99998974 -0.00394362 -0.00222977 0.69780131] [ 0.00394116 0.99999162 -0.0011059 0.01199776] [ 0.00223411 0.0010971 0.9999969 0.4904238 ] [ 0. 0. 0. 1. ]] SLAMing on 219.512557844 meters 0.29032313486241257 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.49 [[ 9.99990389e-01 4.33854260e-03 6.31829197e-04 7.16884331e-01] [-4.33734081e-03 9.99988805e-01 -1.89119509e-03 9.17283881e-03] [-6.40027154e-04 1.88843645e-03 9.99998012e-01 4.91281109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54255784400002 meters 0.28860626518611515 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.49 [[ 9.99989487e-01 4.53751057e-03 6.61437045e-04 7.16473974e-01] [-4.53663291e-03 9.99988835e-01 -1.32241418e-03 6.86379218e-03] [-6.67430128e-04 1.31939958e-03 9.99998907e-01 4.92105672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57255784400002 meters 0.2894430076308019 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.49 [[ 9.99989061e-01 4.64117823e-03 5.81379518e-04 7.16669612e-01] [-4.64057722e-03 9.99988701e-01 -1.03088666e-03 5.67848720e-03] [-5.86157478e-04 1.02817745e-03 9.99999300e-01 4.92141988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60255784400002 meters 0.29009231130802954 Centerline is valid? [False, False] Translation: X:0.72, Y:0.00, Z:0.49 [[ 9.99988689e-01 4.73128121e-03 4.87310912e-04 7.16941252e-01] [-4.73090658e-03 9.99988515e-01 -7.67086072e-04 4.60647007e-03] [-4.90934615e-04 7.64771973e-04 9.99999587e-01 4.92060724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63255784400002 meters 0.2904343385677261 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:0.49 [[ 9.99988915e-01 -4.30624015e-03 1.90437115e-03 7.37989946e-01] [ 4.30618142e-03 9.99990728e-01 3.49387213e-05 3.60567531e-03] [-1.90450395e-03 -2.67377663e-05 9.99998186e-01 4.92222500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66255784400002 meters 0.29037092060272635 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:0.49 [[ 9.99989094e-01 -4.19172055e-03 2.05948854e-03 7.37521931e-01] [ 4.19094480e-03 9.99991145e-01 3.80841785e-04 2.21587939e-03] [-2.06106669e-03 -3.72206429e-04 9.99997807e-01 4.92442014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69255784400002 meters 0.2884983300324167 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:0.49 [[ 0.99999474 0.00204895 0.00251235 0.71376203] [-0.00204253 0.99999465 -0.00255664 -0.00172179] [-0.00251757 0.0025515 0.99999358 0.49345213] [ 0. 0. 0. 1. ]] SLAMing on 219.72255784400002 meters 0.2890417549826958 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.00, Z:0.49 [[ 0.99999436 0.0021569 0.00257356 0.71345923] [-0.00215118 0.99999521 -0.00222317 -0.00304777] [-0.00257835 0.00221762 0.99999422 0.49384016] [ 0. 0. 0. 1. ]] SLAMing on 219.75255784400002 meters 0.29038934233734554 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.01, Z:0.49 [[ 0.99999513 0.00230598 0.0021043 0.71460647] [-0.00230249 0.99999597 -0.00165854 -0.0052379 ] [-0.00210812 0.00165369 0.99999641 0.49379492] [ 0. 0. 0. 1. ]] SLAMing on 219.78255784400002 meters 0.2895825313284053 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.01, Z:0.49 [[ 0.99999556 0.00238786 0.00178 0.71556558] [-0.0023854 0.9999962 -0.00138149 -0.00636668] [-0.00178329 0.00137724 0.99999746 0.49335414] [ 0. 0. 0. 1. ]] SLAMing on 219.81255784400003 meters 0.28916932904695714 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.49 [[ 0.99999059 -0.00380059 -0.00209091 0.69450958] [ 0.00380397 0.99999146 0.0016125 -0.0113507 ] [ 0.00208477 -0.00162044 0.99999651 0.49490392] [ 0. 0. 0. 1. ]] SLAMing on 219.842557844 meters 0.28916932904695714 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.49 [[ 0.99999059 -0.00380059 -0.00209091 0.69450958] [ 0.00380397 0.99999146 0.0016125 -0.0113507 ] [ 0.00208477 -0.00162044 0.99999651 0.49490392] [ 0. 0. 0. 1. ]] SLAMing on 219.872557844 meters 0.28932566683994987 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:0.49 [[ 0.99999069 -0.00369599 -0.00222661 0.69502305] [ 0.00370029 0.99999129 0.00192929 -0.01263478] [ 0.00221946 -0.00193751 0.99999566 0.49445756] [ 0. 0. 0. 1. ]] SLAMing on 219.902557844 meters 0.2887995843625051 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.49 [[ 0.99998593 0.00501187 -0.00173759 0.67516586] [-0.00500953 0.99998654 0.00135281 -0.0193506 ] [ 0.00174435 -0.00134408 0.99999758 0.49327411] [ 0. 0. 0. 1. ]] SLAMing on 219.932557844 meters 0.2906971363650124 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 0.99999817 -0.00154272 0.00112814 0.69683334] [ 0.0015383 0.99999119 0.00390446 -0.02097902] [-0.00113415 -0.00390272 0.99999174 0.49202162] [ 0. 0. 0. 1. ]] SLAMing on 219.962557844 meters 0.29115613217527075 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 0.99999834 -0.00147643 0.00107002 0.69695278] [ 0.00147204 0.99999055 0.00408981 -0.02173221] [-0.00107605 -0.00408823 0.99999106 0.49209263] [ 0. 0. 0. 1. ]] SLAMing on 219.992557844 meters 0.2908157706800934 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99998829e-01 -1.31134967e-03 7.89193532e-04 6.97714483e-01] [ 1.30769168e-03 9.99988482e-01 4.61789433e-03 -2.38423780e-02] [-7.95240116e-04 -4.61685690e-03 9.99989026e-01 4.91926536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.022557844 meters 0.2904440384201233 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.49 [[ 9.99998988e-01 -1.22479690e-03 7.24084205e-04 6.97875937e-01] [ 1.22126243e-03 9.99987436e-01 4.86175568e-03 -2.48291933e-02] [-7.30029771e-04 -4.86086646e-03 9.99987919e-01 4.91940602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052557844 meters 0.29075598442922385 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 9.99999068e-01 -1.14980149e-03 7.36416530e-04 6.97922562e-01] [ 1.14605406e-03 9.99986495e-01 5.06910010e-03 -2.56739713e-02] [-7.42235044e-04 -5.06825140e-03 9.99986881e-01 4.91753541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082557844 meters 0.29058573553543343 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 9.99999131e-01 -1.00877684e-03 8.48233059e-04 6.97601993e-01] [ 1.00409609e-03 9.99984367e-01 5.50067332e-03 -2.73797593e-02] [-8.53768750e-04 -5.49981684e-03 9.99984511e-01 4.91844316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112557844 meters 0.28894520685438935 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 9.99993063e-01 1.81959483e-03 -3.25010251e-03 6.74361958e-01] [-1.81982434e-03 9.99998342e-01 -6.76585667e-05 -2.31141752e-02] [ 3.24997401e-03 7.35727130e-05 9.99994716e-01 4.95880893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142557844 meters 0.29029438848977074 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 9.99992744e-01 1.90270450e-03 -3.30028358e-03 6.74445823e-01] [-1.90214950e-03 9.99998176e-01 1.71300026e-04 -2.40735381e-02] [ 3.30060350e-03 -1.65021150e-04 9.99994539e-01 4.95972445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172557844 meters 0.2919980630665274 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.50 [[ 9.99967415e-01 -7.17789959e-03 -3.69406240e-03 6.98339145e-01] [ 7.18080756e-03 9.99973918e-01 7.74541740e-04 -2.44812970e-02] [ 3.68840647e-03 -8.01042853e-04 9.99992877e-01 4.95597099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202557844 meters 0.2903103987103766 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 0.99997554 -0.00119608 -0.00689064 0.67684533] [ 0.00118242 0.99999733 -0.0019868 -0.02399511] [ 0.006893 0.0019786 0.99997429 0.49666619] [ 0. 0. 0. 1. ]] SLAMing on 220.232557844 meters 0.2918877370015726 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 9.99963166e-01 -7.40977985e-03 -4.33139396e-03 6.99361193e-01] [ 7.41375202e-03 9.99972111e-01 9.01729851e-04 -2.55857782e-02] [ 4.32459155e-03 -9.33808518e-04 9.99990213e-01 4.94686730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262557844 meters 0.28961819090158347 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99975426e-01 -9.13885141e-04 -6.95063786e-03 6.76678369e-01] [ 9.02899051e-04 9.99998339e-01 -1.58356101e-03 -2.47149028e-02] [ 6.95207350e-03 1.57724637e-03 9.99974590e-01 4.96785662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29255784400002 meters 0.29014304600131885 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99975384e-01 -9.43057345e-04 -6.95286761e-03 6.76457689e-01] [ 9.31520656e-04 9.99998184e-01 -1.66232230e-03 -2.43878800e-02] [ 6.95442266e-03 1.65580464e-03 9.99974447e-01 4.97331780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32255784400002 meters 0.2910918918398636 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99975718e-01 -9.46138346e-04 -6.90426754e-03 6.76310792e-01] [ 9.34616477e-04 9.99998166e-01 -1.67183974e-03 -2.43507125e-02] [ 6.90583667e-03 1.66534630e-03 9.99974768e-01 4.97385059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35255784400002 meters 0.29098488416265234 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99975748e-01 -9.46456958e-04 -6.89975930e-03 6.76334319e-01] [ 9.34933344e-04 9.99998163e-01 -1.67318141e-03 -2.43477714e-02] [ 6.90133022e-03 1.66669002e-03 9.99974797e-01 4.97304816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38255784400002 meters 0.29095533495829357 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99975840e-01 -9.44882439e-04 -6.88669804e-03 6.76378441e-01] [ 9.33412488e-04 9.99998172e-01 -1.66854643e-03 -2.43663968e-02] [ 6.88826203e-03 1.66207799e-03 9.99974894e-01 4.97136099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41255784400002 meters 0.289702508972898 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:0.49 [[ 9.99984297e-01 -9.68034771e-04 -5.51982161e-03 6.36697431e-01] [ 9.60720809e-04 9.99998657e-01 -1.32753361e-03 -2.41692736e-02] [ 5.52109930e-03 1.32220976e-03 9.99983884e-01 4.94051268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44255784400002 meters 0.2909813553407424 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:0.49 [[ 9.99984629e-01 -9.48893227e-04 -5.46279625e-03 6.36485242e-01] [ 9.41935430e-04 9.99998742e-01 -1.27610159e-03 -2.43776604e-02] [ 5.46400026e-03 1.27093637e-03 9.99984265e-01 4.94218929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47255784400002 meters 0.29027047301433617 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:0.49 [[ 9.99984877e-01 -8.98566934e-04 -5.42575899e-03 6.36345184e-01] [ 8.92440632e-04 9.99998962e-01 -1.13142979e-03 -2.49587811e-02] [ 5.42677003e-03 1.12657051e-03 9.99984640e-01 4.94331717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50255784400002 meters 0.2893298297608208 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:0.49 [[ 9.99985529e-01 -8.56264806e-04 -5.31123176e-03 6.36029816e-01] [ 8.50905352e-04 9.99999127e-01 -1.01125680e-03 -2.54438828e-02] [ 5.31209303e-03 1.00672281e-03 9.99985384e-01 4.94402737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53255784400002 meters 0.29013019760380593 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.03, Z:0.50 [[ 9.99987339e-01 -7.90776147e-04 -4.96964374e-03 6.34977652e-01] [ 7.86820604e-04 9.99999372e-01 -7.97845626e-04 -2.63305656e-02] [ 4.97027154e-03 7.93925306e-04 9.99987333e-01 4.95049187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56255784400003 meters 0.2917917642577489 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.49 [[ 0.99997646 -0.00663815 -0.00173512 0.65654356] [ 0.00664219 0.99997522 0.00233054 -0.02859942] [ 0.0017196 -0.00234201 0.99999578 0.49346872] [ 0. 0. 0. 1. ]] SLAMing on 220.592557844 meters 0.2916856344094301 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99999693 0.00212116 -0.0012781 0.67653618] [-0.00211929 0.99999668 0.00146348 -0.03318416] [ 0.0012812 -0.00146076 0.99999811 0.49401817] [ 0. 0. 0. 1. ]] SLAMing on 220.622557844 meters 0.2915704412656524 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99999695 0.0020824 -0.00132651 0.6769481 ] [-0.0020806 0.99999691 0.00136032 -0.03275864] [ 0.00132934 -0.00135756 0.99999819 0.49334954] [ 0. 0. 0. 1. ]] SLAMing on 220.652557844 meters 0.29166577571852575 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99999699 0.00207656 -0.00130469 0.67691888] [-0.00207481 0.99999694 0.00134459 -0.03269491] [ 0.00130747 -0.00134188 0.99999824 0.49328878] [ 0. 0. 0. 1. ]] SLAMing on 220.682557844 meters 0.2911757912397526 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99999699 0.00209192 -0.0012826 0.67675772] [-0.00209015 0.99999686 0.00138468 -0.03285752] [ 0.0012855 -0.00138199 0.99999822 0.49352586] [ 0. 0. 0. 1. ]] SLAMing on 220.712557844 meters 0.290411602662488 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.49 [[ 0.99997756 -0.00643431 -0.00186778 0.65661034] [ 0.006439 0.99997611 0.00251487 -0.02968809] [ 0.00185156 -0.00252684 0.99999509 0.49268495] [ 0. 0. 0. 1. ]] SLAMing on 220.742557844 meters 0.2925624355928474 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99999831e-01 -2.18865042e-04 5.39090970e-04 6.79735445e-01] [ 2.18963389e-04 9.99999959e-01 -1.82378502e-04 -3.06432687e-02] [-5.39051031e-04 1.82496512e-04 9.99999838e-01 4.90641990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.772557844 meters 0.2926955543452617 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99999854e-01 -7.49136941e-05 5.34226335e-04 6.79791225e-01] [ 7.47694629e-05 9.99999961e-01 2.69996323e-04 -3.24250141e-02] [-5.34246541e-04 -2.69956340e-04 9.99999821e-01 4.90510995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802557844 meters 0.2920857624532171 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99999882e-01 5.28232490e-06 4.85715276e-04 6.79970653e-01] [-5.52168174e-06 9.99999879e-01 4.92792472e-04 -3.33220953e-02] [-4.85712614e-04 -4.92795096e-04 9.99999761e-01 4.90366695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832557844 meters 0.2929948971465209 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99999945e-01 1.40275420e-04 2.98910965e-04 6.80612249e-01] [-1.40535216e-04 9.99999612e-01 8.69298800e-04 -3.48847202e-02] [-2.98788907e-04 -8.69340760e-04 9.99999577e-01 4.89917203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862557844 meters 0.29193471984189123 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999969e-01 1.54321839e-04 1.93576040e-04 6.80929242e-01] [-1.54497480e-04 9.99999576e-01 9.07665622e-04 -3.50407184e-02] [-1.93435885e-04 -9.07695501e-04 9.99999569e-01 4.89815507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892557844 meters 0.29190960368016083 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99999977e-01 1.75586722e-04 1.20544275e-04 6.81087500e-01] [-1.75703056e-04 9.99999518e-01 9.65741543e-04 -3.52747899e-02] [-1.20374646e-04 -9.65762701e-04 9.99999526e-01 4.89873970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922557844 meters 0.292559232158253 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:0.49 [[ 0.99997113 0.0072141 0.00238804 0.70181829] [-0.00721069 0.99997297 -0.00143421 -0.03680176] [-0.00239832 0.00141695 0.99999612 0.48919095] [ 0. 0. 0. 1. ]] SLAMing on 220.952557844 meters 0.29129275418751616 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994861e-01 -1.57446216e-03 2.79261607e-03 6.81175502e-01] [ 1.57609173e-03 9.99998589e-01 -5.81423680e-04 -3.13867062e-02] [-2.79169670e-03 5.85822112e-04 9.99995932e-01 4.88976318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982557844 meters 0.2927754718578975 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994758e-01 -1.57240468e-03 2.83034298e-03 6.81118783e-01] [ 1.57403922e-03 9.99998596e-01 -5.75370319e-04 -3.14130329e-02] [-2.82943429e-03 5.79822374e-04 9.99995829e-01 4.88882804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012557844 meters 0.29245348254211545 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994708e-01 -1.56443642e-03 2.85245281e-03 6.81021077e-01] [ 1.56602390e-03 9.99998620e-01 -5.54383026e-04 -3.15009132e-02] [-2.85158158e-03 5.58847101e-04 9.99995778e-01 4.88973116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04255784400002 meters 0.29223613398745985 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994310e-01 -1.55653487e-03 2.99285907e-03 6.80467308e-01] [ 1.55813510e-03 9.99998644e-01 -5.32423570e-04 -3.16115658e-02] [-2.99202627e-03 5.37083819e-04 9.99995380e-01 4.89424598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07255784400002 meters 0.292778186529077 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994354e-01 -1.53825538e-03 2.98746777e-03 6.80476744e-01] [ 1.53971022e-03 9.99998697e-01 -4.84741571e-04 -3.18076978e-02] [-2.98671823e-03 4.89338669e-04 9.99995420e-01 4.89432819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10255784400002 meters 0.29064562774469194 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99994709e-01 -1.50658384e-03 2.88323772e-03 6.80783187e-01] [ 1.50774494e-03 9.99998783e-01 -4.00574769e-04 -3.21443229e-02] [-2.88263071e-03 4.04919837e-04 9.99995763e-01 4.89332585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13255784400002 meters 0.29224857604026483 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99995949e-01 -1.40964346e-03 2.47298221e-03 6.81946230e-01] [ 1.40990254e-03 9.99999001e-01 -1.03023489e-04 -3.33375321e-02] [-2.47283451e-03 1.06509735e-04 9.99996937e-01 4.88832515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16255784400002 meters 0.2908562482149182 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.49 [[ 9.99992654e-01 3.83225751e-03 8.16469223e-05 6.59030190e-01] [-3.83193627e-03 9.99986084e-01 -3.62606918e-03 -3.25396711e-02] [-9.55418170e-05 3.62572968e-03 9.99993422e-01 4.90275055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19255784400002 meters 0.2922272038820959 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99998377 -0.00557462 0.00117853 0.68152776] [ 0.00557878 0.9999781 -0.00355947 -0.03283412] [-0.00115866 0.00356599 0.99999297 0.48974958] [ 0. 0. 0. 1. ]] SLAMing on 221.22255784400002 meters 0.29117091833267184 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99996835e-01 -1.42672245e-03 2.07251839e-03 6.79151900e-01] [ 1.42567040e-03 9.99998854e-01 5.09006261e-04 -3.25220582e-02] [-2.07324223e-03 -5.06049921e-04 9.99997723e-01 4.90297079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25255784400002 meters 0.29311181442773887 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.49 [[ 9.99998541e-01 -8.60112819e-04 1.47599685e-03 7.17388454e-01] [ 8.58590574e-04 9.99999099e-01 1.03165749e-03 -3.41575710e-02] [-1.47688286e-03 -1.03038871e-03 9.99998379e-01 4.93947365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28255784400002 meters 0.29091155900145743 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99996064e-01 -8.77425758e-04 2.66497860e-03 6.76160613e-01] [ 8.74630540e-04 9.99999066e-01 1.04985487e-03 -3.08134423e-02] [-2.66589728e-03 -1.04751987e-03 9.99995898e-01 4.92239496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31255784400003 meters 0.2931683759056278 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.49 [[ 9.99999387e-01 -1.10767814e-03 -6.05464355e-06 7.18472791e-01] [ 1.10768014e-03 9.99999328e-01 3.41559511e-04 -3.16328075e-02] [ 5.67630148e-06 -3.41566008e-04 9.99999942e-01 4.94519064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342557844 meters 0.2933445931945618 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.49 [[ 9.99999384e-01 -1.10557588e-03 -1.01234280e-04 7.18855872e-01] [ 1.10561091e-03 9.99999329e-01 3.46653579e-04 -3.16534450e-02] [ 1.00850960e-04 -3.46765292e-04 9.99999935e-01 4.94210459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372557844 meters 0.2938117100175415 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.49 [[ 9.99999373e-01 -1.11468268e-03 -1.09225951e-04 7.18964596e-01] [ 1.11471796e-03 9.99999326e-01 3.23470693e-04 -3.15594800e-02] [ 1.08865310e-04 -3.23592246e-04 9.99999942e-01 4.94020373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters 0.29316089748113816 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.49 [[ 9.99999355e-01 -1.13602406e-03 1.00562159e-05 7.18517472e-01] [ 1.13602133e-03 9.99999319e-01 2.67395044e-04 -3.13390950e-02] [-1.03599763e-05 -2.67383447e-04 9.99999964e-01 4.94343053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.432557844 meters 0.29154449466611115 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.50 [[ 0.99998704 0.00432322 -0.00268732 0.69473375] [-0.0043314 0.99998598 -0.00304536 -0.02835047] [ 0.00267412 0.00305696 0.99999175 0.49695401] [ 0. 0. 0. 1. ]] SLAMing on 221.462557844 meters 0.2908673969664898 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:0.50 [[ 0.99998692 0.00433553 -0.00271295 0.69486738] [-0.0043437 0.99998603 -0.00301295 -0.02847969] [ 0.00269985 0.0030247 0.99999178 0.49679005] [ 0. 0. 0. 1. ]] SLAMing on 221.492557844 meters 0.29199659697548563 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.50 [[ 0.99998658 0.00437933 -0.00276962 0.69503722] [-0.00438735 0.99998618 -0.00289613 -0.02895377] [ 0.0027569 0.00290825 0.99999197 0.49671666] [ 0. 0. 0. 1. ]] SLAMing on 221.522557844 meters 0.2937067686752579 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.50 [[ 0.99998583 -0.00489969 -0.00207919 0.71790978] [ 0.00489446 0.99998486 -0.00251488 -0.02979371] [ 0.00209148 0.00250466 0.99999468 0.4961372 ] [ 0. 0. 0. 1. ]] SLAMing on 221.552557844 meters 0.2924101672725638 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 0.99998964 0.0032582 -0.00317915 0.6987643 ] [-0.00327 0.99998776 -0.00371318 -0.03365014] [ 0.00316701 0.00372354 0.99998805 0.4943621 ] [ 0. 0. 0. 1. ]] SLAMing on 221.582557844 meters 0.2920799615319234 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.49 [[ 0.99998936 0.00332498 -0.00319904 0.69883551] [-0.0033363 0.99998817 -0.00353943 -0.03435832] [ 0.00318724 0.00355007 0.99998862 0.49429679] [ 0. 0. 0. 1. ]] SLAMing on 221.612557844 meters 0.29269051437223803 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.50 [[ 0.99998671 -0.00478904 -0.00190777 0.71800594] [ 0.00478517 0.9999865 -0.00202631 -0.03280596] [ 0.00191745 0.00201715 0.99999613 0.49584648] [ 0. 0. 0. 1. ]] SLAMing on 221.642557844 meters 0.2928975485408002 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:0.50 [[ 0.99998761 -0.00463038 -0.00182896 0.71755627] [ 0.00462745 0.99998801 -0.00160197 -0.0345441 ] [ 0.00183635 0.00159348 0.99999704 0.49640303] [ 0. 0. 0. 1. ]] SLAMing on 221.672557844 meters 0.29390030113105303 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 0.9999883 -0.0045038 -0.00176582 0.71731064] [ 0.00450155 0.99998906 -0.00127155 -0.03590093] [ 0.00177152 0.00126358 0.99999763 0.49655975] [ 0. 0. 0. 1. ]] SLAMing on 221.702557844 meters 0.2920854443661687 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99989050e-01 -4.37147802e-03 -1.67051124e-03 7.16992777e-01] [ 4.36993298e-03 9.99990022e-01 -9.27419879e-04 -3.73095195e-02] [ 1.67454876e-03 9.20109701e-04 9.99998175e-01 4.96685512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732557844 meters 0.29224364976491307 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99990348e-01 -4.14639427e-03 -1.45297897e-03 7.16262377e-01] [ 4.14597158e-03 9.99991362e-01 -2.93809170e-04 -3.99149747e-02] [ 1.45418467e-03 2.87782325e-04 9.99998901e-01 4.97033985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762557844 meters 0.29224364976491307 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99990348e-01 -4.14639427e-03 -1.45297897e-03 7.16262377e-01] [ 4.14597158e-03 9.99991362e-01 -2.93809170e-04 -3.99149747e-02] [ 1.45418467e-03 2.87782325e-04 9.99998901e-01 4.97033985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79255784400002 meters 0.2924580815472805 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99991016e-01 -4.00791755e-03 -1.38014971e-03 7.15966950e-01] [ 4.00802472e-03 9.99991965e-01 7.48921836e-05 -4.14242238e-02] [ 1.37983846e-03 -8.04231849e-05 9.99999045e-01 4.97240635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82255784400002 meters 0.29108443236997844 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:0.50 [[ 0.99999234 0.00181917 -0.00346607 0.69232314] [-0.00182901 0.9999943 -0.00283732 -0.04093518] [ 0.00346089 0.00284363 0.99998997 0.49902253] [ 0. 0. 0. 1. ]] SLAMing on 221.85255784400002 meters 0.29280217211247167 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:0.50 [[ 9.99987368e-01 -5.02404125e-03 -1.49560784e-04 7.13980663e-01] [ 5.02397335e-03 9.99987278e-01 -4.50958213e-04 -4.65458619e-02] [ 1.51824514e-04 4.50201127e-04 9.99999887e-01 4.97433423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88255784400002 meters 0.2911579611676971 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:0.50 [[ 9.99987793e-01 -4.93829901e-03 -1.63553857e-04 7.14027646e-01] [ 4.93826302e-03 9.99987783e-01 -2.19692147e-04 -4.74818576e-02] [ 1.64636764e-04 2.18881793e-04 9.99999962e-01 4.97385135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91255784400002 meters 0.29252518690693813 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:0.50 [[ 9.99992808e-01 3.79134019e-03 9.81577171e-05 7.33768550e-01] [-3.79123052e-03 9.99992214e-01 -1.09440892e-03 -5.25226510e-02] [-1.02306229e-04 1.09402891e-03 9.99999396e-01 4.98259741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94255784400002 meters 0.29121885610267617 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:0.50 [[ 9.99988141e-01 -4.67821899e-03 -1.35327760e-03 7.14967156e-01] [ 4.67834343e-03 9.99989053e-01 8.87969435e-05 -4.82217488e-02] [ 1.35284737e-03 -9.51269879e-05 9.99999080e-01 4.97125760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97255784400002 meters 0.29173848489683546 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:0.50 [[ 9.99988091e-01 -4.66728860e-03 -1.42632750e-03 7.15213366e-01] [ 4.66745966e-03 9.99989101e-01 1.16624998e-04 -4.83377136e-02] [ 1.42576763e-03 -1.23280935e-04 9.99998976e-01 4.96985415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00255784400002 meters 0.29228030387912 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:0.50 [[ 9.99987682e-01 -4.72531471e-03 -1.51905693e-03 7.15564832e-01] [ 4.72526393e-03 9.99988835e-01 -3.70176672e-05 -4.77089489e-02] [ 1.51921489e-03 2.98392663e-05 9.99998846e-01 4.96733343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03255784400002 meters 0.29276317864725276 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:0.50 [[ 9.99987442e-01 -4.77951458e-03 -1.50764866e-03 7.15568155e-01] [ 4.77924820e-03 9.99988563e-01 -1.80241838e-04 -4.71232580e-02] [ 1.50849289e-03 1.73034147e-04 9.99998847e-01 4.96672044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06255784400003 meters 0.29259758175949707 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:0.50 [[ 9.99986830e-01 -4.91958054e-03 -1.46220504e-03 7.15428503e-01] [ 4.91878930e-03 9.99987755e-01 -5.44226751e-04 -4.56443600e-02] [ 1.46486451e-03 5.37027305e-04 9.99998783e-01 4.96742598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092557844 meters 0.29248595476511985 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99986454e-01 -5.00364548e-03 -1.43366839e-03 7.15316432e-01] [ 5.00254669e-03 9.99987192e-01 -7.68981881e-04 -4.47287713e-02] [ 1.43749774e-03 7.61799472e-04 9.99998677e-01 4.96848399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters 0.29242113591621144 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 9.99986026e-01 -5.08170173e-03 -1.45775967e-03 7.15412106e-01] [ 5.08028151e-03 9.99986619e-01 -9.76304272e-04 -4.38816426e-02] [ 1.46270145e-03 9.68884799e-04 9.99998461e-01 4.96787080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152557844 meters 0.29336741891389306 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 0.99998555 -0.00514471 -0.00155657 0.71572334] [ 0.00514293 0.99998612 -0.00114456 -0.04318949] [ 0.00156243 0.00113653 0.99999813 0.49667983] [ 0. 0. 0. 1. ]] SLAMing on 222.182557844 meters 0.29478443350169553 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.50 [[ 0.99998464 -0.00531283 -0.00157612 0.71599969] [ 0.00531038 0.99998469 -0.00155558 -0.04150345] [ 0.00158436 0.00154718 0.99999755 0.49623982] [ 0. 0. 0. 1. ]] SLAMing on 222.212557844 meters 0.292117996762417 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:0.50 [[ 0.99998865 0.00385736 -0.00279672 0.69423079] [-0.00386306 0.99999047 -0.00203627 -0.04071537] [ 0.00278884 0.00204705 0.99999402 0.4962173 ] [ 0. 0. 0. 1. ]] SLAMing on 222.242557844 meters 0.29427786772975933 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:0.49 [[ 9.99997912e-01 -2.04270418e-03 -4.90424929e-05 7.16964104e-01] [ 2.04274572e-03 9.99997542e-01 8.62271813e-04 -4.17576338e-02] [ 4.72810061e-05 -8.62370194e-04 9.99999627e-01 4.94333287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.272557844 meters 0.2920915021024418 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:0.49 [[ 9.99998565e-01 -1.38320628e-03 9.78328395e-04 6.78101421e-01] [ 1.38221238e-03 9.99998529e-01 1.01586400e-03 -3.63426968e-02] [-9.79732105e-04 -1.01451028e-03 9.99999005e-01 4.91196567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302557844 meters 0.2930327885337456 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99998386e-01 -1.59246771e-03 8.31574595e-04 6.78557079e-01] [ 1.59211604e-03 9.99998643e-01 4.23380724e-04 -3.39508775e-02] [-8.32247686e-04 -4.22056077e-04 9.99999565e-01 4.91063408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332557844 meters 0.2932114801816244 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99998293e-01 -1.65981366e-03 8.12326114e-04 6.78574752e-01] [ 1.65961841e-03 9.99998594e-01 2.40970792e-04 -3.32026019e-02] [-8.12724938e-04 -2.39622230e-04 9.99999641e-01 4.91158667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362557844 meters 0.292518224656453 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99998183e-01 -1.70120786e-03 8.60627183e-04 6.78388006e-01] [ 1.70109764e-03 9.99998545e-01 1.28787511e-04 -3.27437916e-02] [-8.60845025e-04 -1.27323266e-04 9.99999621e-01 4.91313993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392557844 meters 0.29374868080938743 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99998164e-01 -1.69866058e-03 8.87138817e-04 6.78401764e-01] [ 1.69854186e-03 9.99998548e-01 1.34561209e-04 -3.27698433e-02] [-8.87366103e-04 -1.33054119e-04 9.99999597e-01 4.91126540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422557844 meters 0.29249327919671975 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.49 [[ 0.99999132 0.00352188 -0.00222525 0.65511014] [-0.00352926 0.99998827 -0.00331741 -0.02914632] [ 0.00221354 0.00332524 0.99999202 0.49339427] [ 0. 0. 0. 1. ]] SLAMing on 222.452557844 meters 0.2924770858033757 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99998448 -0.00545058 -0.00115385 0.67666507] [ 0.00544733 0.99998125 -0.00279932 -0.02846704] [ 0.00116909 0.00279299 0.99999542 0.49370654] [ 0. 0. 0. 1. ]] SLAMing on 222.482557844 meters 0.29292825897600516 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99998408 -0.00552126 -0.00116802 0.67652037] [ 0.00551774 0.9999803 -0.00299399 -0.02767912] [ 0.00118452 0.00298749 0.99999484 0.49415239] [ 0. 0. 0. 1. ]] SLAMing on 222.512557844 meters 0.29315872333013265 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 0.99999872 -0.00118804 -0.00107051 0.67614891] [ 0.00118944 0.99999843 0.00131096 -0.02759766] [ 0.00106895 -0.00131223 0.99999857 0.49435154] [ 0. 0. 0. 1. ]] SLAMing on 222.54255784400002 meters 0.29439113160691904 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.49 [[ 9.99998528e-01 -1.30538563e-03 -1.11383190e-03 6.76229921e-01] [ 1.30645936e-03 9.99998682e-01 9.63820760e-04 -2.62204005e-02] [ 1.11257227e-03 -9.65274517e-04 9.99998915e-01 4.94442435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57255784400002 meters 0.2917578946744338 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:0.50 [[ 0.99997866 0.00546652 -0.00357609 0.65333945] [-0.00547338 0.9999832 -0.00191043 -0.01982518] [ 0.00356559 0.00192996 0.99999178 0.49629978] [ 0. 0. 0. 1. ]] SLAMing on 222.60255784400002 meters 0.29247239649306234 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 0.99999232 -0.00335739 -0.00202308 0.67343073] [ 0.00335443 0.9999933 -0.00146358 -0.01674717] [ 0.00202798 0.00145679 0.99999688 0.49709157] [ 0. 0. 0. 1. ]] SLAMing on 222.63255784400002 meters 0.291228645766553 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 0.99999227 -0.00340208 -0.00197283 0.67318632] [ 0.00339896 0.99999297 -0.00158135 -0.01626759] [ 0.00197819 0.00157463 0.9999968 0.49736432] [ 0. 0. 0. 1. ]] SLAMing on 222.66255784400002 meters 0.2929006501405456 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.50 [[ 9.99986474e-01 5.16781319e-03 -5.87219554e-04 6.92483317e-01] [-5.16931522e-03 9.99983296e-01 -2.58580525e-03 -2.05250845e-02] [ 5.73846786e-04 2.58880580e-03 9.99996484e-01 4.98072389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69255784400002 meters 0.29125383515117387 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 9.99996157e-01 -1.34584331e-03 -2.42376815e-03 6.69935697e-01] [ 1.34624614e-03 9.99999080e-01 1.64575482e-04 -1.90850468e-02] [ 2.42354442e-03 -1.67837838e-04 9.99997049e-01 4.99545195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72255784400002 meters 0.29307627821071985 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:0.50 [[ 9.99997802e-01 -1.62369548e-03 -1.32625136e-03 7.11657150e-01] [ 1.62370023e-03 9.99998682e-01 2.49868352e-06 -2.42386753e-02] [ 1.32624555e-03 -4.65211265e-06 9.99999121e-01 5.00218639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75255784400002 meters 0.2939650246289769 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:0.50 [[ 9.99998050e-01 -1.57091496e-03 -1.19705453e-03 7.11310704e-01] [ 1.57112840e-03 9.99998750e-01 1.77390380e-04 -2.49308802e-02] [ 1.19677437e-03 -1.79270761e-04 9.99999268e-01 5.00261849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78255784400002 meters 0.29330411076588675 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:0.50 [[ 9.99998051e-01 -1.51521071e-03 -1.26542467e-03 7.11561564e-01] [ 1.51562293e-03 9.99998799e-01 3.24859930e-04 -2.55223444e-02] [ 1.26493092e-03 -3.26777203e-04 9.99999147e-01 5.00069136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81255784400003 meters 0.2936389785196666 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:0.50 [[ 9.99998042e-01 -1.45805391e-03 -1.33776117e-03 7.11874640e-01] [ 1.45868742e-03 9.99998824e-01 4.72706245e-04 -2.61136656e-02] [ 1.33707036e-03 -4.74656695e-04 9.99998993e-01 4.99769800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842557844 meters 0.2918445792439754 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 9.99999119e-01 -1.31550992e-03 -1.76519920e-04 6.72782114e-01] [ 1.31558911e-03 9.99999034e-01 4.49242288e-04 -2.33207965e-02] [ 1.75928767e-04 -4.49474120e-04 9.99999884e-01 4.96466918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872557844 meters 0.2923225558874948 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.50 [[ 9.99999057e-01 -1.36849116e-03 -1.13421688e-04 6.72401281e-01] [ 1.36852424e-03 9.99999021e-01 2.92095144e-04 -2.26940658e-02] [ 1.13021847e-04 -2.92250089e-04 9.99999951e-01 4.97077487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902557844 meters 0.2924808501201155 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.50 [[ 9.99973933e-01 7.15072796e-03 1.00032378e-03 6.92529187e-01] [-7.14993887e-03 9.99974127e-01 -7.90199908e-04 -2.49409692e-02] [-1.00594840e-03 7.83027056e-04 9.99999187e-01 4.98111620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.932557844 meters 0.2943172013323482 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:0.50 [[ 9.99974687e-01 7.07199758e-03 7.82193787e-04 6.93142893e-01] [-7.07118881e-03 9.99974466e-01 -1.03195510e-03 -2.39659673e-02] [-7.89471798e-04 1.02639794e-03 9.99999162e-01 4.97983722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.962557844 meters 0.2924076249106602 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99995757e-01 -1.19774636e-03 -2.65560750e-03 6.76040904e-01] [ 1.19662163e-03 9.99999194e-01 -4.25080773e-04 -1.75735791e-02] [ 2.65611450e-03 4.21901211e-04 9.99996384e-01 4.96835780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.992557844 meters 0.2929657105492863 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99995542e-01 -1.26643342e-03 -2.70408437e-03 6.76257588e-01] [ 1.26477418e-03 9.99999011e-01 -6.15229913e-04 -1.67965561e-02] [ 2.70486084e-03 6.11807115e-04 9.99996155e-01 4.96639895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.022557844 meters 0.29152280945885367 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:0.50 [[ 9.99995522e-01 -1.34599964e-03 -2.67269899e-03 6.76102244e-01] [ 1.34378407e-03 9.99998752e-01 -8.30588155e-04 -1.59272818e-02] [ 2.67381363e-03 8.26992906e-04 9.99996083e-01 4.96833286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052557844 meters 0.29118740851979935 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999547 -0.00146607 -0.00262928 0.67577693] [ 0.00146312 0.9999983 -0.00112451 -0.01473242] [ 0.00263093 0.00112066 0.99999591 0.49732674] [ 0. 0. 0. 1. ]] SLAMing on 223.082557844 meters 0.2925845188711008 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999522 -0.00148738 -0.00271228 0.67608568] [ 0.00148418 0.9999982 -0.00118313 -0.01449419] [ 0.00271403 0.0011791 0.99999562 0.49710809] [ 0. 0. 0. 1. ]] SLAMing on 223.112557844 meters 0.2919683568944509 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999503 -0.0015286 -0.0027572 0.67629793] [ 0.00152502 0.999998 -0.00129734 -0.01402895] [ 0.00275917 0.00129313 0.99999536 0.49689084] [ 0. 0. 0. 1. ]] SLAMing on 223.142557844 meters 0.29319217203120634 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999493 -0.00157355 -0.0027681 0.67636138] [ 0.00156963 0.99999776 -0.0014184 -0.01353444] [ 0.00277033 0.00141405 0.99999516 0.4968254 ] [ 0. 0. 0. 1. ]] SLAMing on 223.172557844 meters 0.2929535188292174 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.9999948 -0.00169887 -0.0027402 0.67622739] [ 0.00169415 0.99999707 -0.00172653 -0.01228019] [ 0.00274312 0.00172188 0.99999476 0.49697928] [ 0. 0. 0. 1. ]] SLAMing on 223.202557844 meters 0.29302877428692864 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999471 -0.00177375 -0.00272585 0.6761877 ] [ 0.00176851 0.99999658 -0.00192532 -0.01146935] [ 0.00272925 0.00192048 0.99999443 0.49700128] [ 0. 0. 0. 1. ]] SLAMing on 223.232557844 meters 0.2929635519657459 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999449 -0.00185717 -0.00275287 0.67634557] [ 0.00185126 0.99999598 -0.00214822 -0.01055585] [ 0.00275685 0.00214311 0.9999939 0.49682279] [ 0. 0. 0. 1. ]] SLAMing on 223.262557844 meters 0.2924735510603686 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.50 [[ 0.99999427 -0.00194593 -0.00277059 0.67643918] [ 0.00193929 0.99999525 -0.00239647 -0.00955427] [ 0.00277524 0.00239108 0.99999329 0.49672736] [ 0. 0. 0. 1. ]] SLAMing on 223.29255784400002 meters 0.2915962319664804 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.50 [[ 9.99998797e-01 -4.49689625e-04 -1.48438510e-03 6.71004504e-01] [ 4.47657229e-04 9.99998962e-01 -1.36923212e-03 -8.01739285e-03] [ 1.48499929e-03 1.36856597e-03 9.99997961e-01 5.00112892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32255784400002 meters 0.29160620654963226 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.50 [[ 9.99998739e-01 -6.24833934e-04 -1.45968218e-03 6.70766043e-01] [ 6.22089562e-04 9.99998040e-01 -1.87981458e-03 -5.98325803e-03] [ 1.46085389e-03 1.87890415e-03 9.99997168e-01 5.00596171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35255784400002 meters 0.2924138277689461 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.50 [[ 9.99998600e-01 -7.94712218e-04 -1.47272521e-03 6.70785875e-01] [ 7.91231517e-04 9.99996896e-01 -2.36251991e-03 -4.05738132e-03] [ 1.47459816e-03 2.36135134e-03 9.99996125e-01 5.00668800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38255784400002 meters 0.2917483777517837 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.50 [[ 9.99997907e-01 -1.13271049e-03 -1.70363062e-03 6.71550563e-01] [ 1.12699631e-03 9.99993749e-01 -3.35134723e-03 -1.27042896e-04] [ 1.70741607e-03 3.34942023e-03 9.99992933e-01 5.00372708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41255784400002 meters 0.2924883055501883 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.50 [[ 0.99999776 -0.0012901 -0.00167999 0.67146534] [ 0.00128377 0.99999209 -0.00376457 0.00154315] [ 0.00168484 0.00376241 0.9999915 0.50046168] [ 0. 0. 0. 1. ]] SLAMing on 223.44255784400002 meters 0.2921737146236003 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.50 [[ 0.99999762 -0.00144396 -0.00163655 0.67121199] [ 0.00143712 0.99999025 -0.00417521 0.00320808] [ 0.00164256 0.00417285 0.99998994 0.50083728] [ 0. 0. 0. 1. ]] SLAMing on 223.47255784400002 meters 0.2919753976541391 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.50 [[ 0.99999746 -0.00159771 -0.00159156 0.67090925] [ 0.00159041 0.99998825 -0.00457908 0.00484784] [ 0.00159886 0.00457654 0.99998825 0.50130887] [ 0. 0. 0. 1. ]] SLAMing on 223.50255784400002 meters 0.2920024587395149 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.9999955 0.00248286 -0.00168612 0.67133156] [-0.00248461 0.99999638 -0.00103655 0.00799611] [ 0.00168354 0.00104073 0.99999804 0.50090382] [ 0. 0. 0. 1. ]] SLAMing on 223.53255784400002 meters 0.29197134102094835 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999569 0.00234065 -0.00177363 0.67188246] [-0.00234315 0.99999626 -0.00141112 0.00958957] [ 0.00177032 0.00141527 0.99999743 0.50018349] [ 0. 0. 0. 1. ]] SLAMing on 223.56255784400003 meters 0.2931418154104165 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999577 0.00224264 -0.00184959 0.6723535 ] [-0.00224574 0.99999607 -0.001678 0.01069149] [ 0.00184582 0.00168215 0.99999688 0.49952974] [ 0. 0. 0. 1. ]] SLAMing on 223.592557844 meters 0.29294979783495134 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999612 0.00209862 -0.0018297 0.67222511] [-0.00210242 0.99999563 -0.0020787 0.0122934 ] [ 0.00182533 0.00208254 0.99999617 0.49976529] [ 0. 0. 0. 1. ]] SLAMing on 223.622557844 meters 0.29294979783495134 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999612 0.00209862 -0.0018297 0.67222511] [-0.00210242 0.99999563 -0.0020787 0.0122934 ] [ 0.00182533 0.00208254 0.99999617 0.49976529] [ 0. 0. 0. 1. ]] SLAMing on 223.652557844 meters 0.29181193755917084 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999634 0.0020494 -0.00176497 0.67196021] [-0.00205329 0.99999545 -0.00220864 0.01281014] [ 0.00176043 0.00221225 0.999996 0.50001069] [ 0. 0. 0. 1. ]] SLAMing on 223.682557844 meters 0.2928193256697339 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999649 0.00199405 -0.00174747 0.67193469] [-0.00199816 0.99999524 -0.00235313 0.01339602] [ 0.00174277 0.00235661 0.9999957 0.49998175] [ 0. 0. 0. 1. ]] SLAMing on 223.712557844 meters 0.29281989278322146 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999641 0.00198206 -0.00180144 0.67223672] [-0.00198636 0.99999518 -0.00238687 0.01354134] [ 0.0017967 0.00239044 0.99999553 0.49961823] [ 0. 0. 0. 1. ]] SLAMing on 223.742557844 meters 0.2936462160968725 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999632 0.00192329 -0.00191246 0.67285185] [-0.00192817 0.99999488 -0.00255245 0.01422018] [ 0.00190754 0.00255613 0.99999491 0.49882042] [ 0. 0. 0. 1. ]] SLAMing on 223.772557844 meters 0.2930035347173528 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 0.99999639 0.00188019 -0.00191957 0.67297617] [-0.0018853 0.99999467 -0.00266703 0.01469799] [ 0.00191454 0.00267064 0.9999946 0.49859267] [ 0. 0. 0. 1. ]] SLAMing on 223.802557844 meters 0.29477726267990645 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.50 [[ 9.99991364e-01 -4.12666786e-03 4.92066282e-04 6.95044236e-01] [ 4.12629347e-03 9.99991198e-01 7.59458306e-04 1.33570313e-02] [-4.95195983e-04 -7.57421338e-04 9.99999591e-01 4.97344364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.832557844 meters 0.2945226088843192 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.50 [[ 9.99991208e-01 -4.18750871e-03 2.19513736e-04 6.95897664e-01] [ 4.18738447e-03 9.99991074e-01 5.63427477e-04 1.41990609e-02] [-2.21871134e-04 -5.62503335e-04 9.99999817e-01 4.96973832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862557844 meters 0.29447588230550703 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.50 [[ 9.99991104e-01 -4.21590878e-03 1.30977989e-04 6.96342006e-01] [ 4.21584502e-03 9.99990996e-01 4.83306795e-04 1.45478909e-02] [-1.33014387e-04 -4.82750312e-04 9.99999875e-01 4.96471189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892557844 meters 0.29432410267106046 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.50 [[ 9.99990966e-01 -4.25021363e-03 5.12839033e-05 6.96721687e-01] [ 4.25019355e-03 9.99990894e-01 3.85498603e-04 1.49653045e-02] [-5.29218877e-05 -3.85277154e-04 9.99999924e-01 4.96059541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922557844 meters 0.2923145541593529 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:0.50 [[ 9.99986764e-01 5.14327574e-03 -1.33685792e-04 6.74688970e-01] [-5.14330091e-03 9.99986755e-01 -1.88617408e-04 1.44049294e-02] [ 1.32713910e-04 1.89302498e-04 9.99999973e-01 4.95862588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952557844 meters 0.29236283861277884 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:0.50 [[ 9.99987140e-01 5.07072225e-03 -8.51019254e-05 6.74446157e-01] [-5.07075460e-03 9.99987070e-01 -3.84389758e-04 1.51920380e-02] [ 8.31516913e-05 3.84816346e-04 9.99999923e-01 4.96167810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982557844 meters 0.2922300712332525 Centerline is valid? [False, False] Translation: X:0.67, Y:0.02, Z:0.50 [[ 9.99987711e-01 4.95637086e-03 -1.11794993e-04 6.74442273e-01] [-4.95644792e-03 9.99987472e-01 -6.99916958e-04 1.64671670e-02] [ 1.08324544e-04 7.00462463e-04 9.99999749e-01 4.96369664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012557844 meters 0.29381415089630314 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:0.49 [[ 0.99999789 -0.00123716 0.00163815 0.69796047] [ 0.00123385 0.9999972 0.0020174 0.01829674] [-0.00164064 -0.00201538 0.99999662 0.49495201] [ 0. 0. 0. 1. ]] SLAMing on 224.04255784400002 meters 0.2916483556790036 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:0.50 [[ 9.99980966e-01 6.01744280e-03 -1.36285140e-03 6.75372145e-01] [-6.01774383e-03 9.99981870e-01 -2.16889963e-04 2.31266784e-02] [ 1.36152157e-03 2.25087126e-04 9.99999048e-01 4.97525115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07255784400002 meters 0.29109532931633286 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:0.50 [[ 9.99981963e-01 5.86910170e-03 -1.27570614e-03 6.75041680e-01] [-5.86992656e-03 9.99982565e-01 -6.43815003e-04 2.48417807e-02] [ 1.27190528e-03 6.51291692e-04 9.99998979e-01 4.97838863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10255784400002 meters 0.29194414744742603 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:0.50 [[ 0.99998299 0.00572211 -0.00112859 0.67450537] [-0.0057233 0.99998307 -0.00105061 0.02648718] [ 0.00112255 0.00105705 0.99999881 0.49828595] [ 0. 0. 0. 1. ]] SLAMing on 224.13255784400002 meters 0.29469483655138123 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997033e-01 -3.47391312e-04 2.41093545e-03 6.96699655e-01] [ 3.44124032e-04 9.99999022e-01 1.35547412e-03 2.69252659e-02] [-2.41140398e-03 -1.35464044e-03 9.99996175e-01 4.96536023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16255784400002 meters 0.29256871470457757 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997093e-01 -4.49949363e-04 2.36905444e-03 6.96826762e-01] [ 4.47368894e-04 9.99999306e-01 1.08965745e-03 2.80093898e-02] [-2.36954309e-03 -1.08859444e-03 9.99996600e-01 4.96512980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19255784400002 meters 0.29299209255876363 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997131e-01 -5.66271140e-04 2.32768773e-03 6.96959883e-01] [ 5.64441958e-04 9.99999531e-01 7.86418634e-04 2.92535657e-02] [-2.32813197e-03 -7.85102533e-04 9.99996982e-01 4.96477808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22255784400002 meters 0.292675732332663 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997111e-01 -7.12958587e-04 2.29578748e-03 6.97064307e-01] [ 7.12048989e-04 9.99999668e-01 3.96996241e-04 3.08496494e-02] [-2.29606976e-03 -3.95360381e-04 9.99997286e-01 4.96432024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25255784400002 meters 0.29178328883523313 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997108e-01 -7.68690440e-04 2.27886849e-03 6.97069079e-01] [ 7.68131382e-04 9.99999675e-01 2.46187838e-04 3.14640030e-02] [-2.27905699e-03 -2.44436655e-04 9.99997373e-01 4.96527581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28255784400002 meters 0.293160483114075 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 9.99997177e-01 -8.24930000e-04 2.22848541e-03 6.97190883e-01] [ 8.24703456e-04 9.99999655e-01 1.02575311e-04 3.20487337e-02] [-2.22856925e-03 -1.00737182e-04 9.99997512e-01 4.96556836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31255784400003 meters 0.29145066066524006 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.50 [[ 0.99999177 0.00331483 0.00234081 0.69688001] [-0.00332395 0.99998686 0.00390206 0.03418462] [-0.00232785 -0.00390981 0.99998965 0.49672942] [ 0. 0. 0. 1. ]] SLAMing on 224.34255784400003 meters 0.2908374074469271 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:0.50 [[ 0.99999195 0.00320291 0.00241719 0.69656657] [-0.00321161 0.99998835 0.00360342 0.03540082] [-0.00240562 -0.00361116 0.99999059 0.49702677] [ 0. 0. 0. 1. ]] SLAMing on 224.372557844 meters 0.2915997554146209 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:0.50 [[ 0.99999193 0.00310979 0.00254152 0.69613437] [-0.0031183 0.99998951 0.00335493 0.03640246] [-0.00253106 -0.00336283 0.99999114 0.49732882] [ 0. 0. 0. 1. ]] SLAMing on 224.402557844 meters 0.2919362938231981 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:0.50 [[ 0.99999265 0.00294219 0.00245861 0.69645591] [-0.00294941 0.99999134 0.00293732 0.03812325] [-0.00244994 -0.00294455 0.99999266 0.4971432 ] [ 0. 0. 0. 1. ]] SLAMing on 224.432557844 meters 0.2927210274035534 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:0.50 [[ 0.99999325 0.00285813 0.00230725 0.6971149 ] [-0.0028644 0.99999221 0.00271725 0.03908608] [-0.00229946 -0.00272384 0.99999365 0.4965511 ] [ 0. 0. 0. 1. ]] SLAMing on 224.462557844 meters 0.2914555345552682 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:0.50 [[ 9.99987130e-01 -5.07114899e-03 -1.50812713e-04 6.78408345e-01] [ 5.07164665e-03 9.99980992e-01 3.50617152e-03 4.46282054e-02] [ 1.33029528e-04 -3.50689127e-03 9.99993842e-01 4.95527641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.492557844 meters 0.2914310718658417 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.50 [[ 9.99986357e-01 -5.21360269e-03 -3.23167088e-04 6.78991513e-01] [ 5.21458401e-03 9.99981555e-01 3.11398984e-03 4.62694556e-02] [ 3.06926022e-04 -3.11563254e-03 9.99995099e-01 4.95170962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.522557844 meters 0.29354213857299183 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:0.49 [[ 9.99996969e-01 5.71764709e-04 2.39499046e-03 7.00876972e-01] [-5.71796118e-04 9.99999836e-01 1.24296400e-05 4.71265815e-02] [-2.39498297e-03 -1.37990486e-05 9.99997132e-01 4.93742434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552557844 meters 0.2935067554462921 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:0.49 [[ 9.99997158e-01 4.38839383e-04 2.34339193e-03 7.00922275e-01] [-4.38029730e-04 9.99999844e-01 -3.46006654e-04 4.85894125e-02] [-2.34354341e-03 3.44979195e-04 9.99997194e-01 4.93963856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582557844 meters 0.2913068194256016 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:0.50 [[ 9.99990953e-01 -4.25285504e-03 -8.81461593e-05 6.78780651e-01] [ 4.25310026e-03 9.99986459e-01 2.99872720e-03 5.31741997e-02] [ 7.53918137e-05 -2.99907496e-03 9.99995500e-01 4.95110217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612557844 meters 0.2928992788290748 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:0.50 [[ 9.99992053e-01 3.87392360e-03 9.41385928e-04 6.99273697e-01] [-3.87567318e-03 9.99990753e-01 1.86385540e-03 5.09849345e-02] [-9.34156789e-04 -1.86748910e-03 9.99997820e-01 4.95767575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642557844 meters 0.29312345083063934 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:0.50 [[ 0.99999223 0.0037918 0.00107377 0.69879852] [-0.00379356 0.99999146 0.00163829 0.05189007] [-0.00106755 -0.00164235 0.99999808 0.49613449] [ 0. 0. 0. 1. ]] SLAMing on 224.672557844 meters 0.29098409234505485 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.50 [[ 0.99998803 -0.00462378 0.00159791 0.67777663] [ 0.00462025 0.99998689 0.00220829 0.05784532] [-0.0016081 -0.00220088 0.99999629 0.49598231] [ 0. 0. 0. 1. ]] SLAMing on 224.702557844 meters 0.2909920077040385 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.50 [[ 0.99998761 -0.00465734 0.00175887 0.67719405] [ 0.0046536 0.99998692 0.00212115 0.05819205] [-0.00176873 -0.00211294 0.9999962 0.49645536] [ 0. 0. 0. 1. ]] SLAMing on 224.732557844 meters 0.2904960628944726 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:0.50 [[ 0.99998766 -0.00464291 0.00176868 0.67713414] [ 0.00463908 0.9999869 0.00216271 0.05801998] [-0.0017787 -0.00215448 0.9999961 0.49653664] [ 0. 0. 0. 1. ]] SLAMing on 224.762557844 meters 0.29085281766710697 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:0.50 [[ 0.99998983 0.00325073 0.00312734 0.69738396] [-0.00325405 0.99999415 0.00105805 0.0546408 ] [-0.00312388 -0.00106822 0.99999455 0.49738372] [ 0. 0. 0. 1. ]] SLAMing on 224.79255784400002 meters 0.29100989471540595 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99990643e-01 3.13994233e-03 2.97570451e-03 6.97636950e-01] [-3.14202526e-03 9.99994822e-01 6.95564397e-04 5.60538330e-02] [-2.97350507e-03 -7.04907627e-04 9.99995331e-01 4.97691373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82255784400002 meters 0.2915027718349511 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99990915e-01 3.04698772e-03 2.98092785e-03 6.97546945e-01] [-3.04823932e-03 9.99995268e-01 4.15417507e-04 5.71706433e-02] [-2.97964797e-03 -4.24500314e-04 9.99995471e-01 4.97896396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85255784400002 meters 0.2903365983793063 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99990880e-01 2.96394001e-03 3.07502657e-03 6.97218531e-01] [-2.96446558e-03 9.99995592e-01 1.66372335e-04 5.81615070e-02] [-3.07451990e-03 -1.75486628e-04 9.99995258e-01 4.98142202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88255784400002 meters 0.2900463032939791 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99989621e-01 2.86527261e-03 3.54243343e-03 6.95889133e-01] [-2.86464448e-03 9.99995880e-01 -1.82377489e-04 5.95157563e-02] [-3.54294139e-03 1.72227784e-04 9.99993709e-01 4.98800487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91255784400002 meters 0.28933962876654135 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99989874e-01 2.77729000e-03 3.54090689e-03 6.95810472e-01] [-2.77575718e-03 9.99996052e-01 -4.37731434e-04 6.05360875e-02] [-3.54210862e-03 4.27898304e-04 9.99993635e-01 4.99022799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94255784400002 meters 0.29043653085297205 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99990272e-01 2.69973970e-03 3.48819277e-03 6.95971642e-01] [-2.69747121e-03 9.99996147e-01 -6.54874478e-04 6.14259288e-02] [-3.48994732e-03 6.45458807e-04 9.99993702e-01 4.98966997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97255784400002 meters 0.2894792560847315 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:0.50 [[ 9.99990927e-01 2.62032082e-03 3.35844787e-03 6.96358787e-01] [-2.61739120e-03 9.99996191e-01 -8.76410483e-04 6.23384367e-02] [-3.36073156e-03 8.67612159e-04 9.99993976e-01 4.98839025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00255784400002 meters 0.29165073085064297 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999128e-01 -1.01703634e-03 8.42704012e-04 7.32251764e-01] [ 1.01633100e-03 9.99999133e-01 8.36998563e-04 6.27585870e-02] [-8.43554540e-04 -8.36141367e-04 9.99999295e-01 4.99863009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03255784400002 meters 0.29133293238024255 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999124e-01 -1.05257453e-03 8.01958280e-04 7.32468817e-01] [ 1.05198000e-03 9.99999172e-01 7.41401330e-04 6.31558720e-02] [-8.02737996e-04 -7.40557036e-04 9.99999404e-01 4.99609719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06255784400003 meters 0.29153837193342375 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999169e-01 -1.02770188e-03 7.78076639e-04 7.32607031e-01] [ 1.02707330e-03 9.99999146e-01 8.07839632e-04 6.28881805e-02] [-7.78906193e-04 -8.07039820e-04 9.99999371e-01 4.99433715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09255784400003 meters 0.2905055578470346 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999251e-01 -9.34203609e-04 7.90124618e-04 7.32550261e-01] [ 9.33353146e-04 9.99998985e-01 1.07605053e-03 6.18116204e-02] [-7.91129067e-04 -1.07531226e-03 9.99999109e-01 4.99492798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122557844 meters 0.28890388612768403 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999328e-01 -8.50867060e-04 7.87706149e-04 7.32584586e-01] [ 8.49839335e-04 9.99998789e-01 1.30412350e-03 6.08904921e-02] [-7.88814830e-04 -1.30345320e-03 9.99998839e-01 4.99422123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152557844 meters 0.2890342658126108 Centerline is valid? [False, False] Translation: X:0.73, Y:0.06, Z:0.50 [[ 9.99999394e-01 -7.89573573e-04 7.67653798e-04 7.32687821e-01] [ 7.88441362e-04 9.99998603e-01 1.47408292e-03 6.01987214e-02] [-7.68816622e-04 -1.47347678e-03 9.99998619e-01 4.99292432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.182557844 meters 0.2897528348780233 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99998675 0.00458033 0.00235029 0.75550632] [-0.00457574 0.99998762 -0.00195286 0.05888833] [-0.0023592 0.00194208 0.99999533 0.49810516] [ 0. 0. 0. 1. ]] SLAMing on 225.212557844 meters 0.2910358995739084 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99998692 0.00466706 0.0020908 0.75622352] [-0.00466349 0.99998766 -0.00171126 0.05792497] [-0.00209876 0.00170149 0.99999635 0.49790871] [ 0. 0. 0. 1. ]] SLAMing on 225.242557844 meters 0.28988936850999236 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99994468e-01 -3.32628860e-03 1.52735412e-05 7.37357321e-01] [ 3.32629712e-03 9.99994290e-01 -5.97027691e-04 6.14899215e-02] [-1.32875676e-05 5.97075192e-04 9.99999822e-01 4.97291609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.272557844 meters 0.2901562894894568 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99994601e-01 -3.28528388e-03 -6.36207508e-05 7.37618964e-01] [ 3.28525259e-03 9.99994485e-01 -4.85895996e-04 6.10460686e-02] [ 6.52167063e-05 4.85684363e-04 9.99999880e-01 4.97140447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302557844 meters 0.29089916944747385 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99994725e-01 -3.24794507e-03 2.16466703e-06 7.37456864e-01] [ 3.24794568e-03 9.99994647e-01 -3.95070801e-04 6.06621955e-02] [-8.81487186e-07 3.95075747e-04 9.99999922e-01 4.97127370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332557844 meters 0.2897339779670802 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99994843e-01 -3.20956972e-03 1.12652185e-04 7.37084452e-01] [ 3.20960170e-03 9.99994809e-01 -2.84826006e-04 6.02083296e-02] [-1.11737431e-04 2.85186106e-04 9.99999953e-01 4.97356436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362557844 meters 0.28971111759201984 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99995042e-01 -3.13844153e-03 2.57264920e-04 7.36557309e-01] [ 3.13845765e-03 9.99995073e-01 -6.22929277e-05 5.93174775e-02] [-2.57068149e-04 6.31000339e-05 9.99999965e-01 4.97828840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392557844 meters 0.28971175248480374 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99995100e-01 -3.12413306e-03 1.99417614e-04 7.36794173e-01] [ 3.12413771e-03 9.99995120e-01 -2.30139804e-05 5.91661691e-02] [-1.99344742e-04 2.36368757e-05 9.99999980e-01 4.97617324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422557844 meters 0.2896144052268437 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99995168e-01 -3.10542296e-03 1.41910232e-04 7.37018144e-01] [ 3.10541905e-03 9.99995178e-01 2.77663220e-05 5.89657385e-02] [-1.41995773e-04 -2.73254971e-05 9.99999990e-01 4.97435504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452557844 meters 0.2900015938682393 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99995208e-01 -3.09470599e-03 8.49625764e-05 7.37176200e-01] [ 3.09470114e-03 9.99995210e-01 5.71633905e-05 5.88471141e-02] [-8.51390733e-05 -5.69001828e-05 9.99999995e-01 4.97404228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482557844 meters 0.2891638001980869 Centerline is valid? [False, False] Translation: X:0.74, Y:0.06, Z:0.50 [[ 9.99995261e-01 -3.07404850e-03 1.66560068e-04 7.36780137e-01] [ 3.07402950e-03 9.99995269e-01 1.14207195e-04 5.86052165e-02] [-1.66910359e-04 -1.13694643e-04 9.99999980e-01 4.97870862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512557844 meters 0.29017419017765095 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99999196 0.00282874 0.00284366 0.7589413 ] [-0.00282111 0.99999241 -0.00268625 0.05878231] [-0.00285124 0.00267821 0.99999235 0.49648357] [ 0. 0. 0. 1. ]] SLAMing on 225.54255784400002 meters 0.2904955256428907 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.9999917 0.00287496 0.00288739 0.75881529] [-0.00286758 0.99999262 -0.0025583 0.0582613 ] [-0.00289472 0.00255 0.99999256 0.49651438] [ 0. 0. 0. 1. ]] SLAMing on 225.57255784400002 meters 0.2904955256428907 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.9999917 0.00287496 0.00288739 0.75881529] [-0.00286758 0.99999262 -0.0025583 0.0582613 ] [-0.00289472 0.00255 0.99999256 0.49651438] [ 0. 0. 0. 1. ]] SLAMing on 225.60255784400002 meters 0.28943248407558897 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99999105 0.00299241 0.00298925 0.75837173] [-0.00298584 0.99999312 -0.00220061 0.05684507] [-0.00299581 0.00219167 0.99999311 0.49699301] [ 0. 0. 0. 1. ]] SLAMing on 225.63255784400002 meters 0.2902922142785976 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99999084 0.00310304 0.0029493 0.75844221] [-0.00309751 0.99999344 -0.00187848 0.05555828] [-0.00295511 0.00186933 0.99999389 0.49706228] [ 0. 0. 0. 1. ]] SLAMing on 225.66255784400002 meters 0.2896242266079274 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 0.99999059 0.00318486 0.00294433 0.75846338] [-0.00318011 0.99999364 -0.00161612 0.05452694] [-0.00294946 0.00160674 0.99999436 0.49703327] [ 0. 0. 0. 1. ]] SLAMing on 225.69255784400002 meters 0.2896972978457977 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 0.99998962 0.00327286 0.00317057 0.75808816] [-0.00326889 0.99999387 -0.00125498 0.05311038] [-0.00317466 0.00124461 0.99999419 0.49654768] [ 0. 0. 0. 1. ]] SLAMing on 225.72255784400002 meters 0.2896153893705627 Centerline is valid? [False, False] Translation: X:0.74, Y:0.05, Z:0.50 [[ 9.99985713e-01 -4.93511349e-03 2.05404804e-03 7.37742229e-01] [ 4.93523299e-03 9.99987820e-01 -5.31134592e-05 5.44573169e-02] [-2.05376091e-03 6.32499060e-05 9.99997889e-01 4.95404408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75255784400002 meters 0.2900390046977198 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 9.99984514e-01 3.83897432e-03 4.02916402e-03 7.58134470e-01] [-3.83914994e-03 9.99992630e-01 3.58524033e-05 4.99111511e-02] [-4.02899668e-03 -5.13204129e-05 9.99991882e-01 4.95434133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78255784400002 meters 0.28947730624868107 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 9.99984605e-01 3.80811052e-03 4.03575798e-03 7.57959216e-01] [-3.80794898e-03 9.99992749e-01 -4.77090511e-05 5.02469510e-02] [-4.03591040e-03 3.23403561e-05 9.99991855e-01 4.95805833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81255784400003 meters 0.28909333938083903 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 9.99984633e-01 3.76750930e-03 4.06680463e-03 7.57748047e-01] [-3.76690713e-03 9.99992893e-01 -1.55718824e-04 5.06779831e-02] [-4.06736240e-03 1.40397156e-04 9.99991718e-01 4.96118683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84255784400003 meters 0.28909182089250474 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 9.99984658e-01 3.63767000e-03 4.17740437e-03 7.57394636e-01] [-3.63539742e-03 9.99993240e-01 -5.51481147e-04 5.22562200e-02] [-4.17938223e-03 5.36286161e-04 9.99991123e-01 4.96330168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872557844 meters 0.2895898491271464 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:0.50 [[ 9.99985224e-01 3.51615730e-03 4.14591991e-03 7.57588392e-01] [-3.51249158e-03 9.99993434e-01 -8.91127682e-04 5.36505128e-02] [-4.14902603e-03 8.76552005e-04 9.99991009e-01 4.96074194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902557844 meters 0.2891400839390093 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:0.50 [[ 9.99974712e-01 -5.85542857e-03 4.03609336e-03 7.79202825e-01] [ 5.85753136e-03 9.99982715e-01 -5.09372010e-04 5.78421893e-02] [-4.03304101e-03 5.33000673e-04 9.99991725e-01 4.95996768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.932557844 meters 0.2889823648170788 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.9999945 0.00259193 0.0020698 0.76012627] [-0.00258803 0.99999487 -0.00188499 0.05599056] [-0.00207467 0.00187963 0.99999608 0.49508401] [ 0. 0. 0. 1. ]] SLAMing on 225.962557844 meters 0.2897373494972357 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:0.50 [[ 9.99981291e-01 -4.27354058e-03 4.37667141e-03 7.80381222e-01] [ 4.26948104e-03 9.99990447e-01 9.36464003e-04 5.65093640e-02] [-4.38063162e-03 -9.17760367e-04 9.99989984e-01 4.95073868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.992557844 meters 0.2889371953551256 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 0.99999741 0.00198504 0.0011099 0.7584528 ] [-0.00198274 0.9999959 -0.00206516 0.0584189 ] [-0.00111399 0.00206295 0.99999725 0.49747997] [ 0. 0. 0. 1. ]] SLAMing on 226.022557844 meters 0.288141767376908 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:0.50 [[ 9.99997590e-01 1.98201048e-03 9.44223376e-04 7.58979342e-01] [-1.98004626e-03 9.99995883e-01 -2.07666609e-03 5.84687652e-02] [-9.48335463e-04 2.07479148e-03 9.99997398e-01 4.97177643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052557844 meters 0.2907643887083407 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:0.50 [[ 9.99998692e-01 9.73402390e-04 -1.29142582e-03 8.00711690e-01] [-9.75848773e-04 9.99997728e-01 -1.89505112e-03 5.56986378e-02] [ 1.28957824e-03 1.89630888e-03 9.99997370e-01 4.99437886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082557844 meters 0.2895663832990915 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:0.50 [[ 0.99999862 0.00102151 -0.00131132 0.80084753] [-0.00102381 0.99999793 -0.00175594 0.05514705] [ 0.00130953 0.00175728 0.9999976 0.49920752] [ 0. 0. 0. 1. ]] SLAMing on 226.112557844 meters 0.2898309959227077 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999869 0.00106281 -0.00121739 0.80050059] [-0.0010648 0.99999809 -0.00164028 0.05465927] [ 0.00121565 0.00164157 0.99999791 0.49946717] [ 0. 0. 0. 1. ]] SLAMing on 226.142557844 meters 0.28978355447412235 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999872 0.00110835 -0.00115309 0.80030412] [-0.0011101 0.99999824 -0.00151501 0.05414091] [ 0.00115141 0.00151629 0.99999819 0.49953713] [ 0. 0. 0. 1. ]] SLAMing on 226.172557844 meters 0.28961497086891314 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999865 0.00117525 -0.00114981 0.80041771] [-0.00117677 0.99999843 -0.00132705 0.05338427] [ 0.00114825 0.0013284 0.99999846 0.49922596] [ 0. 0. 0. 1. ]] SLAMing on 226.202557844 meters 0.2905271796348729 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:0.50 [[ 0.99998378 -0.00539185 0.00183567 0.82140849] [ 0.0053887 0.99998401 0.00171394 0.05126755] [-0.00184488 -0.00170402 0.99999685 0.49789098] [ 0. 0. 0. 1. ]] SLAMing on 226.232557844 meters 0.29001205191628887 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999107 0.00397193 0.00144161 0.80044367] [-0.0039736 0.99999144 0.00115464 0.04850977] [-0.00143701 -0.00116035 0.99999829 0.49743036] [ 0. 0. 0. 1. ]] SLAMing on 226.262557844 meters 0.2909405311696927 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999081 0.00403965 0.00143508 0.80039877] [-0.00404157 0.99999094 0.00133588 0.04776214] [-0.00142967 -0.00134167 0.99999808 0.49756219] [ 0. 0. 0. 1. ]] SLAMing on 226.29255784400002 meters 0.28970992399707196 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999065 0.00408503 0.00141596 0.80046844] [-0.00408709 0.99999059 0.00145652 0.04726629] [-0.00140999 -0.0014623 0.99999794 0.49750984] [ 0. 0. 0. 1. ]] SLAMing on 226.32255784400002 meters 0.28846756219886494 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99999049 0.00413971 0.00137522 0.80059059] [-0.00414191 0.99999014 0.00160448 0.04665896] [-0.00136856 -0.00161016 0.99999777 0.49746108] [ 0. 0. 0. 1. ]] SLAMing on 226.35255784400002 meters 0.2893370843221651 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 0.99998992 0.00428026 0.00135414 0.80073533] [-0.00428297 0.99998882 0.00200527 0.04504993] [-0.00134554 -0.00201104 0.99999707 0.49721602] [ 0. 0. 0. 1. ]] SLAMing on 226.38255784400002 meters 0.2900056175800157 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 0.99998974 0.00434691 0.00127733 0.8010148 ] [-0.0043497 0.99998816 0.00218264 0.04433168] [-0.00126782 -0.00218818 0.9999968 0.49700778] [ 0. 0. 0. 1. ]] SLAMing on 226.41255784400002 meters 0.29001909954477634 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 0.9999896 0.00439467 0.00121823 0.80125175] [-0.00439747 0.99998766 0.00231005 0.04381346] [-0.00120807 -0.00231538 0.99999659 0.49679864] [ 0. 0. 0. 1. ]] SLAMing on 226.44255784400002 meters 0.29165035894497554 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:0.50 [[ 0.99998584 -0.0048219 0.0022521 0.8225967 ] [ 0.00481503 0.99998377 0.00304685 0.0450307 ] [-0.00226676 -0.00303596 0.99999282 0.49656218] [ 0. 0. 0. 1. ]] SLAMing on 226.47255784400002 meters 0.2902599429924058 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:0.50 [[ 9.99998843e-01 1.51877469e-03 -8.84600276e-05 8.00202098e-01] [-1.51878745e-03 9.99998836e-01 -1.44379659e-04 4.64748703e-02] [ 8.82406444e-05 1.44513844e-04 9.99999986e-01 4.98359496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50255784400002 meters 0.29149117800882296 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:0.50 [[ 0.99998308 -0.00463367 0.00351696 0.82183173] [ 0.00462337 0.99998502 0.00292989 0.04297864] [-0.00353049 -0.00291358 0.99998952 0.49621877] [ 0. 0. 0. 1. ]] SLAMing on 226.53255784400002 meters 0.2894115968575655 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99997407e-01 1.67321950e-03 1.54488045e-03 7.98096375e-01] [-1.67293237e-03 9.99998583e-01 -1.87128351e-04 4.41588579e-02] [-1.54519137e-03 1.84543385e-04 9.99998789e-01 4.98920025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56255784400003 meters 0.2896367665717252 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99997420e-01 1.70852155e-03 1.49708739e-03 7.98290562e-01] [-1.70838298e-03 9.99998536e-01 -9.38311832e-05 4.37844029e-02] [-1.49724551e-03 9.12733425e-05 9.99998875e-01 4.98742221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59255784400003 meters 0.2900636482250983 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99997215e-01 1.75851915e-03 1.57384625e-03 7.98125482e-01] [-1.75859590e-03 9.99998453e-01 4.73814866e-05 4.32145090e-02] [-1.57376049e-03 -5.01491142e-05 9.99998760e-01 4.98665057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters 0.29094219041767927 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99996849e-01 1.81760891e-03 1.73176321e-03 7.97743348e-01] [-1.81800150e-03 9.99998322e-01 2.25152343e-04 4.24876367e-02] [-1.73135106e-03 -2.28299982e-04 9.99998475e-01 4.98617399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652557844 meters 0.2899131614528826 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99995977e-01 1.92961265e-03 2.07919452e-03 7.96787363e-01] [-1.93101150e-03 9.99997910e-01 6.70989725e-04 4.07074474e-02] [-2.07789542e-03 -6.75001974e-04 9.99997613e-01 4.98883357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.682557844 meters 0.28871671851547664 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99995813e-01 2.02155329e-03 2.07060391e-03 7.96798948e-01] [-2.02348553e-03 9.99997519e-01 9.31507193e-04 3.96558568e-02] [-2.06871568e-03 -9.35693130e-04 9.99997422e-01 4.98880002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.712557844 meters 0.2903446300695433 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 0.9999958 0.00210737 0.00198939 0.79708424] [-0.00210969 0.9999971 0.00116528 0.03871187] [-0.00198693 -0.00116947 0.99999734 0.49866777] [ 0. 0. 0. 1. ]] SLAMing on 226.742557844 meters 0.29149849803330835 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.49 [[ 9.99999597e-01 1.57303372e-04 8.83469280e-04 8.02814815e-01] [-1.56776589e-04 9.99999810e-01 -5.96304475e-04 3.77881402e-02] [-8.83562913e-04 5.96165728e-04 9.99999432e-01 4.94862730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.772557844 meters 0.2906763246621762 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99999529e-01 1.97389588e-04 9.50739017e-04 8.02565188e-01] [-1.96925551e-04 9.99999861e-01 -4.88149495e-04 3.73301713e-02] [-9.50835241e-04 4.87962040e-04 9.99999429e-01 4.95025883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802557844 meters 0.2897514424087567 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99999511e-01 2.18584826e-04 9.64335526e-04 8.02418361e-01] [-2.18171102e-04 9.99999884e-01 -4.29109500e-04 3.70787223e-02] [-9.64429211e-04 4.28898900e-04 9.99999443e-01 4.95287492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832557844 meters 0.2893394680057331 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99999539e-01 1.85529828e-04 9.42138066e-04 8.02395619e-01] [-1.85036105e-04 9.99999846e-01 -5.24106366e-04 3.74548648e-02] [-9.42235158e-04 5.23931795e-04 9.99999419e-01 4.95488661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862557844 meters 0.28978496822048705 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:0.50 [[ 9.99999560e-01 1.62714422e-04 9.24360884e-04 8.02586471e-01] [-1.62171829e-04 9.99999815e-01 -5.87036621e-04 3.77311112e-02] [-9.24456232e-04 5.86886457e-04 9.99999400e-01 4.95145079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892557844 meters 0.2905245133978516 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:0.50 [[ 9.99999940e-01 1.98047494e-04 -2.83898701e-04 8.42902877e-01] [-1.98149007e-04 9.99999916e-01 -3.57584412e-04 3.71068340e-02] [ 2.83827858e-04 3.57640645e-04 9.99999896e-01 4.97689742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922557844 meters 0.2907885535350766 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:0.50 [[ 9.99999937e-01 1.27857912e-04 -3.30711550e-04 8.43032066e-01] [-1.28037491e-04 9.99999844e-01 -5.43045056e-04 3.78704590e-02] [ 3.30642066e-04 5.43087365e-04 9.99999798e-01 4.97688010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952557844 meters 0.2906108558739343 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:0.50 [[ 9.99999888e-01 2.53820705e-05 -4.73151068e-04 8.43476341e-01] [-2.57697276e-05 9.99999664e-01 -8.19321342e-04 3.90278957e-02] [ 4.73130112e-04 8.19333443e-04 9.99999552e-01 4.97531666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982557844 meters 0.2894438729416305 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:0.49 [[ 9.99998424e-01 1.40133910e-03 -1.08985671e-03 8.08439458e-01] [-1.40202212e-03 9.99998821e-01 -6.26191376e-04 4.59390627e-02] [ 1.08897791e-03 6.27718393e-04 9.99999210e-01 4.92587804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012557844 meters 0.2909759084136638 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:0.49 [[ 0.99998732 -0.00481814 0.00146699 0.83091633] [ 0.00481456 0.99998544 0.0024381 0.04538666] [-0.00147872 -0.002431 0.99999595 0.49066043] [ 0. 0. 0. 1. ]] SLAMing on 227.04255784400002 meters 0.2918561594340771 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:0.49 [[ 0.99998849 0.0031283 0.00363841 0.84977593] [-0.00313244 0.99999445 0.00113323 0.04294211] [-0.00363485 -0.00114462 0.99999274 0.49134065] [ 0. 0. 0. 1. ]] SLAMing on 227.07255784400002 meters 0.2914422429283846 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:0.49 [[ 9.99988259e-01 3.03032846e-03 3.78132182e-03 8.49220138e-01] [-3.03365034e-03 9.99995017e-01 8.73069961e-04 4.40131754e-02] [-3.77865729e-03 -8.84530919e-04 9.99992470e-01 4.91839773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10255784400002 meters 0.2887085849989111 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:0.49 [[ 9.99988589e-01 2.31206263e-03 4.18057202e-03 8.08247694e-01] [-2.30887070e-03 9.99997040e-01 -7.68181692e-04 5.00302065e-02] [-4.18233573e-03 7.58520525e-04 9.99990966e-01 4.90625156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13255784400002 meters 0.29233331671260593 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:0.49 [[ 9.99993504e-01 1.03324080e-03 3.45317169e-03 8.51912329e-01] [-1.03007875e-03 9.99999049e-01 -9.17346941e-04 4.67781617e-02] [-3.45411624e-03 9.13783944e-04 9.99993617e-01 4.90568990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16255784400002 meters 0.2915770762463141 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:0.49 [[ 9.99986713e-01 -5.13843391e-03 4.13789664e-04 8.30647685e-01] [ 5.13768543e-03 9.99985200e-01 1.79003431e-03 4.62000770e-02] [-4.22981513e-04 -1.78788461e-03 9.99998312e-01 4.91916353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19255784400002 meters 0.29208964816397065 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:0.49 [[ 0.99999291 0.00303545 0.0022273 0.84940846] [-0.00303774 0.99999486 0.00102486 0.04005434] [-0.00222418 -0.00103162 0.99999699 0.49233421] [ 0. 0. 0. 1. ]] SLAMing on 227.22255784400002 meters 0.2924253342667013 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:0.49 [[ 9.99992956e-01 3.00493476e-03 2.24886052e-03 8.49344653e-01] [-3.00706715e-03 9.99995032e-01 9.45428949e-04 4.03813714e-02] [-2.24600840e-03 -9.52184765e-04 9.99997024e-01 4.92358190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25255784400002 meters 0.2898411642666501 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:0.49 [[ 9.99996644e-01 2.57422669e-03 2.90946662e-04 8.06497437e-01] [-2.57414079e-03 9.99996643e-01 -2.95248056e-04 4.59958824e-02] [-2.91705721e-04 2.94498128e-04 9.99999914e-01 4.92764802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28255784400002 meters 0.29126741926850264 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.49 [[ 0.99998894 -0.00372876 0.00286639 0.83005024] [ 0.00372109 0.99998949 0.00267703 0.04343427] [-0.00287634 -0.00266633 0.99999231 0.49007282] [ 0. 0. 0. 1. ]] SLAMing on 227.31255784400003 meters 0.291829290000484 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:0.49 [[ 0.99998588 0.00433486 0.00307333 0.85022833] [-0.00433967 0.99998937 0.00156027 0.03908474] [-0.00306654 -0.00157359 0.99999406 0.49087758] [ 0. 0. 0. 1. ]] SLAMing on 227.34255784400003 meters 0.2900396222392157 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:0.49 [[ 0.99997716 0.00576525 0.00352733 0.81129286] [-0.00577052 0.99998225 0.00148663 0.04693852] [-0.0035187 -0.00150695 0.99999267 0.48820823] [ 0. 0. 0. 1. ]] SLAMing on 227.372557844 meters 0.2911004356554908 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:0.49 [[ 0.99998328 -0.00342414 0.00465955 0.83106646] [ 0.00341495 0.99999221 0.00197925 0.05121806] [-0.00466629 -0.0019633 0.99998719 0.48932186] [ 0. 0. 0. 1. ]] SLAMing on 227.402557844 meters 0.2911226000547417 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:0.49 [[ 0.99998249 -0.00359971 0.00469744 0.83080524] [ 0.00359282 0.99999246 0.00147458 0.05325248] [-0.00470272 -0.00145768 0.99998788 0.48974977] [ 0. 0. 0. 1. ]] SLAMing on 227.432557844 meters 0.2911226000547417 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:0.49 [[ 0.99998249 -0.00359971 0.00469744 0.83080524] [ 0.00359282 0.99999246 0.00147458 0.05325248] [-0.00470272 -0.00145768 0.99998788 0.48974977] [ 0. 0. 0. 1. ]] SLAMing on 227.462557844 meters 0.29166406094700453 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 9.99981766e-01 -3.76783199e-03 4.71929784e-03 8.30636855e-01] [ 3.76314893e-03 9.99992419e-01 1.00080865e-03 5.51715416e-02] [-4.72303294e-03 -9.83030977e-04 9.99988363e-01 4.90023302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.492557844 meters 0.29141153495415506 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 9.99980719e-01 -4.08087481e-03 4.68056139e-03 8.30690832e-01] [ 4.08049287e-03 9.99991671e-01 9.11478394e-05 5.88111396e-02] [-4.68089436e-03 -7.20470846e-05 9.99989042e-01 4.90191146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.522557844 meters 0.2917120831708599 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 9.99980474e-01 -4.19248680e-03 4.63408729e-03 8.30796779e-01] [ 4.19348174e-03 9.99991186e-01 -2.05005768e-04 6.00291355e-02] [-4.63318696e-03 2.24434726e-04 9.99989242e-01 4.90237371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552557844 meters 0.29107048875901004 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 9.99980068e-01 -4.37698034e-03 4.55044843e-03 8.31198368e-01] [ 4.38015967e-03 9.99990170e-01 -6.88952880e-04 6.20353689e-02] [-4.54738816e-03 7.08870838e-04 9.99989409e-01 4.89803987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582557844 meters 0.29187627267695737 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 9.99980060e-01 -4.43908061e-03 4.49166501e-03 8.31504600e-01] [ 4.44295122e-03 9.99989767e-01 -8.52120643e-04 6.27237546e-02] [-4.48783641e-03 8.72059900e-04 9.99989549e-01 4.89461643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612557844 meters 0.2910836146609225 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 0.99998004 -0.0044976 0.00443686 0.83168917] [ 0.00450211 0.99998936 -0.00100703 0.06336784] [-0.00443229 0.00102698 0.99998965 0.48937468] [ 0. 0. 0. 1. ]] SLAMing on 227.642557844 meters 0.29106669564303983 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 0.99997988 -0.00454064 0.00442929 0.83170837] [ 0.00454567 0.99998904 -0.00112545 0.06385629] [-0.00442413 0.00114556 0.99998956 0.48938276] [ 0. 0. 0. 1. ]] SLAMing on 227.672557844 meters 0.2929017459636612 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 0.99997953 -0.00458706 0.00446142 0.83148116] [ 0.00459271 0.99998866 -0.00125747 0.06435989] [-0.0044556 0.00127794 0.99998926 0.48975457] [ 0. 0. 0. 1. ]] SLAMing on 227.702557844 meters 0.290795474648654 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:0.49 [[ 0.99997902 -0.00461672 0.00454438 0.83112953] [ 0.00462283 0.99998842 -0.0013364 0.06466197] [-0.00453815 0.00135738 0.99998878 0.49010064] [ 0. 0. 0. 1. ]] SLAMing on 227.732557844 meters 0.2910476674031995 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99997831 -0.00474206 0.00457001 0.83098316] [ 0.00474973 0.99998732 -0.00167055 0.06603285] [-0.00456203 0.00169222 0.99998816 0.49028029] [ 0. 0. 0. 1. ]] SLAMing on 227.762557844 meters 0.29300611248162267 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.49 [[ 0.99997936 0.00354931 0.005356 0.85217874] [-0.00353656 0.9999909 -0.00238791 0.06222238] [-0.00536443 0.00236892 0.99998281 0.4902279 ] [ 0. 0. 0. 1. ]] SLAMing on 227.79255784400002 meters 0.29179692659936035 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.49 [[ 0.99998002 0.00344311 0.00530064 0.85235094] [-0.00342896 0.99999054 -0.00267619 0.06341649] [-0.00530981 0.00265796 0.99998237 0.49019451] [ 0. 0. 0. 1. ]] SLAMing on 227.82255784400002 meters 0.29092135408812037 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:0.49 [[ 0.99998079 0.00335786 0.0052098 0.85256373] [-0.0033427 0.99999016 -0.00291701 0.06440229] [-0.00521955 0.00289954 0.99998217 0.49026137] [ 0. 0. 0. 1. ]] SLAMing on 227.85255784400002 meters 0.29154251371080336 Centerline is valid? [False, False] Translation: X:0.85, Y:0.07, Z:0.49 [[ 0.99998182 0.00321454 0.00510237 0.85272746] [-0.00319734 0.99998919 -0.00337682 0.06623316] [-0.00511317 0.00336044 0.99998128 0.49056329] [ 0. 0. 0. 1. ]] SLAMing on 227.88255784400002 meters 0.2905966660913854 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 9.99991357e-01 -1.84835208e-03 3.72428137e-03 8.30136612e-01] [ 1.84787915e-03 9.99998284e-01 1.30422384e-04 6.93673250e-02] [-3.72451605e-03 -1.23539235e-04 9.99993056e-01 4.91592452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91255784400002 meters 0.29079697323770937 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 9.99991345e-01 -1.95746203e-03 3.67124911e-03 8.30371062e-01] [ 1.95816976e-03 9.99998065e-01 -1.89191541e-04 7.06791941e-02] [-3.67087167e-03 1.96378832e-04 9.99993243e-01 4.91362932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94255784400002 meters 0.2911527187143779 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 9.99990779e-01 -2.12829531e-03 3.72999783e-03 8.30123485e-01] [ 2.13119079e-03 9.99997431e-01 -7.72467194e-04 7.29619215e-02] [-3.72834421e-03 7.80409408e-04 9.99992745e-01 4.91683982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97255784400002 meters 0.2912408696567123 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999012 -0.0022599 0.00382802 0.82972067] [ 0.00226432 0.99999677 -0.00115208 0.07449438] [-0.0038254 0.00116073 0.99999201 0.49206884] [ 0. 0. 0. 1. ]] SLAMing on 228.00255784400002 meters 0.2914892112379446 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:0.49 [[ 0.99998982 -0.00239452 0.00382403 0.82964584] [ 0.0024004 0.99999594 -0.00153297 0.07602636] [-0.00382034 0.00154214 0.99999151 0.49228399] [ 0. 0. 0. 1. ]] SLAMing on 228.03255784400002 meters 0.2916304128010605 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:0.49 [[ 0.99998993 -0.00252626 0.00370884 0.82999341] [ 0.00253332 0.99999499 -0.00189964 0.07753821] [-0.00370402 0.00190902 0.99999132 0.49218364] [ 0. 0. 0. 1. ]] SLAMing on 228.06255784400003 meters 0.2905208370747622 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 0.99999211 -0.00113502 0.00380661 0.79314312] [ 0.00114335 0.99999696 -0.00218637 0.08231546] [-0.00380412 0.00219071 0.99999036 0.48828928] [ 0. 0. 0. 1. ]] SLAMing on 228.09255784400003 meters 0.29069264248651555 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 0.99999185 -0.00118235 0.00385947 0.7929155 ] [ 0.00119128 0.99999662 -0.00231178 0.08281476] [-0.00385673 0.00231636 0.99998988 0.48851874] [ 0. 0. 0. 1. ]] SLAMing on 228.122557844 meters 0.2907645501487215 Centerline is valid? [False, False] Translation: X:0.81, Y:0.08, Z:0.49 [[ 0.99994801 -0.0070913 0.00732801 0.81221852] [ 0.00708163 0.99997402 0.00134429 0.08253834] [-0.00733735 -0.00129232 0.99997225 0.48863894] [ 0. 0. 0. 1. ]] SLAMing on 228.152557844 meters 0.2899826351857121 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99972596e-01 2.35518240e-03 7.01861045e-03 7.91421570e-01] [-2.35859286e-03 9.99997104e-01 4.77679260e-04 8.03954848e-02] [-7.01746511e-03 -4.94220214e-04 9.99975255e-01 4.88471158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.182557844 meters 0.2895215556224632 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99972719e-01 2.28914967e-03 7.02296389e-03 7.91408673e-01] [-2.29131019e-03 9.99997330e-01 2.99607165e-04 8.11275526e-02] [-7.02225929e-03 -3.15690780e-04 9.99975294e-01 4.88482928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.212557844 meters 0.2893138281334956 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99973102e-01 2.05829481e-03 7.03983239e-03 7.91327063e-01] [-2.05622825e-03 9.99997841e-01 -3.00777273e-04 8.35909952e-02] [-7.04043628e-03 2.86293681e-04 9.99975175e-01 4.88616334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.242557844 meters 0.28998464137149776 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 9.99973692e-01 1.90543011e-03 6.99887325e-03 7.91246795e-01] [-1.90054696e-03 9.99997946e-01 -7.04290777e-04 8.52376162e-02] [-7.00020085e-03 6.90970562e-04 9.99975260e-01 4.89059947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.272557844 meters 0.2896859334159504 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99997423 0.00175027 0.00696252 0.79119465] [-0.00174254 0.99999786 -0.00111703 0.08691525] [-0.00696446 0.00110487 0.99997514 0.48940435] [ 0. 0. 0. 1. ]] SLAMing on 228.302557844 meters 0.29107185334347424 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99997496 0.00159942 0.00689418 0.79135834] [-0.00158889 0.99999756 -0.00153234 0.08860985] [-0.00689662 0.00152135 0.99997506 0.48945038] [ 0. 0. 0. 1. ]] SLAMing on 228.332557844 meters 0.2889248636526793 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:0.49 [[ 0.99998862 -0.00288303 0.00380086 0.76851178] [ 0.00287711 0.99999464 0.00156263 0.09191731] [-0.00380534 -0.00155168 0.99999156 0.49189004] [ 0. 0. 0. 1. ]] SLAMing on 228.362557844 meters 0.2908006390545417 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 9.99971800e-01 4.98079959e-03 5.62052323e-03 7.88914457e-01] [-4.98314224e-03 9.99987503e-01 4.02875696e-04 9.10886295e-02] [-5.61844635e-03 -4.30872202e-04 9.99984124e-01 4.92189980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392557844 meters 0.28910141165496567 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 9.99974004e-01 4.54158126e-03 5.60044535e-03 7.88599591e-01] [-4.53814297e-03 9.99989506e-01 -6.26486242e-04 9.54172004e-02] [-5.60323182e-03 6.01054334e-04 9.99984121e-01 4.92901920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422557844 meters 0.2901310160883334 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 9.99975227e-01 4.40923688e-03 5.48672231e-03 7.88990831e-01] [-4.40399302e-03 9.99989834e-01 -9.67451917e-04 9.68408778e-02] [-5.49093226e-03 9.43264464e-04 9.99984480e-01 4.92705354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452557844 meters 0.2906383592065643 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 0.9999764 0.00431942 0.00534242 0.78956396] [-0.00431299 0.99998996 -0.00121527 0.09789857] [-0.00534762 0.0011922 0.99998499 0.49222363] [ 0. 0. 0. 1. ]] SLAMing on 228.482557844 meters 0.2914372268622531 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 0.9999774 0.00422723 0.00522804 0.79003361] [-0.00421962 0.99999002 -0.00146604 0.09896329] [-0.00523418 0.00144394 0.99998526 0.4918203 ] [ 0. 0. 0. 1. ]] SLAMing on 228.512557844 meters 0.29103572713289816 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 0.99997868 0.00403531 0.00513287 0.79034948] [-0.00402539 0.99999001 -0.00194149 0.10095034] [-0.00514065 0.00192079 0.99998494 0.49172223] [ 0. 0. 0. 1. ]] SLAMing on 228.54255784400002 meters 0.2907712290967475 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 0.99997935 0.00390606 0.00510353 0.79039479] [-0.00389448 0.99998982 -0.00227829 0.10234009] [-0.00511238 0.00225837 0.99998438 0.49181085] [ 0. 0. 0. 1. ]] SLAMing on 228.57255784400002 meters 0.28990885646107895 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998584 -0.00381788 0.00370703 0.77088756] [ 0.00382364 0.99999149 -0.00154744 0.10845159] [-0.00370109 0.00156159 0.99999193 0.49110623] [ 0. 0. 0. 1. ]] SLAMing on 228.60255784400002 meters 0.2898918280509432 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998592 -0.00394892 0.00354494 0.77130038] [ 0.00395569 0.99999036 -0.00190371 0.10993777] [-0.00353739 0.00191771 0.9999919 0.49111327] [ 0. 0. 0. 1. ]] SLAMing on 228.63255784400002 meters 0.29032805561456915 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998569 -0.00400099 0.00355198 0.77123119] [ 0.00400826 0.99998988 -0.00204297 0.11050449] [-0.00354377 0.00205718 0.9999916 0.49123756] [ 0. 0. 0. 1. ]] SLAMing on 228.66255784400002 meters 0.2908177506069827 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99997856 0.00374811 0.00536939 0.79125305] [-0.00373171 0.99998835 -0.00306109 0.1073339 ] [-0.0053808 0.00304099 0.9999809 0.49164022] [ 0. 0. 0. 1. ]] SLAMing on 228.69255784400002 meters 0.290197176400305 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 9.99994667e-01 -1.16771698e-03 3.05002285e-03 7.67386605e-01] [ 1.16736234e-03 9.99999312e-01 1.18053193e-04 1.07569899e-01] [-3.05015861e-03 -1.14492082e-04 9.99995342e-01 4.94159601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72255784400002 meters 0.29073269802333024 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99997476 0.00441988 0.00556347 0.789682 ] [-0.00440426 0.99998633 -0.00281773 0.1081104 ] [-0.00557585 0.00279315 0.99998055 0.49250766] [ 0. 0. 0. 1. ]] SLAMing on 228.75255784400002 meters 0.289620411188183 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998631 -0.00325552 0.00409665 0.77076456] [ 0.00326318 0.99999294 -0.00186461 0.1136273 ] [-0.00409056 0.00187796 0.99998987 0.49170767] [ 0. 0. 0. 1. ]] SLAMing on 228.78255784400002 meters 0.28985073594262883 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998674 -0.00332096 0.00393686 0.77122485] [ 0.00332911 0.99999233 -0.00206526 0.11447306] [-0.00392998 0.00207834 0.99999012 0.49156115] [ 0. 0. 0. 1. ]] SLAMing on 228.81255784400003 meters 0.2913602278308989 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99997774 0.00442395 0.00499478 0.79119174] [-0.00440847 0.99998546 -0.00310609 0.11074893] [-0.00500845 0.003084 0.9999827 0.49233321] [ 0. 0. 0. 1. ]] SLAMing on 228.84255784400003 meters 0.2912887451163834 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99997781 0.00437362 0.00502569 0.79109973] [-0.00435738 0.99998526 -0.00323799 0.11129058] [-0.00503978 0.00321602 0.99998213 0.49236928] [ 0. 0. 0. 1. ]] SLAMing on 228.872557844 meters 0.28988656569811355 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 0.99998441 -0.00342412 0.00441088 0.77122376] [ 0.00343497 0.99999109 -0.0024552 0.11706399] [-0.00440243 0.00247031 0.99998726 0.49151834] [ 0. 0. 0. 1. ]] SLAMing on 228.902557844 meters 0.2906109614371416 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99996937 0.00467507 0.00627673 0.79202991] [-0.00465567 0.99998435 -0.00310207 0.11498116] [-0.00629113 0.00307276 0.99997549 0.49150705] [ 0. 0. 0. 1. ]] SLAMing on 228.932557844 meters 0.29124320602231274 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 0.99997011 0.00458945 0.00622165 0.79213106] [-0.00456885 0.99998405 -0.00332024 0.1158826 ] [-0.00623679 0.00329172 0.99997513 0.49161601] [ 0. 0. 0. 1. ]] SLAMing on 228.962557844 meters 0.29121775228665236 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 0.9999704 0.00446754 0.00626442 0.79212181] [-0.00444469 0.99998344 -0.00365604 0.1172675 ] [-0.00628065 0.00362809 0.99997369 0.49140105] [ 0. 0. 0. 1. ]] SLAMing on 228.992557844 meters 0.29049841442656066 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 0.9999702 0.00444349 0.00631351 0.79197879] [-0.00442004 0.9999833 -0.00372232 0.1175296 ] [-0.00632994 0.0036943 0.99997314 0.49144957] [ 0. 0. 0. 1. ]] SLAMing on 229.022557844 meters 0.29140682068091356 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 0.99997027 0.00444326 0.00630278 0.7920081 ] [-0.00441984 0.99998329 -0.00372554 0.11754147] [-0.00631923 0.00369757 0.9999732 0.49144503] [ 0. 0. 0. 1. ]] SLAMing on 229.052557844 meters 0.2904138819348677 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 0.99998284 -0.00339833 0.00477203 0.77191355] [ 0.00341096 0.99999069 -0.00264154 0.11963677] [-0.00476301 0.00265777 0.99998512 0.49068291] [ 0. 0. 0. 1. ]] SLAMing on 229.082557844 meters 0.2907668257883963 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 0.99998343 -0.00329213 0.00472188 0.77215258] [ 0.00330319 0.99999181 -0.00233708 0.11841756] [-0.00471415 0.00235264 0.99998612 0.49038625] [ 0. 0. 0. 1. ]] SLAMing on 229.112557844 meters 0.28992721331804144 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 0.99998411 -0.00316188 0.00466641 0.77245139] [ 0.00317106 0.99999305 -0.00196038 0.11691299] [-0.00466018 0.00197515 0.99998719 0.48996572] [ 0. 0. 0. 1. ]] SLAMing on 229.142557844 meters 0.28983793882105174 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998492 -0.00293717 0.00464098 0.77285701] [ 0.00294318 0.99999484 -0.00128749 0.1142314 ] [-0.00463718 0.00130113 0.9999884 0.48901946] [ 0. 0. 0. 1. ]] SLAMing on 229.172557844 meters 0.2902935094508516 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 0.99998542 -0.00283519 0.00459597 0.77302842] [ 0.00283987 0.99999545 -0.00101303 0.11310941] [-0.00459307 0.00102607 0.99998893 0.48886652] [ 0. 0. 0. 1. ]] SLAMing on 229.202557844 meters 0.2903515300316105 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 9.99985586e-01 -2.76930273e-03 4.59979831e-03 7.72868208e-01] [ 2.77313144e-03 9.99995814e-01 -8.26194743e-04 1.12314712e-01] [-4.59749107e-03 8.38938680e-04 9.99989080e-01 4.89236701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232557844 meters 0.2902999252536178 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99996166 0.00565626 0.00668432 0.79312151] [-0.00564934 0.99998349 -0.00105377 0.10839292] [-0.00669017 0.00101597 0.9999771 0.48980318] [ 0. 0. 0. 1. ]] SLAMing on 229.262557844 meters 0.2913298245592336 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99996212 0.00563184 0.00663562 0.7932893 ] [-0.00562451 0.99998355 -0.00112185 0.10868256] [-0.00664183 0.00108449 0.99997735 0.48969757] [ 0. 0. 0. 1. ]] SLAMing on 229.29255784400002 meters 0.2909096376070716 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99996268 0.00558556 0.00659048 0.79338217] [-0.0055774 0.99998366 -0.00125491 0.10921796] [-0.00659738 0.00121811 0.9999775 0.4897558 ] [ 0. 0. 0. 1. ]] SLAMing on 229.32255784400002 meters 0.29038139383279316 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 0.99996254 0.00553616 0.00665323 0.79320849] [-0.00552698 0.99998375 -0.00139736 0.10978799] [-0.00666086 0.00136053 0.99997689 0.48980998] [ 0. 0. 0. 1. ]] SLAMing on 229.35255784400002 meters 0.2887823533720779 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 9.99978296e-01 -5.33560060e-04 6.56673309e-03 7.69433802e-01] [ 5.27887291e-04 9.99999486e-01 8.65567593e-04 1.14930438e-01] [-6.56719155e-03 -8.62082312e-04 9.99978064e-01 4.91059615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38255784400002 meters 0.2887823533720779 Centerline is valid? [False, False] Translation: X:0.77, Y:0.11, Z:0.49 [[ 9.99978296e-01 -5.33560060e-04 6.56673309e-03 7.69433802e-01] [ 5.27887291e-04 9.99999486e-01 8.65567593e-04 1.14930438e-01] [-6.56719155e-03 -8.62082312e-04 9.99978064e-01 4.91059615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41255784400002 meters 0.2898586853649893 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 9.99943512e-01 7.18869983e-03 7.82909467e-03 7.89934248e-01] [-7.18717098e-03 9.99974147e-01 -2.23395579e-04 1.12420289e-01] [-7.83049819e-03 1.67113918e-04 9.99969327e-01 4.91768766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44255784400002 meters 0.29007049572010923 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.49 [[ 9.99946189e-01 7.07257436e-03 7.58929586e-03 7.90580866e-01] [-7.06809075e-03 9.99974830e-01 -6.17439215e-04 1.14030926e-01] [-7.59347172e-03 5.63764158e-04 9.99971010e-01 4.91610973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47255784400002 meters 0.28948323550209015 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 9.99975581e-01 -7.78731806e-04 6.94480105e-03 7.70869434e-01] [ 7.77302349e-04 9.99999676e-01 2.08527991e-04 1.19609849e-01] [-6.94496119e-03 -2.03124689e-04 9.99975863e-01 4.90908060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50255784400002 meters 0.28997249835270494 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 9.99974790e-01 -8.51037100e-04 7.04953355e-03 7.70511601e-01] [ 8.50932858e-04 9.99999638e-01 1.77865584e-05 1.20386481e-01] [-7.04954614e-03 -1.17874303e-05 9.99975152e-01 4.91122535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53255784400002 meters 0.2890276920817669 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 9.99973432e-01 -9.22255454e-04 7.23080592e-03 7.69948754e-01] [ 9.23527397e-04 9.99999559e-01 -1.72569247e-04 1.21143471e-01] [-7.23064357e-03 1.79242509e-04 9.99973842e-01 4.91401614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56255784400003 meters 0.2892006527906758 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 9.99973157e-01 -9.57949656e-04 7.26417881e-03 7.69788002e-01] [ 9.59942034e-04 9.99999503e-01 -2.70792720e-04 1.21531052e-01] [-7.26391579e-03 2.77758641e-04 9.99973579e-01 4.91587706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59255784400003 meters 0.29052953546259336 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99981195e-01 -2.00665418e-03 5.79512411e-03 8.09168236e-01] [ 2.00333943e-03 9.99997826e-01 5.77738820e-04 1.19627377e-01] [-5.79627083e-03 -5.66118354e-04 9.99983041e-01 4.94636424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters 0.28801593271881787 Centerline is valid? [False, False] Translation: X:0.77, Y:0.12, Z:0.49 [[ 9.99981509e-01 -1.16624728e-03 5.96830102e-03 7.70399413e-01] [ 1.16666726e-03 9.99999317e-01 -6.68867413e-05 1.21309178e-01] [-5.96821894e-03 7.38485259e-05 9.99982187e-01 4.92417439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652557844 meters 0.2894294639270435 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 9.99952578e-01 6.71316981e-03 7.05520566e-03 7.89876012e-01] [-6.70664731e-03 9.99977061e-01 -9.47747927e-04 1.16151685e-01] [-7.06140621e-03 9.00386206e-04 9.99974663e-01 4.93047536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.682557844 meters 0.2891348294923976 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 9.99953067e-01 6.72926921e-03 6.97002281e-03 7.90144051e-01] [-6.72311558e-03 9.99976989e-01 -9.05925562e-04 1.15994713e-01] [-6.97595864e-03 8.59022775e-04 9.99975299e-01 4.92910369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.712557844 meters 0.28930105283008306 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:0.49 [[ 9.99953960e-01 6.78495122e-03 6.78539101e-03 7.90708816e-01] [-6.77997396e-03 9.99976730e-01 -7.56260148e-04 1.15416861e-01] [-6.79036431e-03 7.10220556e-04 9.99976693e-01 4.92641200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.742557844 meters 0.2905624803809685 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99968962e-01 -2.80020817e-03 7.36442260e-03 8.11424960e-01] [ 2.79984575e-03 9.99996079e-01 5.95207688e-05 1.17145230e-01] [-7.36456040e-03 -3.88996740e-05 9.99972881e-01 4.93285302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.772557844 meters 0.2890667009223123 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99968522e-01 -2.75742438e-03 7.43990838e-03 8.11255042e-01] [ 2.75617427e-03 9.99996186e-01 1.78276119e-04 1.16654216e-01] [-7.44037158e-03 -1.57764824e-04 9.99972308e-01 4.93225344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802557844 meters 0.289822274004242 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99968447e-01 -2.74887629e-03 7.45310772e-03 8.11305638e-01] [ 2.74745260e-03 9.99996205e-01 2.01250858e-04 1.16571301e-01] [-7.45363266e-03 -1.80767448e-04 9.99972205e-01 4.93029148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832557844 meters 0.2898699740578334 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99968871e-01 -2.75696381e-03 7.39301004e-03 8.11572807e-01] [ 2.75573869e-03 9.99996187e-01 1.75895323e-04 1.16699427e-01] [-7.39346679e-03 -1.55516644e-04 9.99972656e-01 4.92762218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862557844 meters 0.29018651835470366 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99969290e-01 -2.79888494e-03 7.32023793e-03 8.11795054e-01] [ 2.79851554e-03 9.99996082e-01 6.07061762e-05 1.17181518e-01] [-7.32037916e-03 -4.02185123e-05 9.99973205e-01 4.92684750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892557844 meters 0.2895105463603242 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99971119e-01 -2.98000008e-03 6.99144629e-03 8.12702903e-01] [ 2.98346148e-03 9.99995432e-01 -4.84713759e-04 1.19480246e-01] [-6.98996991e-03 5.05558470e-04 9.99975442e-01 4.92511590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922557844 meters 0.29077550282373255 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99971509e-01 -3.08495325e-03 6.88937900e-03 8.13032551e-01] [ 3.09041166e-03 9.99994919e-01 -7.81787738e-04 1.20718800e-01] [-6.88693222e-03 8.03056481e-04 9.99975962e-01 4.92358684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952557844 meters 0.2893793964271431 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 0.99997099 -0.00319142 0.00691649 0.81295644] [ 0.00319887 0.99999431 -0.0010669 0.12189497] [-0.00691305 0.00108899 0.99997551 0.49238753] [ 0. 0. 0. 1. ]] SLAMing on 229.982557844 meters 0.28982916933823405 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 0.99996888 -0.00340544 0.00711623 0.81234014] [ 0.00341717 0.99999282 -0.00163677 0.12426005] [-0.0071106 0.00166103 0.99997334 0.4926804 ] [ 0. 0. 0. 1. ]] SLAMing on 230.012557844 meters 0.2912657805962603 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99996825 -0.00350155 0.00715781 0.81225198] [ 0.00351504 0.99999207 -0.00187256 0.1252424 ] [-0.0071512 0.00189766 0.99997263 0.49263766] [ 0. 0. 0. 1. ]] SLAMing on 230.04255784400002 meters 0.2908747395600172 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.9999684 -0.00359892 0.0070884 0.8125302 ] [ 0.00361405 0.99999122 -0.00212213 0.12629688] [-0.0070807 0.00214768 0.99997263 0.49242329] [ 0. 0. 0. 1. ]] SLAMing on 230.07255784400002 meters 0.290274874992929 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99996926 -0.00366845 0.00692932 0.81308819] [ 0.00368461 0.99999052 -0.0023214 0.12715152] [-0.00692074 0.00234686 0.9999733 0.49203743] [ 0. 0. 0. 1. ]] SLAMing on 230.10255784400002 meters 0.29067384435474286 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99997028 -0.00377988 0.00671952 0.81381675] [ 0.00379775 0.99998928 -0.00264828 0.1285337 ] [-0.00670943 0.00267372 0.99997392 0.49145469] [ 0. 0. 0. 1. ]] SLAMing on 230.13255784400002 meters 0.290210537044106 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99997038 -0.00384065 0.00666936 0.81395906] [ 0.00385946 0.9999886 -0.00280995 0.12920474] [-0.00665849 0.00283561 0.99997381 0.49143012] [ 0. 0. 0. 1. ]] SLAMing on 230.16255784400002 meters 0.2921127817637776 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99997039 -0.00388677 0.00664119 0.81401393] [ 0.0039063 0.99998808 -0.00293071 0.12970251] [-0.00662972 0.00295656 0.99997365 0.4914725 ] [ 0. 0. 0. 1. ]] SLAMing on 230.19255784400002 meters 0.2903790755959762 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99996944 -0.00401945 0.00670485 0.8138121 ] [ 0.00404152 0.99998645 -0.00328201 0.13114629] [-0.00669157 0.00330901 0.99997214 0.49158352] [ 0. 0. 0. 1. ]] SLAMing on 230.22255784400002 meters 0.29141134488585524 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:0.49 [[ 0.99996098 0.00359756 0.00806765 0.8337474 ] [-0.00356283 0.99998434 -0.00431501 0.12756551] [-0.00808305 0.0042861 0.99995815 0.49222354] [ 0. 0. 0. 1. ]] SLAMing on 230.25255784400002 meters 0.2919845014588035 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:0.49 [[ 0.99996084 0.00351325 0.00812234 0.83340184] [-0.00347641 0.99998363 -0.00454523 0.12848265] [-0.00813817 0.00451681 0.99995668 0.4927213 ] [ 0. 0. 0. 1. ]] SLAMing on 230.28255784400002 meters 0.2896175212685402 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:0.49 [[ 0.99996062 0.00341242 0.00819242 0.83298073] [-0.00337298 0.99998268 -0.00482344 0.12960786] [-0.00820873 0.00479562 0.99995481 0.49332102] [ 0. 0. 0. 1. ]] SLAMing on 230.31255784400003 meters 0.29024824068477717 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:0.49 [[ 0.99996094 0.00327375 0.00820979 0.83278896] [-0.00323062 0.99998095 -0.00526026 0.13132825] [-0.00822686 0.00523353 0.99995246 0.49372308] [ 0. 0. 0. 1. ]] SLAMing on 230.34255784400003 meters 0.2897432316273069 Centerline is valid? [False, False] Translation: X:0.81, Y:0.14, Z:0.49 [[ 0.99997261 -0.00431557 0.00601224 0.81452744] [ 0.00434255 0.99998053 -0.00448156 0.13727462] [-0.00599278 0.00450755 0.99997188 0.49276803] [ 0. 0. 0. 1. ]] SLAMing on 230.372557844 meters 0.2902788711150835 Centerline is valid? [False, False] Translation: X:0.81, Y:0.14, Z:0.49 [[ 0.99997309 -0.00439303 0.00587577 0.8149666 ] [ 0.00442079 0.99997909 -0.00472002 0.13827437] [-0.00585491 0.00474587 0.9999716 0.49252089] [ 0. 0. 0. 1. ]] SLAMing on 230.402557844 meters 0.2895874182535513 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:0.49 [[ 9.99980558e-01 -1.97350372e-04 6.23248673e-03 7.76259792e-01] [ 2.19812548e-04 9.99993483e-01 -3.60356782e-03 1.46563062e-01] [-6.23173495e-03 3.60486774e-03 9.99974085e-01 4.90777753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.432557844 meters 0.2908510017688831 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 9.99985029e-01 1.38991832e-04 5.47005810e-03 8.14976181e-01] [-1.29517495e-04 9.99998491e-01 -1.73235220e-03 1.46833064e-01] [-5.47029063e-03 1.73161780e-03 9.99983539e-01 4.93944698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.462557844 meters 0.29110352972387177 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 9.99985205e-01 -4.92178153e-05 5.43941553e-03 8.14869046e-01] [ 6.15437847e-05 9.99997431e-01 -2.26590251e-03 1.48979549e-01] [-5.43929003e-03 2.26620375e-03 9.99982639e-01 4.94385439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.492557844 meters 0.2899128765917497 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 0.99997652 0.00407982 0.0055067 0.8146095 ] [-0.00408868 0.99999036 0.0015982 0.1508324 ] [-0.00550013 -0.00162068 0.99998356 0.49459355] [ 0. 0. 0. 1. ]] SLAMing on 230.522557844 meters 0.2907050443918839 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 0.99997686 0.00392979 0.00555268 0.81453264] [-0.00393654 0.99999153 0.00120551 0.15246952] [-0.00554789 -0.00122734 0.99998386 0.49450029] [ 0. 0. 0. 1. ]] SLAMing on 230.552557844 meters 0.2900404094198223 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 9.99977500e-01 3.78998175e-03 5.53501179e-03 8.14554640e-01] [-3.79467641e-03 9.99992449e-01 8.37919358e-04 1.53984999e-01] [-5.53179430e-03 -8.58904083e-04 9.99984331e-01 4.94565791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582557844 meters 0.2908330369918872 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:0.49 [[ 9.99979069e-01 3.63238199e-03 5.35427591e-03 8.14967584e-01] [-3.63468318e-03 9.99993306e-01 4.20116034e-04 1.55712774e-01] [-5.35271405e-03 -4.39568337e-04 9.99985578e-01 4.94683042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612557844 meters 0.29150202580618445 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99979631e-01 3.59582650e-03 5.27323884e-03 8.15176883e-01] [-3.59756231e-03 9.99993478e-01 3.19724321e-04 1.56128249e-01] [-5.27205477e-03 -3.38688614e-04 9.99986045e-01 4.94687654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642557844 meters 0.29030634762555857 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.49 [[ 9.99982172e-01 -4.08796954e-03 4.35255178e-03 7.94939014e-01] [ 4.08361132e-03 9.99991152e-01 1.00971946e-03 1.61074795e-01] [-4.35664097e-03 -9.91927333e-04 9.99990018e-01 4.94154778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672557844 meters 0.2906430784653464 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.49 [[ 9.99981851e-01 -4.21574637e-03 4.30401139e-03 7.94913270e-01] [ 4.21291493e-03 9.99990903e-01 6.66714600e-04 1.62474611e-01] [-4.30678293e-03 -6.48570066e-04 9.99990515e-01 4.94479598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702557844 meters 0.2903963000533763 Centerline is valid? [False, False] Translation: X:0.77, Y:0.16, Z:0.49 [[ 9.99978345e-01 5.63536498e-03 3.39870696e-03 7.74169680e-01] [-5.63485683e-03 9.99984111e-01 -1.59070762e-04 1.62168303e-01] [-3.39954938e-03 1.39916090e-04 9.99994212e-01 4.94172204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732557844 meters 0.2905846968668687 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982324e-01 -4.32518866e-03 4.07975076e-03 7.94170289e-01] [ 4.32389573e-03 9.99990599e-01 3.25680002e-04 1.66148148e-01] [-4.08112103e-03 -3.08033828e-04 9.99991625e-01 4.94455967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762557844 meters 0.2907693171705243 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982533e-01 -4.40211203e-03 3.94388695e-03 7.94492537e-01] [ 4.40186626e-03 9.99990309e-01 7.09940913e-05 1.67151367e-01] [-3.94416125e-03 -5.36323883e-05 9.99992220e-01 4.94460275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79255784400002 meters 0.29101766138446056 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982829e-01 -4.43167068e-03 3.83425294e-03 7.94783216e-01] [ 4.43177654e-03 9.99990179e-01 -1.91117031e-05 1.67526790e-01] [-3.83413059e-03 3.61039272e-05 9.99992649e-01 4.94423175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82255784400002 meters 0.2897314701261279 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99983238e-01 -4.42250674e-03 3.73693044e-03 7.94968150e-01] [ 4.42250624e-03 9.99990221e-01 8.39938526e-06 1.67412771e-01] [-3.73693104e-03 8.12735367e-06 9.99993018e-01 4.94566426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85255784400002 meters 0.28981786279225974 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99983049e-01 -4.41913241e-03 3.79118212e-03 7.94748138e-01] [ 4.41908046e-03 9.99990236e-01 2.20796534e-05 1.67341091e-01] [-3.79124268e-03 -5.32574029e-06 9.99992813e-01 4.94764022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88255784400002 meters 0.2888974016431151 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982862e-01 -4.38427275e-03 3.87992564e-03 7.94470050e-01] [ 4.38382376e-03 9.99990383e-01 1.24220493e-04 1.66914755e-01] [-3.88043294e-03 -1.07209454e-04 9.99992465e-01 4.94905293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91255784400002 meters 0.2900413809865177 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982238e-01 -4.38724379e-03 4.03425890e-03 7.94123390e-01] [ 4.38679399e-03 9.99990371e-01 1.20336302e-04 1.66929181e-01] [-4.03474799e-03 -1.02636702e-04 9.99991855e-01 4.94838636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94255784400002 meters 0.2896169480237274 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.49 [[ 9.99982121e-01 -4.38635208e-03 4.06408442e-03 7.94035924e-01] [ 4.38587451e-03 9.99990374e-01 1.26415692e-04 1.66899836e-01] [-4.06459981e-03 -1.08588867e-04 9.99991734e-01 4.94874345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97255784400002 meters 0.2901265529433202 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.50 [[ 9.99980728e-01 3.49215320e-03 5.13307745e-03 8.15352948e-01] [-3.48963048e-03 9.99993786e-01 -5.00337072e-04 1.64474569e-01] [-5.13479281e-03 4.82414886e-04 9.99986701e-01 4.95298796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00255784400002 meters 0.28940439123737827 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.50 [[ 0.99999634 -0.00118168 0.00243203 0.79122856] [ 0.00117581 0.9999964 0.00241274 0.16370499] [-0.00243487 -0.00240987 0.99999413 0.49788175] [ 0. 0. 0. 1. ]] SLAMing on 231.03255784400002 meters 0.2905400688086725 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:0.50 [[ 9.99975537e-01 4.55599977e-03 5.30728634e-03 8.12978365e-01] [-4.55483538e-03 9.99989600e-01 -2.31461952e-04 1.64024450e-01] [-5.30828568e-03 2.07282474e-04 9.99985889e-01 4.96004580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06255784400003 meters 0.28956102043427207 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.50 [[ 9.99986012e-01 -3.44519019e-03 4.01320056e-03 7.92717861e-01] [ 3.44363488e-03 9.99993993e-01 3.94393941e-04 1.67088731e-01] [-4.01453521e-03 -3.80568427e-04 9.99991869e-01 4.95755045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09255784400003 meters 0.29017251906657177 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.50 [[ 9.99985735e-01 -3.47485755e-03 4.05658013e-03 7.92511529e-01] [ 3.47361477e-03 9.99993918e-01 3.13366796e-04 1.67410324e-01] [-4.05764437e-03 -2.99271329e-04 9.99991723e-01 4.95986806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122557844 meters 0.2898541803534429 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.50 [[ 9.99985056e-01 -3.48809546e-03 4.20963900e-03 7.91965356e-01] [ 3.48695367e-03 9.99993882e-01 2.78541158e-04 1.67538038e-01] [-4.21058482e-03 -2.63858179e-04 9.99991101e-01 4.96408724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.152557844 meters 0.29043116114805767 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.50 [[ 9.99985056e-01 -3.45064526e-03 4.24048845e-03 7.91897557e-01] [ 3.44907035e-03 9.99993980e-01 3.78653545e-04 1.67129932e-01] [-4.24176952e-03 -3.64022143e-04 9.99990937e-01 4.96390781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.182557844 meters 0.28940829347349806 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.50 [[ 9.99985360e-01 -3.38273642e-03 4.22345094e-03 7.92020041e-01] [ 3.38040083e-03 9.99994130e-01 5.60020246e-04 1.66390893e-01] [-4.22532055e-03 -5.45735090e-04 9.99990924e-01 4.96222547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.212557844 meters 0.28970414161741664 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.50 [[ 0.99998624 -0.00319962 0.00415826 0.79238044] [ 0.00319522 0.99999433 0.00106339 0.16434181] [-0.00416164 -0.00105009 0.99999079 0.49579902] [ 0. 0. 0. 1. ]] SLAMing on 231.242557844 meters 0.28970414161741664 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.50 [[ 0.99998624 -0.00319962 0.00415826 0.79238044] [ 0.00319522 0.99999433 0.00106339 0.16434181] [-0.00416164 -0.00105009 0.99999079 0.49579902] [ 0. 0. 0. 1. ]] SLAMing on 231.272557844 meters 0.28911033673137454 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.50 [[ 0.99998656 -0.00309856 0.00415709 0.7924707 ] [ 0.00309305 0.99999433 0.00133134 0.1632469 ] [-0.00416119 -0.00131846 0.99999047 0.49562422] [ 0. 0. 0. 1. ]] SLAMing on 231.302557844 meters 0.2911079585859143 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:0.49 [[ 0.99997727 0.00254086 0.00624551 0.81481233] [-0.00253211 0.9999958 -0.00140871 0.16231092] [-0.00624906 0.00139286 0.9999795 0.49404423] [ 0. 0. 0. 1. ]] SLAMing on 231.332557844 meters 0.2898389696569194 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979033e-01 -5.13546753e-03 3.94475482e-03 7.95392422e-01] [ 5.13697879e-03 9.99986736e-01 -3.73070102e-04 1.63752475e-01] [-3.94278661e-03 3.93326401e-04 9.99992150e-01 4.93358150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362557844 meters 0.28968490824412724 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979411e-01 -5.09016892e-03 3.90748515e-03 7.95554624e-01] [ 5.09116496e-03 9.99987010e-01 -2.44999985e-04 1.63242229e-01] [-3.90618730e-03 2.64888592e-04 9.99992336e-01 4.93202818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392557844 meters 0.29036817058826425 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979578e-01 -5.08460286e-03 3.87174872e-03 7.95603909e-01] [ 5.08552204e-03 9.99987043e-01 -2.27599299e-04 1.63168210e-01] [-3.87054130e-03 2.47284515e-04 9.99992479e-01 4.93303288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422557844 meters 0.29117723475506463 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99980004e-01 -5.07897718e-03 3.76777191e-03 7.95878066e-01] [ 5.07980931e-03 9.99987075e-01 -2.11317596e-04 1.63105047e-01] [-3.76664994e-03 2.30452934e-04 9.99992880e-01 4.93261325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452557844 meters 0.2898742943347705 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979450e-01 -5.11130785e-03 3.86951155e-03 7.95692029e-01] [ 5.11255864e-03 9.99986882e-01 -3.13419685e-04 1.63499125e-01] [-3.86785880e-03 3.33196349e-04 9.99992464e-01 4.93094242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482557844 meters 0.2899934723699875 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979203e-01 -5.12779674e-03 3.91147523e-03 7.95734666e-01] [ 5.12922793e-03 9.99986782e-01 -3.55952361e-04 1.63690240e-01] [-3.90959828e-03 3.76007806e-04 9.99992287e-01 4.92736720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512557844 meters 0.29080533138553816 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979553e-01 -5.13133762e-03 3.81623122e-03 7.96186411e-01] [ 5.13276599e-03 9.99986761e-01 -3.64588272e-04 1.63766095e-01] [-3.81430987e-03 3.84168639e-04 9.99992652e-01 4.92144172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54255784400002 meters 0.2912258046418337 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99979828e-01 -5.14555290e-03 3.72384716e-03 7.96434055e-01] [ 5.14708917e-03 9.99986672e-01 -4.03081822e-04 1.63925545e-01] [-3.72172345e-03 4.22240664e-04 9.99992985e-01 4.92107197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57255784400002 meters 0.2906765335797217 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99980089e-01 -5.13843395e-03 3.66300955e-03 7.96578203e-01] [ 5.13987400e-03 9.99986717e-01 -3.83829717e-04 1.63846834e-01] [-3.66098861e-03 4.02649483e-04 9.99993217e-01 4.92134269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60255784400002 meters 0.29107824445861913 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99980692e-01 -5.05444191e-03 3.61497846e-03 7.96769887e-01] [ 5.05506346e-03 9.99987210e-01 -1.62821601e-04 1.62931083e-01] [-3.61410925e-03 1.81092403e-04 9.99993453e-01 4.92013115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63255784400002 meters 0.2902145276121597 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99980946e-01 -4.97097292e-03 3.66016312e-03 7.96632317e-01] [ 4.97074988e-03 9.99987643e-01 7.00328891e-05 1.61974244e-01] [-3.66046602e-03 -5.18377993e-05 9.99993299e-01 4.92087443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66255784400002 meters 0.28957658032019906 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99981290e-01 -4.91149211e-03 3.64651551e-03 7.96614865e-01] [ 4.91069255e-03 9.99987916e-01 2.28188965e-04 1.61321460e-01] [-3.64759219e-03 -2.10277779e-04 9.99993325e-01 4.92230612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69255784400002 meters 0.2899059281181792 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99981544e-01 -4.85719710e-03 3.64965514e-03 7.96585327e-01] [ 4.85588629e-03 9.99988142e-01 3.67934904e-04 1.60743461e-01] [-3.65139899e-03 -3.50205803e-04 9.99993272e-01 4.92297946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72255784400002 meters 0.29154715885403265 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99981239e-01 3.28498598e-03 5.17007547e-03 8.17364099e-01] [-3.28452646e-03 9.99994601e-01 -9.73689981e-05 1.57778712e-01] [-5.17036742e-03 8.03859217e-05 9.99986630e-01 4.92141400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75255784400002 meters 0.2906318525443452 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99981666e-01 3.26795770e-03 5.09792249e-03 8.17609994e-01] [-3.26726854e-03 9.99994652e-01 -1.43506486e-04 1.57967048e-01] [-5.09836421e-03 1.26847573e-04 9.99986995e-01 4.91997981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78255784400002 meters 0.29003501013359545 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99982164e-01 3.23948632e-03 5.01762389e-03 8.17897466e-01] [-3.23842713e-03 9.99994732e-01 -2.19205405e-04 1.58285243e-01] [-5.01830757e-03 2.02952286e-04 9.99987388e-01 4.91801613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81255784400003 meters 0.2906878529835174 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99982444e-01 3.20314657e-03 4.98509420e-03 8.18088495e-01] [-3.20161723e-03 9.99994825e-01 -3.14733573e-04 1.58691618e-01] [-4.98607654e-03 2.98767684e-04 9.99987525e-01 4.91546373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84255784400003 meters 0.29089098207206016 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.49 [[ 9.99982207e-01 3.21239437e-03 5.02651396e-03 8.17893640e-01] [-3.21098610e-03 9.99994803e-01 -2.88212545e-04 1.58576769e-01] [-5.02741369e-03 2.72067350e-04 9.99987325e-01 4.91761847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872557844 meters 0.28993788726075775 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.49 [[ 9.99977115e-01 -5.14313885e-03 4.39508316e-03 7.95809817e-01] [ 5.14276151e-03 9.99986771e-01 9.71524983e-05 1.60856847e-01] [-4.39552468e-03 -7.45474106e-05 9.99990337e-01 4.92262873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.902557844 meters 0.2901774133563605 Centerline is valid? [False, False] Translation: X:0.81, Y:0.16, Z:0.49 [[ 0.9999796 0.00222405 0.00598801 0.81450514] [-0.00221778 0.99999699 -0.00105358 0.15561563] [-0.00599034 0.00104028 0.99998152 0.49401262] [ 0. 0. 0. 1. ]] SLAMing on 231.932557844 meters 0.29090066420271044 Centerline is valid? [False, False] Translation: X:0.81, Y:0.15, Z:0.49 [[ 9.99979759e-01 2.31297387e-03 5.92722128e-03 8.14787684e-01] [-2.30817740e-03 9.99997003e-01 -8.15939883e-04 1.54648302e-01] [-5.92909076e-03 8.02242289e-04 9.99982101e-01 4.93745125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.962557844 meters 0.2907105668951463 Centerline is valid? [False, False] Translation: X:0.82, Y:0.15, Z:0.49 [[ 9.99979932e-01 2.43199291e-03 5.84994255e-03 8.15159461e-01] [-2.42912875e-03 9.99996926e-01 -4.96660191e-04 1.53349983e-01] [-5.85113245e-03 4.82439960e-04 9.99982766e-01 4.93370073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.992557844 meters 0.2905366049615904 Centerline is valid? [False, False] Translation: X:0.82, Y:0.15, Z:0.49 [[ 9.99979902e-01 2.55531079e-03 5.80223484e-03 8.15461334e-01] [-2.55438177e-03 9.99996724e-01 -1.67518941e-04 1.52007396e-01] [-5.80264389e-03 1.52694452e-04 9.99983153e-01 4.92978875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.022557844 meters 0.2907786603149954 Centerline is valid? [False, False] Translation: X:0.82, Y:0.15, Z:0.49 [[ 9.99979551e-01 2.69679802e-03 5.79862832e-03 8.15552525e-01] [-2.69807440e-03 9.99996338e-01 2.12305730e-04 1.50460036e-01] [-5.79803454e-03 -2.27946520e-04 9.99983165e-01 4.92818388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052557844 meters 0.29070622728545287 Centerline is valid? [False, False] Translation: X:0.82, Y:0.15, Z:0.49 [[ 0.99997793 0.00305603 0.00589891 0.81547051] [-0.00306248 0.99999472 0.00108456 0.14689199] [-0.00589557 -0.00110261 0.99998201 0.49250443] [ 0. 0. 0. 1. ]] SLAMing on 232.082557844 meters 0.2902596083398128 Centerline is valid? [False, False] Translation: X:0.82, Y:0.15, Z:0.49 [[ 0.99997727 0.00323427 0.00591603 0.81555574] [-0.0032435 0.99999354 0.0015502 0.14500611] [-0.00591097 -0.00156935 0.9999813 0.49225583] [ 0. 0. 0. 1. ]] SLAMing on 232.112557844 meters 0.29039391232447304 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:0.49 [[ 0.99997516 0.0036887 0.00600667 0.81562278] [-0.00370484 0.99998955 0.00267742 0.14046346] [-0.00599673 -0.00269961 0.99997838 0.491716 ] [ 0. 0. 0. 1. ]] SLAMing on 232.142557844 meters 0.2913109739390518 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:0.49 [[ 0.99997381 0.0039366 0.00607384 0.8154725 ] [-0.00395687 0.99998663 0.0033299 0.13780493] [-0.00606065 -0.00335385 0.99997601 0.49170463] [ 0. 0. 0. 1. ]] SLAMing on 232.172557844 meters 0.289867321312556 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99997463 0.00167075 0.00692398 0.81104978] [-0.00168317 0.99999698 0.00178823 0.13212405] [-0.00692097 -0.00179984 0.99997443 0.49457274] [ 0. 0. 0. 1. ]] SLAMing on 232.202557844 meters 0.2904452957417608 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.99997388 0.0020789 0.00692186 0.81117662] [-0.00209824 0.99999391 0.00278908 0.12802851] [-0.00691602 -0.00280353 0.99997215 0.49440827] [ 0. 0. 0. 1. ]] SLAMing on 232.232557844 meters 0.2894422282117902 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:0.49 [[ 0.9999734 0.00223418 0.00694254 0.81125455] [-0.00225634 0.99999238 0.00318601 0.12641171] [-0.00693537 -0.00320159 0.99997082 0.49416384] [ 0. 0. 0. 1. ]] SLAMing on 232.262557844 meters 0.29095097979019524 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 0.99997304 0.00236985 0.00694976 0.81139421] [-0.00239446 0.99999088 0.0035352 0.12499327] [-0.00694131 -0.00355175 0.9999696 0.49385249] [ 0. 0. 0. 1. ]] SLAMing on 232.29255784400002 meters 0.2908616511405036 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99973806e-01 -1.65646246e-03 7.04587504e-03 8.11326761e-01] [ 1.65606876e-03 9.99998627e-01 6.17094304e-05 1.21901860e-01] [-7.04596759e-03 -5.00393603e-05 9.99975176e-01 4.93571004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32255784400002 meters 0.29036927920955236 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99973921e-01 -1.51063222e-03 7.06221468e-03 8.11331506e-01] [ 1.50752939e-03 9.99998765e-01 4.44659722e-04 1.20333675e-01] [-7.06287767e-03 -4.34001629e-04 9.99974963e-01 4.93516740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35255784400002 meters 0.2909959933340845 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99974018e-01 -1.36028792e-03 7.07900446e-03 8.11286551e-01] [ 1.35442304e-03 9.99998736e-01 8.33218776e-04 1.18735748e-01] [-7.08012893e-03 -8.23609161e-04 9.99974596e-01 4.93564639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38255784400002 meters 0.29039959538231996 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 0.99997375 -0.00119588 0.00714584 0.81103607] [ 0.00118693 0.99999851 0.00125635 0.11697936] [-0.00714733 -0.00124784 0.99997368 0.49378442] [ 0. 0. 0. 1. ]] SLAMing on 232.41255784400002 meters 0.2892085107402119 Centerline is valid? [False, False] Translation: X:0.79, Y:0.11, Z:0.50 [[ 0.99996922 0.00517084 0.00590169 0.78873627] [-0.00516012 0.99998501 -0.00183005 0.11257478] [-0.00591106 0.00179954 0.99998091 0.4951673 ] [ 0. 0. 0. 1. ]] SLAMing on 232.44255784400002 meters 0.2903250601308349 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997228 -0.00197539 0.00717892 0.80982317] [ 0.0019672 0.99999741 0.00114689 0.11388098] [-0.00718117 -0.00113274 0.99997357 0.49408827] [ 0. 0. 0. 1. ]] SLAMing on 232.47255784400002 meters 0.29039973151588594 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997281 -0.00189675 0.00712566 0.8101899 ] [ 0.0018871 0.99999729 0.00136072 0.11299288] [-0.00712822 -0.00134724 0.99997369 0.49357561] [ 0. 0. 0. 1. ]] SLAMing on 232.50255784400002 meters 0.29088922319487975 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997407 -0.00170291 0.00699727 0.81092339] [ 0.00168981 0.99999681 0.00187781 0.11078897] [-0.00700045 -0.00186594 0.99997376 0.49274686] [ 0. 0. 0. 1. ]] SLAMing on 232.53255784400002 meters 0.2906496887883685 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997464 -0.00164601 0.00692821 0.81112827] [ 0.00163199 0.99999661 0.00202835 0.11016743] [-0.00693152 -0.00201699 0.99997394 0.49270215] [ 0. 0. 0. 1. ]] SLAMing on 232.56255784400003 meters 0.2908256752532832 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997484 -0.00164441 0.0069 0.81129242] [ 0.00163041 0.9999966 0.00203372 0.11014681] [-0.00690332 -0.00202242 0.99997413 0.49249088] [ 0. 0. 0. 1. ]] SLAMing on 232.59255784400003 meters 0.2903175243817117 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997495 -0.00174103 0.00686087 0.8114855 ] [ 0.00172906 0.99999697 0.00174972 0.1113068 ] [-0.0068639 -0.00173781 0.99997493 0.49221796] [ 0. 0. 0. 1. ]] SLAMing on 232.622557844 meters 0.2915408903334077 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997482 -0.0018094 0.00686197 0.81151956] [ 0.00179874 0.99999717 0.00155957 0.11208487] [-0.00686478 -0.00154719 0.99997524 0.49210965] [ 0. 0. 0. 1. ]] SLAMing on 232.652557844 meters 0.290507097379682 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997443 -0.00187113 0.0069023 0.81141274] [ 0.00186161 0.99999731 0.00138552 0.11279041] [-0.00690487 -0.00137263 0.99997522 0.49210006] [ 0. 0. 0. 1. ]] SLAMing on 232.682557844 meters 0.29097781478577844 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 9.99972763e-01 -2.01175508e-03 7.10114855e-03 8.10723344e-01] [ 2.00506826e-03 9.99997540e-01 9.48646853e-04 1.14578551e-01] [-7.10303952e-03 -9.34382727e-04 9.99974337e-01 4.92564257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.712557844 meters 0.2901087471277701 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99972097e-01 -2.05598939e-03 7.18172409e-03 8.10425612e-01] [ 2.05009581e-03 9.99997556e-01 8.27901116e-04 1.15075081e-01] [-7.18340870e-03 -8.13154793e-04 9.99973868e-01 4.92762608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.742557844 meters 0.29049544556307133 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99972205e-01 -2.09610304e-03 7.15517274e-03 8.10476542e-01] [ 2.09100677e-03 9.99997555e-01 7.19657314e-04 1.15517730e-01] [-7.15666372e-03 -7.04675796e-04 9.99974142e-01 4.92790790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.772557844 meters 0.29078087155258603 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99972996e-01 -2.08687363e-03 7.04637638e-03 8.10867012e-01] [ 2.08167165e-03 9.99997555e-01 7.45502031e-04 1.15406406e-01] [-7.04791493e-03 -7.30813658e-04 9.99974896e-01 4.92525098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802557844 meters 0.2909710598234836 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99973145e-01 -2.06582262e-03 7.03150955e-03 8.10886801e-01] [ 2.06023755e-03 9.99997557e-01 8.01442889e-04 1.15175776e-01] [-7.03314801e-03 -7.86934786e-04 9.99974957e-01 4.92575350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832557844 meters 0.29056217059572637 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:0.49 [[ 9.99972723e-01 -2.05871028e-03 7.09330968e-03 8.10636030e-01] [ 2.05295102e-03 9.99997557e-01 8.19113582e-04 1.15107711e-01] [-7.09497867e-03 -8.04529022e-04 9.99974507e-01 4.92794352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862557844 meters 0.2896056145948735 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 9.99972214e-01 -2.02915156e-03 7.17316510e-03 8.10217673e-01] [ 2.02274714e-03 9.99997549e-01 8.99972216e-04 1.14777227e-01] [-7.17497370e-03 -8.85437710e-04 9.99973868e-01 4.93345542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892557844 meters 0.2904019407141239 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 9.99972048e-01 -1.99093668e-03 7.20684983e-03 8.10117799e-01] [ 1.98376605e-03 9.99997530e-01 1.00198584e-03 1.14360118e-01] [-7.20882692e-03 -9.87661127e-04 9.99973528e-01 4.93392799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922557844 meters 0.2910014313470452 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.9999724 -0.00194288 0.00717115 0.81026156] [ 0.00193482 0.99999749 0.00113036 0.11383373] [-0.00717333 -0.00111645 0.99997365 0.4932917 ] [ 0. 0. 0. 1. ]] SLAMing on 232.952557844 meters 0.2901480043702314 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997285 -0.00190343 0.00711842 0.81057053] [ 0.00189467 0.99999744 0.00123698 0.11339134] [-0.00712076 -0.00122346 0.9999739 0.49290177] [ 0. 0. 0. 1. ]] SLAMing on 232.982557844 meters 0.28893057384041426 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997326 -0.00182905 0.00708094 0.81082743] [ 0.00181888 0.9999973 0.00144347 0.1125391 ] [-0.00708356 -0.00143056 0.99997389 0.49253859] [ 0. 0. 0. 1. ]] SLAMing on 233.012557844 meters 0.2899106976069914 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.9999735 -0.00176678 0.00706265 0.81082604] [ 0.00175544 0.99999716 0.00161249 0.11184548] [-0.00706548 -0.00160004 0.99997376 0.49267331] [ 0. 0. 0. 1. ]] SLAMing on 233.04255784400002 meters 0.290134266877711 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997377 -0.00168678 0.00704439 0.81085689] [ 0.00167394 0.99999693 0.00182825 0.11096196] [-0.00704745 -0.00181641 0.99997352 0.49273995] [ 0. 0. 0. 1. ]] SLAMing on 233.07255784400002 meters 0.2892623816850431 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997382 -0.00143705 0.00709184 0.81067221] [ 0.00141941 0.99999589 0.00249128 0.10824804] [-0.00709539 -0.00248115 0.99997175 0.492935 ] [ 0. 0. 0. 1. ]] SLAMing on 233.10255784400002 meters 0.29015300909145997 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997414 -0.0013186 0.00707031 0.81084147] [ 0.00129874 0.9999952 0.00281245 0.10693443] [-0.00707399 -0.0028032 0.99997105 0.49271868] [ 0. 0. 0. 1. ]] SLAMing on 233.13255784400002 meters 0.28989047753655534 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.49 [[ 0.99997488 -0.00120308 0.00698443 0.81122205] [ 0.00118126 0.99999441 0.00312811 0.10563953] [-0.00698815 -0.00311978 0.99997072 0.49238834] [ 0. 0. 0. 1. ]] SLAMing on 233.16255784400002 meters 0.29079313198817475 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99976447e-01 -9.93926145e-04 6.79094742e-03 8.12152561e-01] [ 9.68584872e-04 9.99992560e-01 3.73389594e-03 1.03045634e-01] [-6.79460812e-03 -3.72723039e-03 9.99969970e-01 4.91343703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19255784400002 meters 0.29079313198817475 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99976447e-01 -9.93926145e-04 6.79094742e-03 8.12152561e-01] [ 9.68584872e-04 9.99992560e-01 3.73389594e-03 1.03045634e-01] [-6.79460812e-03 -3.72723039e-03 9.99969970e-01 4.91343703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22255784400002 meters 0.29124216006140485 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99977154e-01 -8.91256083e-04 6.70051274e-03 8.12494003e-01] [ 8.64405675e-04 9.99991590e-01 4.00904558e-03 1.01902893e-01] [-6.70402948e-03 -4.00316203e-03 9.99969515e-01 4.91143255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25255784400002 meters 0.29094692886826407 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99977554e-01 -8.06923740e-04 6.65129318e-03 8.12571159e-01] [ 7.78775467e-04 9.99990735e-01 4.23350408e-03 1.00978977e-01] [-6.65464767e-03 -4.22822919e-03 9.99968918e-01 4.91285735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28255784400002 meters 0.2915280414183943 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99977543e-01 -7.35547840e-04 6.66124110e-03 8.12421604e-01] [ 7.06095090e-04 9.99989970e-01 4.42278380e-03 1.00207434e-01] [-6.66442746e-03 -4.41798101e-03 9.99968033e-01 4.91597385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31255784400003 meters 0.29105808995392274 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99977341e-01 -5.92509152e-04 6.70573076e-03 8.12196735e-01] [ 5.60317884e-04 9.99988316e-01 4.80142176e-03 9.86432124e-02] [-6.70849730e-03 -4.79755563e-03 9.99965989e-01 4.91905657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34255784400003 meters 0.2903952969165162 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 9.99977518e-01 -5.27514660e-04 6.68467462e-03 8.12271152e-01] [ 4.94255717e-04 9.99987497e-01 4.97607763e-03 9.79267634e-02] [-6.68721599e-03 -4.97266182e-03 9.99965276e-01 4.91882522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372557844 meters 0.28995724431067227 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:0.49 [[ 0.99997428 0.00548735 0.00461885 0.79117582] [-0.00549384 0.99998394 0.00139441 0.09616974] [-0.00461112 -0.00141975 0.99998836 0.49283234] [ 0. 0. 0. 1. ]] SLAMing on 233.402557844 meters 0.29210440607157145 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:0.49 [[ 0.99997914 -0.00372508 0.0052774 0.81193517] [ 0.00371349 0.99999068 0.00220368 0.09897953] [-0.00528556 -0.00218404 0.99998365 0.4927651 ] [ 0. 0. 0. 1. ]] SLAMing on 233.432557844 meters 0.28990585845261857 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99997704 0.00501018 0.00456179 0.79329559] [-0.00501634 0.99998652 0.00134095 0.09175075] [-0.00455501 -0.0013638 0.9999887 0.49172079] [ 0. 0. 0. 1. ]] SLAMing on 233.462557844 meters 0.29035951083145567 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99997658 0.0050958 0.00456963 0.79317743] [-0.00510305 0.99998574 0.00157749 0.090787 ] [-0.00456153 -0.00160077 0.99998831 0.49198188] [ 0. 0. 0. 1. ]] SLAMing on 233.492557844 meters 0.288523043245304 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 9.99988816e-01 9.25142649e-04 4.63806625e-03 7.92819268e-01] [-9.14166563e-04 9.99996778e-01 -2.36808369e-03 8.91858462e-02] [-4.64024212e-03 2.36381724e-03 9.99986440e-01 4.92418626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.522557844 meters 0.2889758190275647 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99998876 0.00108378 0.00461648 0.7928975 ] [-0.00107491 0.99999757 -0.00192394 0.08738383] [-0.00461856 0.00191895 0.99998749 0.49239769] [ 0. 0. 0. 1. ]] SLAMing on 233.552557844 meters 0.289212532409842 Centerline is valid? [False, False] Translation: X:0.79, Y:0.09, Z:0.49 [[ 0.99998867 0.00122342 0.00460123 0.79294784] [-0.00121634 0.99999807 -0.00154071 0.08582413] [-0.00460311 0.0015351 0.99998823 0.49240246] [ 0. 0. 0. 1. ]] SLAMing on 233.582557844 meters 0.2896793662853406 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99988727e-01 1.48693782e-03 4.50944217e-03 7.93340759e-01] [-1.48329930e-03 9.99998572e-01 -8.10102010e-04 8.28372762e-02] [-4.51064030e-03 8.03404025e-04 9.99989504e-01 4.92073733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612557844 meters 0.2902620890057347 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99988663e-01 1.64431152e-03 4.46875176e-03 7.93535459e-01] [-1.64258811e-03 9.99998575e-01 -3.89300919e-04 8.11146742e-02] [-4.46938552e-03 3.81956187e-04 9.99989939e-01 4.91907110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642557844 meters 0.28948014553148194 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99988311e-01 1.81257014e-03 4.48247833e-03 7.93560394e-01] [-1.81284448e-03 9.99998355e-01 5.71409690e-05 7.92948273e-02] [-4.48236739e-03 -6.52663372e-05 9.99989952e-01 4.91806874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672557844 meters 0.2899246708299 Centerline is valid? [False, False] Translation: X:0.79, Y:0.08, Z:0.49 [[ 9.99988277e-01 2.15108227e-03 4.33812717e-03 7.94237946e-01] [-2.15497015e-03 9.99997280e-01 8.91734874e-04 7.58769685e-02] [-4.33619718e-03 -9.01072955e-04 9.99990193e-01 4.91260725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702557844 meters 0.28974411138197287 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:0.49 [[ 0.99998842 0.00229391 0.00423119 0.79461125] [-0.00229929 0.99999655 0.00126785 0.07433418] [-0.00422826 -0.00127757 0.99999024 0.49107297] [ 0. 0. 0. 1. ]] SLAMing on 233.732557844 meters 0.2893411186368114 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:0.49 [[ 0.99998833 0.00241204 0.00418671 0.79485208] [-0.00241868 0.99999582 0.00158301 0.07303769] [-0.00418287 -0.00159312 0.99998998 0.49081241] [ 0. 0. 0. 1. ]] SLAMing on 233.762557844 meters 0.29145007500974174 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999448 0.00175559 0.00282225 0.83464767] [-0.00176019 0.99999713 0.00162628 0.07338312] [-0.00281938 -0.00163124 0.9999947 0.49366271] [ 0. 0. 0. 1. ]] SLAMing on 233.79255784400002 meters 0.29069417507742673 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.999994 0.00189894 0.00289789 0.83462112] [-0.00190468 0.99999623 0.00197965 0.07194987] [-0.00289412 -0.00198515 0.99999384 0.49334944] [ 0. 0. 0. 1. ]] SLAMing on 233.82255784400002 meters 0.29143884460337516 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999357 0.00194344 0.00301329 0.83444077] [-0.00194977 0.99999589 0.00210126 0.07146318] [-0.0030092 -0.00210712 0.99999325 0.49309672] [ 0. 0. 0. 1. ]] SLAMing on 233.85255784400002 meters 0.2909359507605436 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999315 0.00197256 0.00313037 0.83425185] [-0.0019794 0.99999565 0.00218469 0.07113225] [-0.00312605 -0.00219087 0.99999271 0.49284738] [ 0. 0. 0. 1. ]] SLAMing on 233.88255784400002 meters 0.2900465901557584 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999336 0.00198028 0.00305834 0.83464586] [-0.00198705 0.99999557 0.0022144 0.07101461] [-0.00305394 -0.00222046 0.99999287 0.49226649] [ 0. 0. 0. 1. ]] SLAMing on 233.91255784400002 meters 0.2901153296733523 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999372 0.00190506 0.00298828 0.83490751] [-0.00191105 0.99999617 0.00200299 0.07187489] [-0.00298445 -0.00200869 0.99999353 0.49203037] [ 0. 0. 0. 1. ]] SLAMing on 233.94255784400002 meters 0.2911550956128067 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.49 [[ 0.99999408 0.00183112 0.00291309 0.83516486] [-0.00183638 0.99999669 0.00180097 0.07270076] [-0.00290978 -0.00180631 0.99999414 0.49185449] [ 0. 0. 0. 1. ]] SLAMing on 233.97255784400002 meters 0.29100804520596685 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:0.49 [[ 0.99999408 0.00177266 0.00294832 0.83503294] [-0.0017775 0.99999707 0.0016418 0.07335493] [-0.0029454 -0.00164703 0.99999431 0.49193196] [ 0. 0. 0. 1. ]] SLAMing on 234.00255784400002 meters 0.28998442208068714 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999369 0.001704 0.00311647 0.83435655] [-0.00170854 0.99999749 0.00145211 0.07417172] [-0.00311399 -0.00145743 0.99999409 0.49252122] [ 0. 0. 0. 1. ]] SLAMing on 234.03255784400002 meters 0.2886416790424999 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:0.49 [[ 0.99999349 0.00168469 0.0031905 0.83411077] [-0.00168915 0.9999976 0.00139585 0.07440742] [-0.00318814 -0.00140123 0.99999394 0.49265159] [ 0. 0. 0. 1. ]] SLAMing on 234.06255784400003 meters 0.29107355145446456 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999744 0.00117703 0.00193422 0.8738734 ] [-0.00117964 0.99999839 0.00134896 0.0780717 ] [-0.00193263 -0.00135124 0.99999722 0.49547023] [ 0. 0. 0. 1. ]] SLAMing on 234.09255784400003 meters 0.2905086049350092 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999758 0.00115765 0.00186948 0.87415987] [-0.00116008 0.99999848 0.00129789 0.07826634] [-0.00186797 -0.00130005 0.99999741 0.49518549] [ 0. 0. 0. 1. ]] SLAMing on 234.122557844 meters 0.2909693958727263 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999769 0.00116795 0.00180452 0.87431944] [-0.00117035 0.99999843 0.0013303 0.07814129] [-0.00180296 -0.00133241 0.99999749 0.49519407] [ 0. 0. 0. 1. ]] SLAMing on 234.152557844 meters 0.28951717198147986 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999766 0.00120473 0.00179465 0.87424261] [-0.0012073 0.99999824 0.00143451 0.07771837] [-0.00179292 -0.00143667 0.99999736 0.49545488] [ 0. 0. 0. 1. ]] SLAMing on 234.182557844 meters 0.2885168074231694 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999757 0.00127708 0.00179785 0.87412605] [-0.00128004 0.99999783 0.00164599 0.07686313] [-0.00179574 -0.00164829 0.99999703 0.49574392] [ 0. 0. 0. 1. ]] SLAMing on 234.212557844 meters 0.28850691779570425 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999751 0.00129906 0.00181391 0.87399511] [-0.00130215 0.9999977 0.00170443 0.07662774] [-0.00181169 -0.00170679 0.9999969 0.49595789] [ 0. 0. 0. 1. ]] SLAMing on 234.242557844 meters 0.2885919478568845 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999733 0.0013501 0.00187569 0.87381715] [-0.00135356 0.99999739 0.00184024 0.07607483] [-0.0018732 -0.00184277 0.99999655 0.4960197 ] [ 0. 0. 0. 1. ]] SLAMing on 234.272557844 meters 0.28906075729613373 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999724 0.00134979 0.00192219 0.87375908] [-0.00135332 0.99999739 0.00183853 0.07608162] [-0.00191971 -0.00184113 0.99999646 0.49587884] [ 0. 0. 0. 1. ]] SLAMing on 234.302557844 meters 0.28920891431813567 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999709 0.00137346 0.00198501 0.87367401] [-0.00137724 0.99999724 0.00190291 0.07582039] [-0.00198239 -0.00190564 0.99999622 0.49571232] [ 0. 0. 0. 1. ]] SLAMing on 234.332557844 meters 0.28860294440731926 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999713 0.00134052 0.00198628 0.87369049] [-0.00134412 0.99999745 0.00181441 0.07617993] [-0.00198384 -0.00181708 0.99999638 0.49565798] [ 0. 0. 0. 1. ]] SLAMing on 234.362557844 meters 0.2897316088929913 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999726 0.00128752 0.0019558 0.87388852] [-0.00129079 0.99999777 0.00167143 0.07676374] [-0.00195364 -0.00167395 0.99999669 0.49535943] [ 0. 0. 0. 1. ]] SLAMing on 234.392557844 meters 0.2899018185731769 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999733 0.00122324 0.00196044 0.87395195] [-0.00122617 0.99999813 0.00149653 0.07747983] [-0.0019586 -0.00149893 0.99999696 0.49516236] [ 0. 0. 0. 1. ]] SLAMing on 234.422557844 meters 0.2889561369278956 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.9999972 0.00117294 0.00205456 0.87369921] [-0.00117573 0.99999839 0.00135677 0.07805426] [-0.00205297 -0.00135918 0.99999697 0.49517928] [ 0. 0. 0. 1. ]] SLAMing on 234.452557844 meters 0.2894639153345986 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999714 0.00116104 0.00209161 0.87355149] [-0.00116382 0.99999845 0.00132419 0.0781926 ] [-0.00209007 -0.00132662 0.99999694 0.49529489] [ 0. 0. 0. 1. ]] SLAMing on 234.482557844 meters 0.28834437804452584 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:0.50 [[ 0.99999706 0.00122192 0.00209535 0.87354924] [-0.00122505 0.99999814 0.00148985 0.07751396] [-0.00209352 -0.00149241 0.99999669 0.49529765] [ 0. 0. 0. 1. ]] SLAMing on 234.512557844 meters 0.2897981952425041 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:0.50 [[ 9.99999169e-01 -1.27766035e-03 1.74036775e-04 9.14033672e-01] [ 1.27758816e-03 9.99999098e-01 4.14290584e-04 7.66698766e-02] [-1.74565941e-04 -4.14067892e-04 9.99999899e-01 4.98196852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54255784400002 meters 0.2897323077867642 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:0.50 [[ 9.99999339e-01 -1.14968833e-03 6.73806396e-06 9.14425075e-01] [ 1.14968237e-03 9.99998998e-01 8.25996944e-04 7.50461666e-02] [-7.68769625e-06 -8.25988651e-04 9.99999659e-01 4.98306584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57255784400002 meters 0.28808773268057847 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.50 [[ 9.99988711e-01 4.70961263e-03 -6.30393864e-04 8.91789793e-01] [-4.71112013e-03 9.99985995e-01 -2.41163441e-03 6.93812840e-02] [ 6.19027172e-04 2.41457705e-03 9.99996893e-01 4.99531691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60255784400002 meters 0.28733788344223193 Centerline is valid? [False, False] Translation: X:0.89, Y:0.06, Z:0.50 [[ 9.99987312e-01 5.01413151e-03 -4.83751964e-04 8.91285971e-01] [-5.01469161e-03 9.99986749e-01 -1.16363950e-03 6.46753200e-02] [ 4.77910913e-04 1.16605061e-03 9.99999206e-01 4.99949816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63255784400002 meters 0.2885972243326913 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:0.50 [[ 9.99991279e-01 -4.15361049e-03 4.36023041e-04 9.12704556e-01] [ 4.15365767e-03 9.99991368e-01 -1.07359949e-04 6.28646096e-02] [-4.35573346e-04 1.09170104e-04 9.99999899e-01 4.99948919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66255784400002 meters 0.2889947058218752 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:0.50 [[ 9.99992454e-01 -3.87668784e-03 2.50023758e-04 9.13334150e-01] [ 3.87650719e-03 9.99992228e-01 7.19017135e-04 5.95484314e-02] [-2.52809220e-04 -7.18042491e-04 9.99999710e-01 4.99627008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69255784400002 meters 0.2884393993481474 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:0.50 [[ 9.99993444e-01 -3.62067304e-03 6.05593687e-05 9.14014822e-01] [ 3.62058313e-03 9.99992431e-01 1.42423372e-03 5.66521470e-02] [-6.57155950e-05 -1.42400512e-03 9.99998984e-01 4.99246029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72255784400002 meters 0.28989613640527284 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 9.99994981e-01 -3.15684424e-03 -2.69436961e-04 9.15294251e-01] [ 3.15751819e-03 9.99991793e-01 2.53868698e-03 5.19131403e-02] [ 2.61420511e-04 -2.53952499e-03 9.99996741e-01 4.98530016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75255784400002 meters 0.28911612252569596 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 9.99995392e-01 -3.01778948e-03 -3.29608759e-04 9.15576435e-01] [ 3.01872946e-03 9.99991269e-01 2.88952373e-03 5.04707236e-02] [ 3.20885907e-04 -2.89050542e-03 9.99995771e-01 4.98301902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78255784400002 meters 0.28870332304284974 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 9.99995731e-01 -2.90162932e-03 -3.44421067e-04 9.15650544e-01] [ 2.90271374e-03 9.99990696e-01 3.19091768e-03 4.92499167e-02] [ 3.35159002e-04 -3.19190381e-03 9.99994850e-01 4.98264249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81255784400003 meters 0.28898592679236784 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 9.99995869e-01 -2.84481219e-03 -4.10880439e-04 9.15779709e-01] [ 2.84616703e-03 9.99990387e-01 3.33534778e-03 4.86541906e-02] [ 4.01388052e-04 -3.33650344e-03 9.99994353e-01 4.98371078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84255784400003 meters 0.28900868540461006 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99984350e-01 5.53974753e-03 -7.81480519e-04 8.95524662e-01] [-5.53791456e-03 9.99981955e-01 2.32848341e-03 4.38842988e-02] [ 7.94365627e-04 -2.32411920e-03 9.99996984e-01 4.96995990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872557844 meters 0.29019281348631937 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 9.99994335e-01 -3.34966713e-03 3.31770382e-04 9.15347670e-01] [ 3.34865335e-03 9.99989862e-01 3.01047163e-03 4.86111782e-02] [-3.41851097e-04 -3.00934359e-03 9.99995413e-01 4.96970040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.902557844 meters 0.28782958844987944 Centerline is valid? [False, False] Translation: X:0.89, Y:0.05, Z:0.50 [[ 9.99992448e-01 3.86621624e-03 -3.94897214e-04 8.91012737e-01] [-3.86592796e-03 9.99992262e-01 7.28178667e-04 4.84779819e-02] [ 3.97709454e-04 -7.26646524e-04 9.99999657e-01 4.98997368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.932557844 meters 0.28887400091664345 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 0.99998961 -0.00422801 0.0017015 0.90895768] [ 0.00422459 0.99998906 0.00200967 0.05377217] [-0.00170998 -0.00200246 0.99999653 0.50010865] [ 0. 0. 0. 1. ]] SLAMing on 234.962557844 meters 0.28890679176204725 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 0.99998928 -0.00425369 0.00182794 0.90858218] [ 0.00425015 0.99998909 0.00193858 0.05407499] [-0.00183617 -0.00193079 0.99999645 0.50021588] [ 0. 0. 0. 1. ]] SLAMing on 234.992557844 meters 0.28955553673877854 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 0.99998901 -0.00429678 0.00187504 0.90863612] [ 0.00429336 0.99998912 0.00182287 0.05454129] [-0.00188285 -0.0018148 0.99999658 0.49979774] [ 0. 0. 0. 1. ]] SLAMing on 235.022557844 meters 0.2886991659390847 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 0.99998912 -0.00429763 0.00181274 0.90893935] [ 0.00429433 0.99998912 0.00182138 0.05453232] [-0.00182054 -0.00181358 0.9999967 0.49946706] [ 0. 0. 0. 1. ]] SLAMing on 235.052557844 meters 0.29032866043778943 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:0.50 [[ 9.99987650e-01 4.38354521e-03 2.34181112e-03 9.30109588e-01] [-4.38570382e-03 9.99989962e-01 9.17429461e-04 5.22931462e-02] [-2.33776602e-03 -9.27688621e-04 9.99996837e-01 4.99981379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082557844 meters 0.29032866043778943 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:0.50 [[ 9.99987650e-01 4.38354521e-03 2.34181112e-03 9.30109588e-01] [-4.38570382e-03 9.99989962e-01 9.17429461e-04 5.22931462e-02] [-2.33776602e-03 -9.27688621e-04 9.99996837e-01 4.99981379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112557844 meters 0.2894138763490705 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 9.99992858e-01 -3.74582498e-03 5.01987177e-04 9.10282062e-01] [ 3.74468462e-03 9.99990449e-01 2.25370245e-03 5.36535800e-02] [-5.10424358e-04 -2.25180657e-03 9.99997334e-01 4.99195668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142557844 meters 0.2887634192055558 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 9.99992848e-01 -3.73601853e-03 5.89002111e-04 9.09991218e-01] [ 3.73466751e-03 9.99990431e-01 2.27839808e-03 5.35617349e-02] [-5.97508612e-04 -2.27618205e-03 9.99997231e-01 4.99361960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172557844 meters 0.28784423134662324 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 9.99992950e-01 -3.69971391e-03 6.42318836e-04 9.09813436e-01] [ 3.69817964e-03 9.99990345e-01 2.37362514e-03 5.31789280e-02] [-6.51094368e-04 -2.37123299e-03 9.99996977e-01 4.99472440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202557844 meters 0.2893364123042075 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.50 [[ 9.99990764e-01 2.39323817e-03 3.56996823e-03 9.32073192e-01] [-2.39126742e-03 9.99996986e-01 -5.56201955e-04 5.57298289e-02] [-3.57128859e-03 5.47660069e-04 9.99993473e-01 4.97694058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.232557844 meters 0.28983169602621217 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.50 [[ 9.99991134e-01 2.39581396e-03 3.46301246e-03 9.32344859e-01] [-2.39393511e-03 9.99996985e-01 -5.46592163e-04 5.56831984e-02] [-3.46431155e-03 5.38297089e-04 9.99993854e-01 4.97707531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262557844 meters 0.2885355347524765 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.50 [[ 9.99991383e-01 2.37532892e-03 3.40457111e-03 9.32433342e-01] [-2.37330385e-03 9.99997004e-01 -5.98727039e-04 5.58987822e-02] [-3.40598309e-03 5.90641799e-04 9.99994025e-01 4.97846152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29255784400002 meters 0.28890376580006133 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.50 [[ 9.99991464e-01 2.40999308e-03 3.35625698e-03 9.32543642e-01] [-2.40830747e-03 9.99996972e-01 -5.06177728e-04 5.55167888e-02] [-3.35746670e-03 4.98090508e-04 9.99994240e-01 4.97890186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32255784400002 meters 0.28965009084209115 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:0.50 [[ 9.99972492e-01 -6.07358727e-03 4.25752003e-03 9.52533678e-01] [ 6.07128022e-03 9.99981416e-01 5.54592167e-04 5.92784225e-02] [-4.26080927e-03 -5.28728315e-04 9.99990783e-01 4.98861605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35255784400002 meters 0.2883749919469357 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:0.50 [[ 9.99967552e-01 -5.22210781e-04 8.03883478e-03 9.35735589e-01] [ 5.34329632e-04 9.99998724e-01 -1.50546441e-03 5.42117968e-02] [-8.03803835e-03 1.50971095e-03 9.99966555e-01 4.95265376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38255784400002 meters 0.2879718509183778 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:0.50 [[ 9.99967459e-01 -4.44771621e-04 8.05503539e-03 9.35617679e-01] [ 4.55157735e-04 9.99999067e-01 -1.28760666e-03 5.33272752e-02] [-8.05445519e-03 1.29123107e-03 9.99966729e-01 4.95466934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41255784400002 meters 0.2870283199458985 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:0.50 [[ 0.99996885 -0.00658269 0.00435452 0.91479556] [ 0.00657536 0.99997695 0.00169457 0.0491909 ] [-0.00436557 -0.00166589 0.99998908 0.49707892] [ 0. 0. 0. 1. ]] SLAMing on 235.44255784400002 meters 0.2909056581085201 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 0.99997081 -0.00642117 0.00413997 0.91555765] [ 0.00641232 0.99997713 0.00214801 0.04729163] [-0.00415367 -0.0021214 0.99998912 0.49665661] [ 0. 0. 0. 1. ]] SLAMing on 235.47255784400002 meters 0.28812695461051324 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 0.99997152 -0.00633654 0.00409989 0.91568251] [ 0.00632687 0.99997718 0.00236694 0.04638732] [-0.00411479 -0.00234093 0.99998879 0.49664322] [ 0. 0. 0. 1. ]] SLAMing on 235.50255784400002 meters 0.2884004959475098 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.50 [[ 0.9999721 -0.00626842 0.00406364 0.91578036] [ 0.00625811 0.99997718 0.00254516 0.04565411] [-0.0040795 -0.00251965 0.9999885 0.49665839] [ 0. 0. 0. 1. ]] SLAMing on 235.53255784400002 meters 0.28892489371875757 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:0.50 [[ 0.99997282 -0.00620665 0.00397832 0.91601514] [ 0.0061959 0.99997714 0.00270916 0.04497479] [-0.00399504 -0.00268444 0.99998842 0.49665169] [ 0. 0. 0. 1. ]] SLAMing on 235.56255784400003 meters 0.28796244674475596 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999504e-01 -4.65256522e-05 9.94766766e-04 8.96349482e-01] [ 4.66980069e-05 9.99999984e-01 -1.73238907e-04 4.13820174e-02] [-9.94758690e-04 1.73285275e-04 9.99999490e-01 4.96846644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59255784400003 meters 0.2880352255010644 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999543e-01 -6.55766748e-07 9.56543378e-04 8.96536588e-01] [ 7.02028697e-07 9.99999999e-01 -4.83633357e-05 4.08626262e-02] [-9.56543345e-04 4.83639850e-05 9.99999541e-01 4.96657834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622557844 meters 0.2881611449857237 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999489e-01 4.99618518e-05 1.00971928e-03 8.96366727e-01] [-5.00485970e-05 9.99999995e-01 8.58851621e-05 4.03144535e-02] [-1.00971498e-03 -8.59356532e-05 9.99999487e-01 4.96745741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.652557844 meters 0.2877188301444221 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999471e-01 2.00589651e-04 1.00924438e-03 8.96250687e-01] [-2.01059253e-04 9.99999872e-01 4.65220232e-04 3.87509767e-02] [-1.00915093e-03 -4.65422904e-04 9.99999382e-01 4.97051689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.682557844 meters 0.28873724831404063 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999540e-01 2.70492946e-04 9.19806485e-04 8.96573835e-01] [-2.71092536e-04 9.99999751e-01 6.51803111e-04 3.79763857e-02] [-9.19629947e-04 -6.52052164e-04 9.99999365e-01 4.96868194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.712557844 meters 0.2878442104658684 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999575e-01 3.63818262e-04 8.47191210e-04 8.96857033e-01] [-3.64587021e-04 9.99999522e-01 9.07442769e-04 3.69185210e-02] [-8.46860660e-04 -9.07751259e-04 9.99999229e-01 4.96671521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.742557844 meters 0.2887684695042731 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:0.50 [[ 9.99999556e-01 4.66278216e-04 8.18593717e-04 8.96955709e-01] [-4.67258617e-04 9.99999173e-01 1.19788275e-03 3.57359295e-02] [-8.18034493e-04 -1.19826472e-03 9.99998947e-01 4.96635725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.772557844 meters 0.28787466603256656 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:0.50 [[ 0.99998019 0.00559544 0.00288319 0.91882892] [-0.00558843 0.99998142 -0.00243335 0.03231172] [-0.00289675 0.00241718 0.99999288 0.49608303] [ 0. 0. 0. 1. ]] SLAMing on 235.802557844 meters 0.2874359782242526 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.50 [[ 0.99999404 -0.00326839 0.00111073 0.89785063] [ 0.00327007 0.9999935 -0.00151899 0.03067822] [-0.00110576 0.00152261 0.99999823 0.49601797] [ 0. 0. 0. 1. ]] SLAMing on 235.832557844 meters 0.287204184275822 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.50 [[ 9.99994712e-01 -3.11083228e-03 9.47559597e-04 8.98361756e-01] [ 3.11183542e-03 9.99994597e-01 -1.05901927e-03 2.87948730e-02] [-9.44260047e-04 1.06196232e-03 9.99998990e-01 4.95828196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862557844 meters 0.28779909054436165 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:0.50 [[ 9.99995321e-01 -2.94646825e-03 8.21918559e-04 8.98818234e-01] [ 2.94695801e-03 9.99995481e-01 -5.95297933e-04 2.68861318e-02] [-8.20160818e-04 5.97717308e-04 9.99999485e-01 4.95542086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892557844 meters 0.28772603254227913 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99995985e-01 -2.72301422e-03 7.83795172e-04 8.98907986e-01] [ 2.72300728e-03 9.99996293e-01 9.91577324e-06 2.44061742e-02] [-7.83819267e-04 -7.78145348e-06 9.99999693e-01 4.95585712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922557844 meters 0.2872815998101614 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99996250e-01 -2.61509938e-03 8.13646057e-04 8.98696013e-01] [ 2.61486255e-03 9.99996539e-01 2.92002727e-04 2.32501485e-02] [-8.14406857e-04 -2.89874060e-04 9.99999626e-01 4.95912918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952557844 meters 0.28919656481496003 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99996474e-01 -2.53241336e-03 7.99152325e-04 8.98535736e-01] [ 2.53200660e-03 9.99996665e-01 5.09595156e-04 2.23544464e-02] [-8.00440165e-04 -5.07569900e-04 9.99999551e-01 4.96383178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982557844 meters 0.28811539825160754 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99996779e-01 -2.39662861e-03 8.35724333e-04 8.98451598e-01] [ 2.39590884e-03 9.99996759e-01 8.61193273e-04 2.09074314e-02] [-8.37785585e-04 -8.59188179e-04 9.99999280e-01 4.96395624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012557844 meters 0.287635734848879 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99996954e-01 -2.33157648e-03 8.09227737e-04 8.98558114e-01] [ 2.33074058e-03 9.99996751e-01 1.03238250e-03 2.01979034e-02] [-8.11632187e-04 -1.03049326e-03 9.99999140e-01 4.96327993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04255784400002 meters 0.28824658409664233 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:0.50 [[ 9.99997205e-01 -2.23703165e-03 7.64735185e-04 8.98700020e-01] [ 2.23604672e-03 9.99996673e-01 1.28637738e-03 1.91524030e-02] [-7.67610307e-04 -1.28466380e-03 9.99998880e-01 4.96295508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07255784400002 meters 0.2870448055875634 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:0.50 [[ 0.99999346 0.00325761 0.00156812 0.87611915] [-0.00325451 0.99999275 -0.00197724 0.01135125] [-0.00157455 0.00197213 0.99999682 0.49698565] [ 0. 0. 0. 1. ]] SLAMing on 236.10255784400002 meters 0.28806072875673366 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:0.50 [[ 0.99999299 0.00342044 0.00152043 0.87614864] [-0.00341821 0.99999308 -0.00146778 0.00933699] [-0.00152544 0.00146257 0.99999777 0.49724154] [ 0. 0. 0. 1. ]] SLAMing on 236.13255784400002 meters 0.28836772368448804 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:0.50 [[ 0.9999882 -0.00285125 0.00393348 0.89905568] [ 0.00284488 0.99999463 0.00162421 0.00621915] [-0.00393809 -0.001613 0.99999094 0.49522315] [ 0. 0. 0. 1. ]] SLAMing on 236.16255784400002 meters 0.2876304900406322 Centerline is valid? [False, False] Translation: X:0.90, Y:0.00, Z:0.50 [[ 0.99998903 -0.00263198 0.00387503 0.899257 ] [ 0.00262324 0.99999401 0.00226018 0.00365269] [-0.00388095 -0.00224999 0.99998994 0.49512458] [ 0. 0. 0. 1. ]] SLAMing on 236.19255784400002 meters 0.2866720660376613 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.50 [[ 9.99990915e-01 2.77615768e-03 3.23461134e-03 8.76615407e-01] [-2.77430884e-03 9.99995986e-01 -5.75927858e-04 -5.40558380e-03] [-3.23619722e-03 5.66948815e-04 9.99994603e-01 4.95979412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22255784400002 meters 0.2874358712603328 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:0.50 [[ 9.99971608e-01 -6.38633145e-03 3.99983915e-03 8.98668248e-01] [ 6.38677140e-03 9.99979600e-01 -9.72288603e-05 -5.37026409e-03] [-3.99913661e-03 1.22772158e-04 9.99991996e-01 4.95530322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25255784400002 meters 0.28745570343753246 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:0.50 [[ 9.99973455e-01 -6.20262788e-03 3.82325141e-03 8.99142960e-01] [ 6.20131668e-03 9.99980709e-01 3.54714955e-04 -7.23646094e-03] [-3.82537782e-03 -3.30996346e-04 9.99992628e-01 4.95559747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28255784400002 meters 0.28802533178152584 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.50 [[ 9.99998500e-01 9.80383974e-04 1.42796414e-03 8.78279853e-01] [-9.78579954e-04 9.99998723e-01 -1.26350232e-03 -1.18861506e-02] [-1.42920103e-03 1.26210305e-03 9.99998182e-01 4.96786390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31255784400003 meters 0.2886230921735372 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:0.50 [[ 9.99998309e-01 1.18078875e-03 1.41014535e-03 8.78377088e-01] [-1.17978269e-03 9.99999049e-01 -7.14065736e-04 -1.40976695e-02] [-1.41098717e-03 7.12400863e-04 9.99998751e-01 4.96684839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34255784400003 meters 0.2894713777246981 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.50 [[ 9.99998099e-01 1.31021002e-03 1.44414427e-03 8.78245427e-01] [-1.30964610e-03 9.99999066e-01 -3.91363556e-04 -1.54261734e-02] [-1.44465569e-03 3.89471494e-04 9.99998881e-01 4.96796048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372557844 meters 0.2871696443642779 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.50 [[ 9.99997891e-01 1.42945608e-03 1.47459239e-03 8.78100820e-01] [-1.42931560e-03 9.99998974e-01 -9.63132266e-05 -1.66341520e-02] [-1.47472855e-03 9.42053655e-05 9.99998908e-01 4.96956160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.402557844 meters 0.28692661269409386 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.50 [[ 9.99997414e-01 1.73605063e-03 1.46888572e-03 8.78008494e-01] [-1.73704191e-03 9.99998264e-01 6.73842108e-04 -1.97905246e-02] [-1.46771335e-03 -6.76391882e-04 9.99998694e-01 4.97256296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.432557844 meters 0.287973145983583 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.50 [[ 0.99999727 0.00189056 0.0013725 0.87822946] [-0.00189205 0.99999762 0.00108606 -0.02147618] [-0.00137044 -0.00108865 0.99999847 0.49734909] [ 0. 0. 0. 1. ]] SLAMing on 236.462557844 meters 0.28740161611166276 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:0.50 [[ 0.99999706 0.0020405 0.00130937 0.87829514] [-0.00204244 0.99999682 0.00148117 -0.02307826] [-0.00130634 -0.00148384 0.99999805 0.49759466] [ 0. 0. 0. 1. ]] SLAMing on 236.492557844 meters 0.2884493884125977 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 0.99999644 0.00236027 0.00124465 0.87830753] [-0.00236321 0.9999944 0.00236851 -0.02663894] [-0.00123906 -0.00237144 0.99999642 0.49799335] [ 0. 0. 0. 1. ]] SLAMing on 236.522557844 meters 0.28747667927728815 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 0.99999607 0.00252841 0.00120793 0.87843465] [-0.0025318 0.99999282 0.00281802 -0.02848158] [-0.00120079 -0.00282107 0.9999953 0.49795303] [ 0. 0. 0. 1. ]] SLAMing on 236.552557844 meters 0.28757038570142035 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 0.99999566 0.00269566 0.00118486 0.87852807] [-0.00269953 0.99999099 0.00327485 -0.03035129] [-0.00117602 -0.00327803 0.99999394 0.49789794] [ 0. 0. 0. 1. ]] SLAMing on 236.582557844 meters 0.28821283016408156 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 0.99999522 0.00286995 0.00114705 0.87863572] [-0.00287423 0.99998885 0.00374614 -0.03227523] [-0.00113629 -0.00374941 0.99999233 0.49788942] [ 0. 0. 0. 1. ]] SLAMing on 236.612557844 meters 0.28689797378863424 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99998731e-01 -1.23314145e-03 1.00912807e-03 8.79105897e-01] [ 1.23307098e-03 9.99999237e-01 7.04522754e-05 -3.49477986e-02] [-1.00921417e-03 -6.92078594e-05 9.99999488e-01 4.97554884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642557844 meters 0.28809286636350306 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99999011e-01 -1.09502553e-03 8.82204521e-04 8.79528104e-01] [ 1.09464204e-03 9.99999306e-01 4.35058616e-04 -3.64596051e-02] [-8.82680309e-04 -4.34092488e-04 9.99999516e-01 4.97361158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672557844 meters 0.28954715907759965 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99999173e-01 -9.96384901e-04 8.12637395e-04 8.79780244e-01] [ 9.95815528e-04 9.99999259e-01 7.00752359e-04 -3.75631888e-02] [-8.13335012e-04 -6.99942543e-04 9.99999424e-01 4.97212976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702557844 meters 0.2878596412372298 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.50 [[ 0.99998662 0.00486395 -0.00175876 0.85765508] [-0.00486788 0.99998565 -0.00223782 -0.03819367] [ 0.00174785 0.00224636 0.99999595 0.4985421 ] [ 0. 0. 0. 1. ]] SLAMing on 236.732557844 meters 0.28795300655139344 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.50 [[ 0.99998685 0.00482954 -0.00172599 0.85754163] [-0.00483356 0.9999856 -0.00233326 -0.03780182] [ 0.00171469 0.00234157 0.99999579 0.49861203] [ 0. 0. 0. 1. ]] SLAMing on 236.762557844 meters 0.2889298213622826 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 0.9999948 -0.00303913 -0.00108261 0.87609474] [ 0.00303801 0.99999486 -0.0010277 -0.03262718] [ 0.00108573 0.00102441 0.99999889 0.50010005] [ 0. 0. 0. 1. ]] SLAMing on 236.79255784400002 meters 0.2904138336030501 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.03, Z:0.50 [[ 9.99982728e-01 5.87109959e-03 2.73369137e-04 8.96555448e-01] [-5.87052430e-03 9.99980647e-01 -2.05974816e-03 -3.39732026e-02] [-2.85456833e-04 2.05810776e-03 9.99997841e-01 5.00381790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82255784400002 meters 0.290146533055321 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.03, Z:0.50 [[ 9.99982857e-01 5.84889154e-03 2.77366736e-04 8.96673274e-01] [-5.84829120e-03 9.99980656e-01 -2.11796106e-03 -3.37498845e-02] [-2.89749095e-04 2.11630263e-03 9.99997719e-01 5.00090236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85255784400002 meters 0.2888209655067354 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99995267e-01 -2.97626452e-03 -7.79846399e-04 8.76616796e-01] [ 2.97553189e-03 9.99995132e-01 -9.38927697e-04 -3.19812895e-02] [ 7.82637100e-04 9.36602795e-04 9.99999255e-01 4.99232717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88255784400002 meters 0.2892206387892438 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99995355e-01 -2.93764078e-03 -8.12467655e-04 8.76610154e-01] [ 2.93696177e-03 9.99995338e-01 -8.35682347e-04 -3.23946808e-02] [ 8.14918801e-04 8.33292279e-04 9.99999321e-01 4.99450401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91255784400002 meters 0.2889539678881996 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99995626e-01 -2.86818301e-03 -7.22511555e-04 8.76271455e-01] [ 2.86771830e-03 9.99995681e-01 -6.43397068e-04 -3.31655777e-02] [ 7.24353815e-04 6.41322294e-04 9.99999532e-01 4.99734049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94255784400002 meters 0.28986619590365964 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99995877e-01 -2.79914098e-03 -6.41448673e-04 8.75935745e-01] [ 2.79884591e-03 9.99995977e-01 -4.60449027e-04 -3.39091269e-02] [ 6.42734954e-04 4.58651812e-04 9.99999688e-01 5.00043906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97255784400002 meters 0.2885538107840312 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99996137e-01 -2.72324512e-03 -5.57155626e-04 8.75566646e-01] [ 2.72310116e-03 9.99996259e-01 -2.58972583e-04 -3.47281792e-02] [ 5.57858787e-04 2.57454392e-04 9.99999811e-01 5.00416864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00255784400002 meters 0.2885538107840312 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:0.50 [[ 9.99996137e-01 -2.72324512e-03 -5.57155626e-04 8.75566646e-01] [ 2.72310116e-03 9.99996259e-01 -2.58972583e-04 -3.47281792e-02] [ 5.57858787e-04 2.57454392e-04 9.99999811e-01 5.00416864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03255784400002 meters 0.2873620962481386 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99996547e-01 -2.57355448e-03 -5.31726665e-04 8.75481202e-01] [ 2.57363273e-03 9.99996677e-01 1.46528518e-04 -3.63876073e-02] [ 5.31347799e-04 -1.47896481e-04 9.99999848e-01 5.00484974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06255784400003 meters 0.28768134767830233 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99996714e-01 -2.48541986e-03 -6.28323449e-04 8.75877866e-01] [ 2.48566537e-03 9.99996835e-01 3.90255732e-04 -3.74184312e-02] [ 6.27351511e-04 -3.91816252e-04 9.99999726e-01 5.00157947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09255784400003 meters 0.2880232014440409 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99996831e-01 -2.41263506e-03 -7.19676683e-04 8.76273173e-01] [ 2.41305776e-03 9.99996916e-01 5.87057231e-04 -3.82581099e-02] [ 7.18258109e-04 -5.88791992e-04 9.99999569e-01 4.99805934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters 0.2890842227128196 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99997015e-01 -2.31494152e-03 -7.81332936e-04 8.76617589e-01] [ 2.31560219e-03 9.99996961e-01 8.45725196e-04 -3.93563390e-02] [ 7.79372757e-04 -8.47531928e-04 9.99999337e-01 4.99409746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.152557844 meters 0.29065248306906805 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.50 [[ 0.99998717 0.00478572 0.00165903 0.89770479] [-0.00478294 0.99998716 -0.00167677 -0.03970954] [-0.00166703 0.00166881 0.99999722 0.49824633] [ 0. 0. 0. 1. ]] SLAMing on 237.182557844 meters 0.2882193778262109 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99998525e-01 -1.59971071e-03 -6.24818776e-04 8.74685969e-01] [ 1.60066237e-03 9.99997555e-01 1.52558094e-03 -4.20196888e-02] [ 6.22376760e-04 -1.52657881e-03 9.99998641e-01 5.00255206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.212557844 meters 0.2900697349765629 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99998414e-01 -1.63815760e-03 -6.98542172e-04 8.74993698e-01] [ 1.63915045e-03 9.99997644e-01 1.42312303e-03 -4.16090593e-02] [ 6.96209226e-04 -1.42426579e-03 9.99998743e-01 4.99959650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.242557844 meters 0.28999585985791565 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.50 [[ 9.99998345e-01 -1.66766151e-03 -7.27216806e-04 8.75162904e-01] [ 1.66863800e-03 9.99997704e-01 1.34425164e-03 -4.12999662e-02] [ 7.24973379e-04 -1.34546288e-03 9.99998832e-01 4.99725218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.272557844 meters 0.29167984319700074 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99998332e-01 -1.73233098e-03 -5.78554654e-04 8.74689388e-01] [ 1.73300509e-03 9.99997818e-01 1.16669657e-03 -4.05506514e-02] [ 5.76532287e-04 -1.16769726e-03 9.99999152e-01 4.99930351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302557844 meters 0.289538849693017 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.50 [[ 9.99980308e-01 6.03182116e-03 -1.73206566e-03 8.55469268e-01] [-6.03213865e-03 9.99981791e-01 -1.78139643e-04 -4.47069671e-02] [ 1.73095962e-03 1.88584196e-04 9.99998484e-01 4.98778577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332557844 meters 0.2904765726904113 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.50 [[ 9.99980477e-01 5.98684934e-03 -1.78950707e-03 8.55693840e-01] [-5.98738220e-03 9.99982033e-01 -2.92558634e-04 -4.42490341e-02] [ 1.78772341e-03 3.03267385e-04 9.99998356e-01 4.98602958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362557844 meters 0.28910058591512544 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.50 [[ 0.99998706 -0.00105042 -0.00497688 0.83480862] [ 0.00106106 0.99999716 0.00213436 -0.04544766] [ 0.00497462 -0.00213961 0.99998534 0.49980482] [ 0. 0. 0. 1. ]] SLAMing on 237.392557844 meters 0.29120446411567674 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99983202e-01 -1.20282620e-03 -5.67001294e-03 8.74606561e-01] [ 1.20828736e-03 9.99998809e-01 9.59838145e-04 -4.11406222e-02] [ 5.66885167e-03 -9.66673027e-04 9.99983465e-01 5.02386971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422557844 meters 0.2907758798084954 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99983526e-01 -1.20942818e-03 -5.61113806e-03 8.74379531e-01] [ 1.21470818e-03 9.99998823e-01 9.37673127e-04 -4.10423308e-02] [ 5.60999741e-03 -9.44473575e-04 9.99983818e-01 5.02567228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452557844 meters 0.2896972106489843 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:0.50 [[ 9.99983871e-01 -1.21794722e-03 -5.54749400e-03 8.74040683e-01] [ 1.22301792e-03 9.99998837e-01 9.10751641e-04 -4.09119546e-02] [ 5.54637831e-03 -9.17521636e-04 9.99984198e-01 5.02988028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482557844 meters 0.2897185545352456 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.50 [[ 0.99996885 -0.00738464 -0.00278731 0.8958065 ] [ 0.00739483 0.99996595 0.00366379 -0.04128668] [ 0.00276016 -0.00368429 0.9999894 0.50189649] [ 0. 0. 0. 1. ]] SLAMing on 237.512557844 meters 0.2893986061841143 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.50 [[ 0.99996906 -0.007351 -0.00279976 0.89584081] [ 0.00736149 0.99996586 0.00375425 -0.04165301] [ 0.00277207 -0.00377474 0.99998903 0.50190244] [ 0. 0. 0. 1. ]] SLAMing on 237.54255784400002 meters 0.28887007674682635 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.50 [[ 9.99991835e-01 5.79830696e-04 -3.99926628e-03 8.77630547e-01] [-5.69658901e-04 9.99996602e-01 2.54408555e-03 -4.71741384e-02] [ 4.00072783e-03 -2.54178656e-03 9.99988767e-01 5.00676919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57255784400002 meters 0.2885490213709593 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.50 [[ 9.99991196e-01 6.09585415e-04 -4.15175166e-03 8.78001822e-01] [-5.98647656e-04 9.99996349e-01 2.63522582e-03 -4.75478032e-02] [ 4.15334289e-03 -2.63271718e-03 9.99987909e-01 5.00703931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60255784400002 meters 0.28978701683205005 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.50 [[ 9.99990797e-01 6.81984899e-04 -4.23558657e-03 8.78196190e-01] [-6.69955122e-04 9.99995740e-01 2.84093757e-03 -4.83806322e-02] [ 4.23750600e-03 -2.83807377e-03 9.99986994e-01 5.00755852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63255784400002 meters 0.28971539970132465 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.50 [[ 9.99991887e-01 8.45785396e-04 -3.93838135e-03 8.77224982e-01] [-8.32455314e-04 9.99993924e-01 3.38507032e-03 -5.05007424e-02] [ 3.94122047e-03 -3.38176433e-03 9.99986515e-01 5.01515584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66255784400002 meters 0.28791165296711646 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.50 [[ 9.99992016e-01 9.57252582e-04 -3.87960058e-03 8.76999168e-01] [-9.42866282e-04 9.99992680e-01 3.70832523e-03 -5.17884854e-02] [ 3.88312199e-03 -3.70463768e-03 9.99985598e-01 5.01724112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69255784400002 meters 0.2890473998029359 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.50 [[ 9.99973211e-01 7.03112347e-03 -2.03496737e-03 8.99844210e-01] [-7.03022131e-03 9.99975186e-01 4.50144209e-04 -5.31425835e-02] [ 2.03808190e-03 -4.35825879e-04 9.99997828e-01 5.00080918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72255784400002 meters 0.2889698952250355 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.50 [[ 9.99972173e-01 7.16828854e-03 -2.06615614e-03 9.00021571e-01] [-7.16659246e-03 9.99973978e-01 8.27124365e-04 -5.46853005e-02] [ 2.07203144e-03 -8.12294050e-04 9.99997523e-01 4.99854849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75255784400002 meters 0.2901040896507589 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.50 [[ 9.99999220e-01 -1.16754762e-03 -4.42913896e-04 9.20952992e-01] [ 1.16841096e-03 9.99997408e-01 1.95401304e-03 -5.60552013e-02] [ 4.40631345e-04 -1.95452902e-03 9.99997993e-01 5.00138331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78255784400002 meters 0.2890995049524912 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.50 [[ 9.99999338e-01 -1.06311475e-03 -4.40277372e-04 9.20842577e-01] [ 1.06409078e-03 9.99996964e-01 2.22258050e-03 -5.71540073e-02] [ 4.37913177e-04 -2.22304752e-03 9.99997433e-01 5.00373089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81255784400003 meters 0.2893612988918579 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.50 [[ 9.99999405e-01 -1.00977753e-03 -4.12779953e-04 9.20767459e-01] [ 1.01074953e-03 9.99996701e-01 2.36137111e-03 -5.77157918e-02] [ 4.10394132e-04 -2.36178692e-03 9.99997127e-01 5.00387090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84255784400003 meters 0.28820687961214325 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.50 [[ 9.99983686e-01 4.75993543e-03 -3.15759931e-03 9.00009102e-01] [-4.76219410e-03 9.99988410e-01 -7.08179876e-04 -5.84907568e-02] [ 3.15419183e-03 7.23205424e-04 9.99994764e-01 5.00907726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872557844 meters 0.2912293927708006 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99982923e-01 -2.46597120e-03 -5.29832454e-03 9.25811927e-01] [ 2.47058220e-03 9.99996575e-01 8.63907002e-04 -5.40176676e-02] [ 5.29617602e-03 -8.76982195e-04 9.99985591e-01 4.99383336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.902557844 meters 0.29020438731366377 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99982342e-01 -2.50892094e-03 -5.38707954e-03 9.26151403e-01] [ 2.51295640e-03 9.99996567e-01 7.42462754e-04 -5.35388826e-02] [ 5.38519826e-03 -7.55987139e-04 9.99985214e-01 4.99088839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.932557844 meters 0.2893744344979818 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.50 [[ 0.99998729 -0.00263456 -0.00429895 0.88692506] [ 0.0026408 0.99999547 0.00144727 -0.05615238] [ 0.00429512 -0.00145861 0.99998971 0.49591916] [ 0. 0. 0. 1. ]] SLAMing on 237.962557844 meters 0.29117567011583956 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 0.99998501 -0.00135728 -0.00530522 0.92586765] [ 0.00136297 0.9999985 0.00107076 -0.05192871] [ 0.00530376 -0.00107798 0.99998535 0.49948722] [ 0. 0. 0. 1. ]] SLAMing on 237.992557844 meters 0.29030780416290536 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984738e-01 -1.41219531e-03 -5.34135033e-03 9.26093342e-01] [ 1.41716565e-03 9.99998566e-01 9.26870454e-04 -5.13569776e-02] [ 5.34003375e-03 -9.34425886e-04 9.99985305e-01 4.99172775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.022557844 meters 0.2900552643431688 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984615e-01 -1.46675518e-03 -5.34954640e-03 9.26257942e-01] [ 1.47097362e-03 9.99998610e-01 7.84710881e-04 -5.07908170e-02] [ 5.34838799e-03 -7.92567850e-04 9.99985383e-01 4.98839069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052557844 meters 0.29093090797849946 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984609e-01 -1.51652468e-03 -5.33680657e-03 9.26252463e-01] [ 1.52004611e-03 9.99998630e-01 6.55843997e-04 -5.02592923e-02] [ 5.33580465e-03 -6.63946095e-04 9.99985544e-01 4.98766634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082557844 meters 0.29101785579862466 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984904e-01 -1.61675822e-03 -5.25153956e-03 9.25779503e-01] [ 1.61883211e-03 9.99998613e-01 3.90682814e-04 -4.91122189e-02] [ 5.25090064e-03 -3.99178276e-04 9.99986134e-01 4.99335039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112557844 meters 0.29116319438280025 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984942e-01 -1.68057177e-03 -5.22413612e-03 9.25655430e-01] [ 1.68177052e-03 9.99998560e-01 2.25080262e-04 -4.84208142e-02] [ 5.22375033e-03 -2.33862671e-04 9.99986329e-01 4.99444629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142557844 meters 0.2908417113071809 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984742e-01 -1.73972577e-03 -5.24309159e-03 9.25736531e-01] [ 1.74015483e-03 9.99998483e-01 7.72714788e-05 -4.78216347e-02] [ 5.24294921e-03 -8.63940909e-05 9.99986252e-01 4.99361521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172557844 meters 0.29021271044404645 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984518e-01 -1.81416115e-03 -5.26045924e-03 9.25905948e-01] [ 1.81360622e-03 9.99998349e-01 -1.10259132e-04 -4.70620382e-02] [ 5.26065059e-03 1.00717023e-04 9.99986158e-01 4.99074122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202557844 meters 0.2912810474840174 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984619e-01 -1.89321563e-03 -5.21310835e-03 9.25964366e-01] [ 1.89157361e-03 9.99998160e-01 -3.19892232e-04 -4.62236153e-02] [ 5.21370438e-03 3.10026333e-04 9.99986360e-01 4.98642203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232557844 meters 0.2903456723639917 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.50 [[ 9.99984530e-01 -1.92190297e-03 -5.21973579e-03 9.25911239e-01] [ 1.91985759e-03 9.99998078e-01 -3.96838960e-04 -4.58981213e-02] [ 5.22048845e-03 3.86811671e-04 9.99986298e-01 4.98796672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262557844 meters 0.28858884718136035 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.50 [[ 0.99996774 0.00390923 -0.00701635 0.90255791] [-0.00393311 0.99998651 -0.00339365 -0.04629602] [ 0.00700299 0.00342114 0.99996963 0.50073675] [ 0. 0. 0. 1. ]] SLAMing on 238.29255784400002 meters 0.2903076754234327 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.50 [[ 9.99988687e-01 -1.73824514e-03 -4.42779333e-03 9.23018026e-01] [ 1.73771438e-03 9.99998483e-01 -1.23713294e-04 -4.49730622e-02] [ 4.42800165e-03 1.16017654e-04 9.99990190e-01 5.00177127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32255784400002 meters 0.28980836207897065 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.50 [[ 9.99988757e-01 -1.79121457e-03 -4.39063360e-03 9.23049015e-01] [ 1.79010115e-03 9.99998365e-01 -2.57506674e-04 -4.44253518e-02] [ 4.39108767e-03 2.49644101e-04 9.99990328e-01 4.99881898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35255784400002 meters 0.29184734385021066 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.50 [[ 0.99997194 0.00713912 -0.00227119 0.94298049] [-0.00714171 0.99997385 -0.00113459 -0.04614583] [ 0.00226303 0.00115078 0.99999678 0.49995486] [ 0. 0. 0. 1. ]] SLAMing on 238.38255784400002 meters 0.29085704985987915 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.50 [[ 9.99993078e-01 -1.91725994e-03 -3.18887846e-03 9.22580356e-01] [ 1.91650802e-03 9.99998135e-01 -2.38832740e-04 -4.32431786e-02] [ 3.18933041e-03 2.32719576e-04 9.99994887e-01 4.99506440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41255784400002 meters 0.2896830850185616 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.50 [[ 9.99993211e-01 -1.95645814e-03 -3.12265533e-03 9.22384441e-01] [ 1.95538369e-03 9.99998028e-01 -3.47099078e-04 -4.27931777e-02] [ 3.12332826e-03 3.40990732e-04 9.99995064e-01 4.99563932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44255784400002 meters 0.29181920519106824 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.04, Z:0.50 [[ 9.99994161e-01 -4.96534472e-04 -3.38105425e-03 9.63470614e-01] [ 4.96340559e-04 9.99999875e-01 -5.81918732e-05 -4.03646552e-02] [ 3.38108272e-03 5.65133791e-05 9.99994283e-01 5.01185301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47255784400002 meters 0.28988755693515633 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.50 [[ 0.99997531 0.00490383 -0.00503302 0.94057872] [-0.0049216 0.99998167 -0.00352528 -0.04103717] [ 0.00501564 0.00354997 0.99998112 0.50242727] [ 0. 0. 0. 1. ]] SLAMing on 238.50255784400002 meters 0.2894858703238635 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.50 [[ 0.9999757 0.00493641 -0.00492253 0.9401284 ] [-0.00495339 0.9999818 -0.00344295 -0.04136734] [ 0.00490545 0.00346725 0.99998196 0.50283864] [ 0. 0. 0. 1. ]] SLAMing on 238.53255784400002 meters 0.28997140049051756 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.50 [[ 0.99997597 0.00495152 -0.00485281 0.93997024] [-0.00496808 0.99998186 -0.00340518 -0.04152179] [ 0.00483586 0.0034292 0.99998243 0.50279306] [ 0. 0. 0. 1. ]] SLAMing on 238.56255784400003 meters 0.28941064310123815 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.50 [[ 0.99997595 0.00495546 -0.00485186 0.94005826] [-0.00497195 0.99998188 -0.00339384 -0.04157882] [ 0.00483495 0.00341789 0.99998247 0.50258172] [ 0. 0. 0. 1. ]] SLAMing on 238.59255784400003 meters 0.28930688977588087 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:0.50 [[ 0.99997573 0.00493112 -0.00492221 0.94025163] [-0.00494816 0.99998179 -0.00345584 -0.04132805] [ 0.00490508 0.00348012 0.99998191 0.50254623] [ 0. 0. 0. 1. ]] SLAMing on 238.62255784400003 meters 0.2910964741679553 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.04, Z:0.50 [[ 9.99995818e-01 -9.82875556e-04 -2.72005546e-03 9.61929317e-01] [ 9.81602293e-04 9.99999408e-01 -4.69397391e-04 -4.07019570e-02] [ 2.72051521e-03 4.66725415e-04 9.99996190e-01 5.01389936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.652557844 meters 0.290204137823054 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.04, Z:0.50 [[ 9.99995807e-01 -9.38988266e-04 -2.73951853e-03 9.62026867e-01] [ 9.38021322e-04 9.99999497e-01 -3.54224732e-04 -4.11827917e-02] [ 2.73984977e-03 3.51653520e-04 9.99996185e-01 5.01294244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.682557844 meters 0.2911350218638544 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.04, Z:0.50 [[ 9.99995780e-01 -8.74039253e-04 -2.77074150e-03 9.62111699e-01] [ 8.73535913e-04 9.99999602e-01 -1.82867344e-04 -4.18918492e-02] [ 2.77090023e-03 1.80446230e-04 9.99996145e-01 5.01298933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.712557844 meters 0.2904192314471205 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.04, Z:0.50 [[ 9.99995839e-01 -8.03766826e-04 -2.77038218e-03 9.62047172e-01] [ 8.03780647e-04 9.99999677e-01 3.87561915e-06 -4.26486214e-02] [ 2.77037817e-03 -6.10238261e-06 9.99996162e-01 5.01459215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.742557844 meters 0.2915005985979789 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99980536e-01 -6.19852202e-03 7.11403595e-04 9.82416101e-01] [ 6.19591188e-03 9.99974273e-01 3.61435807e-03 -4.60792627e-02] [-7.33788971e-04 -3.60987993e-03 9.99993215e-01 5.00979381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.772557844 meters 0.2911281970212923 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99981332e-01 -6.06623944e-03 7.32933841e-04 9.82263662e-01] [ 6.06328450e-03 9.99973742e-01 3.96877409e-03 -4.75170377e-02] [-7.56990130e-04 -3.96425601e-03 9.99991856e-01 5.01226296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802557844 meters 0.29147324614980297 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99982070e-01 -5.94167752e-03 7.46369667e-04 9.82164947e-01] [ 5.93841217e-03 9.99973107e-01 4.30354536e-03 -4.88825561e-02] [-7.71919874e-04 -4.29903594e-03 9.99990461e-01 5.01392685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832557844 meters 0.2909120767159405 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99983333e-01 -5.72546062e-03 7.43740362e-04 9.82232942e-01] [ 5.72177667e-03 9.99971799e-01 4.86439895e-03 -5.11949645e-02] [-7.71570313e-04 -4.86006236e-03 9.99987892e-01 5.01296996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862557844 meters 0.2919471038215508 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99983710e-01 -5.66014878e-03 7.36033242e-04 9.82238775e-01] [ 5.65637362e-03 9.99971333e-01 5.03378647e-03 -5.18898010e-02] [-7.64504123e-04 -5.02954119e-03 9.99987060e-01 5.01341602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892557844 meters 0.2919471038215508 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99983710e-01 -5.66014878e-03 7.36033242e-04 9.82238775e-01] [ 5.65637362e-03 9.99971333e-01 5.03378647e-03 -5.18898010e-02] [-7.64504123e-04 -5.02954119e-03 9.99987060e-01 5.01341602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922557844 meters 0.2913995597734507 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:0.50 [[ 9.99984193e-01 -5.58271901e-03 6.69254076e-04 9.82369687e-01] [ 5.57914142e-03 9.99970742e-01 5.23336332e-03 -5.27058827e-02] [-6.98450892e-04 -5.22954673e-03 9.99986082e-01 5.01459571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952557844 meters 0.2902890089876963 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.05, Z:0.50 [[ 9.99999410e-01 -3.17898090e-04 -1.03897097e-03 9.59739067e-01] [ 3.19845435e-04 9.99998192e-01 1.87467313e-03 -5.48577028e-02] [ 1.03837314e-03 -1.87500433e-03 9.99997703e-01 5.02663003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982557844 meters 0.2902041215045432 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.50 [[ 9.99999487e-01 -8.94252413e-05 -1.00876732e-03 9.59613584e-01] [ 9.19421641e-05 9.99996883e-01 2.49527752e-03 -5.73712015e-02] [ 1.00854103e-03 -2.49536899e-03 9.99996378e-01 5.02806999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012557844 meters 0.29028514242215553 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.50 [[ 9.99999543e-01 2.88465809e-05 -9.55612828e-04 9.59442917e-01] [-2.61638133e-05 9.99996059e-01 2.80727280e-03 -5.86473473e-02] [ 9.55690042e-04 -2.80724651e-03 9.99995603e-01 5.02903778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04255784400002 meters 0.2895756665450346 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.50 [[ 9.99999611e-01 1.54747066e-04 -8.67914148e-04 9.59169782e-01] [-1.52021018e-04 9.99995058e-01 3.14010618e-03 -5.99999013e-02] [ 8.68395781e-04 -3.13997302e-03 9.99994693e-01 5.03032489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07255784400002 meters 0.29002776849083456 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:0.50 [[ 9.99999126e-01 4.45774987e-04 -1.24458980e-03 9.60162788e-01] [-4.40677759e-04 9.99991527e-01 4.09278355e-03 -6.38128695e-02] [ 1.24640371e-03 -4.09223151e-03 9.99990850e-01 5.02966031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10255784400002 meters 0.28943892457474923 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.50 [[ 9.99998749e-01 6.39635022e-04 -1.44681600e-03 9.60738009e-01] [-6.32865393e-04 9.99988874e-01 4.67461270e-03 -6.61696990e-02] [ 1.44978995e-03 -4.67369122e-03 9.99988027e-01 5.02840065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13255784400002 meters 0.2907724526298035 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:0.50 [[ 9.99998372e-01 8.52445285e-04 -1.59049965e-03 9.61122802e-01] [-8.44010636e-04 9.99985618e-01 5.29629986e-03 -6.86591069e-02] [ 1.59499158e-03 -5.29494884e-03 9.99984710e-01 5.02827675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16255784400002 meters 0.2921723467840555 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:0.50 [[ 9.99988271e-01 4.25209075e-03 2.31890607e-03 9.83229976e-01] [-4.25158328e-03 9.99990937e-01 -2.23725011e-04 -6.76637551e-02] [-2.31983635e-03 2.13863364e-04 9.99997286e-01 4.99779013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19255784400002 meters 0.2917029841546643 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:0.50 [[ 9.99986796e-01 4.66351044e-03 2.15851590e-03 9.83673171e-01] [-4.66566547e-03 9.99988621e-01 9.94429939e-04 -7.25778832e-02] [-2.15385380e-03 -1.00448772e-03 9.99997176e-01 4.99668905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22255784400002 meters 0.2910955311093922 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:0.50 [[ 0.99998609 0.00484013 0.00209477 0.98392281] [-0.00484321 0.99998719 0.00146846 -0.07453577] [-0.00208763 -0.00147859 0.99999673 0.49946769] [ 0. 0. 0. 1. ]] SLAMing on 239.25255784400002 meters 0.2906260533810046 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.08, Z:0.50 [[ 0.99998545 0.00500007 0.00202693 0.98413954] [-0.00500388 0.99998572 0.00187712 -0.07622005] [-0.00201752 -0.00188724 0.99999618 0.4993778 ] [ 0. 0. 0. 1. ]] SLAMing on 239.28255784400002 meters 0.29296315704932535 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.50 [[ 0.99998733 -0.00435729 0.00252053 1.00773486] [ 0.00435301 0.99998908 0.00170222 -0.07599108] [-0.00252792 -0.00169122 0.99999537 0.49804592] [ 0. 0. 0. 1. ]] SLAMing on 239.31255784400003 meters 0.29192182309627734 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993455e-01 3.14337640e-03 1.79120237e-03 9.88702108e-01] [-3.14440889e-03 9.99994892e-01 5.73896432e-04 -8.19225422e-02] [-1.78938925e-03 -5.79524949e-04 9.99998231e-01 4.96129126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34255784400003 meters 0.29203469662967874 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.50 [[ 9.99982915e-01 -5.83593220e-03 -3.34017190e-04 9.70133991e-01] [ 5.83654065e-03 9.99981255e-01 1.85058324e-03 -8.04142039e-02] [ 3.23211051e-04 -1.85250113e-03 9.99998232e-01 4.95383954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37255784400003 meters 0.29199624538470276 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993841e-01 3.46053603e-03 5.85501792e-04 9.90783325e-01] [-3.46112186e-03 9.99993508e-01 1.00253635e-03 -8.27721077e-02] [-5.82028677e-04 -1.00455667e-03 9.99999326e-01 4.95650822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.402557844 meters 0.2926545565098097 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993791e-01 3.46051238e-03 6.65110428e-04 9.90785815e-01] [-3.46117829e-03 9.99993507e-01 1.00267755e-03 -8.27981255e-02] [-6.61636331e-04 -1.00497340e-03 9.99999276e-01 4.95156284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.432557844 meters 0.2918708641353977 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993839e-01 3.42955689e-03 7.48604021e-04 9.90567752e-01] [-3.43024135e-03 9.99993698e-01 9.14960498e-04 -8.24299132e-02] [-7.45461395e-04 -9.17522753e-04 9.99999301e-01 4.95159487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.462557844 meters 0.2921772888707381 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993815e-01 3.41610021e-03 8.36658027e-04 9.90261628e-01] [-3.41683073e-03 9.99993781e-01 8.73280668e-04 -8.22344335e-02] [-8.33669610e-04 -8.76133986e-04 9.99999269e-01 4.95342914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.492557844 meters 0.29055146793080916 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99982548e-01 -5.89165361e-03 -4.37716744e-04 9.70336731e-01] [ 5.89243455e-03 9.99981011e-01 1.80480002e-03 -7.98689526e-02] [ 4.27075176e-04 -1.80734774e-03 9.99998276e-01 4.94907855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.522557844 meters 0.29156737072644684 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99982935e-01 -5.81929431e-03 -5.14735585e-04 9.70574121e-01] [ 5.82031329e-03 9.99981060e-01 2.00077336e-03 -8.06932881e-02] [ 5.03082747e-04 -2.00373514e-03 9.99997866e-01 4.94836075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552557844 meters 0.2915741164434551 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983225e-01 -5.76490040e-03 -5.62200511e-04 9.70758567e-01] [ 5.76609843e-03 9.99981058e-01 2.15315831e-03 -8.13310222e-02] [ 5.49777119e-04 -2.15636389e-03 9.99997524e-01 4.94693662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582557844 meters 0.29197833887590346 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983539e-01 -5.69747330e-03 -6.78203254e-04 9.71104863e-01] [ 5.69904667e-03 9.99981020e-01 2.34103652e-03 -8.21223443e-02] [ 6.64852389e-04 -2.34486309e-03 9.99997030e-01 4.94592844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612557844 meters 0.2916422811035454 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983797e-01 -5.63907577e-03 -7.78299027e-04 9.71521145e-01] [ 5.64101067e-03 9.99980948e-01 2.50667512e-03 -8.28420011e-02] [ 7.64148868e-04 -2.51102489e-03 9.99996555e-01 4.94205776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642557844 meters 0.29178547057650916 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983949e-01 -5.61074614e-03 -7.88584499e-04 9.71519873e-01] [ 5.61276593e-03 9.99980913e-01 2.58284141e-03 -8.31529787e-02] [ 7.74077780e-04 -2.58722609e-03 9.99996354e-01 4.94276652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672557844 meters 0.29217173977349586 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983769e-01 -5.64854735e-03 -7.45134621e-04 9.71364739e-01] [ 5.65037977e-03 9.99980960e-01 2.48043781e-03 -8.27175075e-02] [ 7.31109563e-04 -2.48460785e-03 9.99996646e-01 4.94365478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702557844 meters 0.291558388611582 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:0.49 [[ 9.99983514e-01 -5.69999154e-03 -6.94137821e-04 9.71137879e-01] [ 5.70160314e-03 9.99981002e-01 2.34231791e-03 -8.21295266e-02] [ 6.80773442e-04 -2.34623700e-03 9.99997016e-01 4.94569375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732557844 meters 0.2909302751516626 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.08, Z:0.49 [[ 9.99995935e-01 1.67685653e-03 -2.30598178e-03 9.51834563e-01] [-1.67533780e-03 9.99998379e-01 6.60380059e-04 -8.35077776e-02] [ 2.30708541e-03 -6.56514076e-04 9.99997123e-01 4.92755121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762557844 meters 0.2929932847581056 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.49 [[ 0.99999615 0.00186427 -0.00205618 0.99198196] [-0.00186637 0.99999774 -0.00101627 -0.07775792] [ 0.00205428 0.00102011 0.99999737 0.49427199] [ 0. 0. 0. 1. ]] SLAMing on 239.79255784400002 meters 0.29230905834578524 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.49 [[ 0.99999638 0.00181237 -0.00199088 0.99170735] [-0.00181467 0.99999768 -0.00115675 -0.07715324] [ 0.00198878 0.00116036 0.99999735 0.49450942] [ 0. 0. 0. 1. ]] SLAMing on 239.82255784400002 meters 0.2915889015482306 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.49 [[ 0.99999669 0.00176724 -0.00186995 0.99122958] [-0.00176963 0.99999761 -0.0012807 -0.0765992 ] [ 0.00186768 0.001284 0.99999743 0.49488308] [ 0. 0. 0. 1. ]] SLAMing on 239.85255784400002 meters 0.2923921619569692 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.49 [[ 9.99994835e-01 -3.20021982e-03 2.99224494e-04 1.01384780e+00] [ 3.19954113e-03 9.99992369e-01 2.24178552e-03 -7.58016544e-02] [-3.06396417e-04 -2.24081656e-03 9.99997442e-01 4.93838183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88255784400002 meters 0.292099161880673 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.49 [[ 9.99989575e-01 4.29412036e-03 -1.55240236e-03 9.96168698e-01] [-4.29285418e-03 9.99990451e-01 8.18038575e-04 -8.13586023e-02] [ 1.55590030e-03 -8.11365811e-04 9.99998460e-01 4.92683801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91255784400002 meters 0.29216862790938514 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.49 [[ 9.99989337e-01 4.30143917e-03 -1.68061861e-03 9.96496683e-01] [-4.30002503e-03 9.99990399e-01 8.44151086e-04 -8.14742275e-02] [ 1.68423354e-03 -8.36915382e-04 9.99998231e-01 4.92681334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94255784400002 meters 0.2910312160908962 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.49 [[ 9.99989255e-01 4.31863466e-03 -1.68493954e-03 9.96425290e-01] [-4.31713845e-03 9.99990285e-01 8.90619671e-04 -8.16517131e-02] [ 1.68876943e-03 -8.83335984e-04 9.99998184e-01 4.92875225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97255784400002 meters 0.29092192264116506 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.49 [[ 9.99989199e-01 4.35061623e-03 -1.63531253e-03 9.96180300e-01] [-4.34902925e-03 9.99990070e-01 9.72752015e-04 -8.19622123e-02] [ 1.63952836e-03 -9.65629486e-04 9.99998190e-01 4.93155353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00255784400002 meters 0.29111332129867545 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.50 [[ 9.99995562e-01 -2.95546564e-03 3.74895477e-04 1.01451388e+00] [ 2.95449717e-03 9.99992364e-01 2.55806521e-03 -7.86937416e-02] [-3.82452888e-04 -2.55694623e-03 9.99996658e-01 4.95030346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03255784400002 meters 0.2911912862990161 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.50 [[ 9.99995701e-01 -2.90388491e-03 4.06321991e-04 1.01434083e+00] [ 2.90278100e-03 9.99992165e-01 2.69153148e-03 -7.92277803e-02] [-4.14134705e-04 -2.69034044e-03 9.99996295e-01 4.95245683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06255784400003 meters 0.291142995311897 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.50 [[ 9.99995806e-01 -2.87036862e-03 3.85749948e-04 1.01445981e+00] [ 2.86928465e-03 9.99992014e-01 2.78178593e-03 -7.96084077e-02] [-3.93731618e-04 -2.78066744e-03 9.99996056e-01 4.95103376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09255784400003 meters 0.2928193768886474 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.49 [[ 9.99995817e-01 -2.88860668e-03 1.48011281e-04 1.01538959e+00] [ 2.88819087e-03 9.99992085e-01 2.73648315e-03 -7.94540596e-02] [-1.55914733e-04 -2.73604422e-03 9.99996245e-01 4.94178904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12255784400003 meters 0.2907537343613854 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:0.50 [[ 9.99993018e-01 2.33200681e-03 -2.91988523e-03 9.93621640e-01] [-2.33371822e-03 9.99997107e-01 -5.82851754e-04 -7.81550681e-02] [ 2.91851757e-03 5.89661874e-04 9.99995567e-01 4.95545320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.152557844 meters 0.29306064353309697 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.50 [[ 9.99988101e-01 3.83102905e-03 -3.02025449e-03 1.03525700e+00] [-3.83374794e-03 9.99992251e-01 -8.94942906e-04 -7.34474268e-02] [ 3.01680253e-03 9.06511151e-04 9.99995039e-01 4.96599639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.182557844 meters 0.2925934018790248 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99977008e-01 -5.41143537e-03 -4.08655960e-03 1.01598735e+00] [ 5.41137579e-03 9.99985358e-01 -2.56344725e-05 -6.92502769e-02] [ 4.08663848e-03 3.51997342e-06 9.99991650e-01 4.95485628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.212557844 meters 0.2931700724374012 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99976715e-01 -5.50483366e-03 -4.03317433e-03 1.01591843e+00] [ 5.50375292e-03 9.99984815e-01 -2.79012096e-04 -6.82216719e-02] [ 4.03464900e-03 2.56808004e-04 9.99991828e-01 4.95317206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.242557844 meters 0.2930110227393889 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.49 [[ 9.99975237e-01 -5.70244677e-03 -4.12407034e-03 1.01633719e+00] [ 5.69915431e-03 9.99983432e-01 -8.09663743e-04 -6.60649042e-02] [ 4.12861908e-03 7.86139980e-04 9.99991168e-01 4.94832373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.272557844 meters 0.29260753749716584 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.49 [[ 9.99974697e-01 -5.77022956e-03 -4.16044289e-03 1.01645125e+00] [ 5.76617194e-03 9.99982889e-01 -9.86622073e-04 -6.53389166e-02] [ 4.16606473e-03 9.62607280e-04 9.99990859e-01 4.94766511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302557844 meters 0.29197895519634 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:0.49 [[ 0.99997428 -0.00582857 -0.00417984 1.01644983] [ 0.00582386 0.99998239 -0.00113885 -0.0647058 ] [ 0.0041864 0.00111448 0.99999062 0.49487112] [ 0. 0. 0. 1. ]] SLAMing on 240.332557844 meters 0.2916222225967787 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:0.50 [[ 0.99997509 -0.00585907 -0.00393617 1.01573724] [ 0.0058543 0.99998212 -0.00122076 -0.064347 ] [ 0.00394325 0.00119768 0.99999151 0.49509846] [ 0. 0. 0. 1. ]] SLAMing on 240.362557844 meters 0.2917825155630646 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:0.50 [[ 0.99997547 -0.0058621 -0.00383371 1.01544662] [ 0.0058574 0.99998208 -0.00123379 -0.06428364] [ 0.00384087 0.0012113 0.99999189 0.49515807] [ 0. 0. 0. 1. ]] SLAMing on 240.392557844 meters 0.29131962493711505 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:0.49 [[ 0.9999751 -0.00590877 -0.0038571 1.01559976] [ 0.00590356 0.99998165 -0.00136015 -0.06378663] [ 0.00386507 0.00133735 0.99999164 0.4949313 ] [ 0. 0. 0. 1. ]] SLAMing on 240.422557844 meters 0.2919692127021762 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:0.49 [[ 0.99997397 -0.0058897 -0.00416861 1.01646481] [ 0.00588437 0.99998185 -0.00129073 -0.06411615] [ 0.00417614 0.00126617 0.99999048 0.49468915] [ 0. 0. 0. 1. ]] SLAMing on 240.452557844 meters 0.29255425025315174 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.49 [[ 9.99974518e-01 -5.78742885e-03 -4.17968993e-03 1.01640914e+00] [ 5.78321775e-03 9.99982758e-01 -1.01890019e-03 -6.52150826e-02] [ 4.18551467e-03 9.94702166e-04 9.99990746e-01 4.94909856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482557844 meters 0.2914305984114515 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99975267e-01 -5.70517025e-03 -4.11286316e-03 1.01609009e+00] [ 5.70194477e-03 9.99983427e-01 -7.95540822e-04 -6.61007935e-02] [ 4.11733370e-03 7.72069828e-04 9.99991226e-01 4.95298866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512557844 meters 0.29077463473460824 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99976038e-01 -5.62731538e-03 -4.03188106e-03 1.01571721e+00] [ 5.62502588e-03 9.99984012e-01 -5.78963364e-04 -6.69587750e-02] [ 4.03507461e-03 5.56270056e-04 9.99991704e-01 4.95730600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54255784400002 meters 0.29123505454116466 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.50 [[ 9.99998863e-01 1.19900828e-03 -9.14623496e-04 1.03626317e+00] [-1.20192408e-03 9.99994176e-01 -3.19411929e-03 -6.73021662e-02] [ 9.10788394e-04 3.19521497e-03 9.99994481e-01 4.95241868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57255784400002 meters 0.29063450962050597 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:0.50 [[ 9.99998850e-01 1.25687759e-03 -8.48959291e-04 1.03592815e+00] [-1.25945625e-03 9.99994575e-01 -3.04376136e-03 -6.79067490e-02] [ 8.45129050e-04 3.04482708e-03 9.99995007e-01 4.95623135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60255784400002 meters 0.28961603026490307 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99976394e-01 -6.26526650e-03 -2.82114598e-03 1.01532110e+00] [ 6.26394345e-03 9.99980267e-01 -4.77568256e-04 -6.76873162e-02] [ 2.82408240e-03 4.59885484e-04 9.99995907e-01 4.96184577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63255784400002 meters 0.2882002921707937 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.07, Z:0.50 [[ 0.99999327 0.00185577 -0.00316391 0.9951924 ] [-0.00185968 0.99999751 -0.00123419 -0.07177463] [ 0.00316161 0.00124006 0.99999423 0.49520948] [ 0. 0. 0. 1. ]] SLAMing on 240.66255784400002 meters 0.28909436833200175 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.50 [[ 9.99982583e-01 -5.82913762e-03 -9.24940746e-04 1.01434876e+00] [ 5.82894505e-03 9.99982989e-01 -2.10752903e-04 -6.85032057e-02] [ 9.26153519e-04 2.05357803e-04 9.99999550e-01 4.96311734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69255784400002 meters 0.28977889453640193 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995970e-01 2.79337093e-03 5.07553241e-04 1.03314265e+00] [-2.79252236e-03 9.99994715e-01 -1.66497348e-03 -7.17927926e-02] [-5.12201447e-04 1.66354941e-03 9.99998485e-01 4.97791988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72255784400002 meters 0.2910632012256453 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995725e-01 2.88156431e-03 4.96666056e-04 1.03324833e+00] [-2.88085019e-03 9.99994824e-01 -1.43259372e-03 -7.27521905e-02] [-5.00791597e-04 1.43115678e-03 9.99998850e-01 4.97623305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75255784400002 meters 0.290806456088971 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995573e-01 2.93961087e-03 4.60773055e-04 1.03344702e+00] [-2.93901872e-03 9.99994861e-01 -1.28056700e-03 -7.33897653e-02] [-4.64535056e-04 1.27920711e-03 9.99999074e-01 4.97395013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78255784400002 meters 0.2911865236742422 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995383e-01 3.01515401e-03 3.76861222e-04 1.03376834e+00] [-3.01474416e-03 9.99994869e-01 -1.08341054e-03 -7.42241591e-02] [-3.80125937e-04 1.08226940e-03 9.99999342e-01 4.97177486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81255784400003 meters 0.2911865236742422 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995383e-01 3.01515401e-03 3.76861222e-04 1.03376834e+00] [-3.01474416e-03 9.99994869e-01 -1.08341054e-03 -7.42241591e-02] [-3.80125937e-04 1.08226940e-03 9.99999342e-01 4.97177486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84255784400003 meters 0.29096149101054186 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:0.50 [[ 9.99995267e-01 3.06957443e-03 2.11114602e-04 1.03429199e+00] [-3.06937508e-03 9.99994849e-01 -9.38213219e-04 -7.48472651e-02] [-2.13993430e-04 9.37560788e-04 9.99999538e-01 4.96985319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87255784400003 meters 0.29014704284307397 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:0.50 [[ 9.99979173e-01 -5.98676690e-03 -2.41102960e-03 1.01518856e+00] [ 5.98720419e-03 9.99982061e-01 1.74194935e-04 -7.49927184e-02] [ 2.40994349e-03 -1.88626633e-04 9.99997078e-01 4.96865225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.902557844 meters 0.29195542366821026 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.08, Z:0.50 [[ 0.99999112 -0.00361306 -0.00217027 1.05455118] [ 0.00361572 0.99999271 0.00122506 -0.07502285] [ 0.00216583 -0.00123289 0.99999689 0.49940338] [ 0. 0. 0. 1. ]] SLAMing on 240.932557844 meters 0.29024922939692355 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.08, Z:0.50 [[ 9.99987477e-01 4.04935350e-03 -2.94100239e-03 1.03475964e+00] [-4.04884749e-03 9.99991788e-01 1.77985770e-04 -8.00989319e-02] [ 2.94169897e-03 -1.66075871e-04 9.99995659e-01 4.98114165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.962557844 meters 0.290081899481456 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.08, Z:0.50 [[ 9.99987586e-01 4.04886115e-03 -2.90421008e-03 1.03463982e+00] [-4.04836811e-03 9.99991790e-01 1.75624619e-04 -8.00847244e-02] [ 2.90489731e-03 -1.63865127e-04 9.99995767e-01 4.98167136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.992557844 meters 0.2898242863724305 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.50 [[ 9.99987336e-01 4.05664806e-03 -2.97857990e-03 1.03513509e+00] [-4.05606570e-03 9.99991754e-01 2.01531173e-04 -8.02389568e-02] [ 2.97937288e-03 -1.89447305e-04 9.99995544e-01 4.97414386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.022557844 meters 0.2899473021069902 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.50 [[ 9.99987177e-01 4.00348911e-03 -3.10139623e-03 1.03569165e+00] [-4.00331163e-03 9.99991985e-01 6.34295937e-05 -7.96927155e-02] [ 3.10162531e-03 -5.10129248e-05 9.99995189e-01 4.96803161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052557844 meters 0.2913212723803495 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.50 [[ 9.99986977e-01 3.95331422e-03 -3.22769581e-03 1.03628184e+00] [-3.95354801e-03 9.99992183e-01 -6.60544664e-05 -7.91871983e-02] [ 3.22740944e-03 7.88144565e-05 9.99994789e-01 4.96137535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082557844 meters 0.29078382517862644 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.50 [[ 9.99986817e-01 3.92738663e-03 -3.30776691e-03 1.03666247e+00] [-3.92784331e-03 9.99992277e-01 -1.31578607e-04 -7.89470512e-02] [ 3.30722460e-03 1.44569262e-04 9.99994521e-01 4.95716741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112557844 meters 0.29111567025520624 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.50 [[ 9.99986704e-01 3.98838923e-03 -3.26871503e-03 1.03639246e+00] [-3.98832350e-03 9.99992046e-01 2.66264818e-05 -7.95779149e-02] [ 3.26879523e-03 -1.35894349e-05 9.99994657e-01 4.96109708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142557844 meters 0.28989899733941565 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.50 [[ 0.99997921 -0.00520041 -0.00381308 1.01597948] [ 0.0052055 0.99998557 0.00132746 -0.07872148] [ 0.00380612 -0.00134728 0.99999185 0.49541513] [ 0. 0. 0. 1. ]] SLAMing on 241.172557844 meters 0.2907099419644023 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.50 [[ 0.99997976 -0.00508869 -0.00381982 1.01597097] [ 0.00509493 0.9999857 0.00162609 -0.07994476] [ 0.00381149 -0.00164552 0.99999138 0.49549565] [ 0. 0. 0. 1. ]] SLAMing on 241.202557844 meters 0.29028636894714965 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.50 [[ 0.99998022 -0.00498644 -0.00383423 1.01600845] [ 0.00499374 0.99998573 0.00189687 -0.08105949] [ 0.00382472 -0.00191598 0.99999085 0.4955133 ] [ 0. 0. 0. 1. ]] SLAMing on 241.232557844 meters 0.2906573112634442 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.50 [[ 0.9999811 -0.00482763 -0.00380703 1.01597111] [ 0.00483643 0.99998565 0.00230522 -0.08273085] [ 0.00379585 -0.00232359 0.9999901 0.49544832] [ 0. 0. 0. 1. ]] SLAMing on 241.262557844 meters 0.28987308993639777 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.09, Z:0.49 [[ 0.99998607 0.00301421 -0.00433356 0.99600432] [-0.00300796 0.99999443 0.00144828 -0.08716267] [ 0.0043379 -0.00143523 0.99998956 0.49403858] [ 0. 0. 0. 1. ]] SLAMing on 241.29255784400002 meters 0.2908498159609205 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.09, Z:0.49 [[ 0.9999942 -0.00211977 -0.00266397 1.01940664] [ 0.00213265 0.999986 0.00484199 -0.08659667] [ 0.00265367 -0.00484765 0.99998473 0.4923533 ] [ 0. 0. 0. 1. ]] SLAMing on 241.32255784400002 meters 0.2907442426822601 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.09, Z:0.49 [[ 0.99999407 -0.0021601 -0.00268224 1.01956318] [ 0.00217279 0.99998641 0.00473861 -0.0861903 ] [ 0.00267197 -0.0047444 0.99998518 0.49210175] [ 0. 0. 0. 1. ]] SLAMing on 241.35255784400002 meters 0.2905664987964019 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.09, Z:0.49 [[ 0.99999382 -0.00218166 -0.00275783 1.01985776] [ 0.00219457 0.99998661 0.00468659 -0.08599945] [ 0.00274757 -0.00469261 0.99998522 0.49187585] [ 0. 0. 0. 1. ]] SLAMing on 241.38255784400002 meters 0.29208136070421464 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:0.49 [[ 0.99996809 0.0076586 -0.00227237 1.04133435] [-0.00764951 0.99996282 0.0039799 -0.08590748] [ 0.00230277 -0.00396239 0.9999895 0.49239809] [ 0. 0. 0. 1. ]] SLAMing on 241.41255784400002 meters 0.29102439066655056 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:0.49 [[ 0.99996864 0.00757792 -0.00230248 1.04140444] [-0.00756921 0.99996425 0.00376891 -0.08504329] [ 0.00233096 -0.00375136 0.99999025 0.49241511] [ 0. 0. 0. 1. ]] SLAMing on 241.44255784400002 meters 0.2901354483853017 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.08, Z:0.49 [[ 0.99999226 -0.00240591 -0.00311329 1.02006156] [ 0.00241805 0.99998947 0.00390105 -0.08128861] [ 0.00310387 -0.00390855 0.99998754 0.49246833] [ 0. 0. 0. 1. ]] SLAMing on 241.47255784400002 meters 0.2906579816578382 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.49 [[ 9.99990706e-01 4.22026274e-03 8.81854744e-04 1.03989506e+00] [-4.22096305e-03 9.99990777e-01 7.93780518e-04 -7.80007765e-02] [-8.78496648e-04 -7.97495416e-04 9.99999296e-01 4.91098862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50255784400002 meters 0.2895344925309129 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.49 [[ 9.99990508e-01 4.21947739e-03 1.08657880e-03 1.03923899e+00] [-4.22032510e-03 9.99990791e-01 7.79055129e-04 -7.79148329e-02] [-1.08328159e-03 -7.83633450e-04 9.99999106e-01 4.91491745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53255784400002 meters 0.2896898029261045 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.49 [[ 9.99990217e-01 4.24769574e-03 1.23371755e-03 1.03876033e+00] [-4.24874795e-03 9.99990611e-01 8.51517557e-04 -7.81935561e-02] [-1.23008898e-03 -8.56750982e-04 9.99998876e-01 4.91770252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56255784400003 meters 0.288832280580369 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.08, Z:0.49 [[ 9.99990035e-01 4.28315311e-03 1.25912096e-03 1.03866026e+00] [-4.28435369e-03 9.99990369e-01 9.52358068e-04 -7.85896511e-02] [-1.25502974e-03 -9.57743097e-04 9.99998754e-01 4.91861888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59255784400003 meters 0.2904622521362511 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99988176e-01 -4.74221607e-03 1.07635810e-03 1.06250010e+00] [ 4.74115475e-03 9.99988274e-01 9.86445657e-04 -7.81732744e-02] [-1.08102342e-03 -9.81330814e-04 9.99998934e-01 4.91332877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62255784400003 meters 0.2897063736703612 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99988786e-01 -4.65110150e-03 8.92112874e-04 1.06305146e+00] [ 4.64999032e-03 9.99988415e-01 1.24361740e-03 -7.92398142e-02] [-8.97886730e-04 -1.23945514e-03 9.99998829e-01 4.91165857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.652557844 meters 0.289447615765939 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99989359e-01 -4.54910399e-03 7.66116904e-04 1.06338993e+00] [ 4.54793526e-03 9.99988502e-01 1.52041955e-03 -8.03806778e-02] [-7.73024642e-04 -1.51691913e-03 9.99998551e-01 4.91152933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.682557844 meters 0.28986034063145816 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99989699e-01 -4.46907817e-03 7.93668099e-04 1.06331414e+00] [ 4.46770028e-03 9.99988524e-01 1.72946562e-03 -8.12375619e-02] [-8.01388108e-04 -1.72590193e-03 9.99998190e-01 4.91173960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.712557844 meters 0.2895399171713215 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99990151e-01 -4.34130173e-03 9.22095027e-04 1.06286348e+00] [ 4.33938753e-03 9.99988447e-01 2.06787643e-03 -8.25938669e-02] [-9.31061649e-04 -2.06385473e-03 9.99997437e-01 4.91514167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.742557844 meters 0.2898140840503957 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99990487e-01 -4.26613767e-03 9.08781481e-04 1.06285701e+00] [ 4.26407550e-03 9.99988357e-01 2.25914222e-03 -8.33785857e-02] [-9.18408712e-04 -2.25524561e-03 9.99997035e-01 4.91617140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.772557844 meters 0.2887068632363789 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:0.49 [[ 9.99990858e-01 -4.17267905e-03 9.33865076e-04 1.06281221e+00] [ 4.17033719e-03 9.99988190e-01 2.49576285e-03 -8.43576579e-02] [-9.44268065e-04 -2.49184550e-03 9.99996450e-01 4.91578774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802557844 meters 0.2889960272683683 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:0.49 [[ 9.99991911e-01 -3.90528851e-03 9.62692142e-04 1.06291578e+00] [ 3.90220240e-03 9.99987308e-01 3.18700337e-03 -8.72372659e-02] [-9.75126091e-04 -3.18322097e-03 9.99994458e-01 4.91222700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832557844 meters 0.29005439277562056 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:0.49 [[ 9.99992510e-01 -3.76839615e-03 8.82378200e-04 1.06320254e+00] [ 3.76524150e-03 9.99986610e-01 3.54994804e-03 -8.87364755e-02] [-8.95743996e-04 -3.54659909e-03 9.99993310e-01 4.91063404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862557844 meters 0.2899244772861655 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:0.49 [[ 9.99993097e-01 -3.63625478e-03 7.63385688e-04 1.06352836e+00] [ 3.63324566e-03 9.99985768e-01 3.90686896e-03 -9.02032223e-02] [-7.77581195e-04 -3.90406843e-03 9.99992077e-01 4.91049840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892557844 meters 0.2891757960988887 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:0.49 [[ 9.99998930e-01 1.16515772e-03 -8.84742533e-04 1.04069904e+00] [-1.16474106e-03 9.99999211e-01 4.71315483e-04 -9.28232205e-02] [ 8.85290992e-04 -4.70284483e-04 9.99999498e-01 4.92081138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922557844 meters 0.2890086456161039 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:0.49 [[ 9.99998624e-01 1.33153250e-03 -9.89426937e-04 1.04104978e+00] [-1.33063785e-03 9.99998706e-01 9.04316185e-04 -9.46208367e-02] [ 9.90629783e-04 -9.02998372e-04 9.99999102e-01 4.91915239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952557844 meters 0.2903992493758486 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.09, Z:0.49 [[ 9.99998548e-01 1.35566872e-03 -1.03296908e-03 1.04130262e+00] [-1.35466392e-03 9.99998609e-01 9.72804649e-04 -9.49243371e-02] [ 1.03428645e-03 -9.71403910e-04 9.99998993e-01 4.91586540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982557844 meters 0.28926953225440577 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:0.49 [[ 9.99999940e-01 2.54341807e-04 -2.37015087e-04 1.00381060e+00] [-2.53913093e-04 9.99998335e-01 1.80708179e-03 -9.86393758e-02] [ 2.37474309e-04 -1.80702150e-03 9.99998339e-01 4.87711204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012557844 meters 0.2900277278234663 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.10, Z:0.49 [[ 9.99969917e-01 7.40077660e-03 2.32237791e-03 1.02521436e+00] [-7.39875569e-03 9.99972244e-01 -8.77577378e-04 -9.93089491e-02] [-2.32880820e-03 8.60368271e-04 9.99996918e-01 4.86131373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04255784400002 meters 0.28952998747899455 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.10, Z:0.49 [[ 9.99969010e-01 7.50888396e-03 2.36569104e-03 1.02487583e+00] [-7.50752139e-03 9.99971647e-01 -5.84326418e-04 -1.00476274e-01] [-2.37001160e-03 5.66547833e-04 9.99997031e-01 4.86665218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07255784400002 meters 0.2889844203468779 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:0.49 [[ 9.99995777e-01 -2.45141146e-03 1.56122216e-03 1.00349439e+00] [ 2.45125295e-03 9.99996990e-01 1.03435967e-04 -1.00975405e-01] [-1.56147102e-03 -9.96085797e-05 9.99998776e-01 4.86995058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10255784400002 meters 0.289039207639549 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:0.49 [[ 9.99996158e-01 -2.29905807e-03 1.54867395e-03 1.00342801e+00] [ 2.29822884e-03 9.99997215e-01 5.37011980e-04 -1.02712286e-01] [-1.54990426e-03 -5.33450709e-04 9.99998657e-01 4.87229320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13255784400002 meters 0.2872068890569168 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.11, Z:0.49 [[ 9.99997525e-01 2.20487341e-03 -2.97514056e-04 9.80270428e-01] [-2.20558359e-03 9.99994668e-01 -2.40820710e-03 -1.08860669e-01] [ 2.92202678e-04 2.40885733e-03 9.99997056e-01 4.88592756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16255784400002 meters 0.2884604574444395 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99995749e-01 2.84013794e-03 -6.59789395e-04 1.02072651e+00] [-2.84222844e-03 9.99990875e-01 -3.18939674e-03 -1.09501069e-01] [ 6.50725047e-04 3.19125845e-03 9.99994696e-01 4.90444281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19255784400002 meters 0.2887110582076118 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99995301e-01 2.99300291e-03 -6.63629587e-04 1.02067808e+00] [-2.99485070e-03 9.99991592e-01 -2.80107934e-03 -1.11095013e-01] [ 6.55240368e-04 2.80305365e-03 9.99995857e-01 4.90568358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22255784400002 meters 0.28900258106160764 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 0.99998746 -0.0045623 0.00206439 1.03975016] [ 0.00456578 0.99998816 -0.00168461 -0.10866534] [-0.00205668 0.00169401 0.99999645 0.49086892] [ 0. 0. 0. 1. ]] SLAMing on 242.25255784400002 meters 0.287855189203204 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 0.99999152 0.00327077 0.00250399 1.01813578] [-0.00326526 0.99999224 -0.00220309 -0.11390414] [-0.00251117 0.00219489 0.99999444 0.49011975] [ 0. 0. 0. 1. ]] SLAMing on 242.28255784400002 meters 0.2885363321168358 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 9.99981331e-01 -4.07025960e-03 4.55757027e-03 1.03610155e+00] [ 4.07382759e-03 9.99991402e-01 -7.73862433e-04 -1.10068454e-01] [-4.55438127e-03 7.92414741e-04 9.99989315e-01 4.91421916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31255784400003 meters 0.2889580808064421 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 9.99981359e-01 -3.99445587e-03 4.61796910e-03 1.03580590e+00] [ 3.99714977e-03 9.99991846e-01 -5.74270029e-04 -1.10860819e-01] [-4.61563755e-03 5.92718038e-04 9.99989172e-01 4.91758975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34255784400003 meters 0.2891050131569588 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 9.99981721e-01 -3.86141015e-03 4.65257918e-03 1.03558929e+00] [ 3.86262938e-03 9.99992508e-01 -2.53097436e-04 -1.12183722e-01] [-4.65156701e-03 2.71063999e-04 9.99989145e-01 4.92040605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37255784400003 meters 0.28748915076187953 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 0.99998968 0.00342885 0.00297966 1.01663915] [-0.0034247 0.99999316 -0.0013969 -0.11697124] [-0.00298443 0.00138668 0.99999459 0.49055951] [ 0. 0. 0. 1. ]] SLAMing on 242.402557844 meters 0.28852838907394396 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 0.99998989 0.00344231 0.00289371 1.01707995] [-0.00343839 0.99999317 -0.00135668 -0.11718268] [-0.00289836 0.00134672 0.99999489 0.49005701] [ 0. 0. 0. 1. ]] SLAMing on 242.432557844 meters 0.28872750391068003 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 0.9999904 0.00341107 0.00275185 1.01768002] [-0.00340714 0.99999317 -0.00142917 -0.11693602] [-0.0027567 0.00141978 0.99999519 0.4895019 ] [ 0. 0. 0. 1. ]] SLAMing on 242.462557844 meters 0.28839795595518697 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 0.99999131 0.00329183 0.00255812 1.01854015] [-0.00328735 0.99999306 -0.00175555 -0.1156054 ] [-0.00256389 0.00174713 0.99999519 0.48846348] [ 0. 0. 0. 1. ]] SLAMing on 242.492557844 meters 0.29015161784398535 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 0.99999294 -0.00171999 0.00334003 1.04315377] [ 0.00171514 0.99999747 0.00145414 -0.1137853 ] [-0.00334252 -0.0014484 0.99999336 0.48637371] [ 0. 0. 0. 1. ]] SLAMing on 242.522557844 meters 0.28945917888943656 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99993627e-01 3.56477076e-03 -1.93914097e-04 1.02317099e+00] [-3.56509393e-03 9.99992213e-01 -1.69255824e-03 -1.13387459e-01] [ 1.87879005e-04 1.69323878e-03 9.99998549e-01 4.87339507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552557844 meters 0.2888754510205416 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99993771e-01 3.52687454e-03 -1.37136884e-04 1.02302439e+00] [-3.52711527e-03 9.99992166e-01 -1.79669050e-03 -1.12953237e-01] [ 1.30799108e-04 1.79716301e-03 9.99998377e-01 4.87338271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582557844 meters 0.288603109072259 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99993798e-01 3.52153680e-03 -4.35578417e-05 1.02265467e+00] [-3.52161016e-03 9.99992147e-01 -1.81775305e-03 -1.12837942e-01] [ 3.71562154e-05 1.81789517e-03 9.99998347e-01 4.87651133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612557844 meters 0.28778671931934596 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 9.99993702e-01 3.54906344e-03 3.25880894e-05 1.02217919e+00] [-3.54900103e-03 9.99992173e-01 -1.74859298e-03 -1.13043700e-01] [-3.87937017e-05 1.74846631e-03 9.99998471e-01 4.88346013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642557844 meters 0.28876344169665474 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:0.49 [[ 9.99991976e-01 -3.84777619e-03 1.11447015e-03 1.04206903e+00] [ 3.84838918e-03 9.99992445e-01 -5.48404948e-04 -1.09263824e-01] [-1.11235159e-03 5.52689462e-04 9.99999229e-01 4.89344711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672557844 meters 0.2878586252038357 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 0.99999289 0.003597 -0.0011303 1.02351325] [-0.00359873 0.99999235 -0.00153575 -0.11413265] [ 0.00112477 0.00153981 0.99999818 0.48841661] [ 0. 0. 0. 1. ]] SLAMing on 242.702557844 meters 0.2878586252038357 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.49 [[ 0.99999289 0.003597 -0.0011303 1.02351325] [-0.00359873 0.99999235 -0.00153575 -0.11413265] [ 0.00112477 0.00153981 0.99999818 0.48841661] [ 0. 0. 0. 1. ]] SLAMing on 242.732557844 meters 0.2895802678704561 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 0.99999672 -0.00192827 0.00168591 1.04672308] [ 0.00192612 0.99999734 0.00127264 -0.1158 ] [-0.00168836 -0.00126939 0.99999777 0.48577529] [ 0. 0. 0. 1. ]] SLAMing on 242.762557844 meters 0.28975561071196737 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 0.99999686 -0.00187889 0.00165835 1.046742 ] [ 0.00187656 0.99999725 0.00140579 -0.11633518] [-0.00166098 -0.00140268 0.99999764 0.48589861] [ 0. 0. 0. 1. ]] SLAMing on 242.79255784400002 meters 0.2887978263361926 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 0.99999702 -0.00180901 0.0016406 1.04673027] [ 0.0018064 0.9999971 0.00159083 -0.11708833] [-0.00164347 -0.00158786 0.99999739 0.48603569] [ 0. 0. 0. 1. ]] SLAMing on 242.82255784400002 meters 0.2884506617027085 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 0.99999716 -0.00175881 0.00160653 1.04681156] [ 0.00175604 0.99999697 0.00172452 -0.11763537] [-0.00160956 -0.00172169 0.99999722 0.48605282] [ 0. 0. 0. 1. ]] SLAMing on 242.85255784400002 meters 0.2875961319249142 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 9.99995893e-01 2.85828937e-03 2.11344694e-04 1.02370855e+00] [-2.85789958e-03 9.99994256e-01 -1.82217053e-03 -1.20357120e-01] [-2.16551771e-04 1.82155904e-03 9.99998318e-01 4.87124080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88255784400002 meters 0.28820992309754073 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.49 [[ 9.99995773e-01 2.90266215e-03 1.67844517e-04 1.02389010e+00] [-2.90237217e-03 9.99994338e-01 -1.70290187e-03 -1.20864608e-01] [-1.72786516e-04 1.70240753e-03 9.99998536e-01 4.86962631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91255784400002 meters 0.2889597905309051 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.48 [[ 0.99999353 -0.00206463 0.00294572 1.0467487 ] [ 0.00206027 0.99999678 0.00148294 -0.12219657] [-0.00294877 -0.00147686 0.99999456 0.48478532] [ 0. 0. 0. 1. ]] SLAMing on 242.94255784400002 meters 0.2891189013093113 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:0.49 [[ 9.99995348e-01 3.04716848e-03 1.35061969e-04 1.02504610e+00] [-3.04692759e-03 9.99993828e-01 -1.74929304e-03 -1.22316398e-01] [-1.40391526e-04 1.74887338e-03 9.99998461e-01 4.86483775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97255784400002 meters 0.2890727305084349 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 0.99999554 -0.00245423 0.00170043 1.04739188] [ 0.00245237 0.99999639 0.00109493 -0.11995292] [-0.00170311 -0.00109076 0.99999795 0.48571755] [ 0. 0. 0. 1. ]] SLAMing on 243.00255784400002 meters 0.28833838695142744 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 9.99995363e-01 -2.48917264e-03 1.75458894e-03 1.04724917e+00] [ 2.48742568e-03 9.99996409e-01 9.97132202e-04 -1.19550362e-01] [-1.75706467e-03 -9.92763169e-04 9.99997964e-01 4.85725565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03255784400002 meters 0.28831744176045127 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 9.99995223e-01 -2.53445245e-03 1.76942098e-03 1.04732476e+00] [ 2.53290712e-03 9.99996409e-01 8.75047136e-04 -1.19072612e-01] [-1.77163239e-03 -8.70561176e-04 9.99998052e-01 4.85458064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06255784400003 meters 0.28832755511716907 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:0.49 [[ 9.99995064e-01 -2.60325032e-03 1.75928540e-03 1.04749176e+00] [ 2.60204272e-03 9.99996378e-01 6.88357336e-04 -1.18337990e-01] [-1.76107099e-03 -6.83776202e-04 9.99998216e-01 4.85120101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09255784400003 meters 0.2898314871966984 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999217e-01 -9.40180861e-04 8.25310138e-04 1.08601374e+00] [ 9.40329393e-04 9.99999542e-01 -1.79601763e-04 -1.12899616e-01] [-8.25140901e-04 1.80377686e-04 9.99999643e-01 4.88251087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12255784400003 meters 0.2886493530003904 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999110e-01 -9.60756055e-04 9.25674816e-04 1.08560039e+00] [ 9.60977510e-04 9.99999510e-01 -2.38822076e-04 -1.12611792e-01] [-9.25444912e-04 2.39711416e-04 9.99999543e-01 4.88594935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.152557844 meters 0.2882203680295506 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999037e-01 -9.74018422e-04 9.89061461e-04 1.08524207e+00] [ 9.74292325e-04 9.99999487e-01 -2.76488338e-04 -1.12411264e-01] [-9.88791649e-04 2.77451706e-04 9.99999473e-01 4.89028843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.182557844 meters 0.2889690675262655 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999087e-01 -9.58584200e-04 9.52114654e-04 1.08531749e+00] [ 9.58808659e-04 9.99999513e-01 -2.35318778e-04 -1.12579567e-01] [-9.51888617e-04 2.36231459e-04 9.99999519e-01 4.89076203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.212557844 meters 0.2894966512329429 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999155e-01 -9.93285241e-04 8.38940963e-04 1.08583619e+00] [ 9.93554611e-04 9.99999455e-01 -3.20727170e-04 -1.12302702e-01] [-8.38621932e-04 3.21560433e-04 9.99999597e-01 4.88515922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.242557844 meters 0.2888378480873398 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999148e-01 -9.84764579e-04 8.56417017e-04 1.08585620e+00] [ 9.85022481e-04 9.99999470e-01 -3.00771188e-04 -1.12397585e-01] [-8.56120374e-04 3.01614522e-04 9.99999588e-01 4.88371896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.272557844 meters 0.2879491852304102 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99999155e-01 -9.24484057e-04 9.14262857e-04 1.08561129e+00] [ 9.24618412e-04 9.99999562e-01 -1.46541935e-04 -1.13009686e-01] [-9.14126980e-04 1.47387155e-04 9.99999571e-01 4.88601782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302557844 meters 0.2900241578752893 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.11, Z:0.49 [[ 9.99999807e-01 1.12453270e-04 6.10544767e-04 1.12273638e+00] [-1.12016836e-04 9.99999738e-01 -7.14815139e-04 -1.11679782e-01] [-6.10624990e-04 7.14746610e-04 9.99999558e-01 4.92581046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332557844 meters 0.2895280012468606 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.11, Z:0.49 [[ 9.99999825e-01 2.70765367e-04 5.26740616e-04 1.12259075e+00] [-2.70657052e-04 9.99999942e-01 -2.05692909e-04 -1.13639623e-01] [-5.26796280e-04 2.05550307e-04 9.99999840e-01 4.93438188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362557844 meters 0.2892001114830783 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999864e-01 3.99258313e-04 3.35932588e-04 1.12310944e+00] [-3.99309421e-04 9.99999909e-01 1.52082833e-04 -1.15130635e-01] [-3.35871837e-04 -1.52216953e-04 9.99999932e-01 4.93391430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392557844 meters 0.2881128030678021 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999856e-01 4.93941893e-04 2.07735622e-04 1.12353245e+00] [-4.94027954e-04 9.99999792e-01 4.14431943e-04 -1.16242637e-01] [-2.07530874e-04 -4.14534511e-04 9.99999893e-01 4.93184985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422557844 meters 0.28801737555276485 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999820e-01 5.73717230e-04 1.78442432e-04 1.12364023e+00] [-5.73828683e-04 9.99999640e-01 6.25164594e-04 -1.17124352e-01] [-1.78083700e-04 -6.25266876e-04 9.99999789e-01 4.93113905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452557844 meters 0.28883006981920756 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999701e-01 7.33789589e-04 2.42365960e-04 1.12333306e+00] [-7.34042590e-04 9.99999184e-01 1.04544561e-03 -1.18832998e-01] [-2.41598626e-04 -1.04562320e-03 9.99999424e-01 4.93452561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482557844 meters 0.2883729874080946 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999658e-01 7.84473255e-04 2.60900162e-04 1.12322876e+00] [-7.84779886e-04 9.99998999e-01 1.17726341e-03 -1.19362348e-01] [-2.59976369e-04 -1.17746775e-03 9.99999273e-01 4.93581529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512557844 meters 0.2876129770928276 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999636e-01 8.33149849e-04 1.84205487e-04 1.12345489e+00] [-8.33390210e-04 9.99998796e-01 1.30864965e-03 -1.19908805e-01] [-1.83114964e-04 -1.30880269e-03 9.99999127e-01 4.93512659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54255784400002 meters 0.2890991771942884 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999621e-01 8.68787579e-04 6.44848583e-05 1.12385042e+00] [-8.68877480e-04 9.99998632e-01 1.40745309e-03 -1.20337936e-01] [-6.32619924e-05 -1.40750859e-03 9.99999007e-01 4.93314484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57255784400002 meters 0.2879829176654233 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999588e-01 9.02900675e-04 -9.00313730e-05 1.12443162e+00] [-9.02764030e-04 9.99998458e-01 1.50641321e-03 -1.20801495e-01] [ 9.13913757e-05 -1.50633132e-03 9.99998861e-01 4.92846060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60255784400002 meters 0.288413825699952 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:0.49 [[ 9.99999640e-01 8.45535672e-04 -7.00367515e-05 1.12444881e+00] [-8.45440203e-04 9.99998728e-01 1.35212327e-03 -1.20178465e-01] [ 7.11799309e-05 -1.35206357e-03 9.99999083e-01 4.92682912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63255784400002 meters 0.2893480595080422 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:0.50 [[ 9.99997270e-01 2.29657852e-03 -4.30394689e-04 1.16183577e+00] [-2.29636861e-03 9.99997244e-01 4.87579308e-04 -1.15349158e-01] [ 4.31513267e-04 -4.86589632e-04 9.99999789e-01 4.96205425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66255784400002 meters 0.28906286496457356 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 9.99997483e-01 2.22106853e-03 -3.18111300e-04 1.16142766e+00] [-2.22097981e-03 9.99997495e-01 2.78985415e-04 -1.14457548e-01] [ 3.18730148e-04 -2.78278194e-04 9.99999910e-01 4.96471879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69255784400002 meters 0.2882422630622181 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:0.50 [[ 9.99971646e-01 -7.43487054e-03 -1.19599018e-03 1.14171709e+00] [ 7.43606800e-03 9.99971852e-01 9.99916764e-04 -1.10543280e-01] [ 1.18852226e-03 -1.00878188e-03 9.99998785e-01 4.95888850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72255784400002 meters 0.287368006756437 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.11, Z:0.49 [[ 0.9999976 -0.00183722 0.00119573 1.12565666] [ 0.00183885 0.99999738 -0.00136077 -0.11128206] [-0.00119322 0.00136297 0.99999836 0.49072497] [ 0. 0. 0. 1. ]] SLAMing on 243.75255784400002 meters 0.2895200642384677 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999705e-01 7.35591119e-04 2.22258568e-04 1.16550759e+00] [-7.35266577e-04 9.99998669e-01 -1.45676980e-03 -1.04966937e-01] [-2.23329859e-04 1.45660595e-03 9.99998914e-01 4.92629867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78255784400002 meters 0.2893324978972491 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999777e-01 6.22721512e-04 2.40684801e-04 1.16551309e+00] [-6.22299994e-04 9.99998280e-01 -1.74745486e-03 -1.03769428e-01] [-2.41772564e-04 1.74730469e-03 9.99998444e-01 4.92508581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81255784400003 meters 0.2897871687049086 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999834e-01 5.35224908e-04 2.15656772e-04 1.16556453e+00] [-5.34798669e-04 9.99997913e-01 -1.97170113e-03 -1.02839191e-01] [-2.16711626e-04 1.97158547e-03 9.99998033e-01 4.92539193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84255784400003 meters 0.2889495658536589 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999929e-01 3.66616397e-04 8.93822981e-05 1.16576222e+00] [-3.66399443e-04 9.99997016e-01 -2.41530708e-03 -1.01014954e-01] [-9.02675226e-05 2.41527416e-03 9.99997079e-01 4.92791182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87255784400003 meters 0.2882882155759136 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999943e-01 3.23899471e-04 9.35042884e-05 1.16575851e+00] [-3.23662409e-04 9.99996762e-01 -2.52429287e-03 -1.00568632e-01] [-9.43216027e-05 2.52426246e-03 9.99996810e-01 4.92774690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.902557844 meters 0.2883891388431732 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999969e-01 2.23357588e-04 1.12519631e-04 1.16578697e+00] [-2.23044443e-04 9.99996124e-01 -2.77539862e-03 -9.95451609e-02] [-1.13139101e-04 2.77537343e-03 9.99996142e-01 4.92602209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.932557844 meters 0.2881514218417944 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99999983e-01 1.12055723e-04 1.47626078e-04 1.16579122e+00] [-1.11603615e-04 9.99995315e-01 -3.05897528e-03 -9.83858933e-02] [-1.47968162e-04 3.05895875e-03 9.99995310e-01 4.92386508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.962557844 meters 0.2891127763323497 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.49 [[ 9.99985902e-01 -4.69049753e-03 2.48905929e-03 1.18839986e+00] [ 4.68968027e-03 9.99988948e-01 3.34075809e-04 -9.72753767e-02] [-2.49059876e-03 -3.22398207e-04 9.99996846e-01 4.90888288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.992557844 meters 0.2891988766691914 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.49 [[ 9.99985446e-01 -4.79157551e-03 2.47975958e-03 1.18831223e+00] [ 4.79142674e-03 9.99988519e-01 6.59286090e-05 -9.61509012e-02] [-2.48004701e-03 -5.40460631e-05 9.99996923e-01 4.91135148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.022557844 meters 0.28949144059017284 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.49 [[ 9.99985273e-01 -4.82945519e-03 2.47602274e-03 1.18836047e+00] [ 4.82954579e-03 9.99988337e-01 -3.06139682e-05 -9.57607839e-02] [-2.47584602e-03 4.25715826e-05 9.99996934e-01 4.91049666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052557844 meters 0.290041217812594 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.49 [[ 9.99985007e-01 -4.88670658e-03 2.47091476e-03 1.18843956e+00] [ 4.88714928e-03 9.99988043e-01 -1.73155474e-04 -9.51796286e-02] [-2.47003906e-03 1.85228608e-04 9.99996932e-01 4.90907554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082557844 meters 0.2904950052782671 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.49 [[ 9.99984843e-01 -4.96237218e-03 2.38511390e-03 1.18881645e+00] [ 4.96324807e-03 9.99987618e-01 -3.61451239e-04 -9.44222546e-02] [-2.38329071e-03 3.73283672e-04 9.99997090e-01 4.90577309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112557844 meters 0.2902345106429 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.49 [[ 9.99984893e-01 -5.01621248e-03 2.24768443e-03 1.18919586e+00] [ 5.01733509e-03 9.99987291e-01 -4.94089793e-04 -9.38864713e-02] [-2.24517740e-03 5.05359714e-04 9.99997352e-01 4.90522159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142557844 meters 0.2886804113713374 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99995902e-01 2.81830666e-03 5.03014181e-04 1.16897048e+00] [-2.81766257e-03 9.99995216e-01 -1.27661752e-03 -9.76402667e-02] [-5.06609674e-04 1.27519497e-03 9.99999059e-01 4.90687493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172557844 meters 0.2887409158386211 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:0.49 [[ 0.99999218 -0.00220327 0.00328388 1.19047218] [ 0.00219646 0.99999543 0.00207654 -0.09719371] [-0.00328844 -0.00206931 0.99999245 0.48957009] [ 0. 0. 0. 1. ]] SLAMing on 244.202557844 meters 0.28729357383455517 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:0.49 [[ 9.99995370e-01 2.87038535e-03 1.00995324e-03 1.16695804e+00] [-2.86912109e-03 9.99995102e-01 -1.25102205e-03 -9.60029040e-02] [-1.01353921e-03 1.24811858e-03 9.99998707e-01 4.92076053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232557844 meters 0.2901124074731265 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.49 [[ 0.99999105 -0.00194873 0.00375456 1.19095272] [ 0.00194303 0.99999695 0.00152312 -0.09487436] [-0.00375752 -0.00151581 0.99999179 0.48914373] [ 0. 0. 0. 1. ]] SLAMing on 244.262557844 meters 0.28904542192498217 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 9.99992927e-01 3.74276328e-03 3.70451701e-04 1.17087873e+00] [-3.74224119e-03 9.99992018e-01 -1.40013014e-03 -9.39217023e-02] [-3.75689100e-04 1.39873392e-03 9.99998951e-01 4.90090436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29255784400002 meters 0.2899940659509386 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:0.49 [[ 9.99997780e-01 -1.09250721e-03 1.80167106e-03 1.19494226e+00] [ 1.08905971e-03 9.99997576e-01 1.91337003e-03 -9.21154439e-02] [-1.80375707e-03 -1.91140365e-03 9.99996546e-01 4.88262507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32255784400002 meters 0.2893054897980877 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.9999911 0.00399419 -0.00136086 1.17252839] [-0.00399597 0.99999116 -0.00131192 -0.09015744] [ 0.00135561 0.00131734 0.99999821 0.49050353] [ 0. 0. 0. 1. ]] SLAMing on 244.35255784400002 meters 0.2899037291895095 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.9999913 0.00392724 -0.00140413 1.172686 ] [-0.00392933 0.99999118 -0.00148501 -0.08945691] [ 0.00139828 0.00149052 0.99999791 0.49039228] [ 0. 0. 0. 1. ]] SLAMing on 244.38255784400002 meters 0.2901699871234264 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.99999121 0.00392759 -0.00146671 1.17288711] [-0.00392976 0.99999118 -0.00147929 -0.08948983] [ 0.00146088 0.00148504 0.99999783 0.49030048] [ 0. 0. 0. 1. ]] SLAMing on 244.41255784400002 meters 0.29015204575741804 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.99999131 0.00391739 -0.00142619 1.17273632] [-0.00391954 0.99999118 -0.00150772 -0.08936181] [ 0.00142027 0.0015133 0.99999785 0.49040502] [ 0. 0. 0. 1. ]] SLAMing on 244.44255784400002 meters 0.29064251155054804 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.08, Z:0.49 [[ 9.99993831e-01 -3.47193954e-03 -5.33275983e-04 1.19128625e+00] [ 3.47184843e-03 9.99993958e-01 -1.71676657e-04 -8.42280428e-02] [ 5.33868812e-04 1.69824144e-04 9.99999843e-01 4.92115824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47255784400002 meters 0.2897589090740484 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.99998996 0.00407303 -0.0018681 1.17147485] [-0.00407536 0.99999092 -0.00124567 -0.08809415] [ 0.00186301 0.00125327 0.99999748 0.49122292] [ 0. 0. 0. 1. ]] SLAMing on 244.50255784400002 meters 0.2902563770648633 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 0.99999034 0.00398374 -0.00185552 1.17153493] [-0.00398649 0.99999096 -0.00147955 -0.08714304] [ 0.00184961 0.00148694 0.99999718 0.49100215] [ 0. 0. 0. 1. ]] SLAMing on 244.53255784400002 meters 0.28957872425482184 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.09, Z:0.49 [[ 0.99998554 -0.00310238 -0.00439279 1.15048477] [ 0.00310878 0.99999412 0.00145091 -0.08746319] [ 0.00438826 -0.00146455 0.9999893 0.49228674] [ 0. 0. 0. 1. ]] SLAMing on 244.56255784400003 meters 0.2887957486807765 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.09, Z:0.49 [[ 0.99998542 -0.00317349 -0.00437 1.15057864] [ 0.00317902 0.99999415 0.00126079 -0.08670569] [ 0.00436598 -0.00127466 0.99998966 0.49192946] [ 0. 0. 0. 1. ]] SLAMing on 244.59255784400003 meters 0.29047110571992 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.09, Z:0.49 [[ 9.99985146e-01 -3.22157198e-03 -4.39645430e-03 1.15065543e+00] [ 3.22659868e-03 9.99994148e-01 1.13673907e-03 -8.61993626e-02] [ 4.39276649e-03 -1.15090778e-03 9.99989689e-01 4.91903436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62255784400003 meters 0.29047110571992 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.09, Z:0.49 [[ 9.99985146e-01 -3.22157198e-03 -4.39645430e-03 1.15065543e+00] [ 3.22659868e-03 9.99994148e-01 1.13673907e-03 -8.61993626e-02] [ 4.39276649e-03 -1.15090778e-03 9.99989689e-01 4.91903436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.652557844 meters 0.2899541591350578 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99984815e-01 -3.35285889e-03 -4.37361209e-03 1.15030989e+00] [ 3.35637497e-03 9.99994050e-01 7.96837121e-04 -8.47076951e-02] [ 4.37091438e-03 -8.11504503e-04 9.99990118e-01 4.92532371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.682557844 meters 0.2913188625924482 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:0.49 [[ 9.99981281e-01 5.57385545e-03 -2.52396159e-03 1.16943824e+00] [-5.57567241e-03 9.99984201e-01 -7.13419832e-04 -8.54248761e-02] [ 2.51994522e-03 7.27479260e-04 9.99996560e-01 4.93288935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.712557844 meters 0.29069411980501864 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:0.49 [[ 9.99981641e-01 5.48554722e-03 -2.57401300e-03 1.16964328e+00] [-5.48797867e-03 9.99984501e-01 -9.38504459e-04 -8.45064012e-02] [ 2.56882490e-03 9.52613358e-04 9.99996247e-01 4.93122418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.742557844 meters 0.2901660495201479 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 0.99998681 -0.00199173 -0.00473433 1.14925084] [ 0.00199965 0.99999661 0.00166896 -0.08327678] [ 0.00473099 -0.0016784 0.9999874 0.49349294] [ 0. 0. 0. 1. ]] SLAMing on 244.772557844 meters 0.2890993348431217 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 0.99998696 -0.00208482 -0.0046619 1.14914811] [ 0.00209151 0.99999679 0.00142935 -0.08229502] [ 0.00465891 -0.00143908 0.99998811 0.4932905 ] [ 0. 0. 0. 1. ]] SLAMing on 244.802557844 meters 0.2894569915232487 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99987096e-01 -2.30244005e-03 -4.52848367e-03 1.14869969e+00] [ 2.30630775e-03 9.99996980e-01 8.49045818e-04 -7.98490768e-02] [ 4.52651512e-03 -8.59478938e-04 9.99989386e-01 4.93515352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832557844 meters 0.2891419857490473 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99986806e-01 -2.43680859e-03 -4.52203931e-03 1.14854364e+00] [ 2.43907752e-03 9.99996902e-01 4.96302191e-04 -7.83619590e-02] [ 4.52081591e-03 -5.07325247e-04 9.99989652e-01 4.93819366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862557844 meters 0.29072706666260906 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99986813e-01 -2.60436814e-03 -4.42609105e-03 1.14819883e+00] [ 2.60461282e-03 9.99996607e-01 4.95180587e-05 -7.64777431e-02] [ 4.42594707e-03 -6.10456592e-05 9.99990204e-01 4.94019128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892557844 meters 0.29099586771496616 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 9.99987008e-01 -2.77694849e-03 -4.27470245e-03 1.14774956e+00] [ 2.77528578e-03 9.99996071e-01 -3.94845885e-04 -7.46174365e-02] [ 4.27578213e-03 3.82977234e-04 9.99990785e-01 4.94101090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922557844 meters 0.2890100965024837 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 9.99987073e-01 -3.09004759e-03 -4.03795311e-03 1.14729149e+00] [ 3.08555161e-03 9.99994613e-01 -1.11918554e-03 -7.16295634e-02] [ 4.04138970e-03 1.10671176e-03 9.99991221e-01 4.93675545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952557844 meters 0.2901251896903442 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 0.99998667 -0.00317881 -0.00406856 1.14742748] [ 0.00317336 0.99999406 -0.00134705 -0.07070211] [ 0.00407282 0.00133412 0.99999082 0.49354298] [ 0. 0. 0. 1. ]] SLAMing on 244.982557844 meters 0.2895558937908899 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 0.99998628 -0.00326269 -0.00409852 1.14747854] [ 0.00325631 0.99999348 -0.00156299 -0.06981158] [ 0.00410359 0.00154963 0.99999038 0.49359708] [ 0. 0. 0. 1. ]] SLAMing on 245.012557844 meters 0.290246149460772 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 0.99998602 -0.00339867 -0.00405113 1.1471317 ] [ 0.00339093 0.99999242 -0.00191389 -0.06831807] [ 0.0040576 0.00190012 0.99998996 0.49409225] [ 0. 0. 0. 1. ]] SLAMing on 245.04255784400002 meters 0.2902560228367593 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 0.9999859 -0.0034536 -0.00403415 1.14703141] [ 0.00344532 0.99999195 -0.00205568 -0.06772652] [ 0.00404122 0.00204175 0.99998975 0.49420947] [ 0. 0. 0. 1. ]] SLAMing on 245.07255784400002 meters 0.28983203406484664 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:0.49 [[ 0.99998591 -0.00344141 -0.00404208 1.14706608] [ 0.00343325 0.99999206 -0.00202459 -0.06785825] [ 0.00404901 0.00201068 0.99998978 0.49418026] [ 0. 0. 0. 1. ]] SLAMing on 245.10255784400002 meters 0.28933169847498597 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997731 0.0043622 -0.00513387 1.12768098] [-0.00437829 0.99998552 -0.00312768 -0.0714044 ] [ 0.00512015 0.00315008 0.99998193 0.49281267] [ 0. 0. 0. 1. ]] SLAMing on 245.13255784400002 meters 0.2889901300380675 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997646 0.00439108 -0.00527325 1.12819348] [-0.00440717 0.99998566 -0.00304311 -0.07180897] [ 0.00525981 0.00306628 0.99998147 0.49243759] [ 0. 0. 0. 1. ]] SLAMing on 245.16255784400002 meters 0.2895574317183331 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997578 0.00442641 -0.00537066 1.12849625] [-0.00444226 0.9999858 -0.00294283 -0.07223644] [ 0.00535755 0.00296662 0.99998125 0.49231473] [ 0. 0. 0. 1. ]] SLAMing on 245.19255784400002 meters 0.289651266904324 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997535 0.00447646 -0.00540971 1.12858905] [-0.0044917 0.99998597 -0.00280881 -0.07278941] [ 0.00539706 0.00283304 0.99998142 0.49232944] [ 0. 0. 0. 1. ]] SLAMing on 245.22255784400002 meters 0.28870777156033295 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997508 0.00452997 -0.00541421 1.12857245] [-0.00454446 0.99998612 -0.0026663 -0.07337176] [ 0.00540206 0.00269084 0.99998179 0.49239167] [ 0. 0. 0. 1. ]] SLAMing on 245.25255784400002 meters 0.2886228095994447 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997469 0.00458662 -0.0054385 1.12861047] [-0.00460035 0.99998626 -0.00251516 -0.0739899 ] [ 0.00542689 0.00254012 0.99998205 0.49244385] [ 0. 0. 0. 1. ]] SLAMing on 245.28255784400002 meters 0.28874194819941323 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.07, Z:0.49 [[ 0.99997419 0.00463692 -0.00548785 1.12880274] [-0.00465004 0.99998635 -0.00238055 -0.07456035] [ 0.00547673 0.00240601 0.99998211 0.4922906 ] [ 0. 0. 0. 1. ]] SLAMing on 245.31255784400003 meters 0.29105219771903584 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:0.49 [[ 0.99997271 0.00477169 -0.00563935 1.12935448] [-0.00478319 0.9999865 -0.00202797 -0.07607175] [ 0.0056296 0.00205489 0.99998204 0.49192809] [ 0. 0. 0. 1. ]] SLAMing on 245.34255784400003 meters 0.2894191893804788 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:0.49 [[ 0.99997233 0.00485321 -0.00563867 1.12941612] [-0.00486348 0.99998653 -0.0018103 -0.07698286] [ 0.0056298 0.00183767 0.99998246 0.49178327] [ 0. 0. 0. 1. ]] SLAMing on 245.37255784400003 meters 0.29037953395546634 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99994727e-01 -1.40253893e-03 -2.92906170e-03 1.14944305e+00] [ 1.40487669e-03 9.99998696e-01 7.96218173e-04 -7.65330272e-02] [ 2.92794116e-03 -8.00328945e-04 9.99995393e-01 4.91322227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.402557844 meters 0.2909633681775351 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 0.99999479 -0.00127127 -0.00296634 1.1494767 ] [ 0.00127471 0.99999852 0.0011577 -0.07800268] [ 0.00296487 -0.00116148 0.99999493 0.49147618] [ 0. 0. 0. 1. ]] SLAMing on 245.432557844 meters 0.2895921380911714 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:0.49 [[ 0.99999111 0.00311689 -0.0028398 1.12676111] [-0.00312405 0.99999194 -0.00252086 -0.08499998] [ 0.00283192 0.00252971 0.99999279 0.49162877] [ 0. 0. 0. 1. ]] SLAMing on 245.462557844 meters 0.2911542808303688 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999059 0.00322871 -0.00289611 1.12682967] [-0.00323514 0.99999231 -0.00221734 -0.08624081] [ 0.00288893 0.00222668 0.99999335 0.49179397] [ 0. 0. 0. 1. ]] SLAMing on 245.492557844 meters 0.29070141428858265 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999046 0.00329905 -0.00286411 1.12676876] [-0.00330488 0.99999248 -0.00203105 -0.08701354] [ 0.00285739 0.0020405 0.99999384 0.49174823] [ 0. 0. 0. 1. ]] SLAMing on 245.522557844 meters 0.28964092088237575 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999028 0.00335075 -0.00286426 1.12681856] [-0.00335617 0.99999258 -0.00188935 -0.08760197] [ 0.00285791 0.00189894 0.99999411 0.49163695] [ 0. 0. 0. 1. ]] SLAMing on 245.552557844 meters 0.2912812780399811 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999034 0.00339565 -0.00279227 1.1269431 ] [-0.0034006 0.99999265 -0.0017699 -0.08814815] [ 0.00278624 0.00177938 0.99999454 0.49091552] [ 0. 0. 0. 1. ]] SLAMing on 245.582557844 meters 0.2907834474535606 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999011 0.00340514 -0.00285921 1.12718176] [-0.00341014 0.99999266 -0.00174386 -0.08826844] [ 0.00285325 0.00175359 0.99999439 0.49077299] [ 0. 0. 0. 1. ]] SLAMing on 245.612557844 meters 0.29090036028719285 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:0.49 [[ 0.99999006 0.00342985 -0.00285045 1.12719068] [-0.00343464 0.9999927 -0.0016769 -0.08854373] [ 0.00284467 0.00168667 0.99999453 0.49070622] [ 0. 0. 0. 1. ]] SLAMing on 245.642557844 meters 0.2922837800710241 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99991040e-01 -4.03514507e-03 -1.27977217e-03 1.14593001e+00] [ 4.03462738e-03 9.99991778e-01 -4.06846420e-04 -8.37959951e-02] [ 1.28140333e-03 4.01679371e-04 9.99999098e-01 4.91812742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672557844 meters 0.29229130622865424 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:0.49 [[ 9.99991013e-01 -4.06618771e-03 -1.19979084e-03 1.14570244e+00] [ 4.06559546e-03 9.99991613e-01 -4.95649091e-04 -8.34189933e-02] [ 1.20179618e-03 4.90766773e-04 9.99999157e-01 4.91856181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702557844 meters 0.2929608127764874 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991038e-01 -4.11629709e-03 -9.89622854e-04 1.14493261e+00] [ 4.11564627e-03 9.99991314e-01 -6.58789008e-04 -8.26767892e-02] [ 9.92326029e-04 6.54710166e-04 9.99999293e-01 4.92461515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732557844 meters 0.2906254214840228 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991099e-01 -4.14012066e-03 -8.13248267e-04 1.14439217e+00] [ 4.13952509e-03 9.99991164e-01 -7.32655741e-04 -8.23401081e-02] [ 8.16274364e-04 7.29282758e-04 9.99999401e-01 4.92667437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762557844 meters 0.2901513105045153 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991214e-01 -4.14633500e-03 -6.16059630e-04 1.14380769e+00] [ 4.14586532e-03 9.99991116e-01 -7.61713844e-04 -8.21837187e-02] [ 6.19212478e-04 7.59153051e-04 9.99999520e-01 4.92869208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79255784400002 meters 0.29040650923672445 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991235e-01 -4.15648394e-03 -5.02671405e-04 1.14346117e+00] [ 4.15608374e-03 9.99991048e-01 -7.94597927e-04 -8.20280431e-02] [ 5.05969639e-04 7.92501818e-04 9.99999558e-01 4.92999000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82255784400002 meters 0.29119908048611315 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991238e-01 -4.14736092e-03 -5.69422912e-04 1.14386610e+00] [ 4.14692461e-03 9.99991109e-01 -7.65291551e-04 -8.22060189e-02] [ 5.72591789e-04 7.62923492e-04 9.99999545e-01 4.92445546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85255784400002 meters 0.2907421924967125 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991476e-01 -4.07294713e-03 -6.77762042e-04 1.14423229e+00] [ 4.07257177e-03 9.99991553e-01 -5.54293526e-04 -8.31037042e-02] [ 6.80013925e-04 5.51528567e-04 9.99999617e-01 4.92261990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88255784400002 meters 0.29191536840855303 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:0.49 [[ 9.99991814e-01 -3.97154704e-03 -7.73504712e-04 1.14444016e+00] [ 3.97134488e-03 9.99992080e-01 -2.62721009e-04 -8.42875547e-02] [ 7.74541995e-04 2.59647004e-04 9.99999666e-01 4.92365405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91255784400002 meters 0.2903798881531342 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:0.49 [[ 9.99997286e-01 1.03223166e-03 -2.08849289e-03 1.12016790e+00] [-1.03905694e-03 9.99994115e-01 -3.26960030e-03 -8.73843925e-02] [ 2.08510561e-03 3.27176149e-03 9.99992474e-01 4.94562183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94255784400002 meters 0.29261206685473434 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:0.50 [[ 0.99999459 0.00195137 -0.00264695 1.15884188] [-0.00196062 0.99999197 -0.00349603 -0.0880745 ] [ 0.00264011 0.0035012 0.99999039 0.49793363] [ 0. 0. 0. 1. ]] SLAMing on 245.97255784400002 meters 0.290410887622236 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.09, Z:0.50 [[ 0.99995566 -0.00842618 -0.00420463 1.13750261] [ 0.00841398 0.99996036 -0.00291224 -0.09277938] [ 0.004229 0.00287674 0.99998692 0.49855658] [ 0. 0. 0. 1. ]] SLAMing on 246.00255784400002 meters 0.2894243975343316 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:0.50 [[ 9.99984971e-01 -4.02950405e-04 -5.46764949e-03 1.11792999e+00] [ 3.85052999e-04 9.99994566e-01 -3.27398526e-03 -9.93842868e-02] [ 5.46893904e-03 3.27183072e-03 9.99979693e-01 4.97837141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03255784400002 meters 0.29055875886113997 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.50 [[ 9.99982502e-01 -5.32945110e-03 -2.56765131e-03 1.14061798e+00] [ 5.32989469e-03 9.99985782e-01 1.65946206e-04 -1.01964503e-01] [ 2.56673040e-03 -1.79628614e-04 9.99996690e-01 4.95662412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06255784400003 meters 0.29031104457750767 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.50 [[ 9.99982759e-01 -5.26294153e-03 -2.60427830e-03 1.14077368e+00] [ 5.26385877e-03 9.99986086e-01 3.45474282e-04 -1.02721039e-01] [ 2.60242386e-03 -3.59176880e-04 9.99996549e-01 4.95527560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09255784400003 meters 0.2905800281781508 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:0.50 [[ 9.99983069e-01 -5.19192699e-03 -2.62772667e-03 1.14082719e+00] [ 5.19342070e-03 9.99986356e-01 5.61938340e-04 -1.03587852e-01] [ 2.62477328e-03 -5.75575716e-04 9.99996390e-01 4.95547421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12255784400003 meters 0.2909779015319225 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 9.99991111e-01 3.71209698e-03 -1.99975686e-03 1.16029816e+00] [-3.71395912e-03 9.99992672e-01 -9.28277606e-04 -1.06035441e-01] [ 1.99629635e-03 9.35696369e-04 9.99997570e-01 4.97232923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.152557844 meters 0.29025481946468845 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 9.99990747e-01 3.74099909e-03 -2.12380094e-03 1.16062190e+00] [-3.74280625e-03 9.99992636e-01 -8.47569815e-04 -1.06372748e-01] [ 2.12061455e-03 8.55510948e-04 9.99997386e-01 4.97216040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.182557844 meters 0.2910700307464119 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 9.99990472e-01 3.77037449e-03 -2.20017996e-03 1.16083842e+00] [-3.77207272e-03 9.99992591e-01 -7.68222249e-04 -1.06708987e-01] [ 2.19726717e-03 7.76514168e-04 9.99997285e-01 4.97174590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.212557844 meters 0.29196680750237464 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99992670e-01 -3.81760345e-03 -2.92202560e-04 1.18096745e+00] [ 3.81770233e-03 9.99992655e-01 3.38581865e-04 -1.05173649e-01] [ 2.90907842e-04 -3.39694926e-04 9.99999900e-01 4.97729897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.242557844 meters 0.2915778346695971 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99992959e-01 -3.74664689e-03 -2.09888852e-04 1.18065049e+00] [ 3.74675567e-03 9.99992846e-01 5.20316169e-04 -1.05902717e-01] [ 2.07937909e-04 -5.21098908e-04 9.99999843e-01 4.97978584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.272557844 meters 0.29005147184050756 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999704 0.00146397 -0.00194308 1.15660574] [-0.00146871 0.99999595 -0.00243976 -0.10659474] [ 0.0019395 0.00244261 0.99999514 0.50039583] [ 0. 0. 0. 1. ]] SLAMing on 246.302557844 meters 0.2899221687673685 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999686 0.00152557 -0.00198884 1.15668099] [-0.00153008 0.99999625 -0.00227073 -0.10728377] [ 0.00198536 0.00227377 0.99999544 0.50049329] [ 0. 0. 0. 1. ]] SLAMing on 246.332557844 meters 0.28977007623447737 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999644 0.0016161 -0.00212236 1.15721371] [-0.00162038 0.99999665 -0.00201772 -0.10841163] [ 0.00211909 0.00202115 0.99999571 0.50003587] [ 0. 0. 0. 1. ]] SLAMing on 246.362557844 meters 0.2895075530286097 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999641 0.00163631 -0.00212201 1.15720022] [-0.00164047 0.99999673 -0.00196293 -0.10863459] [ 0.00211879 0.0019664 0.99999582 0.50006603] [ 0. 0. 0. 1. ]] SLAMing on 246.392557844 meters 0.29067023559818356 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999648 0.00159462 -0.00211916 1.15720456] [-0.00159902 0.99999657 -0.00207374 -0.10818171] [ 0.00211585 0.00207712 0.9999956 0.50003743] [ 0. 0. 0. 1. ]] SLAMing on 246.422557844 meters 0.2898332263406814 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99999668 0.00154408 -0.00206268 1.15715781] [-0.00154866 0.99999634 -0.00221908 -0.10760399] [ 0.00205924 0.00222227 0.99999541 0.49979986] [ 0. 0. 0. 1. ]] SLAMing on 246.452557844 meters 0.2919639784252423 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:0.50 [[ 9.99995678e-01 2.87653950e-03 -6.07293305e-04 1.19983964e+00] [-2.87828046e-03 9.99991694e-01 -2.88562287e-03 -1.03929812e-01] [ 5.98987652e-04 2.88735836e-03 9.99995652e-01 4.99245433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482557844 meters 0.29221363535000505 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:0.50 [[ 9.99995787e-01 2.84083417e-03 -5.96668495e-04 1.19994788e+00] [-2.84259926e-03 9.99991524e-01 -2.97853555e-03 -1.03571425e-01] [ 5.88201912e-04 2.98021909e-03 9.99995386e-01 4.98942607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512557844 meters 0.29221363535000505 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:0.50 [[ 9.99995787e-01 2.84083417e-03 -5.96668495e-04 1.19994788e+00] [-2.84259926e-03 9.99991524e-01 -2.97853555e-03 -1.03571425e-01] [ 5.88201912e-04 2.98021909e-03 9.99995386e-01 4.98942607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54255784400002 meters 0.290128187365227 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.50 [[ 9.99984815e-01 -4.35049004e-03 -3.38288991e-03 1.17878089e+00] [ 4.34981844e-03 9.99990518e-01 -2.05863091e-04 -1.04848956e-01] [ 3.38375344e-03 1.91145008e-04 9.99994257e-01 5.00575564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57255784400002 meters 0.29096331849260454 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:0.50 [[ 9.99984781e-01 -4.37192228e-03 -3.36518319e-03 1.17881417e+00] [ 4.37106220e-03 9.99990412e-01 -2.62893649e-04 -1.04628992e-01] [ 3.36630027e-03 2.48180223e-04 9.99994303e-01 5.00392812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60255784400002 meters 0.29029751930498665 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.9999863 0.00313406 -0.00419366 1.15976534] [-0.0031401 0.99999404 -0.00143409 -0.10889304] [ 0.00418915 0.00144724 0.99999018 0.49892413] [ 0. 0. 0. 1. ]] SLAMing on 246.63255784400002 meters 0.29153099939055743 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 0.99999725 -0.00182083 -0.00148 1.18296209] [ 0.00182339 0.99999684 0.00173043 -0.10951534] [ 0.00147684 -0.00173312 0.99999741 0.49661613] [ 0. 0. 0. 1. ]] SLAMing on 246.66255784400002 meters 0.29060692045335007 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99998963 0.00290017 -0.00351142 1.15979742] [-0.00290666 0.99999408 -0.0018438 -0.10949656] [ 0.00350606 0.00185399 0.99999214 0.49812013] [ 0. 0. 0. 1. ]] SLAMing on 246.69255784400002 meters 0.29047471870163033 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99998982 0.00286922 -0.00348271 1.15971349] [-0.00287595 0.99999401 -0.00192807 -0.10914468] [ 0.00347715 0.00193806 0.99999208 0.49814228] [ 0. 0. 0. 1. ]] SLAMing on 246.72255784400002 meters 0.2917991708161968 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99998082e-01 -1.71287286e-03 -9.50005188e-04 1.18283771e+00] [ 1.71424138e-03 9.99997492e-01 1.44159832e-03 -1.08602266e-01] [ 9.47533530e-04 -1.44322409e-03 9.99998510e-01 4.96359125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75255784400002 meters 0.2913407302548175 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99998072e-01 -1.74919659e-03 -8.92327047e-04 1.18263964e+00] [ 1.75039259e-03 9.99997569e-01 1.34129852e-03 -1.08175779e-01] [ 8.89978682e-04 -1.34285785e-03 9.99998702e-01 4.96469756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78255784400002 meters 0.28994872084560747 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:0.50 [[ 0.99998733 0.00376533 -0.00334244 1.16088404] [-0.00377111 0.9999914 -0.00172522 -0.10776499] [ 0.00333591 0.00173781 0.99999293 0.49785255] [ 0. 0. 0. 1. ]] SLAMing on 246.81255784400003 meters 0.29227380800468555 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99998910e-01 -9.72084098e-04 -1.11135090e-03 1.18447679e+00] [ 9.73798447e-04 9.99998335e-01 1.54308279e-03 -1.07282255e-01] [ 1.10984905e-03 -1.54416334e-03 9.99998192e-01 4.96032705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84255784400003 meters 0.29243700725374433 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:0.50 [[ 9.99998912e-01 -1.06648588e-03 -1.01870753e-03 1.18416631e+00] [ 1.06778289e-03 9.99998619e-01 1.27349913e-03 -1.06156460e-01] [ 1.01734795e-03 -1.27458550e-03 9.99998670e-01 4.96195707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87255784400003 meters 0.29128575947486673 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997531e-01 -2.18670085e-03 -3.95561476e-04 1.14637840e+00] [ 2.18746895e-03 9.99995702e-01 1.95192077e-03 -1.08909622e-01] [ 3.91291509e-04 -1.95278123e-03 9.99998017e-01 4.92779902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.902557844 meters 0.29097403545672207 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997399e-01 -2.23829601e-03 -4.37276574e-04 1.14658466e+00] [ 2.23908677e-03 9.99995844e-01 1.81633142e-03 -1.08375005e-01] [ 4.33209269e-04 -1.81730579e-03 9.99998255e-01 4.92544542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.932557844 meters 0.2919345124019752 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997281e-01 -2.28434075e-03 -4.68875160e-04 1.14675179e+00] [ 2.28513423e-03 9.99995946e-01 1.69879133e-03 -1.07912929e-01] [ 4.64992641e-04 -1.69985815e-03 9.99998447e-01 4.92344327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.962557844 meters 0.29106260587255733 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997101e-01 -2.38636970e-03 -3.22433702e-04 1.14616772e+00] [ 2.38682876e-03 9.99996128e-01 1.43094931e-03 -1.06711511e-01] [ 3.19017679e-04 -1.43171475e-03 9.99998924e-01 4.92784882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.992557844 meters 0.2911473417846989 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997027e-01 -2.42643241e-03 -2.42876776e-04 1.14586079e+00] [ 2.42675146e-03 9.99996181e-01 1.32206923e-03 -1.06239086e-01] [ 2.39667936e-04 -1.32265470e-03 9.99999097e-01 4.93009690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.022557844 meters 0.29131453893204823 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99997008e-01 -2.43731356e-03 -2.07370995e-04 1.14567518e+00] [ 2.43757930e-03 9.99996196e-01 1.29101541e-03 -1.06090715e-01] [ 2.04223597e-04 -1.29151703e-03 9.99999145e-01 4.93218419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052557844 meters 0.29143331137128375 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99996925e-01 -2.47430839e-03 -1.67760011e-04 1.14559745e+00] [ 2.47450653e-03 9.99996229e-01 1.19135606e-03 -1.05683240e-01] [ 1.64811596e-04 -1.19176752e-03 9.99999276e-01 4.93154389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082557844 meters 0.2898616038214945 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:0.50 [[ 0.99999347 0.00221206 -0.00285827 1.12231841] [-0.00221826 0.99999519 -0.00216872 -0.10476083] [ 0.00285346 0.00217504 0.99999356 0.49514823] [ 0. 0. 0. 1. ]] SLAMing on 247.112557844 meters 0.2916686123698566 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:0.49 [[ 0.99999462 -0.00295645 -0.00142364 1.14563705] [ 0.00295815 0.99999491 0.00119147 -0.10339155] [ 0.00142011 -0.00119568 0.99999828 0.49372359] [ 0. 0. 0. 1. ]] SLAMing on 247.142557844 meters 0.2912480187397508 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:0.49 [[ 0.99999479 -0.00291467 -0.00138696 1.14551879] [ 0.00291647 0.99999491 0.00129679 -0.10382025] [ 0.00138318 -0.00130083 0.9999982 0.49378117] [ 0. 0. 0. 1. ]] SLAMing on 247.172557844 meters 0.29032052115994444 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.11, Z:0.49 [[ 9.99987840e-01 4.55764722e-03 -1.88331178e-03 1.12672073e+00] [-4.55758792e-03 9.99989614e-01 3.57752599e-05 -1.09041938e-01] [ 1.88345527e-03 -2.71914659e-05 9.99998226e-01 4.92361126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202557844 meters 0.29073711992057205 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:0.49 [[ 9.99995263e-01 -2.91917879e-03 -9.75999880e-04 1.14641386e+00] [ 2.92040756e-03 9.99994942e-01 1.25994333e-03 -1.05383932e-01] [ 9.72316943e-04 -1.26278768e-03 9.99998730e-01 4.93670635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232557844 meters 0.28965600338149405 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.11, Z:0.49 [[ 0.99998847 0.00242805 -0.00414368 1.1253467 ] [-0.00243534 0.9999955 -0.00175398 -0.10524881] [ 0.0041394 0.00176405 0.99998988 0.49489856] [ 0. 0. 0. 1. ]] SLAMing on 247.262557844 meters 0.29063213682721767 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99998809 0.00238031 -0.00426054 1.12584309] [-0.0023883 0.9999954 -0.00187056 -0.10480317] [ 0.00425607 0.00188071 0.99998917 0.49444859] [ 0. 0. 0. 1. ]] SLAMing on 247.29255784400002 meters 0.2919904158317912 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99998777 0.00233719 -0.0043583 1.12634687] [-0.00234581 0.9999953 -0.00197461 -0.10441861] [ 0.00435366 0.00198481 0.99998855 0.49387935] [ 0. 0. 0. 1. ]] SLAMing on 247.32255784400002 meters 0.2929753488810809 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99998769 0.00229575 -0.00439859 1.12663297] [-0.00230491 0.99999518 -0.00207847 -0.104027 ] [ 0.0043938 0.00208858 0.99998817 0.49347232] [ 0. 0. 0. 1. ]] SLAMing on 247.35255784400002 meters 0.29131231491417586 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99998852 0.00218228 -0.00426651 1.12619742] [-0.00219248 0.99999475 -0.00238769 -0.10270572] [ 0.00426128 0.00239702 0.99998805 0.49366528] [ 0. 0. 0. 1. ]] SLAMing on 247.38255784400002 meters 0.29092545740231607 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99998894 0.00208376 -0.00421661 1.12600957] [-0.0020949 0.99999432 -0.00264023 -0.10163558] [ 0.00421109 0.00264903 0.99998762 0.49378144] [ 0. 0. 0. 1. ]] SLAMing on 247.41255784400002 meters 0.2894784937439557 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:0.50 [[ 9.99965806e-01 -4.97219255e-03 -6.60783734e-03 1.10461528e+00] [ 4.97398204e-03 9.99987597e-01 2.54406102e-04 -1.01735044e-01] [ 6.60649043e-03 -2.87264667e-04 9.99978136e-01 4.95124143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44255784400002 meters 0.29014745399062847 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:0.49 [[ 9.99965068e-01 -5.05567300e-03 -6.65607505e-03 1.10492333e+00] [ 5.05603154e-03 9.99987218e-01 3.70401167e-05 -1.00883231e-01] [ 6.65580271e-03 -7.06921482e-05 9.99977847e-01 4.94678266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47255784400002 meters 0.29146796830196064 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:0.49 [[ 9.99979261e-01 4.22515777e-03 -4.86059509e-03 1.12453331e+00] [-4.23009020e-03 9.99990548e-01 -1.00494791e-03 -1.02250805e-01] [ 4.85630309e-03 1.02548783e-03 9.99987682e-01 4.94884823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50255784400002 meters 0.2900562660564904 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:0.49 [[ 9.99971505e-01 -4.61944196e-03 -5.97083267e-03 1.10485087e+00] [ 4.62212923e-03 9.99989223e-01 4.36345961e-04 -9.99575856e-02] [ 5.96875264e-03 -4.63931487e-04 9.99982079e-01 4.93726516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53255784400002 meters 0.2915726135567029 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99999313 0.00228053 -0.00292277 1.12688902] [-0.00228739 0.99999463 -0.00234895 -0.09768932] [ 0.0029174 0.00235562 0.99999297 0.49155701] [ 0. 0. 0. 1. ]] SLAMing on 247.56255784400003 meters 0.2909880451987657 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99999245 0.00227289 -0.0031508 1.12732818] [-0.00228035 0.9999946 -0.00236538 -0.09761058] [ 0.00314541 0.00237255 0.99999224 0.49185693] [ 0. 0. 0. 1. ]] SLAMing on 247.59255784400003 meters 0.289775276367341 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99968921e-01 -5.22748430e-03 -5.90170004e-03 1.10610062e+00] [ 5.22914393e-03 9.99986293e-01 2.65816214e-04 -1.00472299e-01] [ 5.90022960e-03 -2.96668792e-04 9.99982549e-01 4.93464235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62255784400003 meters 0.29132496806713803 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:0.49 [[ 0.99999587 0.00115133 -0.00263327 1.12750902] [-0.00115883 0.99999527 -0.00284957 -0.09959935] [ 0.00262998 0.00285261 0.99999247 0.49191516] [ 0. 0. 0. 1. ]] SLAMing on 247.652557844 meters 0.2902495748402032 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99968571e-01 -6.34252408e-03 -4.75694051e-03 1.10593023e+00] [ 6.34226818e-03 9.99979885e-01 -6.88778085e-05 -1.01928206e-01] [ 4.75728168e-03 3.87058514e-05 9.99988683e-01 4.93434273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.682557844 meters 0.2903228542668082 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:0.49 [[ 9.99990429e-01 3.09651463e-03 -3.09092931e-03 1.12471884e+00] [-3.09939309e-03 9.99994767e-01 -9.26907402e-04 -1.04912175e-01] [ 3.08804295e-03 9.36478535e-04 9.99994793e-01 4.94158763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.712557844 meters 0.2905893528524521 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:0.49 [[ 9.99990670e-01 3.03699276e-03 -3.07181267e-03 1.12472695e+00] [-3.04031689e-03 9.99994797e-01 -1.07805041e-03 -1.04293722e-01] [ 3.06852266e-03 1.08737964e-03 9.99994701e-01 4.94034863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.742557844 meters 0.2884590212706935 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99996624e-01 1.79227043e-03 -1.88138921e-03 1.08590595e+00] [-1.79375784e-03 9.99998080e-01 -7.89198791e-04 -1.04142995e-01] [ 1.87997114e-03 7.92570883e-04 9.99997919e-01 4.90547237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.772557844 meters 0.28925432539411605 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 0.9999969 0.00162985 -0.00188006 1.08593877] [-0.00163213 0.99999793 -0.00121109 -0.10238972] [ 0.00187808 0.00121416 0.9999975 0.49046505] [ 0. 0. 0. 1. ]] SLAMing on 247.802557844 meters 0.2906029441481308 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99994890e-01 -3.16358125e-03 4.59896261e-04 1.10896907e+00] [ 3.16262715e-03 9.99992876e-01 2.06072914e-03 -1.00768643e-01] [-4.66412268e-04 -2.05926412e-03 9.99997771e-01 4.88799904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832557844 meters 0.2898930710283585 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99993920e-01 -3.43066617e-03 6.25193918e-04 1.10852798e+00] [ 3.42981557e-03 9.99993198e-01 1.35657066e-03 -9.78482494e-02] [-6.29843606e-04 -1.35441811e-03 9.99998884e-01 4.88800571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862557844 meters 0.28940334281453994 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99993517e-01 -3.55102010e-03 5.97509609e-04 1.10867434e+00] [ 3.55039263e-03 9.99993148e-01 1.04795186e-03 -9.65761891e-02] [-6.01226813e-04 -1.04582367e-03 9.99999272e-01 4.88625571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892557844 meters 0.2899380879446947 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 9.99993252e-01 -3.63555594e-03 5.27871199e-04 1.10896310e+00] [ 3.63511494e-03 9.99993045e-01 8.34017001e-04 -9.57061150e-02] [-5.30899643e-04 -8.32092500e-04 9.99999513e-01 4.88377454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922557844 meters 0.2906297961039605 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.09, Z:0.49 [[ 9.99992804e-01 -3.77331037e-03 3.92039294e-04 1.10942650e+00] [ 3.77311811e-03 9.99992762e-01 4.90003433e-04 -9.43012727e-02] [-3.93885392e-04 -4.88520696e-04 9.99999803e-01 4.88110319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952557844 meters 0.28857330816408366 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99991189e-01 4.03076449e-03 -1.17269264e-03 1.08952016e+00] [-4.03146303e-03 9.99991697e-01 -5.93916237e-04 -9.71659290e-02] [ 1.17028897e-03 5.98638671e-04 9.99999136e-01 4.87634315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982557844 meters 0.2889332879127994 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99991471e-01 3.97299252e-03 -1.12843813e-03 1.08933343e+00] [-3.97383874e-03 9.99991824e-01 -7.48651119e-04 -9.65088964e-02] [ 1.12545451e-03 7.53128965e-04 9.99999083e-01 4.87804530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012557844 meters 0.28810165433855645 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99991645e-01 3.95006152e-03 -1.05231966e-03 1.08907284e+00] [-3.95091814e-03 9.99991864e-01 -8.13203852e-04 -9.62306875e-02] [ 1.04909890e-03 8.17354687e-04 9.99999116e-01 4.87963091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04255784400002 meters 0.28824899702910606 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99991777e-01 3.92557258e-03 -1.01731046e-03 1.08896528e+00] [-3.92646727e-03 9.99991905e-01 -8.78959371e-04 -9.59560490e-02] [ 1.01385180e-03 8.82946580e-04 9.99999096e-01 4.88003593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07255784400002 meters 0.2894648406870338 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.09, Z:0.49 [[ 9.99993282e-01 -3.64847080e-03 -3.52022708e-04 1.10850048e+00] [ 3.64861067e-03 9.99993265e-01 3.97495495e-04 -9.21078592e-02] [ 3.50570086e-04 -3.98777219e-04 9.99999859e-01 4.89593330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10255784400002 meters 0.29007105288798 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.09, Z:0.49 [[ 9.99993319e-01 -3.62408106e-03 -4.78216216e-04 1.10904620e+00] [ 3.62430256e-03 9.99993325e-01 4.63124482e-04 -9.24204807e-02] [ 4.76534623e-04 -4.64854588e-04 9.99999778e-01 4.89079962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13255784400002 meters 0.28927422968375915 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.09, Z:0.49 [[ 0.99999053 0.0023079 -0.00369031 1.08867454] [-0.00231568 0.9999951 -0.00210635 -0.09328364] [ 0.00368543 0.00211487 0.99999097 0.48980939] [ 0. 0. 0. 1. ]] SLAMing on 248.16255784400002 meters 0.29034272886900325 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:0.49 [[ 0.99999544 -0.00276501 -0.00121469 1.11205157] [ 0.0027666 0.99999532 0.00130829 -0.09530921] [ 0.00121107 -0.00131165 0.99999841 0.48756206] [ 0. 0. 0. 1. ]] SLAMing on 248.19255784400002 meters 0.28898653689184034 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99988528e-01 4.77346973e-03 -3.98008700e-04 1.09165554e+00] [-4.77335848e-03 9.99988568e-01 2.80005971e-04 -1.00941261e-01] [ 3.99340750e-04 -2.78102920e-04 9.99999882e-01 4.85665591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22255784400002 meters 0.28900128799067254 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99988327e-01 4.82227771e-03 -3.02459565e-04 1.09128523e+00] [-4.82215537e-03 9.99988292e-01 4.03919173e-04 -1.01437310e-01] [ 3.04403834e-04 -4.02455951e-04 9.99999873e-01 4.85947820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25255784400002 meters 0.2881722605011329 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99988114e-01 4.87129033e-03 -2.06355382e-04 1.09095075e+00] [-4.87118113e-03 9.99987997e-01 5.26378344e-04 -1.01927903e-01] [ 2.08917047e-04 -5.25366893e-04 9.99999840e-01 4.86141604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28255784400002 meters 0.28857968589529875 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:0.49 [[ 9.99987789e-01 4.93833065e-03 -1.84233323e-04 1.09081318e+00] [-4.93820087e-03 9.99987563e-01 6.98356223e-04 -1.02626696e-01] [ 1.87679746e-04 -6.97437915e-04 9.99999739e-01 4.86322424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31255784400003 meters 0.28881222986128774 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99986607e-01 5.16785399e-03 -2.80456734e-04 1.09133346e+00] [-5.16748703e-03 9.99985812e-01 1.29372821e-03 -1.05190770e-01] [ 2.87138553e-04 -1.29226162e-03 9.99999124e-01 4.85730995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34255784400003 meters 0.2892098132411316 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.49 [[ 9.99985825e-01 5.31212111e-03 -3.62395024e-04 1.09174200e+00] [-5.31150745e-03 9.99984493e-01 1.67377794e-03 -1.06825499e-01] [ 3.71280716e-04 -1.67182935e-03 9.99998534e-01 4.85289255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37255784400003 meters 0.28869086167709024 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.48 [[ 9.99985082e-01 5.44431234e-03 -4.41438170e-04 1.09207606e+00] [-5.44341161e-03 9.99983151e-01 2.01657809e-03 -1.08280855e-01] [ 4.52409613e-04 -2.01414508e-03 9.99997869e-01 4.84990371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.402557844 meters 0.28869086167709024 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.48 [[ 9.99985082e-01 5.44431234e-03 -4.41438170e-04 1.09207606e+00] [-5.44341161e-03 9.99983151e-01 2.01657809e-03 -1.08280855e-01] [ 4.52409613e-04 -2.01414508e-03 9.99997869e-01 4.84990371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.432557844 meters 0.28826074861370327 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:0.48 [[ 9.99999300e-01 1.14674319e-03 -2.91865276e-04 1.09177380e+00] [-1.14737734e-03 9.99996961e-01 -2.18190616e-03 -1.08723447e-01] [ 2.89362303e-04 2.18223952e-03 9.99997577e-01 4.84719236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.462557844 meters 0.2895658750732582 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.11, Z:0.48 [[ 0.99998893 -0.00364476 0.00297471 1.11336978] [ 0.00364018 0.99999219 0.00154196 -0.11204073] [-0.00298031 -0.00153112 0.99999439 0.48336398] [ 0. 0. 0. 1. ]] SLAMing on 248.492557844 meters 0.28912474899897456 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.11, Z:0.48 [[ 0.99998938 -0.00352268 0.00297317 1.11325354] [ 0.00351715 0.99999209 0.00185995 -0.1133351 ] [-0.0029797 -0.00184947 0.99999385 0.48364438] [ 0. 0. 0. 1. ]] SLAMing on 248.522557844 meters 0.28908599859934714 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 0.99999077 -0.00328361 0.00277109 1.11403218] [ 0.00327671 0.99999153 0.0024914 -0.11607754] [-0.00277925 -0.0024823 0.99999306 0.48299115] [ 0. 0. 0. 1. ]] SLAMing on 248.552557844 meters 0.28994005383203086 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 0.99999146 -0.00318634 0.00263209 1.11458414] [ 0.0031791 0.99999116 0.0027504 -0.11719674] [-0.00264083 -0.00274201 0.99999275 0.48254368] [ 0. 0. 0. 1. ]] SLAMing on 248.582557844 meters 0.2887745164065731 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:0.48 [[ 9.99997785e-01 2.09176272e-03 -2.31721098e-04 1.09374075e+00] [-2.09185960e-03 9.99997724e-01 -4.18654906e-04 -1.18261590e-01] [ 2.30844844e-04 4.19138707e-04 9.99999886e-01 4.83247917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612557844 meters 0.28851753927451723 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:0.48 [[ 9.99997638e-01 2.16468060e-03 -1.95599662e-04 1.09363318e+00] [-2.16472406e-03 9.99997632e-01 -2.22245634e-04 -1.19064220e-01] [ 1.95118108e-04 2.22668529e-04 9.99999956e-01 4.83294635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642557844 meters 0.29005817967487374 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 9.99980705e-01 -5.83491769e-03 2.13136721e-03 1.11354199e+00] [ 5.83399291e-03 9.99982885e-01 4.39849775e-04 -1.16618337e-01] [-2.13389722e-03 -4.27406907e-04 9.99997632e-01 4.83342506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672557844 meters 0.2894318628743463 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 9.99980988e-01 -5.77535454e-03 2.16091902e-03 1.11338337e+00] [ 5.77407717e-03 9.99983152e-01 5.96894848e-04 -1.17254604e-01] [-2.16432989e-03 -5.84406186e-04 9.99997487e-01 4.83542124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702557844 meters 0.28966117623924215 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 9.99980952e-01 -5.74188615e-03 2.26429645e-03 1.11303421e+00] [ 5.74036165e-03 9.99983293e-01 6.79201717e-04 -1.17564267e-01] [-2.26815852e-03 -6.66190899e-04 9.99997206e-01 4.83738675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732557844 meters 0.29017003811317366 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 9.99981128e-01 -5.68675291e-03 2.32461046e-03 1.11294403e+00] [ 5.68485954e-03 9.99983505e-01 8.20286384e-04 -1.18158942e-01] [-2.32923688e-03 -8.07055820e-04 9.99996962e-01 4.83601604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762557844 meters 0.28871769522960705 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:0.48 [[ 9.99981590e-01 -5.60154970e-03 2.33289594e-03 1.11292864e+00] [ 5.59910200e-03 9.99983769e-01 1.05442420e-03 -1.19125101e-01] [-2.33876448e-03 -1.04134267e-03 9.99996723e-01 4.83599539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79255784400002 meters 0.28797636722218517 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:0.48 [[ 9.99996697e-01 1.86086541e-03 1.77305897e-03 1.09430104e+00] [-1.86064561e-03 9.99998261e-01 -1.25608281e-04 -1.25188303e-01] [-1.77328962e-03 1.22308832e-04 9.99998420e-01 4.82162739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82255784400002 meters 0.2883010521411357 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:0.48 [[ 9.99996897e-01 1.99758051e-03 1.48871640e-03 1.09494425e+00] [-1.99804762e-03 9.99997955e-01 3.12351295e-04 -1.26961694e-01] [-1.48808941e-03 -3.15324852e-04 9.99998843e-01 4.82318204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85255784400002 meters 0.28778823140903853 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.13, Z:0.48 [[ 9.99997000e-01 2.03751603e-03 1.35924973e-03 1.09533902e+00] [-2.03810350e-03 9.99997830e-01 4.30956913e-04 -1.27476558e-01] [-1.35836870e-03 -4.33725912e-04 9.99998983e-01 4.82155194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88255784400002 meters 0.2888693100219209 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.13, Z:0.48 [[ 0.99998559 -0.00408955 0.00347917 1.11677952] [ 0.00407892 0.99998701 0.00305614 -0.127305 ] [-0.00349163 -0.0030419 0.99998928 0.48106786] [ 0. 0. 0. 1. ]] SLAMing on 248.91255784400002 meters 0.288114669895771 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:0.48 [[ 9.99998887e-01 7.34018156e-04 1.29882127e-03 1.09365144e+00] [-7.33658890e-04 9.99999692e-01 -2.77064281e-04 -1.27978215e-01] [-1.29902424e-03 2.76111081e-04 9.99999118e-01 4.82781749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94255784400002 meters 0.28896229369582227 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.13, Z:0.48 [[ 0.99997978 -0.00418212 0.00479047 1.11588916] [ 0.00416759 0.9999867 0.00303912 -0.13140403] [-0.00480312 -0.00301909 0.99998391 0.48062504] [ 0. 0. 0. 1. ]] SLAMing on 248.97255784400002 meters 0.28981671563541245 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:0.48 [[ 0.99996424 0.00458832 0.00710441 1.13402089] [-0.00460215 0.99998754 0.00193241 -0.13602296] [-0.00709546 -0.00196504 0.9999729 0.48223801] [ 0. 0. 0. 1. ]] SLAMing on 249.00255784400002 meters 0.28732367853352625 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:0.48 [[ 0.99996769 0.00249219 0.00764231 1.09520363] [-0.00250679 0.99999505 0.00190121 -0.13747506] [-0.00763753 -0.00192031 0.99996899 0.47975267] [ 0. 0. 0. 1. ]] SLAMing on 249.03255784400002 meters 0.2880954334672367 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:0.48 [[ 0.99996795 0.00250999 0.00760201 1.09537694] [-0.00252492 0.9999949 0.00195427 -0.13770755] [-0.00759706 -0.0019734 0.99996919 0.47957913] [ 0. 0. 0. 1. ]] SLAMing on 249.06255784400003 meters 0.2891419584075968 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.13, Z:0.48 [[ 0.99995136 -0.00567516 0.00806715 1.11635992] [ 0.00565506 0.99998086 0.00251189 -0.13383753] [-0.00808125 -0.00246615 0.99996431 0.479728 ] [ 0. 0. 0. 1. ]] SLAMing on 249.09255784400003 meters 0.28781837008045225 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.14, Z:0.48 [[ 9.99985499e-01 -4.06003147e-05 5.38527044e-03 1.09466256e+00] [ 4.12391170e-05 9.99999992e-01 -1.18509286e-04 -1.36230596e-01] [-5.38526558e-03 1.18729651e-04 9.99985492e-01 4.81378583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12255784400003 meters 0.28907189749911805 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:0.48 [[ 9.99988307e-01 1.48673355e-03 4.60160985e-03 1.13257677e+00] [-1.48409640e-03 9.99998733e-01 -5.76455065e-04 -1.34535743e-01] [-4.60246106e-03 5.69619092e-04 9.99989246e-01 4.84812531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.152557844 meters 0.28757775107333844 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:0.48 [[ 9.99988120e-01 1.52697018e-03 4.62905594e-03 1.13244537e+00] [-1.52482884e-03 9.99998729e-01 -4.66082129e-04 -1.34971154e-01] [-4.62976175e-03 4.59018074e-04 9.99989177e-01 4.84964740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.182557844 meters 0.28859583171708103 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:0.48 [[ 9.99988217e-01 1.56873614e-03 4.59403038e-03 1.13255788e+00] [-1.56714072e-03 9.99998710e-01 -3.50860093e-04 -1.35448132e-01] [-4.59457486e-03 3.43656466e-04 9.99989386e-01 4.84909000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.212557844 meters 0.28955227770032554 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:0.49 [[ 9.99988803e-01 1.68216936e-03 4.42313073e-03 1.13287841e+00] [-1.68186719e-03 9.99998583e-01 -7.20353286e-05 -1.36607116e-01] [-4.42324564e-03 6.45954035e-05 9.99990215e-01 4.85203597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.242557844 meters 0.28862368112149844 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:0.49 [[ 9.99989138e-01 1.76977688e-03 4.31190966e-03 1.13317097e+00] [-1.77053728e-03 9.99998418e-01 1.72538285e-04 -1.37628674e-01] [-4.31159748e-03 -1.80170808e-04 9.99990689e-01 4.85204545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.272557844 meters 0.29057077257002817 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.13, Z:0.49 [[ 0.99997446 -0.00565747 0.00436806 1.15319542] [ 0.00565077 0.99998284 0.00154469 -0.13479008] [-0.00437672 -0.00151997 0.99998927 0.48636771] [ 0. 0. 0. 1. ]] SLAMing on 249.302557844 meters 0.28964847047521863 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:0.49 [[ 0.99997557 -0.00553846 0.00426492 1.15354537] [ 0.0055305 0.99998295 0.00187596 -0.13618361] [-0.00427523 -0.00185233 0.99998915 0.48618613] [ 0. 0. 0. 1. ]] SLAMing on 249.332557844 meters 0.28923426064153385 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 9.99991230e-01 1.61094239e-03 3.86595582e-03 1.13569807e+00] [-1.61462686e-03 9.99998245e-01 9.50125628e-04 -1.46195194e-01] [-3.86441844e-03 -9.56359371e-04 9.99992076e-01 4.84320374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362557844 meters 0.2889816627841092 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 0.99999127 0.00175109 0.00379483 1.13575524] [-0.00175613 0.99999758 0.00132412 -0.14771044] [-0.0037925 -0.00133078 0.99999192 0.48462044] [ 0. 0. 0. 1. ]] SLAMing on 249.392557844 meters 0.2888005920765763 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 0.9999915 0.00183377 0.00369341 1.13599279] [-0.00183951 0.9999971 0.00155154 -0.14864516] [-0.00369055 -0.00155832 0.99999198 0.48468475] [ 0. 0. 0. 1. ]] SLAMing on 249.422557844 meters 0.2903480824934525 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.15, Z:0.48 [[ 0.99997566 -0.00581188 0.00386107 1.15645644] [ 0.0058011 0.99997926 0.00279593 -0.14511995] [-0.00387724 -0.00277346 0.99998864 0.48464807] [ 0. 0. 0. 1. ]] SLAMing on 249.452557844 meters 0.2892252048853391 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 0.99999456 0.00156883 0.0029006 1.13643259] [-0.0015741 0.99999711 0.00181698 -0.14973505] [-0.00289774 -0.00182154 0.99999414 0.48358099] [ 0. 0. 0. 1. ]] SLAMing on 249.482557844 meters 0.289069186628757 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 0.99999428 0.00158381 0.00298741 1.1361892 ] [-0.00158935 0.99999702 0.00185378 -0.14987495] [-0.00298446 -0.00185851 0.99999382 0.48363898] [ 0. 0. 0. 1. ]] SLAMing on 249.512557844 meters 0.28968957119974875 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.48 [[ 0.99999408 0.00157733 0.0030568 1.13599432] [-0.00158295 0.99999707 0.00183417 -0.14977996] [-0.0030539 -0.001839 0.99999365 0.4836873 ] [ 0. 0. 0. 1. ]] SLAMing on 249.54255784400002 meters 0.2894860072073413 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:0.49 [[ 0.9999766 -0.0057695 0.00367493 1.15442553] [ 0.0057583 0.99997877 0.00305044 -0.14413779] [-0.00369245 -0.00302921 0.99998859 0.48511217] [ 0. 0. 0. 1. ]] SLAMing on 249.57255784400002 meters 0.28899497257319073 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:0.48 [[ 0.99997611 -0.00583436 0.00370605 1.15440241] [ 0.00582376 0.99997894 0.00286527 -0.14339254] [-0.00372269 -0.00284362 0.99998903 0.48496905] [ 0. 0. 0. 1. ]] SLAMing on 249.60255784400002 meters 0.29037018639062157 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 0.99997638 0.00336488 0.00599235 1.17299415] [-0.0033727 0.99999347 0.00129618 -0.14210716] [-0.00598795 -0.00131636 0.99998121 0.48567279] [ 0. 0. 0. 1. ]] SLAMing on 249.63255784400002 meters 0.2896139769204611 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 0.99997635 0.00332934 0.00601724 1.1729043 ] [-0.0033366 0.99999372 0.00119814 -0.14169739] [-0.00601321 -0.00121819 0.99998118 0.48572685] [ 0. 0. 0. 1. ]] SLAMing on 249.66255784400002 meters 0.29078808735418826 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 9.99976508e-01 3.30716595e-03 6.00385106e-03 1.17299767e+00] [-3.31406046e-03 9.99993860e-01 1.13876300e-03 -1.41471408e-01] [-6.00004812e-03 -1.15863337e-03 9.99981328e-01 4.85587042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69255784400002 meters 0.2894464510428458 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 9.99976620e-01 3.26873819e-03 6.00618589e-03 1.17310779e+00] [-3.27501135e-03 9.99994102e-01 1.03491102e-03 -1.41072380e-01] [-6.00276761e-03 -1.05455715e-03 9.99981427e-01 4.85311892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72255784400002 meters 0.28955921935081247 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 9.99977232e-01 3.27379915e-03 5.90069657e-03 1.17347053e+00] [-3.28007498e-03 9.99994065e-01 1.05421194e-03 -1.41186061e-01] [-5.89721027e-03 -1.07354267e-03 9.99982035e-01 4.85062474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75255784400002 meters 0.2895062041014135 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 9.99977674e-01 3.29775743e-03 5.81175121e-03 1.17364861e+00] [-3.30437901e-03 9.99993902e-01 1.13010955e-03 -1.41486660e-01] [-5.80798894e-03 -1.14928854e-03 9.99982473e-01 4.85180606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78255784400002 meters 0.2885483870681359 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 0.99997792 0.00332828 0.00575153 1.17369263] [-0.00333536 0.99999369 0.00122092 -0.14183374] [-0.00574743 -0.00124008 0.99998271 0.48545051] [ 0. 0. 0. 1. ]] SLAMing on 249.81255784400003 meters 0.2888972101735994 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:0.49 [[ 0.99997739 0.00340443 0.0057994 1.17346743] [-0.00341289 0.99999313 0.00144879 -0.14272628] [-0.00579442 -0.00146855 0.99998213 0.48573059] [ 0. 0. 0. 1. ]] SLAMing on 249.84255784400003 meters 0.28964426289891515 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.49 [[ 0.99996326 -0.00429823 0.00741625 1.1939791 ] [ 0.00428197 0.9999884 0.00220745 -0.13947581] [-0.00742565 -0.00217561 0.99997006 0.48580858] [ 0. 0. 0. 1. ]] SLAMing on 249.87255784400003 meters 0.28959969369468425 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.49 [[ 0.99996359 -0.00421176 0.00742185 1.19390103] [ 0.00419372 0.99998822 0.00244527 -0.14043838] [-0.00743206 -0.00241406 0.99996947 0.48597458] [ 0. 0. 0. 1. ]] SLAMing on 249.902557844 meters 0.28936037283804306 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.49 [[ 0.99996449 -0.00409106 0.00736784 1.19384774] [ 0.00407068 0.99998785 0.00277838 -0.14176847] [-0.00737911 -0.00274829 0.999969 0.48643287] [ 0. 0. 0. 1. ]] SLAMing on 249.932557844 meters 0.28972930125736196 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:0.49 [[ 0.99996655 -0.00387023 0.00720547 1.19409292] [ 0.00384598 0.99998691 0.00337581 -0.14419035] [-0.00721844 -0.00334798 0.99996834 0.48688252] [ 0. 0. 0. 1. ]] SLAMing on 249.962557844 meters 0.2878188338227939 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.15, Z:0.49 [[ 9.99992427e-01 8.17661878e-04 3.80503087e-03 1.17298921e+00] [-8.18242993e-04 9.99999654e-01 1.51168507e-04 -1.45250240e-01] [-3.80490595e-03 -1.54280802e-04 9.99992749e-01 4.88371559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.992557844 meters 0.2881264374441962 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.15, Z:0.49 [[ 9.99992728e-01 9.12343142e-04 3.70284449e-03 1.17332503e+00] [-9.13887560e-04 9.99999496e-01 4.15419043e-04 -1.46360126e-01] [-3.70246362e-03 -4.18800006e-04 9.99993058e-01 4.88202968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.022557844 meters 0.2907460619572353 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:0.49 [[ 9.99995964e-01 1.59156076e-03 2.35336042e-03 1.21286870e+00] [-1.58876203e-03 9.99998029e-01 -1.19064013e-03 -1.44774757e-01] [-2.35525075e-03 1.18689639e-03 9.99996522e-01 4.90743760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052557844 meters 0.2904347129159666 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99995969e-01 1.66915855e-03 2.29673428e-03 1.21299541e+00] [-1.66689798e-03 9.99998125e-01 -9.85813663e-04 -1.45616014e-01] [-2.29837546e-03 9.81981268e-04 9.99996877e-01 4.90797563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082557844 meters 0.28864841607014197 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99996002e-01 1.77199135e-03 2.20355741e-03 1.21331160e+00] [-1.77045207e-03 9.99998188e-01 -7.00295890e-04 -1.46812327e-01] [-2.20479433e-03 6.96391797e-04 9.99997327e-01 4.90609296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112557844 meters 0.2904368293289796 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99981255e-01 -5.64813244e-03 2.36376857e-03 1.23278780e+00] [ 5.64692536e-03 9.99983922e-01 5.17020322e-04 -1.43242510e-01] [-2.36665077e-03 -5.03662606e-04 9.99997073e-01 4.92011210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142557844 meters 0.2897383471430333 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99998323e-01 1.73138375e-03 5.97333136e-04 1.21364416e+00] [-1.73114612e-03 9.99998422e-01 -3.98104677e-04 -1.47596603e-01] [-5.98021465e-04 3.97069938e-04 9.99999742e-01 4.91128986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172557844 meters 0.2898066414824573 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99998382e-01 1.72884025e-03 4.97934759e-04 1.21399441e+00] [-1.72864142e-03 9.99998426e-01 -3.99466280e-04 -1.47619796e-01] [-4.98624588e-04 3.98604883e-04 9.99999796e-01 4.90897836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202557844 meters 0.28969497926851456 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99998376e-01 1.72729942e-03 5.14891770e-04 1.21394398e+00] [-1.72709118e-03 9.99998427e-01 -4.04588479e-04 -1.47596343e-01] [-5.15589805e-04 4.03698557e-04 9.99999786e-01 4.90914894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232557844 meters 0.2907668023129638 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982221e-01 -5.50374035e-03 2.29489490e-03 1.23293836e+00] [ 5.50196156e-03 9.99984559e-01 7.80701182e-04 -1.43909423e-01] [-2.29915624e-03 -7.68060879e-04 9.99997062e-01 4.92070049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262557844 meters 0.29051202943691284 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982414e-01 -5.47481979e-03 2.28007948e-03 1.23285434e+00] [ 5.47287479e-03 9.99984655e-01 8.58408310e-04 -1.44199216e-01] [-2.28474412e-03 -8.45914625e-04 9.99997032e-01 4.92355566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29255784400002 meters 0.2896853934681686 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982549e-01 -5.44607125e-03 2.28973711e-03 1.23275979e+00] [ 5.44394311e-03 9.99984745e-01 9.34632274e-04 -1.44493472e-01] [-2.29479225e-03 -9.22150765e-04 9.99996942e-01 4.92522132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32255784400002 meters 0.2896853934681686 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982549e-01 -5.44607125e-03 2.28973711e-03 1.23275979e+00] [ 5.44394311e-03 9.99984745e-01 9.34632274e-04 -1.44493472e-01] [-2.29479225e-03 -9.22150765e-04 9.99996942e-01 4.92522132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35255784400002 meters 0.28914966290742145 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982701e-01 -5.43985782e-03 2.23712048e-03 1.23270085e+00] [ 5.43774372e-03 9.99984764e-01 9.50008808e-04 -1.44525918e-01] [-2.24225431e-03 -9.37827487e-04 9.99997046e-01 4.92987044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38255784400002 meters 0.28978605814938746 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982789e-01 -5.42785450e-03 2.22706538e-03 1.23263320e+00] [ 5.42567861e-03 9.99984799e-01 9.81900882e-04 -1.44632482e-01] [-2.23236115e-03 -9.69800642e-04 9.99997038e-01 4.93204878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41255784400002 meters 0.2901444971409691 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.14, Z:0.49 [[ 9.99982879e-01 -5.40614765e-03 2.23930737e-03 1.23258910e+00] [ 5.40383501e-03 9.99984861e-01 1.03751770e-03 -1.44857019e-01] [-2.24488244e-03 -1.02539909e-03 9.99996955e-01 4.93237136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44255784400002 meters 0.2907026978244349 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.15, Z:0.49 [[ 9.99983094e-01 -5.35489681e-03 2.26626563e-03 1.23245547e+00] [ 5.35224858e-03 9.99984989e-01 1.17299744e-03 -1.45395328e-01] [-2.27251289e-03 -1.16084800e-03 9.99996744e-01 4.93392445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47255784400002 meters 0.2891065487288759 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99992327e-01 2.18970640e-03 3.24818977e-03 1.21254257e+00] [-2.19101325e-03 9.99997520e-01 3.98828465e-04 -1.51483969e-01] [-3.24730839e-03 -4.05942232e-04 9.99994645e-01 4.92307594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50255784400002 meters 0.2898938433382866 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:0.49 [[ 9.99992329e-01 2.27763379e-03 3.18664848e-03 1.21264424e+00] [-2.27972820e-03 9.99997188e-01 6.53766512e-04 -1.52508845e-01] [-3.18515048e-03 -6.61026190e-04 9.99994709e-01 4.92445868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53255784400002 meters 0.28731162941908445 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.16, Z:0.49 [[ 9.99992463e-01 2.85943197e-04 3.87189359e-03 1.17433555e+00] [-2.92966738e-04 9.99998313e-01 1.81353513e-03 -1.59122404e-01] [-3.87136849e-03 -1.81465580e-03 9.99990860e-01 4.90227302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56255784400003 meters 0.2893684443068799 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:0.49 [[ 9.99994836e-01 1.18499009e-03 2.98713339e-03 1.21306208e+00] [-1.18707740e-03 9.99999052e-01 6.97089561e-04 -1.58338888e-01] [-2.98630452e-03 -7.00631920e-04 9.99995296e-01 4.93092676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59255784400003 meters 0.2888189362137878 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:0.49 [[ 9.99994612e-01 1.29772617e-03 3.01528040e-03 1.21294235e+00] [-1.30073563e-03 9.99998658e-01 9.96323862e-04 -1.59557225e-01] [-3.01398339e-03 -1.00024058e-03 9.99994958e-01 4.93192908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62255784400003 meters 0.2888068878269068 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:0.49 [[ 0.99999437 0.00138459 0.00305631 1.21271809] [-0.00138833 0.99999829 0.0012223 -0.16045964] [-0.00305461 -0.00122653 0.99999458 0.49345506] [ 0. 0. 0. 1. ]] SLAMing on 250.652557844 meters 0.28800038480632245 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:0.49 [[ 0.99999385 0.00160448 0.00311816 1.21233118] [-0.00161004 0.99999712 0.00177975 -0.16270604] [-0.0031153 -0.00178476 0.99999355 0.49393859] [ 0. 0. 0. 1. ]] SLAMing on 250.682557844 meters 0.2891815447628803 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:0.49 [[ 0.99999385 0.00173008 0.00305033 1.21246265] [-0.00173654 0.99999625 0.00211763 -0.16408771] [-0.00304666 -0.00212291 0.99999311 0.4940345 ] [ 0. 0. 0. 1. ]] SLAMing on 250.712557844 meters 0.2899746490758213 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:0.49 [[ 0.99999387 0.00186826 0.00296061 1.21268632] [-0.00187565 0.99999513 0.00249457 -0.16563156] [-0.00295594 -0.0025001 0.99999251 0.49405204] [ 0. 0. 0. 1. ]] SLAMing on 250.742557844 meters 0.2896435701981576 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:0.49 [[ 0.99999393 0.00202243 0.00283715 1.21300709] [-0.00203074 0.99999366 0.0029258 -0.16739822] [-0.00283121 -0.00293155 0.9999917 0.49403624] [ 0. 0. 0. 1. ]] SLAMing on 250.772557844 meters 0.29127301144632967 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:0.49 [[ 0.99999362 0.00233729 0.00270019 1.21327658] [-0.00234773 0.99998976 0.00386957 -0.17117392] [-0.00269112 -0.00387588 0.99998887 0.49420299] [ 0. 0. 0. 1. ]] SLAMing on 250.802557844 meters 0.28925519218126183 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:0.49 [[ 0.99999334 0.00247895 0.00268005 1.21326031] [-0.00249033 0.99998787 0.00424842 -0.17271263] [-0.00266949 -0.00425506 0.99998738 0.49434404] [ 0. 0. 0. 1. ]] SLAMing on 250.832557844 meters 0.28811569409562604 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:0.49 [[ 0.99999318 0.00257827 0.00264485 1.21338144] [-0.00259019 0.99998647 0.00451068 -0.17379899] [-0.00263318 -0.0045175 0.99998633 0.49427063] [ 0. 0. 0. 1. ]] SLAMing on 250.862557844 meters 0.2906629859384713 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.17, Z:0.50 [[ 0.99999106 0.00402457 0.00129352 1.25344733] [-0.00402928 0.99998518 0.00366123 -0.17362844] [-0.00127877 -0.00366641 0.99999246 0.49634705] [ 0. 0. 0. 1. ]] SLAMing on 250.892557844 meters 0.2903089744056338 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.17, Z:0.50 [[ 0.99999077 0.00410157 0.00128213 1.25341192] [-0.0041065 0.9999841 0.00386381 -0.17444909] [-0.00126626 -0.00386904 0.99999171 0.49648964] [ 0. 0. 0. 1. ]] SLAMing on 250.922557844 meters 0.2889870102379813 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.18, Z:0.50 [[ 9.99990386e-01 4.19764465e-03 1.26807919e-03 1.25327931e+00] [-4.20283934e-03 9.99982673e-01 4.12199344e-03 -1.75469190e-01] [-1.25075455e-03 -4.12728334e-03 9.99990701e-01 4.96877493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952557844 meters 0.2908483668282358 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:0.50 [[ 9.99988561e-01 4.77845705e-03 2.10445076e-04 1.29200283e+00] [-4.77892527e-03 9.99985973e-01 2.28366205e-03 -1.74553881e-01] [-1.99529743e-04 -2.28464163e-03 9.99997370e-01 4.99971183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982557844 meters 0.29047322184380187 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99988048e-01 4.88632022e-03 1.68539619e-04 1.29199849e+00] [-4.88674276e-03 9.99984667e-01 2.60503388e-03 -1.75815556e-01] [-1.55808005e-04 -2.60582635e-03 9.99996593e-01 5.00221595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012557844 meters 0.2918259794169188 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99987956e-01 4.90282245e-03 2.22759575e-04 1.29180160e+00] [-4.90339473e-03 9.99984479e-01 2.64558505e-03 -1.75969458e-01] [-2.09785284e-04 -2.64664546e-03 9.99996476e-01 5.00353705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04255784400002 meters 0.28867268835451204 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.50 [[ 9.99989660e-01 -4.52177778e-03 -4.82459157e-04 1.27280203e+00] [ 4.52374447e-03 9.99981130e-01 4.15628628e-03 -1.74439821e-01] [ 4.63656251e-04 -4.15842582e-03 9.99991246e-01 4.99094300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07255784400002 meters 0.2907218817860878 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99984899e-01 5.39311216e-03 1.05692583e-03 1.29186904e+00] [-5.39674813e-03 9.99979424e-01 3.46802560e-03 -1.78020780e-01] [-1.03820063e-03 -3.47367719e-03 9.99993428e-01 4.99141933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10255784400002 meters 0.2902836926687373 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99984774e-01 5.41540086e-03 1.06037134e-03 1.29189979e+00] [-5.41911177e-03 9.99979091e-01 3.52861230e-03 -1.78278105e-01] [-1.04124032e-03 -3.53430485e-03 9.99993212e-01 4.99043085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13255784400002 meters 0.2900403554475424 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99998983e-01 9.08702434e-04 1.09945711e-03 1.29192756e+00] [-9.07412405e-04 9.99998900e-01 -1.17326271e-03 -1.76669783e-01] [-1.10052205e-03 1.17226385e-03 9.99998707e-01 4.98721167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16255784400002 meters 0.28843823755189346 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99999084e-01 8.74359009e-04 1.03356730e-03 1.29209498e+00] [-8.73049691e-04 9.99998817e-01 -1.26656827e-03 -1.76294322e-01] [-1.03467351e-03 1.26566475e-03 9.99998664e-01 4.98727200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19255784400002 meters 0.288316060299694 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99999242e-01 8.24926501e-04 9.14502434e-04 1.29248693e+00] [-8.23649170e-04 9.99998686e-01 -1.39624799e-03 -1.75789292e-01] [-9.15653034e-04 1.39549371e-03 9.99998607e-01 4.98517024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22255784400002 meters 0.2898314122713283 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99982913e-01 -4.86013516e-03 3.24852572e-03 1.31374064e+00] [ 4.85612097e-03 9.99987437e-01 1.24244368e-03 -1.74731948e-01] [-3.25452336e-03 -1.22664722e-03 9.99993952e-01 4.97203925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25255784400002 meters 0.28765622595413554 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99995127e-01 2.88603443e-03 1.19013139e-03 1.29369363e+00] [-2.88673222e-03 9.99995662e-01 5.85016815e-04 -1.77112491e-01] [-1.18843785e-03 -5.88449555e-04 9.99999121e-01 4.97463682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28255784400002 meters 0.2890825032220517 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 0.99998635 -0.00443509 0.00276372 1.31289556] [ 0.00443089 0.99998902 0.00152287 -0.17333366] [-0.00277045 -0.00151061 0.99999502 0.49868188] [ 0. 0. 0. 1. ]] SLAMing on 251.31255784400003 meters 0.2897184799686508 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 0.99998592 -0.00450226 0.00280848 1.31266571] [ 0.0044985 0.99998898 0.0013439 -0.17256249] [-0.0028145 -0.00133125 0.99999515 0.49895364] [ 0. 0. 0. 1. ]] SLAMing on 251.34255784400003 meters 0.2891939740683135 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99985317e-01 -4.54573091e-03 2.94985867e-03 1.31216811e+00] [ 4.54213760e-03 9.99988936e-01 1.22368626e-03 -1.72027876e-01] [-2.95538859e-03 -1.21026963e-03 9.99994900e-01 4.99269684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37255784400003 meters 0.2887973643675378 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99984328e-01 -4.63021540e-03 3.14719815e-03 1.31150018e+00] [ 4.62712552e-03 9.99988806e-01 9.88363265e-04 -1.71016478e-01] [-3.15173925e-03 -9.73785295e-04 9.99994559e-01 4.99720361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.402557844 meters 0.28904262730221725 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:0.50 [[ 9.99978843e-01 4.69786828e-03 4.49939100e-03 1.32968942e+00] [-4.69571977e-03 9.99988856e-01 -4.87956961e-04 -1.73261566e-01] [-4.50163322e-03 4.66818758e-04 9.99989759e-01 5.00769410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.432557844 meters 0.2876182849812228 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99984074e-01 -4.63214064e-03 3.22414901e-03 1.31105056e+00] [ 4.63037357e-03 9.99989126e-01 5.55323828e-04 -1.68179630e-01] [-3.22668629e-03 -5.40385969e-04 9.99994648e-01 4.99884979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.462557844 meters 0.2894549794021109 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:0.50 [[ 9.99974497e-01 5.76443364e-03 4.21626210e-03 1.33221568e+00] [-5.76369207e-03 9.99983372e-01 -1.88014003e-04 -1.65766927e-01] [-4.21727578e-03 1.63707972e-04 9.99991094e-01 4.99059378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.492557844 meters 0.29041276001932786 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.16, Z:0.50 [[ 9.99975835e-01 5.59732789e-03 4.12307875e-03 1.33260373e+00] [-5.59475117e-03 9.99984147e-01 -6.36219627e-04 -1.63957150e-01] [-4.12657452e-03 6.13136653e-04 9.99991298e-01 4.98752332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.522557844 meters 0.28823399917515596 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.50 [[ 9.99989922e-01 -3.76180166e-03 2.45062112e-03 1.31441850e+00] [ 3.76127474e-03 9.99992902e-01 2.19587166e-04 -1.58101563e-01] [-2.45142976e-03 -2.10367494e-04 9.99996973e-01 4.97934543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552557844 meters 0.2892224496816969 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.50 [[ 9.99989516e-01 -3.91669839e-03 2.37228670e-03 1.31474264e+00] [ 3.91716260e-03 9.99992310e-01 -1.91063367e-04 -1.56455396e-01] [-2.37152012e-03 2.00353996e-04 9.99997168e-01 4.97677761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582557844 meters 0.2892708505418668 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 9.99988951e-01 -4.05506722e-03 2.37778025e-03 1.31480734e+00] [ 4.05640464e-03 9.99991617e-01 -5.57914625e-04 -1.54970763e-01] [-2.37549793e-03 5.67553700e-04 9.99997017e-01 4.97521445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612557844 meters 0.28891127196032723 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 9.99987741e-01 -4.29388834e-03 2.46575514e-03 1.31447479e+00] [ 4.29688134e-03 9.99990037e-01 -1.20981274e-03 -1.52294746e-01] [-2.46053577e-03 1.22039297e-03 9.99996228e-01 4.97794995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642557844 meters 0.2894359307560838 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 0.99998727 -0.00439571 0.00247882 1.31444002] [ 0.00439939 0.99998922 -0.00148273 -0.15117252] [-0.00247227 0.00149361 0.99999583 0.49780706] [ 0. 0. 0. 1. ]] SLAMing on 251.672557844 meters 0.2904568762040754 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.15, Z:0.50 [[ 0.99998204 0.00479073 0.00360252 1.33319335] [-0.00477944 0.99998366 -0.00313586 -0.15257265] [-0.00361748 0.00311858 0.99998859 0.49863463] [ 0. 0. 0. 1. ]] SLAMing on 251.702557844 meters 0.29045892526214345 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.15, Z:0.50 [[ 0.99998252 0.00466932 0.00362668 1.33318076] [-0.0046568 0.9999832 -0.0034526 -0.15127328] [-0.00364274 0.00343565 0.99998746 0.49854369] [ 0. 0. 0. 1. ]] SLAMing on 251.732557844 meters 0.2887913969010273 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 9.99994120e-01 -2.95119547e-03 1.74642952e-03 1.31291961e+00] [ 2.95292377e-03 9.99995152e-01 -9.87869608e-04 -1.47373483e-01] [-1.74350566e-03 9.93020873e-04 9.99997987e-01 4.99332614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762557844 meters 0.28931755099040407 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 9.99994141e-01 -3.01407807e-03 1.62252856e-03 1.31333666e+00] [ 3.01594857e-03 9.99994789e-01 -1.15161831e-03 -1.46726848e-01] [-1.61904904e-03 1.15650503e-03 9.99998021e-01 4.99096582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79255784400002 meters 0.2915740972749506 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.15, Z:0.50 [[ 0.99998047 0.00609513 0.00138212 1.33321673] [-0.00609127 0.99997758 -0.00278108 -0.14921531] [-0.00139904 0.0027726 0.99999518 0.500078 ] [ 0. 0. 0. 1. ]] SLAMing on 251.82255784400002 meters 0.289321671481809 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.14, Z:0.50 [[ 9.99995104e-01 -3.04238453e-03 -7.32225392e-04 1.31528650e+00] [ 3.04117935e-03 9.99994028e-01 -1.64143280e-03 -1.44991251e-01] [ 7.37214889e-04 1.63919793e-03 9.99998385e-01 4.99264250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85255784400002 meters 0.2908014823889153 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.14, Z:0.50 [[ 9.99995020e-01 -3.07617801e-03 -7.04843145e-04 1.31512932e+00] [ 3.07494846e-03 9.99993760e-01 -1.73891966e-03 -1.44576628e-01] [ 7.10187974e-04 1.73674364e-03 9.99998240e-01 4.99492315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88255784400002 meters 0.28913941087149975 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.15, Z:0.50 [[ 0.99999066 0.00286608 -0.00323436 1.29276002] [-0.00287908 0.99998776 -0.00402331 -0.14512262] [ 0.00322279 0.00403258 0.99998668 0.50173959] [ 0. 0. 0. 1. ]] SLAMing on 251.91255784400002 meters 0.29054497517248007 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.15, Z:0.50 [[ 9.99998753e-01 -1.52380045e-03 4.14335807e-04 1.31530447e+00] [ 1.52402873e-03 9.99998687e-01 -5.51197395e-04 -1.49284195e-01] [-4.13495348e-04 5.51828167e-04 9.99999762e-01 4.99524630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94255784400002 meters 0.2892785076662893 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.15, Z:0.50 [[ 9.99993809e-01 3.46727578e-03 -6.00416068e-04 1.29149693e+00] [-3.46939665e-03 9.99987616e-01 -3.56807908e-03 -1.52572469e-01] [ 5.88037119e-04 3.57014007e-03 9.99993454e-01 5.01033595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97255784400002 meters 0.28972496498775563 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.15, Z:0.50 [[ 9.99993563e-01 3.55052358e-03 -5.17145943e-04 1.29116858e+00] [-3.55223859e-03 9.99988066e-01 -3.35400923e-03 -1.53435970e-01] [ 5.05231283e-04 3.35582466e-03 9.99994242e-01 5.01279740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00255784400002 meters 0.28784890453747075 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.15, Z:0.50 [[ 9.99993306e-01 3.63308276e-03 -4.34562702e-04 1.29086035e+00] [-3.63443053e-03 9.99988460e-01 -3.14193235e-03 -1.54292565e-01] [ 4.23142787e-04 3.14349071e-03 9.99994970e-01 5.01482666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03255784400002 meters 0.28931478448979253 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:0.50 [[ 0.99999164 -0.00375887 0.00161074 1.31003937] [ 0.00376215 0.99999084 -0.00204206 -0.15187619] [-0.00160305 0.0020481 0.99999662 0.50234296] [ 0. 0. 0. 1. ]] SLAMing on 252.06255784400003 meters 0.2883412713916832 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:0.50 [[ 0.99999055 0.00390128 0.00191852 1.28873418] [-0.00389644 0.99998922 -0.00252359 -0.15703389] [-0.00192834 0.00251609 0.99999498 0.50149259] [ 0. 0. 0. 1. ]] SLAMing on 252.09255784400003 meters 0.2884378729353197 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:0.50 [[ 0.99999063 0.00392752 0.00182274 1.28904816] [-0.00392306 0.99998931 -0.00244718 -0.15735633] [-0.00183233 0.00244001 0.99999534 0.50131225] [ 0. 0. 0. 1. ]] SLAMing on 252.12255784400003 meters 0.29049727518600643 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.50 [[ 9.99992230e-01 -7.31160814e-04 3.87360033e-03 1.31360262e+00] [ 7.27832805e-04 9.99999365e-01 8.60491262e-04 -1.59321016e-01] [-3.87422703e-03 -8.57665243e-04 9.99992127e-01 4.98527226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.152557844 meters 0.2890548308613889 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:0.50 [[ 9.99988404e-01 4.76395158e-03 7.04077557e-04 1.29443238e+00] [-4.76266736e-03 9.99987012e-01 -1.81453986e-03 -1.62983449e-01] [-7.12712793e-04 1.81116553e-03 9.99998106e-01 4.99001955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.182557844 meters 0.28977048432157365 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:0.50 [[ 9.99987951e-01 4.85679976e-03 7.14322978e-04 1.29428769e+00] [-4.85567283e-03 9.99986977e-01 -1.57098563e-03 -1.63961541e-01] [-7.21943638e-04 1.56749818e-03 9.99998511e-01 4.99267834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.212557844 meters 0.28977048432157365 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:0.50 [[ 9.99987951e-01 4.85679976e-03 7.14322978e-04 1.29428769e+00] [-4.85567283e-03 9.99986977e-01 -1.57098563e-03 -1.63961541e-01] [-7.21943638e-04 1.56749818e-03 9.99998511e-01 4.99267834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.242557844 meters 0.2903877575085953 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.17, Z:0.50 [[ 9.99992665e-01 -7.36871720e-04 3.75864234e-03 1.31535660e+00] [ 7.32326843e-04 9.99998999e-01 1.21041349e-03 -1.65458126e-01] [-3.75953050e-03 -1.20765206e-03 9.99992204e-01 4.97853260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.272557844 meters 0.29044397914407455 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.17, Z:0.50 [[ 9.99992633e-01 -6.42621375e-04 3.78439047e-03 1.31520882e+00] [ 6.37114008e-04 9.99998737e-01 1.45631087e-03 -1.66458317e-01] [-3.78532154e-03 -1.45388905e-03 9.99991779e-01 4.98037313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302557844 meters 0.2901115770431726 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.17, Z:0.50 [[ 9.99992740e-01 -5.09044004e-04 3.77627734e-03 1.31509576e+00] [ 5.02228028e-04 9.99998244e-01 1.80567440e-03 -1.67874141e-01] [-3.77718987e-03 -1.80376474e-03 9.99991240e-01 4.98325911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332557844 meters 0.29050616768550463 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 0.99998174 -0.00461371 0.00390352 1.31477796] [ 0.00462128 0.99998745 -0.00193315 -0.17029743] [-0.00389456 0.00195116 0.99999051 0.49840367] [ 0. 0. 0. 1. ]] SLAMing on 252.362557844 meters 0.2906487083942245 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 0.99998209 -0.00447531 0.00397347 1.31454349] [ 0.00448161 0.99998871 -0.00157741 -0.17175694] [-0.00396637 0.00159519 0.99999086 0.49852178] [ 0. 0. 0. 1. ]] SLAMing on 252.392557844 meters 0.2898697063848713 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 0.99999069 0.00325345 0.00283379 1.29394711] [-0.00324822 0.99999302 -0.00184765 -0.17675802] [-0.00283978 0.00183843 0.99999428 0.49821198] [ 0. 0. 0. 1. ]] SLAMing on 252.422557844 meters 0.2901792848798374 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 0.99999057 0.00334004 0.00277563 1.29406732] [-0.00333556 0.99999313 -0.00161653 -0.17770992] [-0.00278101 0.00160725 0.99999484 0.49826806] [ 0. 0. 0. 1. ]] SLAMing on 252.452557844 meters 0.28962550676769233 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99990430e-01 3.47830434e-03 2.65355092e-03 1.29423471e+00] [-3.47497442e-03 9.99993170e-01 -1.25847294e-03 -1.79152315e-01] [-2.65791015e-03 1.24923987e-03 9.99995687e-01 4.98575579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482557844 meters 0.2896854486024907 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99990358e-01 3.55940802e-03 2.57171927e-03 1.29442533e+00] [-3.55672020e-03 9.99993125e-01 -1.04896400e-03 -1.80010694e-01] [-2.57543528e-03 1.03980700e-03 9.99996143e-01 4.98608648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512557844 meters 0.2893793565898036 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99990098e-01 3.67182503e-03 2.51419012e-03 1.29457201e+00] [-3.66993337e-03 9.99992980e-01 -7.56593954e-04 -1.81222588e-01] [-2.51695055e-03 7.47359553e-04 9.99996553e-01 4.98599110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54255784400002 meters 0.29031534396161573 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99989615e-01 3.88473897e-03 2.38297663e-03 1.29494382e+00] [-3.88422966e-03 9.99992433e-01 -2.18319750e-04 -1.83461642e-01] [-2.38380671e-03 2.09061454e-04 9.99997137e-01 4.98517540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57255784400002 meters 0.29196435969289214 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99985916e-01 -9.82429821e-04 5.21569088e-03 1.31857301e+00] [ 9.67963263e-04 9.99995680e-01 2.77546100e-03 -1.85964196e-01] [-5.21839504e-03 -2.77037331e-03 9.99982547e-01 4.95582361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60255784400002 meters 0.29047399561169146 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99992084e-01 3.31418290e-03 2.20164613e-03 1.29586855e+00] [-3.31293165e-03 9.99994349e-01 -5.71728821e-04 -1.85796219e-01] [-2.20352850e-03 5.64430392e-04 9.99997413e-01 4.97731135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63255784400002 meters 0.290391708259295 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99991948e-01 3.36732993e-03 2.18278636e-03 1.29596381e+00] [-3.36639848e-03 9.99994241e-01 -4.30259948e-04 -1.86391875e-01] [-2.18422262e-03 4.22908355e-04 9.99997525e-01 4.97619627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66255784400002 meters 0.2905151806441922 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99991734e-01 3.43088531e-03 2.18190690e-03 1.29603313e+00] [-3.43033845e-03 9.99994084e-01 -2.54328995e-04 -1.87127806e-01] [-2.18276656e-03 2.46842214e-04 9.99997587e-01 4.97457112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69255784400002 meters 0.29102334596163054 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99991864e-01 3.46673596e-03 2.06245940e-03 1.29642383e+00] [-3.46642497e-03 9.99993980e-01 -1.54337368e-04 -1.87568269e-01] [-2.06298203e-03 1.47186751e-04 9.99997861e-01 4.97263651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72255784400002 meters 0.2907662173328295 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99991912e-01 3.51651177e-03 1.95180567e-03 1.29676660e+00] [-3.51648606e-03 9.99993817e-01 -1.66016119e-05 -1.88156564e-01] [-1.95185198e-03 9.73798021e-06 9.99998095e-01 4.97113330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75255784400002 meters 0.29214077707913894 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.49 [[ 0.99998861 -0.00141353 0.00455831 1.32033409] [ 0.00140021 0.99999474 0.00292403 -0.18977522] [-0.00456242 -0.00291761 0.99998534 0.49438217] [ 0. 0. 0. 1. ]] SLAMing on 252.78255784400002 meters 0.29091897410438256 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99994886e-01 2.89150647e-03 1.36658243e-03 1.29875279e+00] [-2.89074033e-03 9.99995664e-01 -5.62271837e-04 -1.89527626e-01] [-1.36820232e-03 5.58318526e-04 9.99998908e-01 4.95913018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81255784400003 meters 0.2914827981727484 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99986373e-01 -4.06857457e-03 3.27128200e-03 1.31689436e+00] [ 4.06534901e-03 9.99991244e-01 9.92069252e-04 -1.86124057e-01] [-3.27528966e-03 -9.78756829e-04 9.99994157e-01 4.97066293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84255784400003 meters 0.2909043870873524 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99986514e-01 -3.98384789e-03 3.33183589e-03 1.31663707e+00] [ 3.97983426e-03 9.99991348e-01 1.21039576e-03 -1.87008088e-01] [-3.33662910e-03 -1.19711928e-03 9.99993717e-01 4.97298570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87255784400003 meters 0.29230072058533124 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 0.99998687 -0.00390278 0.00331979 1.31656366] [ 0.00389808 0.99999139 0.00142132 -0.18786114] [-0.00332531 -0.00140836 0.99999348 0.49753597] [ 0. 0. 0. 1. ]] SLAMing on 252.902557844 meters 0.2900330234682621 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:0.50 [[ 9.99992906e-01 3.29318146e-03 1.82848868e-03 1.29718199e+00] [-3.29419895e-03 9.99994421e-01 5.53729425e-04 -1.92928463e-01] [-1.82665495e-03 -5.59748903e-04 9.99998175e-01 4.96930257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.932557844 meters 0.29235599841712007 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 0.9999834 -0.00409296 0.00405516 1.31678077] [ 0.00408752 0.99999074 0.00134887 -0.19020848] [-0.00406065 -0.00133228 0.99999087 0.49725985] [ 0. 0. 0. 1. ]] SLAMing on 252.962557844 meters 0.2899366228670392 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99998710e-01 8.92319808e-04 1.33583971e-03 1.29416660e+00] [-8.90223447e-04 9.99998373e-01 -1.56909361e-03 -1.90182498e-01] [-1.33723767e-03 1.56790239e-03 9.99997877e-01 4.99663964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.992557844 meters 0.2923799576442481 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.50 [[ 0.99999555 0.002577 0.00149999 1.33293948] [-0.00257279 0.99999276 -0.00280193 -0.18649469] [-0.0015072 0.00279806 0.99999495 0.50147031] [ 0. 0. 0. 1. ]] SLAMing on 253.022557844 meters 0.29185928323543797 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.50 [[ 9.99985191e-01 -5.34132038e-03 -1.04347222e-03 1.31311560e+00] [ 5.34109189e-03 9.99985712e-01 -2.21635102e-04 -1.85813685e-01] [ 1.04464113e-03 2.16058539e-04 9.99999431e-01 5.02592865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052557844 meters 0.2905646673040908 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99991712e-01 2.07879384e-03 -3.50051290e-03 1.29273384e+00] [-2.08145370e-03 9.99997548e-01 -7.56376845e-04 -1.87758567e-01] [ 3.49893196e-03 7.63656732e-04 9.99993587e-01 5.02317204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082557844 meters 0.2918173377483585 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996508e-01 -2.36967787e-03 -1.17007937e-03 1.31667664e+00] [ 2.37256398e-03 9.99994132e-01 2.47140089e-03 -1.88474738e-01] [ 1.16421608e-03 -2.47416834e-03 9.99996262e-01 4.99786688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112557844 meters 0.2912543435447264 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996666e-01 -2.31721040e-03 -1.13914830e-03 1.31632240e+00] [ 2.32017457e-03 9.99993908e-01 2.60769081e-03 -1.88975394e-01] [ 1.13309879e-03 -2.61032514e-03 9.99995951e-01 5.00424526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142557844 meters 0.2918339712034666 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996762e-01 -2.30204854e-03 -1.08440434e-03 1.31605089e+00] [ 2.30490804e-03 9.99993851e-01 2.64310521e-03 -1.89084086e-01] [ 1.07831311e-03 -2.64559611e-03 9.99995919e-01 5.00721717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172557844 meters 0.2920948404802068 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996747e-01 -2.32020194e-03 -1.05956643e-03 1.31597169e+00] [ 2.32294525e-03 9.99993934e-01 2.59523547e-03 -1.88880134e-01] [ 1.05353853e-03 -2.59768834e-03 9.99996071e-01 5.00751701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202557844 meters 0.29204778959488104 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996667e-01 -2.34809527e-03 -1.07341235e-03 1.31616501e+00] [ 2.35079961e-03 9.99994049e-01 2.52510472e-03 -1.88631279e-01] [ 1.06747677e-03 -2.52761968e-03 9.99996236e-01 5.00403348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232557844 meters 0.290433494237445 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99986799e-01 1.87586187e-03 -4.78360055e-03 1.29450497e+00] [-1.87942151e-03 9.99997960e-01 -7.39746743e-04 -1.87864958e-01] [ 4.78220313e-03 7.48727379e-04 9.99988285e-01 5.02181973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262557844 meters 0.29205050880949274 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996010e-01 -2.50672550e-03 -1.30278434e-03 1.31688686e+00] [ 2.51000102e-03 9.99993678e-01 2.51872345e-03 -1.90254670e-01] [ 1.29646235e-03 -2.52198339e-03 9.99995979e-01 4.99895887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29255784400002 meters 0.29281179790125317 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:0.50 [[ 9.99983510e-01 5.59908442e-03 1.27683108e-03 1.33612467e+00] [-5.59924641e-03 9.99984316e-01 1.23322687e-04 -1.91566182e-01] [-1.27612056e-03 -1.30469945e-04 9.99999177e-01 4.99464820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32255784400002 meters 0.2911377673976613 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 9.99996441e-01 -2.35771733e-03 -1.24830266e-03 1.31538337e+00] [ 2.36126094e-03 9.99993165e-01 2.84492034e-03 -1.93041248e-01] [ 1.24158661e-03 -2.84785778e-03 9.99995174e-01 5.01575430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35255784400002 meters 0.2916967748136673 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:0.50 [[ 9.99967156e-01 8.07746442e-03 -6.63818852e-04 1.33611021e+00] [-8.07587435e-03 9.99964595e-01 2.36410319e-03 -1.94859943e-01] [ 6.82891309e-04 -2.35866463e-03 9.99996985e-01 5.01452014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38255784400002 meters 0.29212025592503343 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 0.99999696 -0.0017149 -0.00177119 1.31755939] [ 0.00172086 0.99999284 0.0033695 -0.19088131] [ 0.0017654 -0.00337254 0.99999275 0.50038931] [ 0. 0. 0. 1. ]] SLAMing on 253.41255784400002 meters 0.29182905202770953 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 0.99999686 -0.00181554 -0.00172911 1.31751453] [ 0.00182089 0.99999355 0.00309651 -0.1897696 ] [ 0.00172347 -0.00309964 0.99999371 0.50024229] [ 0. 0. 0. 1. ]] SLAMing on 253.44255784400002 meters 0.29091756915423767 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.50 [[ 0.99999711 -0.00198803 -0.00135447 1.31650483] [ 0.00199142 0.99999488 0.00250469 -0.18731127] [ 0.00134948 -0.00250738 0.99999595 0.50044258] [ 0. 0. 0. 1. ]] SLAMing on 253.47255784400002 meters 0.29164837613252254 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.19, Z:0.50 [[ 9.99974018e-01 7.08546845e-03 1.32634959e-03 1.33418502e+00] [-7.08625193e-03 9.99974720e-01 5.86945950e-04 -1.85725709e-01] [-1.32215727e-03 -5.96329548e-04 9.99998948e-01 5.00973950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50255784400002 meters 0.2924448931506977 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:0.50 [[ 9.99975158e-01 6.90163587e-03 1.43211120e-03 1.33400328e+00] [-6.90178709e-03 9.99976177e-01 1.00678380e-04 -1.83719737e-01] [-1.43138223e-03 -1.10560006e-04 9.99998969e-01 5.00778212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53255784400002 meters 0.29330635047001125 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:0.50 [[ 9.99996940e-01 -7.22173844e-04 2.36602570e-03 1.35441420e+00] [ 7.21667882e-04 9.99999717e-01 2.14691359e-04 -1.76439852e-01] [-2.36618008e-03 -2.12983217e-04 9.99997178e-01 5.00664459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56255784400003 meters 0.2943200417346553 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.50 [[ 9.99996401e-01 -9.42912439e-04 2.51169689e-03 1.35413762e+00] [ 9.43784083e-04 9.99999495e-01 -3.45871505e-04 -1.74147819e-01] [-2.51136950e-03 3.48240760e-04 9.99996786e-01 5.00406110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59255784400003 meters 0.29110859566432057 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99995256e-01 -3.07257640e-03 -2.19607816e-04 1.31081832e+00] [ 3.07258779e-03 9.99995278e-01 5.15525729e-05 -1.76099404e-01] [ 2.19448380e-04 -5.22270926e-05 9.99999975e-01 5.02438526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62255784400003 meters 0.29212240207872553 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99998998e-01 -1.18915711e-03 -7.67868159e-04 1.34815016e+00] [ 1.18854851e-03 9.99998980e-01 -7.92558843e-04 -1.72064428e-01] [ 7.68809853e-04 7.91645401e-04 9.99999391e-01 5.05567687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65255784400003 meters 0.289922672390883 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99995932e-01 -2.74514037e-03 -7.75332109e-04 1.31128244e+00] [ 2.74517386e-03 9.99996231e-01 4.21347897e-05 -1.72305174e-01] [ 7.75213521e-04 -4.42630397e-05 9.99999699e-01 5.02265309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.682557844 meters 0.29233814878644043 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.50 [[ 9.99997665e-01 -1.03074953e-03 -1.89926430e-03 1.34998068e+00] [ 1.02838694e-03 9.99998697e-01 -1.24450822e-03 -1.68159347e-01] [ 1.90054460e-03 1.24255214e-03 9.99997422e-01 5.04754961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.712557844 meters 0.2903502619084411 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.50 [[ 9.99996857e-01 -2.13166668e-03 -1.31973359e-03 1.31114551e+00] [ 2.13179044e-03 9.99997723e-01 9.23698342e-05 -1.70146333e-01] [ 1.31953369e-03 -9.51829393e-05 9.99999125e-01 5.02489513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.742557844 meters 0.2906975182773859 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99997557e-01 -1.72249352e-04 -2.20372917e-03 1.34889117e+00] [ 1.70313223e-04 9.99999599e-01 -8.78726881e-04 -1.65735363e-01] [ 2.20387965e-03 8.78349410e-04 9.99997186e-01 5.05667366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.772557844 meters 0.2917753720606952 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99997749e-01 -2.72875099e-04 -2.10416236e-03 1.34857715e+00] [ 2.70470703e-04 9.99999310e-01 -1.14288531e-03 -1.64617061e-01] [ 2.10447277e-03 1.14231363e-03 9.99997133e-01 5.05790894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802557844 meters 0.2902465797965458 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99997700e-01 -2.58274468e-04 -2.12923011e-03 1.34849196e+00] [ 2.55924369e-04 9.99999358e-01 -1.10393037e-03 -1.64741198e-01] [ 2.12951386e-03 1.10338291e-03 9.99997124e-01 5.06122319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832557844 meters 0.2898748946915193 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.16, Z:0.51 [[ 0.99998409 0.00397982 -0.00399793 1.32423895] [-0.00399811 0.99998154 -0.00457654 -0.16478065] [ 0.00397964 0.00459245 0.99998154 0.50822087] [ 0. 0. 0. 1. ]] SLAMing on 253.862557844 meters 0.290143278354943 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99999687e-01 -6.41104867e-04 -4.64448552e-04 1.34596565e+00] [ 6.40543528e-04 9.99999066e-01 -1.20775702e-03 -1.67731720e-01] [ 4.65222417e-04 1.20745914e-03 9.99999163e-01 5.06427260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892557844 meters 0.28974048543746755 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99999773e-01 -4.73257136e-04 -4.78572503e-04 1.34582366e+00] [ 4.72911744e-04 9.99999628e-01 -7.21569769e-04 -1.69670330e-01] [ 4.78913813e-04 7.21343283e-04 9.99999625e-01 5.06848091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922557844 meters 0.29019281052620843 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99999802e-01 -3.74336761e-04 -5.05845758e-04 1.34593855e+00] [ 3.74103335e-04 9.99999824e-01 -4.61472496e-04 -1.70767220e-01] [ 5.06018415e-04 4.61283166e-04 9.99999766e-01 5.06741097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952557844 meters 0.2904197738656207 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:0.51 [[ 9.99999770e-01 -2.98268952e-04 -6.09513892e-04 1.34621760e+00] [ 2.98112959e-04 9.99999923e-01 -2.56005554e-04 -1.71633048e-01] [ 6.09590204e-04 2.55823792e-04 9.99999781e-01 5.06705584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982557844 meters 0.2887968725282977 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99998742e-01 -1.58205291e-03 1.11942956e-04 1.30872022e+00] [ 1.58191472e-03 9.99998000e-01 1.22400704e-03 -1.76004461e-01] [-1.13879176e-04 -1.22382842e-03 9.99999245e-01 5.03705715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012557844 meters 0.29030355705612376 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999014e-01 -1.40197324e-03 -8.24230118e-05 1.30906183e+00] [ 1.40211067e-03 9.99997586e-01 1.69172032e-03 -1.77908400e-01] [ 8.00510662e-05 -1.69183422e-03 9.99998566e-01 5.04051454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04255784400002 meters 0.2901040519330476 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999133e-01 -1.30734661e-03 -1.60533379e-04 1.30921449e+00] [ 1.30765574e-03 9.99997261e-01 1.94090903e-03 -1.78931471e-01] [ 1.57995499e-04 -1.94111727e-03 9.99998104e-01 5.04157231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07255784400002 meters 0.29015480142280253 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999254e-01 -1.20954819e-03 -1.69058525e-04 1.30924613e+00] [ 1.20991626e-03 9.99996861e-01 2.19430308e-03 -1.79986206e-01] [ 1.66403879e-04 -2.19450599e-03 9.99997578e-01 5.04131633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10255784400002 meters 0.2912571074778084 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999353e-01 -1.12571686e-03 -1.63715416e-04 1.30927012e+00] [ 1.12610838e-03 9.99996459e-01 2.41138703e-03 -1.80896993e-01] [ 1.61000297e-04 -2.41156983e-03 9.99997079e-01 5.04047202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13255784400002 meters 0.2912571074778084 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999353e-01 -1.12571686e-03 -1.63715416e-04 1.30927012e+00] [ 1.12610838e-03 9.99996459e-01 2.41138703e-03 -1.80896993e-01] [ 1.61000297e-04 -2.41156983e-03 9.99997079e-01 5.04047202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16255784400002 meters 0.2914224057867015 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99999528e-01 -9.59886806e-04 -1.51978016e-04 1.30914061e+00] [ 9.60313662e-04 9.99995523e-01 2.83395956e-03 -1.82630829e-01] [ 1.49257055e-04 -2.83410416e-03 9.99995973e-01 5.04273051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19255784400002 meters 0.2921948782041832 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:0.50 [[ 9.99972807e-01 6.99953875e-03 2.32194494e-03 1.32874082e+00] [-7.00031372e-03 9.99975444e-01 3.25799401e-04 -1.84018560e-01] [-2.31960748e-03 -3.42044884e-04 9.99997251e-01 5.03509104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22255784400002 meters 0.2901208717710744 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99991804e-01 4.03058857e-03 3.83031552e-04 1.28727178e+00] [-4.03063937e-03 9.99991868e-01 1.31932036e-04 -1.86614586e-01] [-3.82496674e-04 -1.33474817e-04 9.99999918e-01 5.04047724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25255784400002 meters 0.2903360019201575 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.50 [[ 9.99991805e-01 -3.57978627e-03 1.89060093e-03 1.30769481e+00] [ 3.57827814e-03 9.99993278e-01 8.00479008e-04 -1.84744065e-01] [-1.89345376e-03 -7.93707353e-04 9.99997892e-01 5.04320060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28255784400002 meters 0.29095960596161335 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.50 [[ 9.99991983e-01 -3.53933738e-03 1.87256173e-03 1.30765786e+00] [ 3.53764431e-03 9.99993331e-01 9.06687433e-04 -1.85166377e-01] [-1.87575832e-03 -9.00055707e-04 9.99997836e-01 5.04509460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31255784400003 meters 0.29209625230527636 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:0.50 [[ 9.99992082e-01 -3.51749779e-03 1.86075140e-03 1.30768485e+00] [ 3.51570853e-03 9.99993355e-01 9.63980841e-04 -1.85403247e-01] [-1.86412983e-03 -9.57431349e-04 9.99997804e-01 5.04516836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34255784400003 meters 0.2905349807775867 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993025e-01 3.73501573e-03 -9.69803094e-06 1.28831454e+00] [-3.73501502e-03 9.99993022e-01 7.18207834e-05 -1.89212379e-01] [ 9.96621502e-06 -7.17840602e-05 9.99999997e-01 5.03879278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37255784400003 meters 0.29098925235846274 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993126e-01 3.70740243e-03 -5.41064645e-05 1.28851580e+00] [-3.70740230e-03 9.99993128e-01 2.52780214e-06 -1.88957323e-01] [ 5.41154643e-05 -2.32719033e-06 9.99999999e-01 5.03676297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784400003 meters 0.2914200016004556 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993304e-01 3.65911830e-03 -5.39106541e-05 1.28859451e+00] [-3.65912518e-03 9.99993297e-01 -1.27947306e-04 -1.88440282e-01] [ 5.34421184e-05 1.28143715e-04 9.99999990e-01 5.03490925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.432557844 meters 0.2911227384839898 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993443e-01 3.62128792e-03 2.54559267e-05 1.28834878e+00] [-3.62128189e-03 9.99993416e-01 -2.33048135e-04 -1.87985447e-01] [-2.62996935e-05 2.32954424e-04 9.99999973e-01 5.03588487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.462557844 meters 0.2915873464070086 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993558e-01 3.58844219e-03 8.42262128e-05 1.28822593e+00] [-3.58841490e-03 9.99993510e-01 -3.21951402e-04 -1.87622368e-01] [-8.53809702e-05 3.21647090e-04 9.99999945e-01 5.03523507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.492557844 meters 0.29164797440316836 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.50 [[ 9.99993768e-01 3.52829987e-03 1.21245722e-04 1.28818113e+00] [-3.52824128e-03 9.99993660e-01 -4.80094891e-04 -1.86976938e-01] [-1.22938872e-04 4.79664115e-04 9.99999877e-01 5.03408913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.522557844 meters 0.2896147286953236 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.19, Z:0.50 [[ 0.9999891 -0.00403054 -0.00235546 1.26738174] [ 0.00403577 0.99998939 0.0022202 -0.18577428] [ 0.00234648 -0.00222968 0.99999476 0.50488408] [ 0. 0. 0. 1. ]] SLAMing on 254.552557844 meters 0.29050153242794313 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:0.51 [[ 9.99985423e-01 5.26519161e-03 -1.19657415e-03 1.28640976e+00] [-5.26462800e-03 9.99986030e-01 4.73689445e-04 -1.86140830e-01] [ 1.19905150e-03 -4.67383022e-04 9.99999172e-01 5.05560107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582557844 meters 0.2921174017006533 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.18, Z:0.51 [[ 9.99996462e-01 -2.62669937e-03 -4.20096917e-04 1.30712896e+00] [ 2.62694434e-03 9.99996379e-01 5.83657472e-04 -1.80436170e-01] [ 4.18562303e-04 -5.84758978e-04 9.99999741e-01 5.05368759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612557844 meters 0.2904609216280892 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:0.51 [[ 0.99998823 0.00244023 -0.00419384 1.2847872 ] [-0.00245004 0.99999427 -0.00233591 -0.17503066] [ 0.00418812 0.00234616 0.99998848 0.50783165] [ 0. 0. 0. 1. ]] SLAMing on 254.642557844 meters 0.2914940794296298 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.51 [[ 9.99996473e-01 -2.16051802e-03 -1.54491322e-03 1.30644838e+00] [ 2.16198077e-03 9.99997216e-01 9.45774109e-04 -1.73615613e-01] [ 1.54286556e-03 -9.49110845e-04 9.99998359e-01 5.06651734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672557844 meters 0.2905273671671955 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.51 [[ 9.99996446e-01 -2.19352944e-03 -1.51508778e-03 1.30627536e+00] [ 2.19483205e-03 9.99997223e-01 8.58634942e-04 -1.73231697e-01] [ 1.51320013e-03 -8.61957254e-04 9.99998484e-01 5.06866271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702557844 meters 0.29244672023073676 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:0.51 [[ 9.99971975e-01 7.44551782e-03 -7.83338101e-04 1.32601404e+00] [-7.44584418e-03 9.99972193e-01 -4.14540463e-04 -1.75702154e-01] [ 7.80229851e-04 4.20361459e-04 9.99999607e-01 5.07020458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732557844 meters 0.2907049781546579 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.51 [[ 9.99995111e-01 -1.82920226e-03 -2.53613235e-03 1.30757800e+00] [ 1.83196211e-03 9.99997732e-01 1.08631383e-03 -1.74256894e-01] [ 2.53413951e-03 -1.09095462e-03 9.99996194e-01 5.06022249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762557844 meters 0.2896272458477681 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99979984e-01 5.52688397e-03 -3.07987410e-03 1.28834608e+00] [-5.52638423e-03 9.99984715e-01 1.70749573e-04 -1.79243513e-01] [ 3.08077073e-03 -1.53725588e-04 9.99995243e-01 5.04813157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79255784400002 meters 0.290175318464265 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.51 [[ 9.99979881e-01 5.55917177e-03 -3.05497339e-03 1.28813284e+00] [-5.55841971e-03 9.99984519e-01 2.54611308e-04 -1.79553498e-01] [ 3.05634153e-03 -2.37625361e-04 9.99995301e-01 5.05161908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82255784400002 meters 0.2912869681940647 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.51 [[ 9.99980134e-01 5.52415483e-03 -3.03554934e-03 1.28798399e+00] [-5.52369459e-03 9.99984731e-01 1.59977652e-04 -1.79134104e-01] [ 3.03638673e-03 -1.43207026e-04 9.99995380e-01 5.05396277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85255784400002 meters 0.29120712606930954 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.18, Z:0.50 [[ 9.99980695e-01 5.41467247e-03 -3.04810188e-03 1.28819913e+00] [-5.41515534e-03 9.99985327e-01 -1.50183636e-04 -1.77924858e-01] [ 3.04724395e-03 1.66686682e-04 9.99995343e-01 5.04950828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88255784400002 meters 0.29069762332733207 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.18, Z:0.50 [[ 9.99989558e-01 3.73224784e-03 -2.63714400e-03 1.25042836e+00] [-3.73106672e-03 9.99992937e-01 4.52656240e-04 -1.77809475e-01] [ 2.63881480e-03 -4.42812153e-04 9.99996420e-01 5.02067870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91255784400002 meters 0.2911869045776831 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.50 [[ 9.99986544e-01 -3.90041715e-03 -3.42040559e-03 1.26909406e+00] [ 3.90266643e-03 9.99992173e-01 6.51178880e-04 -1.68867450e-01] [ 3.41783894e-03 -6.64518820e-04 9.99993938e-01 5.03667347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94255784400002 meters 0.29097795100295176 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:0.50 [[ 9.99986656e-01 -3.99459339e-03 -3.27573032e-03 1.26868414e+00] [ 3.99584180e-03 9.99991946e-01 3.74654774e-04 -1.67712199e-01] [ 3.27420735e-03 -3.87739074e-04 9.99994565e-01 5.03786248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97255784400002 meters 0.29204674602234465 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.51 [[ 9.99992078e-01 -1.84296733e-03 -3.52815816e-03 1.30562501e+00] [ 1.84111272e-03 9.99998165e-01 -5.28834746e-04 -1.61935875e-01] [ 3.52912632e-03 5.22334820e-04 9.99993636e-01 5.07275476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00255784400002 meters 0.2908127018869907 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.51 [[ 9.99991932e-01 -2.06153140e-03 -3.44770608e-03 1.30562548e+00] [ 2.05785402e-03 9.99997310e-01 -1.06982361e-03 -1.59727606e-01] [ 3.44990228e-03 1.06272010e-03 9.99993484e-01 5.06821067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03255784400002 meters 0.2911257044870991 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.51 [[ 9.99991694e-01 -2.11041683e-03 -3.48675639e-03 1.30582722e+00] [ 2.10625619e-03 9.99997066e-01 -1.19651283e-03 -1.59237551e-01] [ 3.48927130e-03 1.18915889e-03 9.99993205e-01 5.06585956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06255784400003 meters 0.29076707382674216 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.51 [[ 9.99991317e-01 -2.13380702e-03 -3.57937989e-03 1.30608303e+00] [ 2.12932333e-03 9.99996944e-01 -1.25598745e-03 -1.59013530e-01] [ 3.58204899e-03 1.24835489e-03 9.99992805e-01 5.06537770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09255784400003 meters 0.29138456136686575 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.16, Z:0.51 [[ 9.99991266e-01 -2.12768145e-03 -3.59744896e-03 1.30603829e+00] [ 2.12322878e-03 9.99996976e-01 -1.24109760e-03 -1.59056084e-01] [ 3.60007874e-03 1.23344855e-03 9.99992759e-01 5.06752347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12255784400003 meters 0.29005986037837406 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99992576e-01 -2.08859548e-03 -3.23801806e-03 1.30479584e+00] [ 2.08483415e-03 9.99997149e-01 -1.16455324e-03 -1.59229199e-01] [ 3.24044110e-03 1.15779386e-03 9.99994080e-01 5.07751521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15255784400003 meters 0.29104092108820756 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99994183e-01 -2.40250698e-04 -3.40244899e-03 1.34121727e+00] [ 2.34794380e-04 9.99998686e-01 -1.60395299e-03 -1.56857886e-01] [ 3.40282987e-03 1.60314479e-03 9.99992925e-01 5.11751637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.182557844 meters 0.2904562033075724 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99995950e-01 -1.83786371e-03 -2.17318141e-03 1.30288094e+00] [ 1.83759073e-03 9.99998303e-01 -1.27604265e-04 -1.60965049e-01] [ 2.17341225e-03 1.23610331e-04 9.99997630e-01 5.08949429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.212557844 meters 0.2911516881575778 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99995744e-01 -1.79216015e-03 -2.30241052e-03 1.30333108e+00] [ 1.79217081e-03 9.99998394e-01 2.56687326e-06 -1.61551719e-01] [ 2.30240222e-03 -6.69317525e-06 9.99997349e-01 5.08663885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.242557844 meters 0.29125954590674347 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99995456e-01 -1.70087077e-03 -2.48885614e-03 1.30408663e+00] [ 1.70152726e-03 9.99998518e-01 2.61678239e-04 -1.62795493e-01] [ 2.48840737e-03 -2.65911907e-04 9.99996869e-01 5.07992610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.272557844 meters 0.29025840100146916 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99995706e-01 -1.65977377e-03 -2.41504276e-03 1.30387817e+00] [ 1.66065868e-03 9.99998555e-01 3.64456358e-04 -1.63210837e-01] [ 2.41443435e-03 -3.68465355e-04 9.99997017e-01 5.08039096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302557844 meters 0.29053567154379945 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99996085e-01 -1.58402342e-03 -2.30670455e-03 1.30342602e+00] [ 1.58532454e-03 9.99998585e-01 5.62339120e-04 -1.63981555e-01] [ 2.30581053e-03 -5.65993794e-04 9.99997181e-01 5.08483402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332557844 meters 0.29043109233223785 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99996447e-01 -1.54216627e-03 -2.17422007e-03 1.30291169e+00] [ 1.54362197e-03 9.99998585e-01 6.68012869e-04 -1.64360513e-01] [ 2.17318680e-03 -6.71366670e-04 9.99997413e-01 5.08917031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362557844 meters 0.291599563553028 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.16, Z:0.51 [[ 9.99981984e-01 5.97520991e-03 5.72902106e-04 1.32265412e+00] [-5.97394930e-03 9.99979785e-01 -2.17741673e-03 -1.64429117e-01] [-5.85901047e-04 2.17395502e-03 9.99997465e-01 5.08550740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392557844 meters 0.29189365725548105 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.16, Z:0.51 [[ 9.99994673e-01 -2.05917691e-03 -2.53265210e-03 1.30297624e+00] [ 2.05931123e-03 9.99997878e-01 5.04287644e-05 -1.64543469e-01] [ 2.53254288e-03 -5.56440147e-05 9.99996792e-01 5.09961863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422557844 meters 0.2920827853743793 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99992023e-01 -3.45150854e-05 -3.99406736e-03 1.34256974e+00] [ 3.04857210e-05 9.99999491e-01 -1.00889384e-03 -1.60518708e-01] [ 3.99410014e-03 1.00876403e-03 9.99991515e-01 5.12167336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452557844 meters 0.2913795969798013 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99992826e-01 -1.11573367e-04 -3.78618002e-03 1.34217510e+00] [ 1.06842034e-04 9.99999213e-01 -1.24981137e-03 -1.59566025e-01] [ 3.78631648e-03 1.24939788e-03 9.99992051e-01 5.11851959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482557844 meters 0.2907905380341227 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99993501e-01 -1.50596122e-04 -3.60200105e-03 1.34164134e+00] [ 1.45660510e-04 9.99999050e-01 -1.37046494e-03 -1.59031712e-01] [ 3.60220401e-03 1.36993137e-03 9.99992574e-01 5.12017718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512557844 meters 0.2922013395324223 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:0.51 [[ 9.99990491e-01 -4.23816527e-03 -1.02798209e-03 1.36476873e+00] [ 4.24032350e-03 9.99988791e-01 2.10647352e-03 -1.58590316e-01] [ 1.01904298e-03 -2.11081246e-03 9.99997253e-01 5.10382735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54255784400002 meters 0.29258537915352567 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:0.51 [[ 9.99990137e-01 -4.31093674e-03 -1.06815370e-03 1.36492150e+00] [ 4.31298511e-03 9.99988850e-01 1.92285443e-03 -1.57839209e-01] [ 1.05985248e-03 -1.92744240e-03 9.99997581e-01 5.10274442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57255784400002 meters 0.2909209727766955 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99989368e-01 2.73495425e-03 -3.71259012e-03 1.34597492e+00] [-2.73264500e-03 9.99996070e-01 6.26935696e-04 -1.59418310e-01] [ 3.71429017e-03 -6.16783840e-04 9.99992912e-01 5.09521865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60255784400002 meters 0.2925300546657059 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99989537e-01 2.64643293e-03 -3.73126865e-03 1.34613765e+00] [-2.64497219e-03 9.99996424e-01 3.96367222e-04 -1.58492327e-01] [ 3.73230426e-03 -3.86493973e-04 9.99992960e-01 5.09258696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63255784400002 meters 0.29258020742282786 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99989818e-01 2.57810141e-03 -3.70380586e-03 1.34610470e+00] [-2.57730933e-03 9.99996655e-01 2.18613371e-04 -1.57760087e-01] [ 3.70435707e-03 -2.09065292e-04 9.99993117e-01 5.09173410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66255784400002 meters 0.2913568622285307 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99990117e-01 2.48016359e-03 -3.68970964e-03 1.34597374e+00] [-2.48032997e-03 9.99996923e-01 -4.05169989e-05 -1.56665965e-01] [ 3.68959780e-03 4.96682959e-05 9.99993192e-01 5.09383817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69255784400002 meters 0.2913901210709301 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:0.51 [[ 9.99990115e-01 2.42366700e-03 -3.72761156e-03 1.34607789e+00] [-2.42437293e-03 9.99997044e-01 -1.84873566e-04 -1.56074708e-01] [ 3.72715247e-03 1.93908859e-04 9.99993035e-01 5.09366155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72255784400002 meters 0.2928159590675011 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99984565e-01 -4.75281214e-03 -2.87753526e-03 1.36571456e+00] [ 4.75519258e-03 9.99988357e-01 8.20973574e-04 -1.51204897e-01] [ 2.87359982e-03 -8.34644136e-04 9.99995523e-01 5.10636941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75255784400002 meters 0.2917744138515811 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:0.51 [[ 9.99987835e-01 2.61875674e-03 -4.17993469e-03 1.34686741e+00] [-2.61996086e-03 9.99996528e-01 -2.82622735e-04 -1.54904118e-01] [ 4.17918006e-03 2.93570562e-04 9.99991224e-01 5.09466275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78255784400002 meters 0.29149232556533183 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:0.51 [[ 9.99988035e-01 2.50148565e-03 -4.20383454e-03 1.34702526e+00] [-2.50395947e-03 9.99996695e-01 -5.83307924e-04 -1.53680404e-01] [ 4.20236150e-03 5.93827176e-04 9.99990994e-01 5.09243836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81255784400003 meters 0.2916415182542538 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:0.51 [[ 9.99988594e-01 2.43111405e-03 -4.11122071e-03 1.34672456e+00] [-2.43430445e-03 9.99996740e-01 -7.71196008e-04 -1.52874652e-01] [ 4.10933244e-03 7.81195174e-04 9.99991252e-01 5.09380837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84255784400003 meters 0.2908050185913317 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:0.51 [[ 9.99989100e-01 2.35661648e-03 -4.03065567e-03 1.34640120e+00] [-2.36054411e-03 9.99996743e-01 -9.69959629e-04 -1.52010685e-01] [ 4.02835672e-03 9.79463597e-04 9.99991406e-01 5.09650492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87255784400003 meters 0.2916470296001964 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99996155e-01 -2.58137715e-03 -1.01298150e-03 1.36811357e+00] [ 2.58339767e-03 9.99994666e-01 1.99841457e-03 -1.51348644e-01] [ 1.00781744e-03 -2.00102382e-03 9.99997490e-01 5.08075048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784400003 meters 0.2910207578761979 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995938e-01 -2.64764556e-03 -1.05546481e-03 1.36821405e+00] [ 2.64956389e-03 9.99994833e-01 1.82029286e-03 -1.50623236e-01] [ 1.05063987e-03 -1.82308198e-03 9.99997786e-01 5.08084258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.932557844 meters 0.29113799453997463 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995934e-01 -2.65511685e-03 -1.04051503e-03 1.36808603e+00] [ 2.65698530e-03 9.99994853e-01 1.79845126e-03 -1.50512020e-01] [ 1.03573457e-03 -1.80120858e-03 9.99997841e-01 5.08293367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.962557844 meters 0.29168796222245474 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995947e-01 -2.65113990e-03 -1.03790477e-03 1.36797475e+00] [ 2.65301317e-03 9.99994847e-01 1.80765810e-03 -1.50526821e-01] [ 1.03310707e-03 -1.81040435e-03 9.99997828e-01 5.08535583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.992557844 meters 0.29169047625730615 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995871e-01 -2.70592441e-03 -9.67123473e-04 1.36744989e+00] [ 2.70752698e-03 9.99994958e-01 1.65959688e-03 -1.49798532e-01] [ 9.62627853e-04 -1.66220854e-03 9.99998155e-01 5.09358507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02255784400006 meters 0.29057982318683784 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995805e-01 -2.74305956e-03 -9.30435848e-04 1.36737988e+00] [ 2.74451014e-03 9.99995015e-01 1.56135786e-03 -1.49396029e-01] [ 9.26148312e-04 -1.56390490e-03 9.99998348e-01 5.09303752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05255784400003 meters 0.29057982318683784 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995805e-01 -2.74305956e-03 -9.30435848e-04 1.36737988e+00] [ 2.74451014e-03 9.99995015e-01 1.56135786e-03 -1.49396029e-01] [ 9.26148312e-04 -1.56390490e-03 9.99998348e-01 5.09303752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08255784400006 meters 0.29184604723928437 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995689e-01 -2.77437132e-03 -9.62161921e-04 1.36757966e+00] [ 2.77579424e-03 9.99995051e-01 1.48071678e-03 -1.49093813e-01] [ 9.58049101e-04 -1.48338116e-03 9.99998441e-01 5.09034342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11255784400004 meters 0.2894861756149038 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:0.51 [[ 0.99998991 0.00180046 -0.00411679 1.34523498] [-0.001808 0.99999669 -0.00182901 -0.1473724 ] [ 0.00411348 0.00183643 0.99998985 0.51081805] [ 0. 0. 0. 1. ]] SLAMing on 256.14255784400007 meters 0.2896632480422049 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 0.99999032 0.00174636 -0.00403963 1.3449096 ] [-0.00175436 0.99999651 -0.00197656 -0.1467198 ] [ 0.00403616 0.00198363 0.99998989 0.51112507] [ 0. 0. 0. 1. ]] SLAMing on 256.17255784400004 meters 0.29107090756915205 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995932e-01 -2.65924366e-03 -1.03191442e-03 1.36759376e+00] [ 2.66067454e-03 9.99995497e-01 1.38774178e-03 -1.47554254e-01] [ 1.02821943e-03 -1.39048173e-03 9.99998505e-01 5.09332529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20255784400007 meters 0.29180692701624705 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99995828e-01 -2.68726767e-03 -1.05983710e-03 1.36766011e+00] [ 2.68866076e-03 9.99995521e-01 1.31521129e-03 -1.47256687e-01] [ 1.05629803e-03 -1.31805534e-03 9.99998573e-01 5.09342623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23255784400004 meters 0.29052888594292775 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 0.99999456 0.00164121 -0.00286211 1.3440968 ] [-0.00164777 0.99999602 -0.00228884 -0.147119 ] [ 0.00285835 0.00229355 0.99999328 0.51070075] [ 0. 0. 0. 1. ]] SLAMing on 256.26255784400007 meters 0.2918880711479173 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.15, Z:0.51 [[ 9.99993483e-01 -3.61019184e-03 -3.94346244e-06 1.36675650e+00] [ 3.61019361e-03 9.99993283e-01 6.33307264e-04 -1.48632826e-01] [ 1.65707523e-06 -6.33317373e-04 9.99999799e-01 5.08461092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29255784400004 meters 0.29004481423463385 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998016e-01 8.24602166e-04 -1.81316586e-03 1.34250370e+00] [-8.29211844e-04 9.99996423e-01 -2.54305632e-03 -1.50004554e-01] [ 1.81106237e-03 2.54455477e-03 9.99995123e-01 5.10653094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters 0.2904312456906637 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998170e-01 9.52631462e-04 -1.65894709e-03 1.34187578e+00] [-9.56180222e-04 9.99997254e-01 -2.13968605e-03 -1.51560021e-01] [ 1.65690420e-03 2.14126839e-03 9.99996335e-01 5.11315721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35255784400005 meters 0.28948145475453413 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998411e-01 1.19831110e-03 -1.31981884e-03 1.34051955e+00] [-1.19995197e-03 9.99998507e-01 -1.24316093e-03 -1.54881703e-01] [ 1.31832718e-03 1.24474268e-03 9.99998356e-01 5.12743294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382557844 meters 0.2896778774429282 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99998144e-01 1.38076643e-03 -1.34364456e-03 1.34053744e+00] [-1.38167090e-03 9.99998819e-01 -6.72449021e-04 -1.57145083e-01] [ 1.34271448e-03 6.74304248e-04 9.99998871e-01 5.12816524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41255784400005 meters 0.29026460499162776 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99997660e-01 1.56511948e-03 -1.49323421e-03 1.34093923e+00] [-1.56524706e-03 9.99998771e-01 -8.42740555e-05 -1.59510798e-01] [ 1.49310048e-03 8.66111388e-05 9.99998882e-01 5.12665977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442557844 meters 0.2893575866210485 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99997108e-01 1.76641310e-03 -1.63236200e-03 1.34128033e+00] [-1.76549951e-03 9.99998284e-01 5.60944421e-04 -1.62096331e-01] [ 1.63335006e-03 -5.58060864e-04 9.99998510e-01 5.12611457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47255784400005 meters 0.2893135237248711 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.99999609 0.00198831 -0.00196779 1.34197711] [-0.00198515 0.99999674 0.0016081 -0.16644084] [ 0.00197099 -0.00160418 0.99999677 0.51278338] [ 0. 0. 0. 1. ]] SLAMing on 256.502557844 meters 0.2907416394624114 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.9999956 0.00216035 -0.00203364 1.34210496] [-0.00215615 0.99999553 0.00206951 -0.168332 ] [ 0.0020381 -0.00206511 0.99999579 0.51282978] [ 0. 0. 0. 1. ]] SLAMing on 256.53255784400005 meters 0.29081323309769386 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.99999497 0.00230113 -0.00218494 1.34259394] [-0.00229577 0.99999435 0.00245413 -0.16993911] [ 0.00219057 -0.0024491 0.9999946 0.51251284] [ 0. 0. 0. 1. ]] SLAMing on 256.562557844 meters 0.2907725078571372 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.9999947 0.00230027 -0.00230534 1.34294128] [-0.0022946 0.99999435 0.00245738 -0.1699545 ] [ 0.00231098 -0.00245208 0.99999432 0.51240509] [ 0. 0. 0. 1. ]] SLAMing on 256.59255784400005 meters 0.29099069501947084 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.99999461 0.00225356 -0.00238704 1.34322675] [-0.00224799 0.99999475 0.00233425 -0.16946702] [ 0.00239228 -0.00232888 0.99999443 0.51221493] [ 0. 0. 0. 1. ]] SLAMing on 256.622557844 meters 0.28909818392861814 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.17, Z:0.51 [[ 9.99998555e-01 3.97110388e-04 -1.65308248e-03 1.30543414e+00] [-3.92696390e-04 9.99996359e-01 2.66963045e-03 -1.69226949e-01] [ 1.65413660e-03 -2.66897743e-03 9.99995070e-01 5.09352364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65255784400006 meters 0.2915971086848242 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:0.51 [[ 0.99999657 0.00207672 -0.00159575 1.34360986] [-0.00207418 0.99999658 0.00159376 -0.16533568] [ 0.00159906 -0.00159045 0.99999746 0.51169706] [ 0. 0. 0. 1. ]] SLAMing on 256.68255784400003 meters 0.2908568438636422 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99997518e-01 1.84561163e-03 -1.24792131e-03 1.34264558e+00] [-1.84449465e-03 9.99997898e-01 8.95634163e-04 -1.62345987e-01] [ 1.24957168e-03 -8.93330156e-04 9.99998820e-01 5.11969581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71255784400006 meters 0.29019786347727156 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:0.51 [[ 9.99997819e-01 1.71350475e-03 -1.19449064e-03 1.34252770e+00] [-1.71285352e-03 9.99998384e-01 5.46011195e-04 -1.60904902e-01] [ 1.19542430e-03 -5.43964017e-04 9.99999138e-01 5.11953199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74255784400003 meters 0.2916096813975325 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:0.51 [[ 9.99983395e-01 -5.76256342e-03 5.32815887e-05 1.36274478e+00] [ 5.76249995e-03 9.99982766e-01 1.12322771e-03 -1.55782867e-01] [-5.97533413e-05 -1.12290203e-03 9.99999368e-01 5.12638329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77255784400006 meters 0.2919425594545276 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.15, Z:0.51 [[ 9.99982809e-01 -5.86341426e-03 -4.94332259e-05 1.36307925e+00] [ 5.86345483e-03 9.99982436e-01 8.65052347e-04 -1.54745287e-01] [ 4.43601974e-05 -8.65327325e-04 9.99999625e-01 5.12465427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80255784400003 meters 0.29135227002583625 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.15, Z:0.51 [[ 9.99982390e-01 -5.93422208e-03 -7.39608617e-05 1.36314712e+00] [ 5.93427079e-03 9.99982163e-01 6.76845814e-04 -1.53976229e-01] [ 6.99429891e-05 -6.77272799e-04 9.99999768e-01 5.12453443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83255784400006 meters 0.2906420185912011 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99995828e-01 2.88759577e-03 8.14399873e-05 1.34145128e+00] [-2.88763147e-03 9.99995733e-01 4.41699967e-04 -1.54926025e-01] [-8.01641889e-05 -4.41933292e-04 9.99999899e-01 5.12851673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86255784400004 meters 0.29076886301940913 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99996119e-01 2.78331759e-03 1.22087848e-04 1.34141223e+00] [-2.78333842e-03 9.99996112e-01 1.70814128e-04 -1.53822014e-01] [-1.21611943e-04 -1.71153277e-04 9.99999978e-01 5.12724650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89255784400007 meters 0.29018505932668026 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99996387e-01 2.68367050e-03 1.54673750e-04 1.34141943e+00] [-2.68365642e-03 9.99996395e-01 -9.11603256e-05 -1.52768515e-01] [-1.54917836e-04 9.07449050e-05 9.99999984e-01 5.12536058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92255784400004 meters 0.2924677876948127 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.15, Z:0.51 [[ 0.99999117 -0.00263298 0.00327537 1.36348315] [ 0.00262468 0.99999334 0.00253575 -0.15255217] [-0.00328203 -0.00252713 0.99999142 0.51047426] [ 0. 0. 0. 1. ]] SLAMing on 256.95255784400007 meters 0.29155534814301454 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998355e-01 1.80893983e-03 1.36289333e-04 1.34104698e+00] [-1.80877548e-03 9.99997648e-01 -1.19650005e-03 -1.47531084e-01] [-1.38453409e-04 1.19625156e-03 9.99999275e-01 5.12289672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98255784400004 meters 0.29090403281399657 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998541e-01 1.70430874e-03 1.12671883e-04 1.34110470e+00] [-1.70414109e-03 9.99997465e-01 -1.47165180e-03 -1.46390177e-01] [-1.15179746e-04 1.47145765e-03 9.99998911e-01 5.12325291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01255784400007 meters 0.2915899909176097 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:0.51 [[ 9.99998742e-01 1.57977571e-03 1.44810170e-04 1.34106174e+00] [-1.57951341e-03 9.99997144e-01 -1.79385792e-03 -1.45063121e-01] [-1.47643650e-04 1.79362694e-03 9.99998381e-01 5.12265104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04255784400004 meters 0.29066891816694834 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.14, Z:0.51 [[ 9.99998937e-01 1.43848785e-03 2.36752937e-04 1.34084406e+00] [-1.43797119e-03 9.99996616e-01 -2.16816552e-03 -1.43518469e-01] [-2.39871015e-04 2.16782277e-03 9.99997622e-01 5.12247447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.072557844 meters 0.29221165895651074 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:0.51 [[ 9.99992348e-01 -3.03383368e-03 2.46972190e-03 1.36401737e+00] [ 3.03172122e-03 9.99995036e-01 8.58639078e-04 -1.40149810e-01] [-2.47231460e-03 -8.51145000e-04 9.99996582e-01 5.10709057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10255784400005 meters 0.28935874350323265 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.14, Z:0.51 [[ 9.99992274e-01 -3.84346074e-03 -8.23910491e-04 1.32111349e+00] [ 3.84487355e-03 9.99991129e-01 1.72009214e-03 -1.37630221e-01] [ 8.17292075e-04 -1.72324669e-03 9.99998181e-01 5.12354603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.132557844 meters 0.29077161406559093 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.13, Z:0.51 [[ 9.99988077e-01 4.80151165e-03 8.89254273e-04 1.34211270e+00] [-4.80078482e-03 9.99988142e-01 -8.17683761e-04 -1.31479220e-01] [-8.93169846e-04 8.13404894e-04 9.99999270e-01 5.11088793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16255784400005 meters 0.2905764395335085 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.13, Z:0.51 [[ 9.99989259e-01 4.55575230e-03 8.52424945e-04 1.34231748e+00] [-4.55442296e-03 9.99988420e-01 -1.55497576e-03 -1.28528262e-01] [-8.59499158e-04 1.55107675e-03 9.99998428e-01 5.10857833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192557844 meters 0.291401022401914 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.12, Z:0.51 [[ 9.99992900e-01 -3.06039964e-03 2.19841635e-03 1.36162809e+00] [ 3.06296735e-03 9.99994630e-01 -1.16556239e-03 -1.20683645e-01] [-2.19483745e-03 1.17228779e-03 9.99996904e-01 5.11514988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22255784400005 meters 0.29089639510357307 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.12, Z:0.51 [[ 9.99992866e-01 -1.54434828e-03 3.44702189e-03 1.35635426e+00] [ 1.54467707e-03 9.99998803e-01 -9.27228328e-05 -1.17528555e-01] [-3.44687456e-03 9.80467071e-05 9.99994055e-01 5.14495551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252557844 meters 0.29076628003641 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:0.51 [[ 0.99999258 -0.00210538 0.00322698 1.3573639 ] [ 0.00211164 0.99999589 -0.00193744 -0.11035314] [-0.00322288 0.00194424 0.99999292 0.51361971] [ 0. 0. 0. 1. ]] SLAMing on 257.28255784400005 meters 0.2909773502555232 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:0.51 [[ 0.99999178 -0.00242869 0.00324792 1.35748665] [ 0.00243775 0.99999314 -0.00278835 -0.10690013] [-0.00324113 0.00279625 0.99999084 0.51330286] [ 0. 0. 0. 1. ]] SLAMing on 257.312557844 meters 0.2917836759165294 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:0.51 [[ 0.99999095 -0.00273453 0.00325973 1.35755912] [ 0.00274617 0.99998985 -0.00357115 -0.1037066 ] [-0.00324993 0.00358007 0.99998831 0.51310641] [ 0. 0. 0. 1. ]] SLAMing on 257.34255784400005 meters 0.2908576340245128 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:0.51 [[ 0.99999027 -0.00297105 0.00326154 1.35764848] [ 0.00298467 0.99998681 -0.00417927 -0.1012097 ] [-0.00324908 0.00418896 0.99998595 0.5129273 ] [ 0. 0. 0. 1. ]] SLAMing on 257.372557844 meters 0.2928122919756289 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:0.51 [[ 0.99998966 -0.00333908 0.00308766 1.35824632] [ 0.00335467 0.99998158 -0.00505756 -0.09764452] [-0.00307072 0.00506787 0.99998244 0.5126268 ] [ 0. 0. 0. 1. ]] SLAMing on 257.40255784400006 meters 0.2918756579647535 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:0.51 [[ 9.99994602e-01 8.36247925e-04 3.17743348e-03 1.35787994e+00] [-8.32376360e-04 9.99998910e-01 -1.21958393e-03 -9.58668124e-02] [-3.17844989e-03 1.21693253e-03 9.99994208e-01 5.12958019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43255784400003 meters 0.2912805152943036 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.51 [[ 9.99994675e-01 6.60073561e-04 3.19603564e-03 1.35776038e+00] [-6.54745034e-04 9.99998395e-01 -1.66798966e-03 -9.40079086e-02] [-3.19713150e-03 1.66588819e-03 9.99993502e-01 5.13148344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46255784400006 meters 0.29146843173575687 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.51 [[ 9.99994360e-01 3.81883621e-04 3.33681196e-03 1.35731299e+00] [-3.74001771e-04 9.99997140e-01 -2.36239456e-03 -9.11860406e-02] [-3.33770457e-03 2.36113326e-03 9.99991642e-01 5.13440412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49255784400003 meters 0.2924357467477839 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.51 [[ 9.99994339e-01 2.15210045e-04 3.35789705e-03 1.35728958e+00] [-2.05880211e-04 9.99996119e-01 -2.77857356e-03 -8.94596041e-02] [-3.35848200e-03 2.77786650e-03 9.99990502e-01 5.13404272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52255784400006 meters 0.2925635991793152 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.51 [[ 9.99994373e-01 4.14143295e-05 3.35454396e-03 1.35740667e+00] [-3.06214703e-05 9.99994824e-01 -3.21737237e-03 -8.76597826e-02] [-3.35465984e-03 3.21725155e-03 9.99989198e-01 5.13203080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55255784400003 meters 0.2916201541191673 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.51 [[ 9.99994437e-01 -1.70295477e-04 3.33109439e-03 1.35762196e+00] [ 1.82811969e-04 9.99992924e-01 -3.75752786e-03 -8.54375915e-02] [-3.33043093e-03 3.75811592e-03 9.99987392e-01 5.12912436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58255784400006 meters 0.2927611796714088 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:0.51 [[ 9.99981523e-01 -5.11640276e-03 3.28268749e-03 1.38164882e+00] [ 5.11857985e-03 9.99986685e-01 -6.55144872e-04 -7.88160021e-02] [-3.27929180e-03 6.71935465e-04 9.99994397e-01 5.11722244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61255784400004 meters 0.29025986934226655 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.07, Z:0.51 [[ 9.99999256e-01 1.21636408e-03 -8.96737474e-05 1.35946678e+00] [-1.21662296e-03 9.99994921e-01 -2.94571102e-03 -7.42972902e-02] [ 8.60902349e-05 2.94581793e-03 9.99995657e-01 5.14196786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64255784400007 meters 0.2921708200156805 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.51 [[ 9.99990841e-01 -3.51815210e-03 2.43712750e-03 1.38204999e+00] [ 3.51703115e-03 9.99993708e-01 4.64081184e-04 -7.32931217e-02] [-2.43874488e-03 -4.55505480e-04 9.99996923e-01 5.12971813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67255784400004 meters 0.29194813264617575 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.51 [[ 9.99990156e-01 -3.68249229e-03 2.47550716e-03 1.38193953e+00] [ 3.68240178e-03 9.99993219e-01 4.11203144e-05 -7.15373372e-02] [-2.47564180e-03 -3.20040976e-05 9.99996935e-01 5.13017553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70255784400007 meters 0.29214295606846136 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.51 [[ 9.99989002e-01 -3.96380034e-03 2.50671418e-03 1.38194079e+00] [ 3.96546117e-03 9.99991921e-01 -6.57931285e-04 -6.86320738e-02] [-2.50408602e-03 6.67864327e-04 9.99996642e-01 5.12880115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73255784400004 meters 0.29223498642978757 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.51 [[ 9.99988431e-01 -4.07132950e-03 2.56177209e-03 1.38185376e+00] [ 4.07373514e-03 9.99991266e-01 -9.34536444e-04 -6.74903656e-02] [-2.55794491e-03 9.44961613e-04 9.99996282e-01 5.12767796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76255784400007 meters 0.2908366980167616 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.51 [[ 9.99987798e-01 -4.16592385e-03 2.65505143e-03 1.38164587e+00] [ 4.16906075e-03 9.99990617e-01 -1.17704694e-03 -6.64861583e-02] [-2.65012303e-03 1.18810165e-03 9.99995783e-01 5.12709042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79255784400004 meters 0.2907281061615396 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.51 [[ 9.99992671e-01 -1.27269687e-03 3.61079851e-03 1.37776924e+00] [ 1.26866901e-03 9.99998571e-01 1.11757461e-03 -6.20257438e-02] [-3.61221568e-03 -1.11298551e-03 9.99992857e-01 5.14933845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters 0.2907872308265901 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.52 [[ 9.99992731e-01 -1.31317022e-03 3.57954064e-03 1.37780183e+00] [ 1.30956859e-03 9.99998634e-01 1.00833049e-03 -6.15748940e-02] [-3.58085986e-03 -1.00363550e-03 9.99993085e-01 5.15045511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85255784400005 meters 0.2899373820413461 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.52 [[ 9.99992770e-01 -1.36768831e-03 3.54821915e-03 1.37783922e+00] [ 1.36463623e-03 9.99998697e-01 8.62450607e-04 -6.09717044e-02] [-3.54939409e-03 -8.57602343e-04 9.99993333e-01 5.15152692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters 0.292232510710233 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.52 [[ 9.99961884e-01 7.56067248e-03 4.36659609e-03 1.39732893e+00] [-7.55920053e-03 9.99971366e-01 -3.53497395e-04 -6.41933553e-02] [-4.36914373e-03 3.20475945e-04 9.99990404e-01 5.15814188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91255784400005 meters 0.2903961631302085 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.51 [[ 9.99994740e-01 -1.05937860e-03 3.06544369e-03 1.37868743e+00] [ 1.05662589e-03 9.99999037e-01 8.99462000e-04 -5.93898870e-02] [-3.06639361e-03 -8.96218242e-04 9.99994897e-01 5.14286927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942557844 meters 0.2903961631302085 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.51 [[ 9.99994740e-01 -1.05937860e-03 3.06544369e-03 1.37868743e+00] [ 1.05662589e-03 9.99999037e-01 8.99462000e-04 -5.93898870e-02] [-3.06639361e-03 -8.96218242e-04 9.99994897e-01 5.14286927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97255784400005 meters 0.29069385205791815 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.51 [[ 9.99994878e-01 -1.11256696e-03 3.00111527e-03 1.37906551e+00] [ 1.11030680e-03 9.99999099e-01 7.54667466e-04 -5.88063610e-02] [-3.00195218e-03 -7.51331441e-04 9.99995212e-01 5.13765100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002557844 meters 0.2907107367688531 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.51 [[ 9.99994802e-01 -1.13990839e-03 3.01589259e-03 1.37901541e+00] [ 1.13786520e-03 9.99999122e-01 6.79102984e-04 -5.84985664e-02] [-3.01666406e-03 -6.75667775e-04 9.99995222e-01 5.13802257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03255784400005 meters 0.29251626829759586 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.52 [[ 9.99998590e-01 -5.12318448e-04 1.59901134e-03 1.41786872e+00] [ 5.12062899e-04 9.99999856e-01 1.60222160e-04 -5.91459329e-02] [-1.59909320e-03 -1.59403139e-04 9.99998709e-01 5.17398458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters 0.29282841407645527 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.52 [[ 9.99998715e-01 -5.66804204e-04 1.49971721e-03 1.41814567e+00] [ 5.66766424e-04 9.99999839e-01 2.56163275e-05 -5.85824707e-02] [-1.49973149e-03 -2.47663052e-05 9.99998875e-01 5.17372838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09255784400005 meters 0.29145097182294677 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.52 [[ 9.99998767e-01 -6.11157594e-04 1.44667355e-03 1.41834160e+00] [ 6.11283221e-04 9.99999809e-01 -8.63977100e-05 -5.81214328e-02] [-1.44662048e-03 8.72819307e-05 9.99998950e-01 5.17253758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters 0.29185351941441173 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.52 [[ 9.99998555e-01 -8.31827303e-04 1.48250809e-03 1.41832957e+00] [ 8.32787892e-04 9.99999444e-01 -6.47448851e-04 -5.58185991e-02] [-1.48196870e-03 6.48682531e-04 9.99998691e-01 5.17105366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15255784400006 meters 0.29287868984920085 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:0.52 [[ 9.99998369e-01 -9.30834163e-04 1.54768498e-03 1.41807082e+00] [ 9.32235124e-04 9.99999156e-01 -9.04722861e-04 -5.47478531e-02] [-1.54684152e-03 9.06164192e-04 9.99998393e-01 5.17342631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters 0.2909558739521236 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.52 [[ 9.99989350e-01 4.53359323e-03 -8.64115090e-04 1.39484276e+00] [-4.53729502e-03 9.99980327e-01 -4.33119763e-03 -5.08800566e-02] [ 8.44462202e-04 4.33507225e-03 9.99990247e-01 5.19586224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21255784400006 meters 0.29192679622025647 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.52 [[ 9.99995833e-01 -2.88629161e-03 6.16757022e-05 1.41370014e+00] [ 2.88647132e-03 9.99990888e-01 -3.14525436e-03 -4.31747978e-02] [-5.25970189e-05 3.14541928e-03 9.99995052e-01 5.21385372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters 0.29149953081485 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.52 [[ 9.99999027e-01 1.39386038e-03 4.87501680e-05 1.41374932e+00] [-1.39390902e-03 9.99998516e-01 1.01223517e-03 -4.24971401e-02] [-4.73391811e-05 -1.01230213e-03 9.99999487e-01 5.21338532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27255784400006 meters 0.29247605374759034 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.52 [[ 9.99999272e-01 1.20454788e-03 6.79734624e-05 1.41381817e+00] [-1.20458264e-03 9.99999143e-01 5.13626494e-04 -4.04448987e-02] [-6.73547164e-05 -5.13708000e-04 9.99999866e-01 5.21103617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters 0.29223726090871854 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:0.52 [[ 9.99999490e-01 1.00400061e-03 1.04855003e-04 1.41373483e+00] [-1.00399935e-03 9.99999496e-01 -1.20557245e-05 -3.82705168e-02] [-1.04867054e-04 1.19504440e-05 9.99999994e-01 5.21114521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33255784400006 meters 0.291731390045915 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:0.52 [[ 9.99999858e-01 5.22920043e-04 1.02992578e-04 1.41379976e+00] [-5.22774068e-04 9.99998866e-01 -1.41229320e-03 -3.26959367e-02] [-1.03730978e-04 1.41223915e-03 9.99998997e-01 5.21056789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters 0.29156800482154116 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:0.52 [[ 9.99999974e-01 2.22530629e-04 4.10070756e-05 1.41405274e+00] [-2.22439012e-04 9.99997509e-01 -2.22080914e-03 -2.94317300e-02] [-4.15011715e-05 2.22079996e-03 9.99997533e-01 5.20921506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39255784400007 meters 0.2926328754412389 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:0.52 [[ 9.99999998e-01 -6.69643653e-05 -1.68987995e-05 1.41422536e+00] [ 6.69132508e-05 9.99995477e-01 -3.00682747e-03 -2.62532615e-02] [ 1.71000734e-05 3.00682633e-03 9.99995479e-01 5.20954589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters 0.2910989064375307 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.02, Z:0.52 [[ 9.99998167e-01 1.44025731e-03 1.26129987e-03 1.40873206e+00] [-1.43794446e-03 9.99997287e-01 -1.83269198e-03 -2.37890555e-02] [-1.26393599e-03 1.83087494e-03 9.99997525e-01 5.24157342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45255784400007 meters 0.29127521710068477 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.02, Z:0.52 [[ 9.99998749e-01 8.07432113e-04 1.36024360e-03 1.40840124e+00] [-8.02968444e-04 9.99994302e-01 -3.27887807e-03 -1.77256449e-02] [-1.36288332e-03 3.27778173e-03 9.99993699e-01 5.24457747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48255784400004 meters 0.2923530848832509 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.02, Z:0.52 [[ 9.99982168e-01 -4.71616562e-03 3.66359292e-03 1.43090829e+00] [ 4.71725479e-03 9.99988832e-01 -2.88712060e-04 -1.52081607e-02] [-3.66219039e-03 3.05989013e-04 9.99993247e-01 5.22954207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51255784400007 meters 0.291772040246659 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.52 [[ 9.99981324e-01 -4.89759195e-03 3.65572682e-03 1.43101975e+00] [ 4.90029569e-03 9.99987726e-01 -7.30999014e-04 -1.33962994e-02] [-3.65210181e-03 7.48899504e-04 9.99993051e-01 5.22780808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54255784400004 meters 0.29101047393686685 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.01, Z:0.52 [[ 0.99999185 0.00362613 0.00177331 1.41172085] [-0.00362274 0.99999161 -0.0019113 -0.01213108] [-0.00178022 0.00190486 0.9999966 0.52190089] [ 0. 0. 0. 1. ]] SLAMing on 258.572557844 meters 0.29114782110403115 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.52 [[ 9.99986701e-01 -5.13072176e-03 -5.22616798e-04 1.39358872e+00] [ 5.13002103e-03 9.99985952e-01 -1.33344434e-03 -5.36462972e-03] [ 5.29450988e-04 1.33074557e-03 9.99998974e-01 5.20044102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60255784400005 meters 0.2916263725410895 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.01, Z:0.52 [[ 9.99991791e-01 4.04848183e-03 -1.67636677e-04 1.41390113e+00] [-4.04882007e-03 9.99989663e-01 -2.06907342e-03 -8.98993059e-03] [ 1.59258338e-04 2.06973517e-03 9.99997845e-01 5.20277799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.632557844 meters 0.2933642847364995 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.52 [[ 9.99992150e-01 -3.91854440e-03 5.86921512e-04 1.43410337e+00] [ 3.91906780e-03 9.99991921e-01 -8.93298131e-04 -5.38944726e-03] [-5.83416342e-04 8.95591304e-04 9.99999429e-01 5.21697110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66255784400005 meters 0.2920102354371147 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.52 [[ 9.99992050e-01 -3.93615486e-03 6.37101920e-04 1.43386267e+00] [ 3.93675261e-03 9.99991809e-01 -9.39718058e-04 -5.20081843e-03] [-6.33397826e-04 9.42218700e-04 9.99999356e-01 5.21962526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692557844 meters 0.29160922250685234 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.52 [[ 9.99991964e-01 -3.94396654e-03 7.19059405e-04 1.43348737e+00] [ 3.94465574e-03 9.99991759e-01 -9.59593878e-04 -5.13702562e-03] [-7.15268874e-04 9.62422608e-04 9.99999281e-01 5.22357547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72255784400005 meters 0.2926865256426292 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:0.52 [[ 0.99998844 0.0041054 0.00250271 1.45183973] [-0.0040986 0.99998791 -0.00271674 -0.00795653] [-0.00251383 0.00270645 0.99999318 0.52399572] [ 0. 0. 0. 1. ]] SLAMing on 258.752557844 meters 0.29167954478826574 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:0.52 [[ 0.99998872 0.00406141 0.00246387 1.45198056] [-0.00405443 0.99998777 -0.0028317 -0.00748252] [-0.00247534 0.00282168 0.99999296 0.52391652] [ 0. 0. 0. 1. ]] SLAMing on 258.78255784400005 meters 0.29275247098843793 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:0.52 [[ 0.99998927 0.00400328 0.00233275 1.45248415] [-0.0039963 0.99998755 -0.00298925 -0.00681822] [-0.00234469 0.0029799 0.99999281 0.52354453] [ 0. 0. 0. 1. ]] SLAMing on 258.812557844 meters 0.2928869642249042 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:0.52 [[ 0.99999001 0.00392492 0.00213762 1.4531324 ] [-0.003918 0.99998709 -0.00323461 -0.00580852] [-0.00215029 0.0032262 0.99999248 0.52316234] [ 0. 0. 0. 1. ]] SLAMing on 258.84255784400005 meters 0.2904962143573235 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.00, Z:0.52 [[ 9.99996115e-01 -2.25674367e-03 1.63625754e-03 1.42998479e+00] [ 2.25677842e-03 9.99997453e-01 -1.93890149e-05 -2.88819455e-03] [-1.63620961e-03 2.30816103e-05 9.99998661e-01 5.24661409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872557844 meters 0.293197032828797 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.00, Z:0.53 [[ 9.99998244e-01 -1.43602230e-03 1.20424234e-03 1.46692896e+00] [ 1.43573926e-03 9.99998942e-01 2.35865806e-04 -3.33786177e-03] [-1.20457978e-03 -2.34136414e-04 9.99999247e-01 5.29037692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90255784400006 meters 0.29076030020926025 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:0.53 [[ 9.99984553e-01 5.24187874e-03 -1.84824392e-03 1.44523096e+00] [-5.24600465e-03 9.99983743e-01 -2.23460526e-03 3.34297103e-04] [ 1.83650034e-03 2.24426663e-03 9.99995795e-01 5.30965983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93255784400003 meters 0.29167142140049335 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:0.53 [[ 0.99998504 0.00511159 -0.00194711 1.4455652 ] [-0.00511663 0.99998355 -0.00259275 0.00180191] [ 0.00193383 0.00260267 0.99999474 0.53080853] [ 0. 0. 0. 1. ]] SLAMing on 258.96255784400006 meters 0.2918927284564579 Centerline is valid? [False, False] Translation: X:1.47, Y:0.01, Z:0.53 [[ 0.99998233 -0.00372678 -0.00463179 1.46952986] [ 0.00371398 0.99998927 -0.00276763 0.00935812] [ 0.00464205 0.00275038 0.99998544 0.53034213] [ 0. 0. 0. 1. ]] SLAMing on 258.99255784400003 meters 0.29197001405714074 Centerline is valid? [False, False] Translation: X:1.47, Y:0.01, Z:0.53 [[ 0.99998155 -0.00386922 -0.0046837 1.46979647] [ 0.00385454 0.99998764 -0.00313924 0.01089221] [ 0.00469578 0.00312113 0.9999841 0.5300777 ] [ 0. 0. 0. 1. ]] SLAMing on 259.02255784400006 meters 0.2897055134087076 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:0.53 [[ 0.99999332 -0.00186881 -0.00313989 1.42881244] [ 0.00186401 0.99999709 -0.00153142 0.01474187] [ 0.00314274 0.00152556 0.9999939 0.52772345] [ 0. 0. 0. 1. ]] SLAMing on 259.05255784400003 meters 0.2898292868204606 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:0.53 [[ 0.99999298 -0.00205596 -0.00313402 1.42866548] [ 0.00204963 0.99999586 -0.00201957 0.01675132] [ 0.00313816 0.00201313 0.99999305 0.52806195] [ 0. 0. 0. 1. ]] SLAMing on 259.08255784400006 meters 0.2911624701466446 Centerline is valid? [False, False] Translation: X:1.47, Y:0.02, Z:0.53 [[ 9.99992954e-01 -9.00512973e-04 -3.64443401e-03 1.46646929e+00] [ 8.95264095e-04 9.99998560e-01 -1.44162013e-03 1.81904278e-02] [ 3.64572696e-03 1.43834725e-03 9.99992320e-01 5.32092855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11255784400004 meters 0.290750611159691 Centerline is valid? [False, False] Translation: X:1.47, Y:0.02, Z:0.53 [[ 9.99992853e-01 -1.07960122e-03 -3.62325758e-03 1.46638074e+00] [ 1.07273310e-03 9.99997625e-01 -1.89697330e-03 2.00668485e-02] [ 3.62529695e-03 1.89307296e-03 9.99991637e-01 5.32205355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14255784400007 meters 0.2917177088065143 Centerline is valid? [False, False] Translation: X:1.47, Y:0.02, Z:0.53 [[ 9.99992734e-01 -1.40922599e-03 -3.54213850e-03 1.46631064e+00] [ 1.39970545e-03 9.99995405e-01 -2.68883900e-03 2.33409519e-02] [ 3.54591141e-03 2.68386151e-03 9.99990112e-01 5.31992807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17255784400004 meters 0.28978873011498735 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:0.53 [[ 9.99997764e-01 -7.27979306e-04 -1.98552614e-03 1.42638388e+00] [ 7.23141706e-04 9.99996771e-01 -2.43606296e-03 2.75932759e-02] [ 1.98729313e-03 2.43462169e-03 9.99995062e-01 5.28810427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20255784400007 meters 0.29227994734198465 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:0.53 [[ 9.99996220e-01 6.69170970e-05 -2.74884819e-03 1.46561438e+00] [-7.23460546e-05 9.99998047e-01 -1.97494166e-03 2.75962610e-02] [ 2.74871067e-03 1.97513307e-03 9.99994272e-01 5.31883823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23255784400004 meters 0.2902418669023275 Centerline is valid? [False, False] Translation: X:1.44, Y:0.03, Z:0.53 [[ 9.99973919e-01 -5.78535872e-03 -4.32325538e-03 1.44356776e+00] [ 5.79084520e-03 9.99982442e-01 1.25762250e-03 3.10110079e-02] [ 4.31590368e-03 -1.28262500e-03 9.99989864e-01 5.32588049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26255784400007 meters 0.2920398291779248 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:0.53 [[ 9.99990328e-01 2.86812183e-03 -3.33434088e-03 1.46404651e+00] [-2.86761965e-03 9.99995876e-01 1.55379776e-04 2.88860366e-02] [ 3.33477278e-03 -1.45816652e-04 9.99994429e-01 5.32791859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29255784400004 meters 0.291401676022221 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:0.53 [[ 9.99990566e-01 2.56829563e-03 -3.50323735e-03 1.46463744e+00] [-2.57024723e-03 9.99996544e-01 -5.52696754e-04 3.18643435e-02] [ 3.50180575e-03 5.61695725e-04 9.99993711e-01 5.32569320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322557844 meters 0.28996490654224044 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:0.53 [[ 9.99975821e-01 -5.63795374e-03 -4.07062092e-03 1.44570356e+00] [ 5.63955199e-03 9.99984025e-01 3.81258321e-04 3.93621929e-02] [ 4.06840637e-03 -4.04205581e-04 9.99991642e-01 5.30980881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35255784400005 meters 0.29173164977649396 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:0.53 [[ 9.99993668e-01 2.73916590e-03 -2.27159248e-03 1.46592544e+00] [-2.74093052e-03 9.99995944e-01 -7.74071289e-04 3.80121825e-02] [ 2.26946296e-03 7.80292665e-04 9.99997120e-01 5.31172297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382557844 meters 0.29122776800000943 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:0.53 [[ 9.99994221e-01 2.59133161e-03 -2.20065994e-03 1.46575487e+00] [-2.59387324e-03 9.99995971e-01 -1.15287201e-03 3.95813158e-02] [ 2.19766360e-03 1.15857358e-03 9.99996914e-01 5.31181218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41255784400005 meters 0.2912913130002503 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:0.53 [[ 0.99999443 0.00246371 -0.00225369 1.46595111] [-0.00246707 0.99999585 -0.00148809 0.04097191] [ 0.00225001 0.00149364 0.99999635 0.53107855] [ 0. 0. 0. 1. ]] SLAMing on 259.442557844 meters 0.2911450811478792 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:0.53 [[ 0.99999469 0.0022897 -0.00231744 1.46621526] [-0.00229421 0.99999548 -0.00194285 0.04285834] [ 0.00231298 0.00194816 0.99999543 0.53090573] [ 0. 0. 0. 1. ]] SLAMing on 259.47255784400005 meters 0.2911550879358634 Centerline is valid? [False, False] Translation: X:1.47, Y:0.05, Z:0.53 [[ 0.99999491 0.001943 -0.00253026 1.46714696] [-0.00195016 0.99999409 -0.00283039 0.04665795] [ 0.00252474 0.00283531 0.99999279 0.53029317] [ 0. 0. 0. 1. ]] SLAMing on 259.502557844 meters 0.29166520040666216 Centerline is valid? [False, False] Translation: X:1.47, Y:0.05, Z:0.53 [[ 0.99999513 0.00180706 -0.00254373 1.46720588] [-0.00181515 0.99999328 -0.00318417 0.04811734] [ 0.00253796 0.00318877 0.9999917 0.53026181] [ 0. 0. 0. 1. ]] SLAMing on 259.53255784400005 meters 0.29200230582940423 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:0.53 [[ 9.99988885e-01 -4.69488356e-03 4.32949681e-04 1.48775357e+00] [ 4.69511775e-03 9.99988831e-01 -5.41513372e-04 4.91906376e-02] [-4.30402503e-04 5.43540103e-04 9.99999760e-01 5.29063068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562557844 meters 0.2927400177381934 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:0.53 [[ 9.99987662e-01 -4.93802992e-03 5.39965852e-04 1.48750197e+00] [ 4.93864939e-03 9.99987141e-01 -1.15200317e-03 5.17224698e-02] [-5.34270283e-04 1.15465566e-03 9.99999191e-01 5.29043905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59255784400005 meters 0.2907593469995958 Centerline is valid? [False, False] Translation: X:1.47, Y:0.05, Z:0.53 [[ 9.99991907e-01 3.97324309e-03 -6.31147367e-04 1.46667637e+00] [-3.97453202e-03 9.99989992e-01 -2.05424449e-03 5.14285814e-02] [ 6.22979038e-04 2.05673638e-03 9.99997691e-01 5.28677501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622557844 meters 0.29240009096460673 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:0.53 [[ 9.99995310e-01 -2.17160780e-03 2.15983107e-03 1.48890345e+00] [ 2.16977889e-03 9.99997286e-01 8.48765987e-04 5.08438852e-02] [-2.16166840e-03 -8.44075650e-04 9.99997307e-01 5.26854328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65255784400006 meters 0.29121373080704066 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:0.52 [[ 9.99994392e-01 -1.53784558e-03 2.97493194e-03 1.45027127e+00] [ 1.53544254e-03 9.99998493e-01 8.09878426e-04 5.47170594e-02] [-2.97617293e-03 -8.05306047e-04 9.99995247e-01 5.23723595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68255784400003 meters 0.2910763497099723 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:0.52 [[ 9.99994483e-01 -1.64019377e-03 2.88857008e-03 1.45058280e+00] [ 1.63865676e-03 9.99998515e-01 5.34386719e-04 5.58680015e-02] [-2.88944228e-03 -5.29650395e-04 9.99995685e-01 5.23530849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71255784400006 meters 0.2900088864950864 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:0.52 [[ 9.99994290e-01 -1.84971314e-03 2.82814508e-03 1.45106101e+00] [ 1.84977584e-03 9.99998289e-01 -1.95542379e-05 5.81906116e-02] [-2.82810407e-03 2.47855607e-05 9.99996001e-01 5.22796355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74255784400003 meters 0.29367872741356327 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:0.53 [[ 9.99998000e-01 -1.48228328e-03 1.34284194e-03 1.49219119e+00] [ 1.48154524e-03 9.99998751e-01 5.50440763e-04 5.67323644e-02] [-1.34365617e-03 -5.48450181e-04 9.99998947e-01 5.25029992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77255784400006 meters 0.2910778114792236 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:0.52 [[ 9.99995874e-01 -1.02189514e-03 2.68463130e-03 1.45233640e+00] [ 1.02126182e-03 9.99999450e-01 2.37265652e-04 6.11355725e-02] [-2.68487229e-03 -2.34522961e-04 9.99996368e-01 5.22505482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80255784400003 meters 0.29253604208318074 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:0.53 [[ 9.99997731e-01 -1.18008863e-03 1.77367071e-03 1.49043267e+00] [ 1.17931975e-03 9.99999210e-01 4.34482427e-04 5.98169083e-02] [-1.77418204e-03 -4.32389716e-04 9.99998333e-01 5.26420222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83255784400006 meters 0.290796990505963 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.53 [[ 9.99990167e-01 4.37732352e-03 -7.10800706e-04 1.46700765e+00] [-4.37962383e-03 9.99985071e-01 -3.26757013e-03 6.39651659e-02] [ 6.96486883e-04 3.27065104e-03 9.99994409e-01 5.28795651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters 0.290796990505963 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.53 [[ 9.99990167e-01 4.37732352e-03 -7.10800706e-04 1.46700765e+00] [-4.37962383e-03 9.99985071e-01 -3.26757013e-03 6.39651659e-02] [ 6.96486883e-04 3.27065104e-03 9.99994409e-01 5.28795651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89255784400007 meters 0.2906657017970171 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.53 [[ 9.99990250e-01 4.35490647e-03 -7.30724221e-04 1.46716697e+00] [-4.35731556e-03 9.99984968e-01 -3.32830925e-03 6.42196832e-02] [ 7.16218761e-04 3.33146080e-03 9.99994194e-01 5.28549959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92255784400004 meters 0.29158639817705717 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.53 [[ 9.99990415e-01 4.31746655e-03 -7.28134134e-04 1.46718615e+00] [-4.31993731e-03 9.99984798e-01 -3.42654397e-03 6.46241442e-02] [ 7.13329076e-04 3.42965662e-03 9.99993864e-01 5.28502620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95255784400007 meters 0.29093766023976 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99990692e-01 4.26608649e-03 -6.45304795e-04 1.46693942e+00] [-4.26835583e-03 9.99984564e-01 -3.55716585e-03 6.51569706e-02] [ 6.30119657e-04 3.55988713e-03 9.99993465e-01 5.28595891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters 0.29022844961849803 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99990986e-01 4.20482743e-03 -5.88518023e-04 1.46672678e+00] [-4.20698703e-03 9.99984240e-01 -3.71773026e-03 6.58107934e-02] [ 5.72876334e-04 3.72017264e-03 9.99992916e-01 5.28771409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01255784400007 meters 0.28982588438632156 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99991205e-01 4.15637317e-03 -5.60239406e-04 1.46654691e+00] [-4.15849705e-03 9.99983962e-01 -3.84472721e-03 6.63239266e-02] [ 5.44250301e-04 3.84702315e-03 9.99992452e-01 5.29038004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04255784400004 meters 0.28996372182476626 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99991695e-01 4.02145889e-03 -6.60989452e-04 1.46686801e+00] [-4.02421323e-03 9.99982999e-01 -4.21986605e-03 6.78749893e-02] [ 6.44008197e-04 4.22249097e-03 9.99990878e-01 5.28922114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.072557844 meters 0.2910362559846742 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99991921e-01 3.94865374e-03 -7.52621729e-04 1.46721338e+00] [-3.95194014e-03 9.99982439e-01 -4.41631039e-03 6.87064723e-02] [ 7.35170031e-04 4.41924903e-03 9.99989965e-01 5.28691666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10255784400005 meters 0.2912268054386189 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99992086e-01 3.89916920e-03 -7.89949299e-04 1.46736062e+00] [-3.90272401e-03 9.99982035e-01 -4.54962297e-03 6.92617432e-02] [ 7.72195358e-04 4.55266992e-03 9.99989338e-01 5.28587035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.132557844 meters 0.2904798821854128 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99992400e-01 3.82554962e-03 -7.51128800e-04 1.46721905e+00] [-3.82907289e-03 9.99981404e-01 -4.74660542e-03 7.00658431e-02] [ 7.32956457e-04 4.74944547e-03 9.99988453e-01 5.28706830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16255784400005 meters 0.2911677225757502 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99992585e-01 3.78169052e-03 -7.27745627e-04 1.46710147e+00] [-3.78518561e-03 9.99981013e-01 -4.86272240e-03 7.05366621e-02] [ 7.09342498e-04 4.86544100e-03 9.99987912e-01 5.28854563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192557844 meters 0.2917395459825792 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:0.53 [[ 9.99988586e-01 -4.73835018e-03 6.13027148e-04 1.48624425e+00] [ 4.74064184e-03 9.99981572e-01 -3.79243754e-03 7.43863531e-02] [-5.95045953e-04 3.79530040e-03 9.99992621e-01 5.30494999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22255784400005 meters 0.2913762127710011 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99989631e-01 4.48188954e-03 -8.07042490e-04 1.46520728e+00] [-4.48532904e-03 9.99980645e-01 -4.31170945e-03 7.35396231e-02] [ 7.87702264e-04 4.31528459e-03 9.99990379e-01 5.30304086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252557844 meters 0.29095854105874713 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.53 [[ 9.99989740e-01 4.44631812e-03 -8.65611050e-04 1.46540013e+00] [-4.45009014e-03 9.99980393e-01 -4.40560714e-03 7.39343272e-02] [ 8.46005348e-04 4.40941399e-03 9.99989921e-01 5.30212246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28255784400005 meters 0.291513268923989 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:0.53 [[ 9.99990677e-01 -4.27979728e-03 5.73019952e-04 1.48527869e+00] [ 4.28178010e-03 9.99984691e-01 -3.50497866e-03 7.68923880e-02] [-5.58010581e-04 3.50739953e-03 9.99993693e-01 5.30954080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312557844 meters 0.28917524536945843 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:0.53 [[ 0.99999196 -0.00326674 0.0023241 1.44402583] [ 0.00327502 0.99998827 -0.00356946 0.08016221] [-0.00231241 0.00357705 0.99999093 0.52891097] [ 0. 0. 0. 1. ]] SLAMing on 260.34255784400005 meters 0.289900717144422 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:0.53 [[ 0.99999141 -0.00340727 0.00236055 1.44387678] [ 0.00341667 0.99998621 -0.00398704 0.08184534] [-0.00234694 0.00399507 0.99998927 0.5290838 ] [ 0. 0. 0. 1. ]] SLAMing on 260.372557844 meters 0.29172084516023344 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:0.53 [[ 9.99998011e-01 -1.86608630e-03 7.04580101e-04 1.48460951e+00] [ 1.86752259e-03 9.99996168e-01 -2.04337871e-03 8.07502960e-02] [-7.00764281e-04 2.04469047e-03 9.99997664e-01 5.31753814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40255784400006 meters 0.28939355440954395 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:0.53 [[ 9.99999063e-01 -3.50035911e-04 1.32310197e-03 1.44700872e+00] [ 3.52031330e-04 9.99998801e-01 -1.50820541e-03 8.47800064e-02] [-1.32257246e-03 1.50866977e-03 9.99997987e-01 5.27816247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43255784400003 meters 0.2914312873724677 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:0.53 [[ 9.99999907e-01 -1.93495737e-04 -3.84282631e-04 1.48745996e+00] [ 1.93062516e-04 9.99999346e-01 -1.12706668e-03 8.38806927e-02] [ 3.84500463e-04 1.12699239e-03 9.99999291e-01 5.30617817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46255784400006 meters 0.2901649697638694 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:0.53 [[ 9.99999882e-01 -2.82098141e-04 -3.95789241e-04 1.48755152e+00] [ 2.81559385e-04 9.99999035e-01 -1.36061762e-03 8.48533972e-02] [ 3.96172687e-04 1.36050602e-03 9.99998996e-01 5.30491302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49255784400003 meters 0.29147756997109914 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.53 [[ 0.99997989 -0.00604173 0.00192728 1.5095835 ] [ 0.00603788 0.99997978 0.00199558 0.08649701] [-0.00193929 -0.00198391 0.99999615 0.52942805] [ 0. 0. 0. 1. ]] SLAMing on 260.52255784400006 meters 0.29061886830393296 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.53 [[ 0.99997908 -0.0061689 0.00194438 1.50945429] [ 0.00616564 0.99997959 0.00167415 0.0878193 ] [-0.00195466 -0.00166213 0.99999671 0.52962167] [ 0. 0. 0. 1. ]] SLAMing on 260.55255784400003 meters 0.29115632053268964 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.53 [[ 9.99978402e-01 -6.28078309e-03 1.93555019e-03 1.50944259e+00] [ 6.27809874e-03 9.99979327e-01 1.38983711e-03 8.89957699e-02] [-1.94423944e-03 -1.37765552e-03 9.99997161e-01 5.29706711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58255784400006 meters 0.29058608941141933 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.53 [[ 9.99978042e-01 -6.34279423e-03 1.91940379e-03 1.50950071e+00] [ 6.34044853e-03 9.99979148e-01 1.22572223e-03 8.96668593e-02] [-1.92713828e-03 -1.21352544e-03 9.99997407e-01 5.29674057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61255784400004 meters 0.291290902753706 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99997055e-01 2.34443752e-03 6.27706220e-04 1.49028649e+00] [-2.34436246e-03 9.99997245e-01 -1.20281585e-04 8.77978506e-02] [-6.27986483e-04 1.18809660e-04 9.99999796e-01 5.28557029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64255784400007 meters 0.2901794780074116 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99997213e-01 2.28422625e-03 5.97045140e-04 1.49046970e+00] [-2.28405721e-03 9.99997351e-01 -2.83654715e-04 8.84786734e-02] [-5.97691491e-04 2.82290239e-04 9.99999782e-01 5.28324313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67255784400004 meters 0.2899457417995722 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99997520e-01 2.11383707e-03 7.01653335e-04 1.49017704e+00] [-2.11336100e-03 9.99997537e-01 -6.78555733e-04 9.01236737e-02] [-7.03085962e-04 6.77071203e-04 9.99999524e-01 5.28413455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70255784400007 meters 0.29013598306354194 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99997692e-01 2.01571502e-03 7.44098521e-04 1.49001181e+00] [-2.01501889e-03 9.99997533e-01 -9.35103865e-04 9.11712658e-02] [-7.45981588e-04 9.33602334e-04 9.99999286e-01 5.28558327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73255784400004 meters 0.28992100820183725 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99997922e-01 1.90833225e-03 7.16576508e-04 1.49013180e+00] [-1.90745501e-03 9.99997433e-01 -1.22290222e-03 9.23660758e-02] [-7.18908372e-04 1.22153284e-03 9.99998996e-01 5.28463824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76255784400007 meters 0.2891693326650865 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:0.53 [[ 9.99998192e-01 1.79124835e-03 6.38647359e-04 1.49038662e+00] [-1.79026465e-03 9.99997215e-01 -1.53754864e-03 9.36749529e-02] [-6.41399712e-04 1.53640251e-03 9.99998614e-01 5.28358585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79255784400004 meters 0.29096814207117416 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:0.53 [[ 9.99989370e-01 -4.52130721e-03 9.03986190e-04 1.51374437e+00] [ 4.51991415e-03 9.99988604e-01 1.53716576e-03 9.71556592e-02] [-9.10925887e-04 -1.53306348e-03 9.99998410e-01 5.27487787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822557844 meters 0.29076793442557625 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:0.53 [[ 9.99988537e-01 -4.70918407e-03 8.65167369e-04 1.51379092e+00] [ 4.70831738e-03 9.99988415e-01 1.00107272e-03 9.93218755e-02] [-8.69871581e-04 -9.96987767e-04 9.99999125e-01 5.27610904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85255784400005 meters 0.29073910999391556 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:0.53 [[ 9.99987603e-01 -4.89620537e-03 9.05834513e-04 1.51369264e+00] [ 4.89578151e-03 9.99987905e-01 4.69553640e-04 1.01474909e-01] [-9.08122589e-04 -4.65113051e-04 9.99999479e-01 5.27612646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882557844 meters 0.29065374341587896 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:0.53 [[ 9.99986625e-01 -5.08579799e-03 9.39978636e-04 1.51359364e+00] [ 5.08586736e-03 9.99987064e-01 -7.14263587e-05 1.03662451e-01] [-9.39603217e-04 7.62060100e-05 9.99999556e-01 5.27660923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91255784400005 meters 0.29034935720894894 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:0.53 [[ 9.99985624e-01 -5.26854348e-03 9.96661565e-04 1.51338583e+00] [ 5.26912769e-03 9.99985947e-01 -5.84453905e-04 1.05745540e-01] [-9.93568338e-04 5.89697040e-04 9.99999333e-01 5.27822474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters 0.29110787695903334 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:0.53 [[ 0.99999321 0.00285871 0.00232366 1.53354873] [-0.00285442 0.99999422 -0.00184868 0.10481363] [-0.00232893 0.00184204 0.99999559 0.52858205] [ 0. 0. 0. 1. ]] SLAMing on 260.97255784400005 meters 0.29148716662407376 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.53 [[ 0.99999445 0.00249831 0.00220346 1.53393996] [-0.00249219 0.99999305 -0.00277324 0.10866043] [-0.00221037 0.00276773 0.99999373 0.52851076] [ 0. 0. 0. 1. ]] SLAMing on 261.002557844 meters 0.28966109152821423 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:0.53 [[ 9.99996030e-01 -2.81383469e-03 -1.52445268e-04 1.51276719e+00] [ 2.81391264e-03 9.99995909e-01 5.13536559e-04 1.11621682e-01] [ 1.50999637e-04 -5.13963487e-04 9.99999857e-01 5.29088031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03255784400005 meters 0.29028080783774796 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:0.53 [[ 9.99995066e-01 -3.12608265e-03 -3.09027186e-04 1.51340441e+00] [ 3.12598517e-03 9.99995064e-01 -3.15423548e-04 1.15098318e-01] [ 3.10011701e-04 3.14455977e-04 9.99999903e-01 5.28597969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters 0.2912315305654447 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:0.53 [[ 9.99994576e-01 -3.26774292e-03 -4.11373591e-04 1.51370886e+00] [ 3.26746040e-03 9.99994427e-01 -6.85582062e-04 1.16637946e-01] [ 4.13611605e-04 6.84234197e-04 9.99999680e-01 5.28527215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09255784400005 meters 0.2915737797249133 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:0.53 [[ 9.99994025e-01 -3.41871598e-03 -5.12211680e-04 1.51400580e+00] [ 3.41816491e-03 9.99993582e-01 -1.07290162e-03 1.18248905e-01] [ 5.15876338e-04 1.07114438e-03 9.99999293e-01 5.28480594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters 0.29074587738685814 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:0.53 [[ 9.99993480e-01 -3.56826849e-03 -5.53916959e-04 1.51412200e+00] [ 3.56746054e-03 9.99992581e-01 -1.45280953e-03 1.19819426e-01] [ 5.59096864e-04 1.45082398e-03 9.99998791e-01 5.28480788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15255784400006 meters 0.28976667614887325 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:0.53 [[ 0.9999823 0.00574453 -0.00154803 1.4934612 ] [-0.0057485 0.99998016 -0.00257569 0.12067942] [ 0.00153321 0.00258454 0.99999548 0.52806445] [ 0. 0. 0. 1. ]] SLAMing on 261.18255784400003 meters 0.2923729452724732 Centerline is valid? [False, False] Translation: X:1.52, Y:0.12, Z:0.53 [[ 9.99999001e-01 -1.05330545e-03 9.42853343e-04 1.51623968e+00] [ 1.05334807e-03 9.99999444e-01 -4.47078558e-05 1.21031606e-01] [-9.42805728e-04 4.57009639e-05 9.99999555e-01 5.25856659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21255784400006 meters 0.2902237025378312 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:0.52 [[ 9.99998218e-01 2.29813838e-04 1.87407309e-03 1.47757190e+00] [-2.28475068e-04 9.99999719e-01 -7.14546200e-04 1.30448628e-01] [-1.87423677e-03 7.14116748e-04 9.99997989e-01 5.22954151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24255784400003 meters 0.2915040449601128 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:0.52 [[ 9.99998366e-01 1.12898385e-04 1.80427853e-03 1.47788487e+00] [-1.11069725e-04 9.99999480e-01 -1.01358170e-03 1.31702728e-01] [-1.80439202e-03 1.01337964e-03 9.99997859e-01 5.22664862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27255784400006 meters 0.29097920659924326 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:0.52 [[ 9.99998444e-01 5.24450183e-06 1.76412579e-03 1.47810865e+00] [-2.95183469e-06 9.99999156e-01 -1.29960534e-03 1.32904574e-01] [-1.76413112e-03 1.29959811e-03 9.99997599e-01 5.22404271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30255784400003 meters 0.29200225272174385 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:0.52 [[ 9.99998490e-01 -9.83606336e-05 1.73507520e-03 1.47833014e+00] [ 1.01091750e-04 9.99998756e-01 -1.57404495e-03 1.34063703e-01] [-1.73491821e-03 1.57421797e-03 9.99997256e-01 5.22087147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33255784400006 meters 0.290857337353215 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:0.52 [[ 9.99984646e-01 -5.50053360e-03 -6.72328209e-04 1.45547450e+00] [ 5.50141475e-03 9.99984001e-01 1.31584822e-03 1.36082396e-01] [ 6.65079585e-04 -1.31952678e-03 9.99998908e-01 5.24106489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters 0.29205261975262314 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:0.52 [[ 9.99995647e-01 2.47940590e-03 1.59964292e-03 1.47540169e+00] [-2.48006564e-03 9.99996840e-01 4.10579731e-04 1.33852643e-01] [-1.59861987e-03 -4.14545163e-04 9.99998636e-01 5.24137218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39255784400007 meters 0.2912099149546438 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.52 [[ 9.99996070e-01 2.24896037e-03 1.67411775e-03 1.47499065e+00] [-2.24869357e-03 9.99997459e-01 -1.61231730e-04 1.36187402e-01] [-1.67447610e-03 1.57466519e-04 9.99998586e-01 5.24678593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42255784400004 meters 0.2912514737178631 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.52 [[ 9.99996240e-01 2.15875561e-03 1.69108077e-03 1.47494904e+00] [-2.15808297e-03 9.99997592e-01 -3.99478316e-04 1.37172659e-01] [-1.69193907e-03 3.95827321e-04 9.99998490e-01 5.24692847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45255784400007 meters 0.29089299731478546 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.52 [[ 9.99996339e-01 2.08580258e-03 1.72350995e-03 1.47484784e+00] [-2.08478496e-03 9.99997652e-01 -5.92022187e-04 1.37966672e-01] [-1.72474074e-03 5.88426872e-04 9.99998340e-01 5.24747626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48255784400004 meters 0.2912174240023625 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996461e-01 2.01056873e-03 1.74205404e-03 1.47469558e+00] [-2.00918874e-03 9.99997667e-01 -7.93550866e-04 1.38780596e-01] [-1.74364546e-03 7.90047943e-04 9.99998168e-01 5.25006732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51255784400007 meters 0.2911594264497599 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996483e-01 1.93928833e-03 1.80903975e-03 1.47438477e+00] [-1.93751908e-03 9.99997644e-01 -9.79245132e-04 1.39525833e-01] [-1.81093453e-03 9.75736639e-04 9.99997884e-01 5.25344402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54255784400004 meters 0.2916367381534066 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996463e-01 1.90835525e-03 1.85252114e-03 1.47414746e+00] [-1.90639538e-03 9.99997622e-01 -1.05913585e-03 1.39831059e-01] [-1.85453794e-03 1.05560047e-03 9.99997723e-01 5.25638163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.572557844 meters 0.29136602009761686 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996639e-01 1.79399764e-03 1.87201182e-03 1.47399169e+00] [-1.79146484e-03 9.99997479e-01 -1.35378027e-03 1.41038863e-01] [-1.87443578e-03 1.35042208e-03 9.99997331e-01 5.25890616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60255784400005 meters 0.29044026888083274 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996741e-01 1.76202265e-03 1.84734488e-03 1.47408757e+00] [-1.75936325e-03 9.99997415e-01 -1.44021381e-03 1.41401868e-01] [-1.84987780e-03 1.43695896e-03 9.99997257e-01 5.25824687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.632557844 meters 0.29114993617665014 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99996841e-01 1.79101129e-03 1.76371516e-03 1.47439047e+00] [-1.78859583e-03 9.99997462e-01 -1.37015839e-03 1.41130475e-01] [-1.76616465e-03 1.36699949e-03 9.99997506e-01 5.25624194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66255784400005 meters 0.2910818193975685 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:0.53 [[ 9.99997008e-01 1.81008354e-03 1.64529310e-03 1.47482088e+00] [-1.80790234e-03 9.99997486e-01 -1.32624373e-03 1.40977501e-01] [-1.64768958e-03 1.32326523e-03 9.99997767e-01 5.25337583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692557844 meters 0.2883837190570383 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.53 [[ 9.99993590e-01 3.21386481e-03 -1.57822135e-03 1.43128004e+00] [-3.21599956e-03 9.99993915e-01 -1.35196301e-03 1.46037134e-01] [ 1.57386672e-03 1.35702991e-03 9.99997841e-01 5.27096067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72255784400005 meters 0.2893588185962123 Centerline is valid? [False, False] Translation: X:1.45, Y:0.14, Z:0.53 [[ 9.99995795e-01 -2.86672237e-03 4.37095959e-04 1.45391858e+00] [ 2.86570822e-03 9.99993241e-01 2.30345124e-03 1.44894840e-01] [-4.43696360e-04 -2.30218896e-03 9.99997252e-01 5.25405139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752557844 meters 0.2893588185962123 Centerline is valid? [False, False] Translation: X:1.45, Y:0.14, Z:0.53 [[ 9.99995795e-01 -2.86672237e-03 4.37095959e-04 1.45391858e+00] [ 2.86570822e-03 9.99993241e-01 2.30345124e-03 1.44894840e-01] [-4.43696360e-04 -2.30218896e-03 9.99997252e-01 5.25405139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78255784400005 meters 0.2911513549411813 Centerline is valid? [False, False] Translation: X:1.48, Y:0.15, Z:0.52 [[ 9.99988296e-01 3.61247150e-03 3.21841284e-03 1.47552939e+00] [-3.61274473e-03 9.99993471e-01 7.90870746e-05 1.45456276e-01] [-3.21810612e-03 -9.07134529e-05 9.99994818e-01 5.23981782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812557844 meters 0.2894274378150337 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:0.52 [[ 9.99984984e-01 -4.96963212e-03 2.30957580e-03 1.45524696e+00] [ 4.96915633e-03 9.99987631e-01 2.11697035e-04 1.51695919e-01] [-2.31059929e-03 -2.00217213e-04 9.99997311e-01 5.24038574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84255784400005 meters 0.2906226685539128 Centerline is valid? [False, False] Translation: X:1.48, Y:0.15, Z:0.53 [[ 9.99989478e-01 2.80823904e-03 3.62729472e-03 1.47560255e+00] [-2.80434659e-03 9.99995487e-01 -1.07774028e-03 1.49587279e-01] [-3.63030491e-03 1.06755675e-03 9.99992841e-01 5.25088280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872557844 meters 0.28977071513387115 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:0.53 [[ 0.99999592 -0.00237147 0.00159489 1.45383672] [ 0.00236878 0.99999578 0.00168481 0.15574836] [-0.00159888 -0.00168102 0.99999731 0.52611357] [ 0. 0. 0. 1. ]] SLAMing on 261.90255784400006 meters 0.29093071652609837 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:0.53 [[ 9.99995971e-01 -2.48073167e-03 1.37964736e-03 1.45446311e+00] [ 2.47891563e-03 9.99996061e-01 1.31646330e-03 1.57262032e-01] [-1.38290772e-03 -1.31303797e-03 9.99998182e-01 5.25878803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93255784400003 meters 0.2893248203400187 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:0.53 [[ 9.99995902e-01 -2.58908051e-03 1.22170003e-03 1.45490516e+00] [ 2.58789840e-03 9.99996183e-01 9.68184261e-04 1.58682890e-01] [-1.22420208e-03 -9.65018658e-04 9.99998785e-01 5.25752421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96255784400006 meters 0.2895785562968046 Centerline is valid? [False, False] Translation: X:1.46, Y:0.16, Z:0.53 [[ 9.99995665e-01 -2.71347602e-03 1.14284469e-03 1.45507529e+00] [ 2.71278837e-03 9.99996139e-01 6.02823186e-04 1.60163685e-01] [-1.14447602e-03 -5.99720277e-04 9.99999165e-01 5.25825133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99255784400003 meters 0.2891396500483265 Centerline is valid? [False, False] Translation: X:1.46, Y:0.16, Z:0.53 [[ 9.99995349e-01 -2.83219671e-03 1.13148631e-03 1.45501619e+00] [ 2.83189490e-03 9.99995954e-01 2.68251377e-04 1.61513664e-01] [-1.13224148e-03 -2.65045879e-04 9.99999324e-01 5.26030209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02255784400006 meters 0.28944884972259877 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:0.53 [[ 9.99994938e-01 -2.97364805e-03 1.13205835e-03 1.45483907e+00] [ 2.97380065e-03 9.99995569e-01 -1.33134857e-04 1.63133900e-01] [-1.13165744e-03 1.36500699e-04 9.99999350e-01 5.26448848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05255784400003 meters 0.2890026738506378 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:0.53 [[ 9.99994004e-01 -3.23884512e-03 1.22585802e-03 1.45443893e+00] [ 3.24004594e-03 9.99994272e-01 -9.78862758e-04 1.66483405e-01] [-1.22268062e-03 9.82828724e-04 9.99998770e-01 5.26795195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08255784400006 meters 0.2897352092885054 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:0.53 [[ 9.99993531e-01 -3.38170027e-03 1.22570953e-03 1.45440793e+00] [ 3.38339418e-03 9.99993321e-01 -1.38254966e-03 1.68128685e-01] [-1.22102597e-03 1.38668777e-03 9.99998293e-01 5.26871997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11255784400004 meters 0.2892168011910774 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:0.53 [[ 9.99992975e-01 -3.52645861e-03 1.27065082e-03 1.45424733e+00] [ 3.52872949e-03 9.99992173e-01 -1.78939344e-03 1.69785950e-01] [-1.26433065e-03 1.79386465e-03 9.99997592e-01 5.26967996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14255784400007 meters 0.2888426688095528 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:0.53 [[ 9.99992430e-01 -3.68311573e-03 1.25465668e-03 1.45420350e+00] [ 3.68592769e-03 9.99990684e-01 -2.24633198e-03 1.71626188e-01] [-1.24637149e-03 2.25093954e-03 9.99996690e-01 5.27159225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17255784400004 meters 0.2885115781026028 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:0.53 [[ 9.99999167e-01 3.68741725e-04 1.23686430e-03 1.45413795e+00] [-3.70437808e-04 9.99998991e-01 1.37132730e-03 1.74646304e-01] [-1.23635739e-03 -1.37178434e-03 9.99998295e-01 5.27348988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20255784400007 meters 0.28959793794858957 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99999335e-01 2.16359666e-04 1.13234100e-03 1.45447201e+00] [-2.17425867e-04 9.99999533e-01 9.41551790e-04 1.76425320e-01] [-1.13213676e-03 -9.41797365e-04 9.99998916e-01 5.27176812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23255784400004 meters 0.28942292100145783 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99999487e-01 1.12020342e-04 1.00715011e-03 1.45487572e+00] [-1.12678372e-04 9.99999780e-01 6.53324962e-04 1.77636384e-01] [-1.00707670e-03 -6.53438111e-04 9.99999279e-01 5.26970054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26255784400007 meters 0.2889327667267587 Centerline is valid? [False, False] Translation: X:1.43, Y:0.18, Z:0.53 [[ 0.99998647 -0.0047547 -0.00211039 1.43244109] [ 0.00476275 0.99998134 0.00382534 0.17720382] [ 0.00209217 -0.00383534 0.99999046 0.52886893] [ 0. 0. 0. 1. ]] SLAMing on 262.29255784400004 meters 0.28978438991067584 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99999041e-01 6.25985387e-04 1.23556933e-03 1.45493956e+00] [-6.27098014e-04 9.99999398e-01 9.00315037e-04 1.79991993e-01] [-1.23500500e-03 -9.01088997e-04 9.99998831e-01 5.26467131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322557844 meters 0.28939871492225144 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99999156e-01 5.30741856e-04 1.18571082e-03 1.45500500e+00] [-5.31511877e-04 9.99999648e-01 6.49196240e-04 1.81028286e-01] [-1.18536585e-03 -6.49825911e-04 9.99999086e-01 5.26605328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35255784400005 meters 0.28977976141061357 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99999308e-01 4.01388104e-04 1.10627044e-03 1.45524445e+00] [-4.01704307e-04 9.99999879e-01 2.85619818e-04 1.82536613e-01] [-1.10615566e-03 -2.86064014e-04 9.99999347e-01 5.26510594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters 0.2895879670210969 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99999333e-01 3.34987628e-04 1.10494063e-03 1.45523564e+00] [-3.35109714e-04 9.99999938e-01 1.10308327e-04 1.83261378e-01] [-1.10490361e-03 -1.10678530e-04 9.99999383e-01 5.26535112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41255784400005 meters 0.28898756766168 Centerline is valid? [False, False] Translation: X:1.42, Y:0.19, Z:0.52 [[ 9.99996046e-01 1.43245393e-03 2.41982799e-03 1.41526235e+00] [-1.43112635e-03 9.99998825e-01 -5.50265639e-04 1.85315477e-01] [-2.42061338e-03 5.46800384e-04 9.99996921e-01 5.24227082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters 0.2904559426390172 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99994170e-01 9.16754297e-04 3.28936060e-03 1.45579318e+00] [-9.18616437e-04 9.99999419e-01 5.64643750e-04 1.84635033e-01] [-3.28884104e-03 -5.67662118e-04 9.99994431e-01 5.25393515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47255784400005 meters 0.2905026059846804 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99994083e-01 9.62813130e-04 3.30267507e-03 1.45585053e+00] [-9.65079228e-04 9.99999300e-01 6.84615332e-04 1.84151275e-01] [-3.30201360e-03 -6.87798624e-04 9.99994312e-01 5.25193022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters 0.2891925953550047 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99994181e-01 1.04002068e-03 3.24918342e-03 1.45607738e+00] [-1.04289546e-03 9.99999066e-01 8.83203560e-04 1.83340663e-01] [-3.24826184e-03 -8.86586978e-04 9.99994331e-01 5.25000481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53255784400005 meters 0.29022223108413786 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.52 [[ 9.99994238e-01 1.09188210e-03 3.21435765e-03 1.45617785e+00] [-1.09516171e-03 9.99998881e-01 1.01871829e-03 1.82787100e-01] [-3.21324174e-03 -1.02223266e-03 9.99994315e-01 5.24975279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters 0.2897818691282549 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99994263e-01 1.11763108e-03 3.19756133e-03 1.45618828e+00] [-1.12111622e-03 9.99998779e-01 1.08835136e-03 1.82497956e-01] [-3.19634105e-03 -1.09192995e-03 9.99994296e-01 5.25053088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59255784400005 meters 0.2895295046701021 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 9.99994004e-01 1.13743210e-03 3.27090941e-03 1.45589749e+00] [-1.14118590e-03 9.99998692e-01 1.14599523e-03 1.82249794e-01] [-3.26960164e-03 -1.14972107e-03 9.99993994e-01 5.25300302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters 0.2890490651616878 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992710e-01 1.16697164e-03 3.63577409e-03 1.45477374e+00] [-1.17144115e-03 9.99998561e-01 1.22742729e-03 1.81850889e-01] [-3.63433648e-03 -1.23167743e-03 9.99992637e-01 5.25885651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65255784400006 meters 0.289638460126391 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992661e-01 1.16140740e-03 3.65096582e-03 1.45468245e+00] [-1.16584979e-03 9.99998582e-01 1.21487936e-03 1.81894705e-01] [-3.64954967e-03 -1.21912692e-03 9.99992597e-01 5.26010342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters 0.28908947828797993 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992444e-01 1.20546530e-03 3.69576642e-03 1.45458278e+00] [-1.21043782e-03 9.99998365e-01 1.34352295e-03 1.81374436e-01] [-3.69414081e-03 -1.34798629e-03 9.99992268e-01 5.25984702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71255784400006 meters 0.2890989228569613 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992236e-01 1.20798950e-03 3.75069953e-03 1.45448011e+00] [-1.21308429e-03 9.99998344e-01 1.35637835e-03 1.81332492e-01] [-3.74905483e-03 -1.36091773e-03 9.99992046e-01 5.25899878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74255784400003 meters 0.2883315060302537 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992143e-01 1.23148609e-03 3.76781402e-03 1.45447399e+00] [-1.23685004e-03 9.99998225e-01 1.42162395e-03 1.81070681e-01] [-3.76605662e-03 -1.42627300e-03 9.99991891e-01 5.25813966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77255784400006 meters 0.28841744523774515 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99991973e-01 1.29533766e-03 3.79155213e-03 1.45454125e+00] [-1.30125429e-03 9.99997939e-01 1.55842796e-03 1.80456425e-01] [-3.78952563e-03 -1.56334923e-03 9.99991598e-01 5.25555497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters 0.28882677883264496 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99991893e-01 1.30445742e-03 3.80938344e-03 1.45453655e+00] [-1.31049947e-03 9.99997887e-01 1.58403259e-03 1.80356202e-01] [-3.80730909e-03 -1.58901194e-03 9.99991490e-01 5.25463320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83255784400006 meters 0.2891289879475471 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992061e-01 1.29705297e-03 3.76759073e-03 1.45462002e+00] [-1.30295651e-03 9.99997927e-01 1.56489527e-03 1.80433730e-01] [-3.76555317e-03 -1.56979186e-03 9.99991678e-01 5.25516649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters 0.28920477524029803 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992204e-01 1.29610427e-03 3.72991187e-03 1.45467304e+00] [-1.30194107e-03 9.99997931e-01 1.56285968e-03 1.80439258e-01] [-3.72787853e-03 -1.56770362e-03 9.99991823e-01 5.25615780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89255784400007 meters 0.28837018741857057 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99992064e-01 1.38868898e-03 3.73400221e-03 1.45467245e+00] [-1.39548475e-03 9.99997374e-01 1.81798179e-03 1.79394078e-01] [-3.73146779e-03 -1.82317811e-03 9.99991376e-01 5.25605261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters 0.2894140500973572 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 9.99991940e-01 1.44744553e-03 3.74488978e-03 1.45470840e+00] [-1.45485251e-03 9.99996990e-01 1.97592302e-03 1.78755751e-01] [-3.74201847e-03 -1.98135535e-03 9.99991036e-01 5.25465181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95255784400007 meters 0.28796796677898245 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 0.99999184 0.00151288 0.00374512 1.45478469] [-0.00152095 0.99999653 0.00215208 0.17804215] [-0.00374185 -0.00215776 0.99999067 0.52529889] [ 0. 0. 0. 1. ]] SLAMing on 262.98255784400004 meters 0.2889842300216271 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:0.53 [[ 0.99999188 0.00158871 0.0037045 1.45495167] [-0.00159744 0.99999595 0.0023553 0.17721329] [-0.00370074 -0.0023612 0.99999036 0.52516156] [ 0. 0. 0. 1. ]] SLAMing on 263.01255784400007 meters 0.28926752621293583 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.53 [[ 0.99999208 0.00167863 0.00360738 1.45527671] [-0.00168798 0.99999522 0.00258972 0.1762504 ] [-0.00360301 -0.00259579 0.99999014 0.52500537] [ 0. 0. 0. 1. ]] SLAMing on 263.04255784400004 meters 0.2885721498766479 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:0.52 [[ 0.99999225 0.00175897 0.00352237 1.45552201] [-0.00176884 0.99999452 0.00279979 0.17538832] [-0.00351743 -0.002806 0.99998988 0.52495178] [ 0. 0. 0. 1. ]] SLAMing on 263.072557844 meters 0.2889132626231584 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.52 [[ 0.99999261 0.00187701 0.00335493 1.45602314] [-0.00188742 0.99999341 0.00310114 0.1741583 ] [-0.00334909 -0.00310745 0.99998956 0.52479689] [ 0. 0. 0. 1. ]] SLAMing on 263.10255784400005 meters 0.28936185267360887 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.52 [[ 0.99999248 0.00193374 0.00336106 1.45602778] [-0.00194468 0.99999281 0.00325439 0.17353563] [-0.00335474 -0.0032609 0.99998906 0.52475825] [ 0. 0. 0. 1. ]] SLAMing on 263.132557844 meters 0.28811649280109036 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.52 [[ 0.99999204 0.00199897 0.00345246 1.45582984] [-0.00201082 0.99999209 0.00343093 0.17281796] [-0.00344558 -0.00343785 0.99998815 0.5246948 ] [ 0. 0. 0. 1. ]] SLAMing on 263.16255784400005 meters 0.28806814591714863 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.52 [[ 0.99999156 0.00205668 0.00355575 1.45560627] [-0.00206944 0.99999142 0.00358777 0.17217887] [-0.00354834 -0.0035951 0.99998724 0.52462337] [ 0. 0. 0. 1. ]] SLAMing on 263.192557844 meters 0.2900131531382119 Centerline is valid? [False, False] Translation: X:1.49, Y:0.17, Z:0.53 [[ 9.99994257e-01 6.55657472e-04 3.32494133e-03 1.49364205e+00] [-6.66777702e-04 9.99994185e-01 3.34448417e-03 1.71095792e-01] [-3.32272916e-03 -3.34668196e-03 9.99988880e-01 5.27250422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22255784400005 meters 0.2885157467643818 Centerline is valid? [False, False] Translation: X:1.47, Y:0.17, Z:0.53 [[ 9.99974938e-01 6.97502253e-03 1.21372231e-03 1.47216505e+00] [-6.97495813e-03 9.99975673e-01 -5.72786295e-05 1.70212849e-01] [-1.21409230e-03 4.88115317e-05 9.99999262e-01 5.28461297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252557844 meters 0.28780180758432394 Centerline is valid? [False, False] Translation: X:1.47, Y:0.17, Z:0.53 [[ 9.99974717e-01 7.01588474e-03 1.15882656e-03 1.47230593e+00] [-7.01594760e-03 9.99975387e-01 5.01912310e-05 1.69775402e-01] [-1.15844590e-03 -5.83202284e-05 9.99999327e-01 5.28465396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28255784400005 meters 0.2886920234705742 Centerline is valid? [False, False] Translation: X:1.49, Y:0.17, Z:0.53 [[ 9.99997061e-01 -2.15095545e-03 1.11890711e-03 1.49291380e+00] [ 2.14967663e-03 9.99997036e-01 1.14286680e-03 1.72605795e-01] [-1.12136205e-03 -1.14045816e-03 9.99998721e-01 5.28825195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312557844 meters 0.28982047931375593 Centerline is valid? [False, False] Translation: X:1.49, Y:0.17, Z:0.53 [[ 9.99997458e-01 -2.01793894e-03 1.00589730e-03 1.49345711e+00] [ 2.01642996e-03 9.99996844e-01 1.49890514e-03 1.71151164e-01] [-1.00891882e-03 -1.49687301e-03 9.99998371e-01 5.28233624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34255784400005 meters 0.29017575984279204 Centerline is valid? [False, False] Translation: X:1.49, Y:0.17, Z:0.53 [[ 9.99997820e-01 -1.87467413e-03 9.19353181e-04 1.49393447e+00] [ 1.87295241e-03 9.99996497e-01 1.87004807e-03 1.69619910e-01] [-9.22855691e-04 -1.86832209e-03 9.99997829e-01 5.27693574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372557844 meters 0.29041064266566513 Centerline is valid? [False, False] Translation: X:1.49, Y:0.17, Z:0.53 [[ 9.99998470e-01 -1.52693876e-03 8.53638969e-04 1.49439377e+00] [ 1.52459354e-03 9.99995081e-01 2.74125348e-03 1.66055513e-01] [-8.57820495e-04 -2.73994783e-03 9.99995878e-01 5.27176918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40255784400006 meters 0.28919030000783297 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.53 [[ 9.99989067e-01 4.65015293e-03 -4.92825952e-04 1.47228308e+00] [-4.65041753e-03 9.99989042e-01 -5.37140971e-04 1.62544696e-01] [ 4.90322764e-04 5.39426945e-04 9.99999734e-01 5.28366495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43255784400003 meters 0.28927955321724175 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.53 [[ 9.99988356e-01 4.79752956e-03 -5.21370364e-04 1.47236236e+00] [-4.79760571e-03 9.99988481e-01 -1.44911318e-04 1.60929699e-01] [ 5.20669142e-04 1.47410961e-04 9.99999854e-01 5.28371431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46255784400006 meters 0.2902471439046807 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.53 [[ 9.99987620e-01 4.94831566e-03 -5.23002920e-04 1.47242918e+00] [-4.94818286e-03 9.99987725e-01 2.54899001e-04 1.59286475e-01] [ 5.24257821e-04 -2.52307931e-04 9.99999831e-01 5.28254188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49255784400003 meters 0.2899409509539738 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.53 [[ 9.99999523e-01 8.08288449e-04 -5.48819346e-04 1.47260980e+00] [-8.10225017e-04 9.99993414e-01 -3.53760153e-03 1.57068288e-01] [ 5.45956330e-04 3.53804451e-03 9.99993592e-01 5.27923951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52255784400006 meters 0.28985169395845656 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.53 [[ 9.99999339e-01 9.56247767e-04 -6.37883479e-04 1.47296138e+00] [-9.58252421e-04 9.99994580e-01 -3.14979689e-03 1.55466739e-01] [ 6.34868035e-04 3.15040606e-03 9.99994836e-01 5.27670957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55255784400003 meters 0.2906845758314105 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99999172e-01 1.06460760e-03 -7.22885994e-04 1.47323983e+00] [-1.06667582e-03 9.99995322e-01 -2.86672262e-03 1.54298793e-01] [ 7.19830678e-04 2.86749133e-03 9.99995630e-01 5.27553794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58255784400006 meters 0.2900454190304861 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99999009e-01 1.17744103e-03 -7.72202073e-04 1.47339468e+00] [-1.17942184e-03 9.99996003e-01 -2.56972908e-03 1.53070503e-01] [ 7.69173282e-04 2.57063728e-03 9.99996400e-01 5.27512696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61255784400004 meters 0.2897631829972637 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99998791e-01 1.34067568e-03 -7.88168255e-04 1.47334040e+00] [-1.34236317e-03 9.99996800e-01 -2.14441503e-03 1.51307603e-01] [ 7.85290768e-04 2.14547044e-03 9.99997390e-01 5.27768343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64255784400007 meters 0.28960849219657325 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99998715e-01 1.37969875e-03 -8.16649955e-04 1.47343159e+00] [-1.38136079e-03 9.99996969e-01 -2.03813466e-03 1.50873459e-01] [ 8.13835468e-04 2.03926013e-03 9.99997590e-01 5.27733403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67255784400004 meters 0.28960849219657325 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99998715e-01 1.37969875e-03 -8.16649955e-04 1.47343159e+00] [-1.38136079e-03 9.99996969e-01 -2.03813466e-03 1.50873459e-01] [ 8.13835468e-04 2.03926013e-03 9.99997590e-01 5.27733403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70255784400007 meters 0.28982134224859124 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99998669e-01 1.40509099e-03 -8.29604533e-04 1.47348339e+00] [-1.40672226e-03 9.99997072e-01 -1.96902295e-03 1.50593131e-01] [ 8.26835448e-04 1.97018736e-03 9.99997717e-01 5.27694716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73255784400004 meters 0.2889373656651052 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:0.53 [[ 9.99998623e-01 1.44824279e-03 -8.10570257e-04 1.47335682e+00] [-1.44974302e-03 9.99997232e-01 -1.85331692e-03 1.50115136e-01] [ 8.07883960e-04 1.85448948e-03 9.99997954e-01 5.27884606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76255784400007 meters 0.2901081387162626 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.9999845 -0.00468264 0.00301315 1.49265387] [ 0.00467795 0.99998784 0.00156339 0.14795577] [-0.00302043 -0.00154927 0.99999424 0.52715317] [ 0. 0. 0. 1. ]] SLAMing on 263.79255784400004 meters 0.2890325116632592 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99998499 -0.00457381 0.00301639 1.49259608] [ 0.00456822 0.99998784 0.00185833 0.1467412 ] [-0.00302485 -0.00184452 0.99999372 0.52729696] [ 0. 0. 0. 1. ]] SLAMing on 263.822557844 meters 0.2894872554642855 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99998564 -0.00448362 0.00293459 1.49287892] [ 0.00447746 0.99998777 0.00210233 0.14573852] [-0.00294398 -0.00208916 0.99999348 0.52715867] [ 0. 0. 0. 1. ]] SLAMing on 263.85255784400005 meters 0.28936249397176855 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:0.53 [[ 0.99998611 -0.00436677 0.0029512 1.49291958] [ 0.00435963 0.99998756 0.00242216 0.14443429] [-0.00296174 -0.00240926 0.99999271 0.52699802] [ 0. 0. 0. 1. ]] SLAMing on 263.882557844 meters 0.28949112863536225 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:0.53 [[ 0.99998649 -0.00426262 0.00297544 1.49283337] [ 0.00425457 0.99998728 0.00270738 0.14326496] [-0.00298694 -0.00269468 0.99999191 0.52708162] [ 0. 0. 0. 1. ]] SLAMing on 263.91255784400005 meters 0.28835903354633935 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:0.53 [[ 0.99998729 -0.00406641 0.00297896 1.49271293] [ 0.00405687 0.99998665 0.00319993 0.1412091 ] [-0.00299193 -0.0031878 0.99999044 0.52736996] [ 0. 0. 0. 1. ]] SLAMing on 263.942557844 meters 0.289924192383759 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99998103 0.00404 0.0046501 1.51313234] [-0.00405091 0.99998906 0.00233867 0.13849745] [-0.0046406 -0.00235747 0.99998645 0.52788092] [ 0. 0. 0. 1. ]] SLAMing on 263.97255784400005 meters 0.2899086786452522 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99998122 0.00403592 0.00461296 1.51330579] [-0.0040467 0.9999891 0.00233024 0.13853832] [-0.00460351 -0.00234886 0.99998665 0.52769065] [ 0. 0. 0. 1. ]] SLAMing on 264.002557844 meters 0.2885933783845125 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:0.53 [[ 0.99998859 -0.0041789 0.00231654 1.494017 ] [ 0.0041716 0.99998635 0.00314729 0.14144339] [-0.00232966 -0.00313759 0.99999236 0.52706578] [ 0. 0. 0. 1. ]] SLAMing on 264.03255784400005 meters 0.2905074150177199 Centerline is valid? [False, False] Translation: X:1.52, Y:0.14, Z:0.53 [[ 9.99982714e-01 2.29669720e-03 5.41258119e-03 1.51570917e+00] [-2.30004597e-03 9.99997167e-01 6.12558908e-04 1.44165448e-01] [-5.41115900e-03 -6.24997505e-04 9.99985164e-01 5.25193061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters 0.2887230573153204 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:0.53 [[ 0.99999315 -0.00294699 0.0022386 1.49208687] [ 0.00293924 0.9999897 0.00345775 0.14222153] [-0.00224877 -0.00345114 0.99999152 0.52775634] [ 0. 0. 0. 1. ]] SLAMing on 264.09255784400005 meters 0.2911057434894051 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 0.99996933 0.00655425 0.00428801 1.51392456] [-0.00656865 0.99997281 0.00335255 0.14599837] [-0.00426592 -0.00338061 0.99998519 0.52680791] [ 0. 0. 0. 1. ]] SLAMing on 264.122557844 meters 0.29036094174248106 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 0.99997027 0.00640877 0.00428682 1.51395065] [-0.00642138 0.99997508 0.00293461 0.14768674] [-0.00426791 -0.00296205 0.99998651 0.52673066] [ 0. 0. 0. 1. ]] SLAMing on 264.15255784400006 meters 0.29101469307699046 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 0.99997101 0.00628741 0.00429547 1.51396323] [-0.00629862 0.99997677 0.00260335 0.14904155] [-0.00427901 -0.00263033 0.99998739 0.5266301 ] [ 0. 0. 0. 1. ]] SLAMing on 264.18255784400003 meters 0.2889633584360953 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99999341 -0.00260756 0.00252776 1.49216053] [ 0.00260116 0.99999341 0.0025327 0.15147699] [-0.00253434 -0.00252611 0.9999936 0.52736317] [ 0. 0. 0. 1. ]] SLAMing on 264.21255784400006 meters 0.28910365970265267 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99999366 -0.00259305 0.00244221 1.49236104] [ 0.00258677 0.99999334 0.00257382 0.15130466] [-0.00244887 -0.00256748 0.99999371 0.52740587] [ 0. 0. 0. 1. ]] SLAMing on 264.24255784400003 meters 0.289859794657972 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99999401 -0.00254803 0.00234325 1.49261798] [ 0.00254169 0.99999311 0.00270417 0.15076985] [-0.00235012 -0.0026982 0.9999936 0.52740502] [ 0. 0. 0. 1. ]] SLAMing on 264.27255784400006 meters 0.2899567853384366 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99999464 -0.00244156 0.00218202 1.49298689] [ 0.00243487 0.99999234 0.00306483 0.1493557 ] [-0.00218949 -0.0030595 0.99999292 0.52751385] [ 0. 0. 0. 1. ]] SLAMing on 264.30255784400003 meters 0.2896358711599456 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:0.53 [[ 0.99999482 -0.00237467 0.00217176 1.4930292 ] [ 0.00236759 0.99999189 0.0032567 0.14857868] [-0.00217947 -0.00325154 0.99999234 0.52749095] [ 0. 0. 0. 1. ]] SLAMing on 264.33255784400006 meters 0.2902545621709578 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981864e-01 2.40624969e-03 5.52106025e-03 1.51397574e+00] [-2.40440103e-03 9.99997051e-01 -3.41450210e-04 1.48799616e-01] [-5.52186559e-03 3.28169175e-04 9.99984701e-01 5.26870992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters 0.289950120861832 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981507e-01 2.43022858e-03 5.57492635e-03 1.51363373e+00] [-2.42871545e-03 9.99997012e-01 -2.78172284e-04 1.48541510e-01] [-5.57558572e-03 2.64627230e-04 9.99984421e-01 5.27358397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39255784400007 meters 0.2894239245849397 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981282e-01 2.46604965e-03 5.59950096e-03 1.51344334e+00] [-2.46506970e-03 9.99996945e-01 -1.81901009e-04 1.48151078e-01] [-5.59993243e-03 1.68094444e-04 9.99984306e-01 5.27664812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters 0.2888300598627887 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981458e-01 2.52307388e-03 5.54230791e-03 1.51358128e+00] [-2.52295755e-03 9.99996817e-01 -2.79797470e-05 1.47518173e-01] [-5.54236087e-03 1.39962206e-05 9.99984641e-01 5.27699946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45255784400007 meters 0.2892940392226942 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981901e-01 2.55599898e-03 5.44651716e-03 1.51390888e+00] [-2.55636501e-03 9.99996731e-01 6.02445694e-05 1.47154218e-01] [-5.44634536e-03 -7.41667649e-05 9.99985166e-01 5.27503240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters 0.2899929429700027 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:0.53 [[ 9.99981448e-01 2.67498683e-03 5.47252208e-03 1.51389424e+00] [-2.67705166e-03 9.99996348e-01 3.70019533e-04 1.45880272e-01] [-5.47151230e-03 -3.84662893e-04 9.99984957e-01 5.27409698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51255784400007 meters 0.29009054414661267 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 9.99980513e-01 2.75945271e-03 5.59999104e-03 1.51343742e+00] [-2.76285933e-03 9.99996003e-01 6.00680376e-04 1.44922621e-01] [-5.59831111e-03 -6.16140658e-04 9.99984140e-01 5.27766536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54255784400004 meters 0.2887201483469096 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 9.99979702e-01 2.86384717e-03 5.69157191e-03 1.51300986e+00] [-2.86893329e-03 9.99995492e-01 8.85659979e-04 1.43740832e-01] [-5.68900986e-03 -9.01970742e-04 9.99983411e-01 5.28259515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572557844 meters 0.2885121095522633 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 9.99979187e-01 2.99238304e-03 5.71581920e-03 1.51286610e+00] [-2.99948537e-03 9.99994740e-01 1.23440646e-03 1.42316917e-01] [-5.71209532e-03 -1.25152528e-03 9.99982903e-01 5.28479811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60255784400005 meters 0.2882688685420505 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99997942 0.00311905 0.00560612 1.51321652] [-0.00312799 0.99999385 0.00158791 0.14088025] [-0.00560114 -0.00160542 0.99998302 0.52834437] [ 0. 0. 0. 1. ]] SLAMing on 264.632557844 meters 0.28933705021263006 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99997968 0.00338841 0.00540008 1.51416717] [-0.00340125 0.99999141 0.00237015 0.1376194 ] [-0.00539201 -0.00238847 0.99998261 0.52725298] [ 0. 0. 0. 1. ]] SLAMing on 264.66255784400005 meters 0.29013452439796217 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99997924 0.0035055 0.00540572 1.51424495] [-0.00352001 0.99999022 0.00267776 0.1363495 ] [-0.00539628 -0.00269673 0.9999818 0.52707202] [ 0. 0. 0. 1. ]] SLAMing on 264.692557844 meters 0.2891763469937691 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:0.53 [[ 0.99997859 0.00362377 0.00544859 1.51406021] [-0.00364008 0.99998891 0.00298721 0.13507151] [-0.00543771 -0.00300697 0.99998069 0.52726674] [ 0. 0. 0. 1. ]] SLAMing on 264.72255784400005 meters 0.2879737503416173 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:0.53 [[ 0.999978 0.00374005 0.00547865 1.5139306 ] [-0.00375813 0.99998751 0.00329348 0.13381534] [-0.00546627 -0.00331399 0.99997957 0.52741803] [ 0. 0. 0. 1. ]] SLAMing on 264.752557844 meters 0.28825944354371275 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:0.53 [[ 9.99985584e-01 -4.15653930e-04 5.35348684e-03 1.51441369e+00] [ 4.18443060e-04 9.99999777e-01 -5.19883655e-04 1.31878600e-01] [-5.35326956e-03 5.22116290e-04 9.99985535e-01 5.26949828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78255784400005 meters 0.2882396940129466 Centerline is valid? [False, False] Translation: X:1.51, Y:0.13, Z:0.53 [[ 9.99985897e-01 -3.35530615e-04 5.30036947e-03 1.51475538e+00] [ 3.37121777e-04 9.99999898e-01 -2.99307883e-04 1.30964173e-01] [-5.30026851e-03 3.01090531e-04 9.99985908e-01 5.26460311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812557844 meters 0.28858491339578685 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:0.53 [[ 9.99986018e-01 -2.69295290e-04 5.28122795e-03 1.51502783e+00] [ 2.69932379e-04 9.99999956e-01 -1.19920239e-04 1.30223033e-01] [-5.28119543e-03 1.21344136e-04 9.99986047e-01 5.25947152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84255784400005 meters 0.2884910049090421 Centerline is valid? [False, False] Translation: X:1.52, Y:0.13, Z:0.53 [[ 9.99985928e-01 -1.80052244e-04 5.30206307e-03 1.51503250e+00] [ 1.79441541e-04 9.99999977e-01 1.15657597e-04 1.29252623e-01] [-5.30208377e-03 -1.14704559e-04 9.99985937e-01 5.25842203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872557844 meters 0.28996921959290334 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:0.53 [[ 9.99991966e-01 -3.20586355e-04 3.99560218e-03 1.55408530e+00] [ 3.18243183e-04 9.99999777e-01 5.87059592e-04 1.29288400e-01] [-3.99578949e-03 -5.85783303e-04 9.99991845e-01 5.29307224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90255784400006 meters 0.2889446460077381 Centerline is valid? [False, False] Translation: X:1.55, Y:0.13, Z:0.53 [[ 9.99991909e-01 -4.68151700e-05 4.02243633e-03 1.55400589e+00] [ 4.11776617e-05 9.99999017e-01 1.40158726e-03 1.26031490e-01] [-4.02249799e-03 -1.40141029e-03 9.99990928e-01 5.29418920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93255784400003 meters 0.28812261939944 Centerline is valid? [False, False] Translation: X:1.53, Y:0.12, Z:0.53 [[ 0.99998243 0.00539786 0.00244963 1.53139177] [-0.00539279 0.99998331 -0.00207239 0.12226473] [-0.00246077 0.00205915 0.99999485 0.53063008] [ 0. 0. 0. 1. ]] SLAMing on 264.96255784400006 meters 0.2893023966515288 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:0.53 [[ 9.99987323e-01 -3.85700792e-03 3.23686871e-03 1.55341642e+00] [ 3.86161240e-03 9.99991539e-01 -1.41746689e-03 1.21885848e-01] [-3.23137414e-03 1.42994845e-03 9.99993757e-01 5.30190754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99255784400003 meters 0.2901034149716166 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:0.53 [[ 9.99988447e-01 -3.64133570e-03 3.13796554e-03 1.55385519e+00] [ 3.64397978e-03 9.99993010e-01 -8.37304999e-04 1.19498843e-01] [-3.13489470e-03 8.48730009e-04 9.99994726e-01 5.29821545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02255784400006 meters 0.2897869269191412 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:0.53 [[ 9.99990110e-01 -3.29844384e-03 2.98332175e-03 1.55436493e+00] [ 3.29832009e-03 9.99994559e-01 4.63992831e-05 1.15849424e-01] [-2.98345857e-03 -3.65588741e-05 9.99995549e-01 5.29657269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05255784400003 meters 0.28943412414187275 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 9.99990708e-01 -3.17647108e-03 2.91449997e-03 1.55453577e+00] [ 3.17542528e-03 9.99994892e-01 3.63383849e-04 1.14536660e-01] [-2.91563937e-03 -3.54125695e-04 9.99995687e-01 5.29710041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08255784400006 meters 0.2884515353184515 Centerline is valid? [False, False] Translation: X:1.54, Y:0.11, Z:0.53 [[ 9.99986211e-01 4.93034728e-03 1.80819379e-03 1.53571180e+00] [-4.92886384e-03 9.99987514e-01 -8.23942790e-04 1.08244751e-01] [-1.81223354e-03 8.15019088e-04 9.99998026e-01 5.28272677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11255784400004 meters 0.28936574626639777 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 9.99988755e-01 -3.26656619e-03 3.43780165e-03 1.55439579e+00] [ 3.26336202e-03 9.99994236e-01 9.37236727e-04 1.10039120e-01] [-3.44084338e-03 -9.26007397e-04 9.99993652e-01 5.29240774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14255784400007 meters 0.28961803075115766 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 9.99988836e-01 -3.18853133e-03 3.48717101e-03 1.55426105e+00] [ 3.18456600e-03 9.99994277e-01 1.14208269e-03 1.09194869e-01] [-3.49079262e-03 -1.13096481e-03 9.99993268e-01 5.29280070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17255784400004 meters 0.28771175207192035 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.53 [[ 0.99999442 0.00276353 0.00187663 1.53214251] [-0.00275953 0.99999393 -0.0021282 0.10650585] [-0.0018825 0.00212301 0.99999597 0.53065259] [ 0. 0. 0. 1. ]] SLAMing on 265.20255784400007 meters 0.2895549856225016 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 9.99977979e-01 -6.11026817e-03 2.58966384e-03 1.55323442e+00] [ 6.11390166e-03 9.99980333e-01 -1.39748986e-03 1.09060062e-01] [-2.58107388e-03 1.41329203e-03 9.99995670e-01 5.30860755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23255784400004 meters 0.2895164296911281 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 9.99979143e-01 -5.96536567e-03 2.47563080e-03 1.55362026e+00] [ 5.96791405e-03 9.99981668e-01 -1.02327933e-03 1.07510723e-01] [-2.46948118e-03 1.03803234e-03 9.99996412e-01 5.30698040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26255784400007 meters 0.28794019367391865 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:0.53 [[ 0.99999423 0.00280045 0.00192284 1.53280417] [-0.00279728 0.99999474 -0.00164464 0.1028676 ] [-0.00192743 0.00163926 0.9999968 0.53020643] [ 0. 0. 0. 1. ]] SLAMing on 265.29255784400004 meters 0.2885106665203684 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.53 [[ 0.99998695 -0.0031166 0.00404754 1.55382871] [ 0.00310937 0.99999356 0.00179199 0.10436831] [-0.0040531 -0.00177939 0.9999902 0.52951784] [ 0. 0. 0. 1. ]] SLAMing on 265.322557844 meters 0.28984856883050186 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:0.53 [[ 9.99968046e-01 5.18151677e-03 6.08757339e-03 1.57352588e+00] [-5.18558103e-03 9.99986342e-01 6.52038134e-04 1.03852548e-01] [-6.08411171e-03 -6.83584904e-04 9.99981258e-01 5.30392529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35255784400005 meters 0.28934525965814756 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:0.53 [[ 9.99967807e-01 5.11844592e-03 6.17958030e-03 1.57316512e+00] [-5.12147884e-03 9.99986772e-01 4.75073720e-04 1.04586207e-01] [-6.17706692e-03 -5.06707016e-04 9.99980793e-01 5.30679202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters 0.2879112045891613 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 0.99998532 -0.00232684 0.00489257 1.54998693] [ 0.00231583 0.99999478 0.00225464 0.10579267] [-0.00489779 -0.00224328 0.99998549 0.53252247] [ 0. 0. 0. 1. ]] SLAMing on 265.41255784400005 meters 0.2884299873759754 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.53 [[ 0.99998514 -0.00232933 0.00492893 1.54976102] [ 0.00231828 0.99999479 0.0022478 0.10582728] [-0.00493414 -0.00223634 0.99998533 0.53283174] [ 0. 0. 0. 1. ]] SLAMing on 265.442557844 meters 0.2864058284200899 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.53 [[ 9.99988557e-01 3.37684724e-03 3.38857005e-03 1.52660475e+00] [-3.37258224e-03 9.99993515e-01 -1.26356912e-03 1.05056788e-01] [-3.39281496e-03 1.25212643e-03 9.99993460e-01 5.34559935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47255784400005 meters 0.28863155437671995 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:0.54 [[ 9.99990361e-01 3.14265769e-03 3.06619477e-03 1.56676600e+00] [-3.13827115e-03 9.99994047e-01 -1.43437673e-03 1.07276416e-01] [-3.07068427e-03 1.42474035e-03 9.99994270e-01 5.36979997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters 0.28851339693737355 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:0.54 [[ 9.99990252e-01 3.25704182e-03 2.98103948e-03 1.56699704e+00] [-3.25372360e-03 9.99994082e-01 -1.11728189e-03 1.05982868e-01] [-2.98466088e-03 1.10757152e-03 9.99994933e-01 5.36958766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53255784400005 meters 0.2879145522884837 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.54 [[ 9.99988877e-01 -4.65903180e-03 7.34096087e-04 1.54802616e+00] [ 4.65866068e-03 9.99989020e-01 5.06446421e-04 1.06416908e-01] [-7.36447576e-04 -5.03020884e-04 9.99999602e-01 5.35708518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters 0.2879145522884837 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.54 [[ 9.99988877e-01 -4.65903180e-03 7.34096087e-04 1.54802616e+00] [ 4.65866068e-03 9.99989020e-01 5.06446421e-04 1.06416908e-01] [-7.36447576e-04 -5.03020884e-04 9.99999602e-01 5.35708518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59255784400005 meters 0.28831356340482156 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.54 [[ 9.99989468e-01 -4.54134012e-03 6.62765353e-04 1.54837853e+00] [ 4.54079188e-03 9.99989349e-01 8.26381649e-04 1.05099062e-01] [-6.66511174e-04 -8.23363467e-04 9.99999439e-01 5.35347961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters 0.2887347691538689 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.54 [[ 9.99990151e-01 -4.40503989e-03 5.41352145e-04 1.54881718e+00] [ 4.40439062e-03 9.99989587e-01 1.19475220e-03 1.03587605e-01] [-5.46609439e-04 -1.19235610e-03 9.99999140e-01 5.35097333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65255784400006 meters 0.29000036191466455 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.53 [[ 9.99990863e-01 -4.25358040e-03 4.26041157e-04 1.54921321e+00] [ 4.25289725e-03 9.99989690e-01 1.59174515e-03 1.01950617e-01] [-4.32807381e-04 -1.58991869e-03 9.99998642e-01 5.34928872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters 0.2891017524269803 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.53 [[ 9.99991553e-01 -4.09145221e-03 3.91843000e-04 1.54938019e+00] [ 4.09065629e-03 9.99989611e-01 2.01093208e-03 1.00232165e-01] [-4.00066562e-04 -2.00931220e-03 9.99997901e-01 5.34799369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71255784400006 meters 0.28892086682529683 Centerline is valid? [False, False] Translation: X:1.55, Y:0.10, Z:0.53 [[ 9.99992659e-01 -3.81911613e-03 3.11762196e-04 1.54977710e+00] [ 3.81825724e-03 9.99989037e-01 2.71053980e-03 9.73380069e-02] [-3.22110644e-04 -2.70932951e-03 9.99996278e-01 5.34448954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters 0.2877678939978586 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:0.54 [[ 9.99994981e-01 2.27205611e-03 -2.20832095e-03 1.52869952e+00] [-2.27244439e-03 9.99997403e-01 -1.73332350e-04 9.48028124e-02] [ 2.20792139e-03 1.78349767e-04 9.99997547e-01 5.35535599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77255784400006 meters 0.2880256816099423 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:0.54 [[ 9.99994635e-01 2.39919459e-03 -2.23020782e-03 1.52886978e+00] [-2.39883906e-03 9.99997110e-01 1.62077669e-04 9.34219581e-02] [ 2.23059023e-03 -1.56726890e-04 9.99997500e-01 5.35299386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters 0.2886563290350557 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:0.54 [[ 9.99994099e-01 2.70133783e-03 -2.12251278e-03 1.52871718e+00] [-2.69954611e-03 9.99995998e-01 8.46561874e-04 9.06229185e-02] [ 2.12479114e-03 -8.40827057e-04 9.99997389e-01 5.35094777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83255784400006 meters 0.2877196926857081 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:0.54 [[ 9.99999214e-01 8.40568660e-04 -9.30004520e-04 1.52313756e+00] [-8.41307527e-04 9.99999331e-01 -7.94370452e-04 8.94328731e-02] [ 9.29336175e-04 7.95152248e-04 9.99999252e-01 5.38409589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters 0.2898851388795942 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:0.54 [[ 9.99997602e-01 1.03907659e-03 -1.92769011e-03 1.56298289e+00] [-1.03986176e-03 9.99999377e-01 -4.06356665e-04 8.84427360e-02] [ 1.92726668e-03 4.08360222e-04 9.99998059e-01 5.41342124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89255784400007 meters 0.28927601848026474 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:0.54 [[ 9.99997458e-01 1.23929675e-03 -1.88353993e-03 1.56281518e+00] [-1.23911056e-03 9.99999227e-01 1.00015657e-04 8.63619780e-02] [ 1.88366242e-03 -9.76814885e-05 9.99998221e-01 5.41497601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92255784400004 meters 0.2879687800772052 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997265e-01 1.42196460e-03 -1.85665911e-03 1.56273609e+00] [-1.42090065e-03 9.99998826e-01 5.74238909e-04 8.44322658e-02] [ 1.85747348e-03 -5.71599211e-04 9.99998112e-01 5.41556896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95255784400007 meters 0.2885923906802949 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996995e-01 1.71914453e-03 -1.74792729e-03 1.56253082e+00] [-1.71685510e-03 9.99997668e-01 1.31045654e-03 8.14179527e-02] [ 1.75017608e-03 -1.30745167e-03 9.99997614e-01 5.41449935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98255784400004 meters 0.2885562278962944 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 0.99999686 0.00182883 -0.00171595 1.56245663] [-0.00182609 0.99999706 0.00159542 0.0802543 ] [ 0.00171886 -0.00159228 0.99999726 0.54145637] [ 0. 0. 0. 1. ]] SLAMing on 266.01255784400007 meters 0.2898530152820434 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 0.9999966 0.00194326 -0.00174025 1.56263774] [-0.00193997 0.99999633 0.00188996 0.07903264] [ 0.00174391 -0.00188658 0.9999967 0.54121482] [ 0. 0. 0. 1. ]] SLAMing on 266.04255784400004 meters 0.28830106878490047 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.54 [[ 9.99998943e-01 8.29881752e-04 -1.19407075e-03 1.52447376e+00] [-8.28051717e-04 9.99998483e-01 1.53228078e-03 7.49374936e-02] [ 1.19534055e-03 -1.53129041e-03 9.99998113e-01 5.37552814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.072557844 meters 0.2902245527782858 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996244e-01 1.02482672e-03 -2.54185048e-03 1.56459112e+00] [-1.02146140e-03 9.99998601e-01 1.32490962e-03 7.64703842e-02] [ 2.54320472e-03 -1.32230825e-03 9.99995892e-01 5.40301466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10255784400005 meters 0.28935925836832005 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:0.54 [[ 9.99995821e-01 1.15035900e-03 -2.65241392e-03 1.56501156e+00] [-1.14602985e-03 9.99998010e-01 1.63309872e-03 7.51981013e-02] [ 2.65428729e-03 -1.63005215e-03 9.99995149e-01 5.40052556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.132557844 meters 0.2903616712555571 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996014e-01 1.18569484e-03 -2.56252619e-03 1.56469279e+00] [-1.18127989e-03 9.99997817e-01 1.72371578e-03 7.48398228e-02] [ 2.56456440e-03 -1.72068185e-03 9.99995231e-01 5.40258658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16255784400005 meters 0.28866863547967436 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996173e-01 1.21008464e-03 -2.48780415e-03 1.56434365e+00] [-1.20563956e-03 9.99997676e-01 1.78747369e-03 7.46004491e-02] [ 2.48996136e-03 -1.78446745e-03 9.99995308e-01 5.40636767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192557844 meters 0.2883140718040237 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996443e-01 1.24689074e-03 -2.35777008e-03 1.56395065e+00] [-1.24245021e-03 9.99997454e-01 1.88389118e-03 7.42198402e-02] [ 2.36011308e-03 -1.88095506e-03 9.99995446e-01 5.40807153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22255784400005 meters 0.2894579029076048 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996560e-01 1.25496169e-03 -2.30321961e-03 1.56393415e+00] [-1.25057973e-03 9.99997407e-01 1.90299239e-03 7.41313042e-02] [ 2.30560182e-03 -1.90010549e-03 9.99995537e-01 5.40523570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252557844 meters 0.2891391989163147 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996561e-01 1.25022485e-03 -2.30562206e-03 1.56403007e+00] [-1.24586829e-03 9.99997438e-01 1.89000653e-03 7.41774021e-02] [ 2.30797909e-03 -1.88712752e-03 9.99995556e-01 5.40317698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28255784400005 meters 0.28871099207582684 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996585e-01 1.27883668e-03 -2.27905139e-03 1.56393094e+00] [-1.27436120e-03 9.99997259e-01 1.96411937e-03 7.38783785e-02] [ 2.28155693e-03 -1.96120833e-03 9.99995474e-01 5.40393097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312557844 meters 0.2888863268817502 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996691e-01 1.26944464e-03 -2.23736451e-03 1.56376871e+00] [-1.26511107e-03 9.99997323e-01 1.93726112e-03 7.39941580e-02] [ 2.23981777e-03 -1.93442420e-03 9.99995621e-01 5.40518238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34255784400005 meters 0.2893247509590868 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996732e-01 1.24059023e-03 -2.23529331e-03 1.56375865e+00] [-1.23642923e-03 9.99997502e-01 1.86191875e-03 7.43057860e-02] [ 2.23759760e-03 -1.85914888e-03 9.99995768e-01 5.40520253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372557844 meters 0.2894809538896719 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996856e-01 1.20437672e-03 -2.19956991e-03 1.56364733e+00] [-1.20049343e-03 9.99997720e-01 1.76594675e-03 7.47046401e-02] [ 2.20169177e-03 -1.76330063e-03 9.99996022e-01 5.40553445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40255784400006 meters 0.28931416224310824 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996969e-01 1.16711197e-03 -2.16811466e-03 1.56353275e+00] [-1.16350032e-03 9.99997935e-01 1.66631847e-03 7.51180062e-02] [ 2.17005497e-03 -1.66379082e-03 9.99996261e-01 5.40617057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43255784400003 meters 0.28953525664717306 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997178e-01 1.06627372e-03 -2.12319994e-03 1.56353057e+00] [-1.06329286e-03 9.99998448e-01 1.40457807e-03 7.61838360e-02] [ 2.12469431e-03 -1.40231653e-03 9.99996760e-01 5.40339350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46255784400006 meters 0.28914780663046813 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997188e-01 9.99729018e-04 -2.15059431e-03 1.56365357e+00] [-9.97080775e-04 9.99998744e-01 1.23212040e-03 7.68786215e-02] [ 2.15182340e-03 -1.22997262e-03 9.99996928e-01 5.40206115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49255784400003 meters 0.2889275072877863 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997169e-01 9.55956782e-04 -2.17894014e-03 1.56374578e+00] [-9.53528077e-04 9.99998923e-01 1.11539335e-03 7.73527638e-02] [ 2.18000407e-03 -1.11331251e-03 9.99997004e-01 5.40149481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52255784400006 meters 0.28900639700798414 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997155e-01 8.76843419e-04 -2.21845982e-03 1.56387107e+00] [-8.74853163e-04 9.99999214e-01 8.97945780e-04 7.82271465e-02] [ 2.21924544e-03 -8.96002399e-04 9.99997136e-01 5.40067062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55255784400003 meters 0.28849793626960213 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99997021e-01 8.41509466e-04 -2.29138489e-03 1.56414757e+00] [-8.39664656e-04 9.99999323e-01 8.05949698e-04 7.85933242e-02] [ 2.29206156e-03 -8.04023302e-04 9.99997050e-01 5.39851116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58255784400006 meters 0.28950321587253264 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996923e-01 8.07551648e-04 -2.34579391e-03 1.56442358e+00] [-8.05870714e-04 9.99999418e-01 7.17430309e-04 7.89357221e-02] [ 2.34637191e-03 -7.15537695e-04 9.99996991e-01 5.39527182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61255784400004 meters 0.2893025828714205 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996859e-01 7.82175505e-04 -2.38115763e-03 1.56452649e+00] [-7.80629868e-04 9.99999484e-01 6.49971809e-04 7.92086404e-02] [ 2.38166480e-03 -6.48110965e-04 9.99996954e-01 5.39494049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64255784400007 meters 0.288358801526573 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996874e-01 7.76369791e-04 -2.37696943e-03 1.56444697e+00] [-7.74869825e-04 9.99999500e-01 6.31897485e-04 7.92867780e-02] [ 2.37745882e-03 -6.30053668e-04 9.99996975e-01 5.39654555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67255784400004 meters 0.28860483701617995 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996642e-01 8.39266953e-04 -2.45172888e-03 1.56447749e+00] [-8.37280278e-04 9.99999320e-01 8.11229947e-04 7.85704739e-02] [ 2.45240805e-03 -8.09174438e-04 9.99996665e-01 5.40047517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70255784400007 meters 0.28884213958817856 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996548e-01 9.10569222e-04 -2.46452905e-03 1.56447782e+00] [-9.08107425e-04 9.99999088e-01 9.99826227e-04 7.78039054e-02] [ 2.46543722e-03 -9.97584719e-04 9.99996463e-01 5.40132932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73255784400004 meters 0.28773740869341446 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996462e-01 9.86500192e-04 -2.47050302e-03 1.56450848e+00] [-9.83528584e-04 9.99998792e-01 1.20376149e-03 7.69736884e-02] [ 2.47168755e-03 -1.20132742e-03 9.99996224e-01 5.40110466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76255784400007 meters 0.28801674369913294 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:0.54 [[ 9.99996390e-01 1.06614467e-03 -2.46646917e-03 1.56455790e+00] [-1.06265791e-03 9.99998435e-01 1.41454552e-03 7.61100195e-02] [ 2.46797342e-03 -1.41191940e-03 9.99995958e-01 5.39987600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79255784400004 meters 0.2878604788854322 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99996196e-01 1.22854072e-03 -2.46945005e-03 1.56463181e+00] [-1.22400843e-03 9.99997565e-01 1.83601857e-03 7.43839972e-02] [ 2.47169966e-03 -1.83298896e-03 9.99995265e-01 5.39871264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters 0.28886377311666933 Centerline is valid? [False, False] Translation: X:1.60, Y:0.08, Z:0.54 [[ 9.99992899e-01 1.25666422e-03 -3.55283366e-03 1.60372405e+00] [-1.25113188e-03 9.99998002e-01 1.55895546e-03 7.58121781e-02] [ 3.55478565e-03 -1.55449933e-03 9.99992473e-01 5.43529329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85255784400005 meters 0.2872556141390468 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.54 [[ 9.99998205e-01 -1.59379741e-04 -1.88803255e-03 1.56352580e+00] [ 1.61483243e-04 9.99999366e-01 1.11402369e-03 7.16718565e-02] [ 1.88785380e-03 -1.11432658e-03 9.99997597e-01 5.40264376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters 0.2897104395611279 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.54 [[ 9.99996131e-01 -3.05219088e-04 -2.76475627e-03 1.60223097e+00] [ 3.07547436e-04 9.99999598e-01 8.41767321e-04 7.19346136e-02] [ 2.76449823e-03 -8.42614358e-04 9.99995824e-01 5.44170996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91255784400005 meters 0.2890767191601223 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.54 [[ 9.99996417e-01 1.90792019e-05 -2.67686557e-03 1.60178134e+00] [-1.41110878e-05 9.99998278e-01 1.85595117e-03 6.79558021e-02] [ 2.67689636e-03 -1.85590675e-03 9.99994695e-01 5.44773477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters 0.287504973192677 Centerline is valid? [False, False] Translation: X:1.60, Y:0.07, Z:0.54 [[ 9.99996448e-01 2.00276267e-04 -2.65774192e-03 1.60167093e+00] [-1.94011853e-04 9.99997203e-01 2.35709220e-03 6.59442798e-02] [ 2.65820656e-03 -2.35656820e-03 9.99993690e-01 5.44932205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97255784400005 meters 0.28777320719821137 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99996246e-01 3.61213272e-04 -2.71620473e-03 1.60184029e+00] [-3.53669603e-04 9.99996081e-01 2.77725047e-03 6.42389284e-02] [ 2.71719726e-03 -2.77627941e-03 9.99992455e-01 5.44927579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters 0.28766191039405703 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995996e-01 4.92033151e-04 -2.78669572e-03 1.60206850e+00] [-4.83330907e-04 9.99995008e-01 3.12259541e-03 6.28251407e-02] [ 2.78821823e-03 -3.12123601e-03 9.99991242e-01 5.44849304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03255784400005 meters 0.28762487742116505 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995819e-01 6.83821651e-04 -2.80965178e-03 1.60238004e+00] [-6.73706400e-04 9.99993295e-01 3.59954981e-03 6.08559839e-02] [ 2.81209439e-03 -3.59764188e-03 9.99989574e-01 5.44354286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters 0.2885565965784167 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995540e-01 7.28444797e-04 -2.89654836e-03 1.60272239e+00] [-7.17681313e-04 9.99992841e-01 3.71527365e-03 6.03757776e-02] [ 2.89923400e-03 -3.71317828e-03 9.99988903e-01 5.44096793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09255784400005 meters 0.288174544802339 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995246e-01 7.54260480e-04 -2.98984774e-03 1.60305846e+00] [-7.42943867e-04 9.99992563e-01 3.78431852e-03 6.00857258e-02] [ 2.99267987e-03 -3.78207924e-03 9.99988370e-01 5.43881543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters 0.28739622489497413 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995307e-01 7.59165215e-04 -2.96799286e-03 1.60313849e+00] [-7.47891474e-04 9.99992509e-01 3.79770597e-03 6.00187611e-02] [ 2.97085372e-03 -3.79546842e-03 9.99988384e-01 5.43575342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15255784400006 meters 0.28737392580845994 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995959e-01 7.77265195e-04 -2.73438354e-03 1.60252426e+00] [-7.66755467e-04 9.99992324e-01 3.84249672e-03 5.98578321e-02] [ 2.73734919e-03 -3.84038459e-03 9.99988879e-01 5.43673361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters 0.2870591498236446 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99996245e-01 7.55995727e-04 -2.63426055e-03 1.60224494e+00] [-7.46024775e-04 9.99992562e-01 3.78403372e-03 6.01030569e-02] [ 2.63710167e-03 -3.78205428e-03 9.99989371e-01 5.43724045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21255784400006 meters 0.2870060229817301 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99996265e-01 7.41385494e-04 -2.63070285e-03 1.60229190e+00] [-7.31527973e-04 9.99992716e-01 3.74609122e-03 6.02528895e-02] [ 2.63346099e-03 -3.74415280e-03 9.99989523e-01 5.43593813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters 0.2879062682653046 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99996005e-01 7.42221675e-04 -2.72744604e-03 1.60265244e+00] [-7.31990042e-04 9.99992699e-01 3.75044569e-03 6.02191234e-02] [ 2.73020979e-03 -3.74843425e-03 9.99989248e-01 5.43330753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27255784400006 meters 0.28710925299562845 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:0.54 [[ 9.99995892e-01 8.44840349e-04 -2.73909290e-03 1.60261013e+00] [-8.33807081e-04 9.99991545e-01 4.02671656e-03 5.90934163e-02] [ 2.74247168e-03 -4.02441614e-03 9.99988141e-01 5.43521203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters 0.2880639333866464 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:0.54 [[ 0.99998948 0.00382321 0.00253569 1.62260082] [-0.003819 0.99999133 -0.00166217 0.06415746] [-0.00254202 0.00165246 0.9999954 0.54105538] [ 0. 0. 0. 1. ]] SLAMing on 267.33255784400006 meters 0.2889727382566971 Centerline is valid? [False, False] Translation: X:1.64, Y:0.07, Z:0.54 [[ 9.99982278e-01 -3.91439942e-03 4.48561882e-03 1.64173737e+00] [ 3.91502436e-03 9.99992328e-01 -1.30549746e-04 6.59763328e-02] [-4.48507338e-03 1.48108739e-04 9.99989931e-01 5.42379600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters 0.2878260432205583 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:0.54 [[ 9.99983261e-01 3.88271838e-03 4.28967590e-03 1.62329628e+00] [-3.87697855e-03 9.99991579e-01 -1.34556130e-03 5.88662301e-02] [-4.29486422e-03 1.32890779e-03 9.99989894e-01 5.40589258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39255784400007 meters 0.28808978963873144 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:0.54 [[ 9.99983628e-01 4.10300593e-03 3.98859420e-03 1.62442208e+00] [-4.10041151e-03 9.99991377e-01 -6.58420948e-04 5.59150393e-02] [-3.99126131e-03 6.42055291e-04 9.99991829e-01 5.39599046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters 0.2890299955688835 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:0.54 [[ 9.99983745e-01 4.21999676e-03 3.83418584e-03 1.62508971e+00] [-4.21874369e-03 9.99991045e-01 -3.34842235e-04 5.45467301e-02] [-3.83556454e-03 3.18661345e-04 9.99992593e-01 5.38948466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45255784400007 meters 0.28682292425336026 Centerline is valid? [False, False] Translation: X:1.60, Y:0.05, Z:0.54 [[ 9.99997217e-01 -2.35882283e-03 4.48644329e-05 1.60430089e+00] [ 2.35870088e-03 9.99993973e-01 2.54773367e-03 4.97134554e-02] [-5.08738148e-05 -2.54762076e-03 9.99996754e-01 5.40660010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48255784400004 meters 0.28682292425336026 Centerline is valid? [False, False] Translation: X:1.60, Y:0.05, Z:0.54 [[ 9.99997217e-01 -2.35882283e-03 4.48644329e-05 1.60430089e+00] [ 2.35870088e-03 9.99993973e-01 2.54773367e-03 4.97134554e-02] [-5.08738148e-05 -2.54762076e-03 9.99996754e-01 5.40660010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51255784400007 meters 0.2879717407512335 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:0.54 [[ 9.99988784e-01 4.19036122e-03 2.20720568e-03 1.62619169e+00] [-4.18977801e-03 9.99991187e-01 -2.68791835e-04 4.80209069e-02] [-2.20831256e-03 2.59541118e-04 9.99997528e-01 5.39470057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54255784400004 meters 0.28814081262838953 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:0.54 [[ 9.99997679e-01 2.32344925e-04 2.14206877e-03 1.62620144e+00] [-2.24740488e-04 9.99993675e-01 -3.54960097e-03 4.38345676e-02] [-2.14287996e-03 3.54911132e-03 9.99991406e-01 5.39831459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572557844 meters 0.2894351554550496 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:0.54 [[ 9.99979497e-01 -5.04724521e-03 3.94088715e-03 1.64992673e+00] [ 5.04636297e-03 9.99987240e-01 2.33779723e-04 4.11129891e-02] [-3.94201681e-03 -2.13887783e-04 9.99992207e-01 5.37741564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60255784400005 meters 0.2883298798990871 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:0.54 [[ 9.99999017e-01 7.62289103e-04 1.17722636e-03 1.62864207e+00] [-7.59427427e-04 9.99996761e-01 -2.42940022e-03 3.74606280e-02] [-1.17907445e-03 2.42850382e-03 9.99996356e-01 5.38703234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632557844 meters 0.2886227678009251 Centerline is valid? [False, False] Translation: X:1.63, Y:0.03, Z:0.54 [[ 9.99998638e-01 1.07507567e-03 1.25246189e-03 1.62860313e+00] [-1.07298481e-03 9.99998032e-01 -1.66887988e-03 3.43533594e-02] [-1.25425360e-03 1.66753374e-03 9.99997823e-01 5.38442687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66255784400005 meters 0.29006196942506174 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.54 [[ 0.9999867 -0.00353972 0.00375097 1.65228859] [ 0.00353139 0.99999129 0.00222391 0.03198582] [-0.00375881 -0.00221064 0.99999049 0.53650426] [ 0. 0. 0. 1. ]] SLAMing on 267.692557844 meters 0.28992029140292974 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.54 [[ 0.99998721 -0.0034341 0.0037122 1.65237939] [ 0.00342486 0.99999103 0.002492 0.03088734] [-0.00372072 -0.00247926 0.99999 0.53655369] [ 0. 0. 0. 1. ]] SLAMing on 267.72255784400005 meters 0.28930201279870854 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.54 [[ 0.99998791 -0.00331997 0.00362727 1.65271635] [ 0.00330987 0.99999064 0.00278666 0.02965292] [-0.00363649 -0.00277462 0.99998954 0.53632972] [ 0. 0. 0. 1. ]] SLAMing on 267.752557844 meters 0.28861885971605283 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.54 [[ 0.99998901 -0.00306267 0.00355093 1.65289123] [ 0.00305039 0.99998936 0.00346053 0.02686041] [-0.00356149 -0.00344966 0.99998771 0.53646945] [ 0. 0. 0. 1. ]] SLAMing on 267.78255784400005 meters 0.2893957588820215 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:0.54 [[ 0.99998938 -0.00295236 0.00354021 1.6528768 ] [ 0.00293903 0.99998859 0.00376581 0.02561745] [-0.00355128 -0.00375536 0.99998664 0.53659351] [ 0. 0. 0. 1. ]] SLAMing on 267.812557844 meters 0.2892126624714431 Centerline is valid? [False, False] Translation: X:1.65, Y:0.02, Z:0.54 [[ 0.99998999 -0.00282696 0.0034673 1.65306572] [ 0.00281267 0.99998755 0.0041208 0.02416769] [-0.00347891 -0.004111 0.9999855 0.53661639] [ 0. 0. 0. 1. ]] SLAMing on 267.84255784400005 meters 0.2896155460273754 Centerline is valid? [False, False] Translation: X:1.65, Y:0.02, Z:0.54 [[ 0.99999108 -0.00264322 0.00329298 1.65345634] [ 0.00262773 0.9999855 0.00469974 0.02185285] [-0.00330535 -0.00469104 0.99998353 0.5367873 ] [ 0. 0. 0. 1. ]] SLAMing on 267.872557844 meters 0.28872478642034505 Centerline is valid? [False, False] Translation: X:1.63, Y:0.02, Z:0.54 [[ 9.99996691e-01 2.24905480e-03 1.24866371e-03 1.63014130e+00] [-2.25055436e-03 9.99996747e-01 1.20082782e-03 2.05714059e-02] [-1.24595892e-03 -1.20363404e-03 9.99998499e-01 5.38572719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90255784400006 meters 0.2895609336945308 Centerline is valid? [False, False] Translation: X:1.67, Y:0.02, Z:0.54 [[ 9.99995000e-01 3.12995452e-03 4.51420042e-04 1.66895773e+00] [-3.13033307e-03 9.99994747e-01 8.40323939e-04 2.39324156e-02] [-4.48787495e-04 -8.41732832e-04 9.99999545e-01 5.41688622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93255784400003 meters 0.28914691702259354 Centerline is valid? [False, False] Translation: X:1.67, Y:0.02, Z:0.54 [[ 9.99995086e-01 3.09648704e-03 4.89935660e-04 1.66896369e+00] [-3.09685381e-03 9.99994924e-01 7.49635519e-04 2.42918870e-02] [-4.87611936e-04 -7.51149095e-04 9.99999599e-01 5.41439587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96255784400006 meters 0.28867540386133295 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99995441e-01 2.97166048e-03 5.35702633e-04 1.66903504e+00] [-2.97186907e-03 9.99995508e-01 3.89003736e-04 2.57300311e-02] [-5.34544240e-04 -3.90594001e-04 9.99999781e-01 5.40945515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99255784400003 meters 0.2888364483913033 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99995851e-01 2.83639507e-03 5.03029832e-04 1.66917604e+00] [-2.83640019e-03 9.99995977e-01 9.45889296e-06 2.72635218e-02] [-5.03000979e-04 -1.08856476e-05 9.99999873e-01 5.40779958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02255784400006 meters 0.28964473665178675 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99996261e-01 2.69009480e-03 4.90341414e-04 1.66931454e+00] [-2.68989246e-03 9.99996297e-01 -4.12840181e-04 2.89528524e-02] [-4.91450177e-04 4.11519672e-04 9.99999795e-01 5.40500799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05255784400003 meters 0.2905249276637424 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99996689e-01 2.52034863e-03 5.18719231e-04 1.66932595e+00] [-2.51988662e-03 9.99996430e-01 -8.89416978e-04 3.08775798e-02] [-5.20959020e-04 8.88106919e-04 9.99999470e-01 5.40291598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08255784400006 meters 0.2899271003566013 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99996973e-01 2.39905566e-03 5.45878497e-04 1.66928053e+00] [-2.39838806e-03 9.99996379e-01 -1.22037825e-03 3.22238183e-02] [-5.48804276e-04 1.21906533e-03 9.99999106e-01 5.40212382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11255784400004 meters 0.2884194268981031 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99997250e-01 2.24321709e-03 6.84773440e-04 1.66877640e+00] [-2.24209278e-03 9.99996145e-01 -1.63824135e-03 3.39911097e-02] [-6.88445731e-04 1.63670152e-03 9.99998424e-01 5.40518414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14255784400007 meters 0.2892598025444528 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99997308e-01 2.21278275e-03 6.97957091e-04 1.66857552e+00] [-2.21157606e-03 9.99996067e-01 -1.72494509e-03 3.43702434e-02] [-7.01771274e-04 1.72339686e-03 9.99998269e-01 5.40918832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17255784400004 meters 0.28805524212694356 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:0.54 [[ 9.99997331e-01 2.19937438e-03 7.07587032e-04 1.66846306e+00] [-2.19812268e-03 9.99996027e-01 -1.76490436e-03 3.45401833e-02] [-7.11465906e-04 1.76334429e-03 9.99998192e-01 5.41129147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20255784400007 meters 0.28711113329679483 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:0.54 [[ 9.99979022e-01 -6.32377157e-03 -1.40212546e-03 1.64912403e+00] [ 6.32308905e-03 9.99979889e-01 -4.90673184e-04 3.63744603e-02] [ 1.40520016e-03 4.81797126e-04 9.99998897e-01 5.40263313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23255784400004 meters 0.28899784568144504 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:0.54 [[ 9.99993852e-01 3.50224924e-03 -1.71493167e-04 1.67086710e+00] [-3.50239838e-03 9.99993482e-01 -8.77243616e-04 3.67334463e-02] [ 1.68419723e-04 8.77838860e-04 9.99999601e-01 5.39401507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26255784400007 meters 0.28870190755700414 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:0.54 [[ 9.99984787e-01 -5.45500396e-03 -8.17595089e-04 1.65092205e+00] [ 5.45512966e-03 9.99985109e-01 1.51597445e-04 4.01181604e-02] [ 8.16755950e-04 -1.56055226e-04 9.99999654e-01 5.38267761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29255784400004 meters 0.289153658948383 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:0.54 [[ 9.99984348e-01 -5.53316590e-03 -8.29103697e-04 1.65092349e+00] [ 5.53311977e-03 9.99984690e-01 -5.79273019e-05 4.09803666e-02] [ 8.29411525e-04 5.33388652e-05 9.99999655e-01 5.38313164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters 0.2897208639403698 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:0.54 [[ 9.99993401e-01 3.62960047e-03 1.53910761e-04 1.67160540e+00] [-3.62942224e-03 9.99992760e-01 -1.14292797e-03 4.12539616e-02] [-1.58058019e-04 1.14236182e-03 9.99999335e-01 5.38835927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35255784400005 meters 0.290153528000546 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:0.54 [[ 9.99994102e-01 3.43443718e-03 3.23597555e-05 1.67208487e+00] [-3.43437664e-03 9.99992632e-01 -1.71491615e-03 4.35606516e-02] [-3.82492889e-05 1.71479490e-03 9.99998529e-01 5.38460354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters 0.2898244182523426 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:0.54 [[ 9.99994343e-01 3.36295648e-03 5.98332899e-05 1.67203829e+00] [-3.36283627e-03 9.99992527e-01 -1.90699332e-03 4.43441038e-02] [-6.62459784e-05 1.90678133e-03 9.99998180e-01 5.38397881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41255784400005 meters 0.28905179972090594 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:0.54 [[ 9.99991813e-01 -3.34464888e-03 -2.27770847e-03 1.65053483e+00] [ 3.34705985e-03 9.99993842e-01 1.05552139e-03 4.42405590e-02] [ 2.27416410e-03 -1.06313637e-03 9.99996849e-01 5.39542888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters 0.2882380654891786 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99991517e-01 -3.51470809e-03 -2.14777881e-03 1.64992929e+00] [ 3.51598303e-03 9.99993645e-01 5.90119519e-04 4.62285661e-02] [ 2.14569106e-03 -5.97666067e-04 9.99997519e-01 5.40139081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47255784400005 meters 0.2894001936658896 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99991248e-01 -3.59398507e-03 -2.14167694e-03 1.64975735e+00] [ 3.59480500e-03 9.99993467e-01 3.79116688e-04 4.71143403e-02] [ 2.14030041e-03 -3.86812281e-04 9.99997635e-01 5.40474234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters 0.28956986410913327 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99990928e-01 -3.68285731e-03 -2.14015671e-03 1.64974462e+00] [ 3.68317267e-03 9.99993207e-01 1.43427887e-04 4.80808402e-02] [ 2.13961395e-03 -1.51309152e-04 9.99997700e-01 5.40475042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53255784400005 meters 0.2883298396140663 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99990651e-01 -3.80370456e-03 -2.05687561e-03 1.64954801e+00] [ 3.80335524e-03 9.99992752e-01 -1.73713372e-04 4.93887770e-02] [ 2.05752146e-03 1.65888719e-04 9.99997870e-01 5.40397045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters 0.29019773569285773 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99997639e-01 3.56651434e-04 -2.14376175e-03 1.64975130e+00] [-3.48864103e-04 9.99993344e-01 3.63183121e-03 5.15215961e-02] [ 2.14504278e-03 -3.63107475e-03 9.99991107e-01 5.40365194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59255784400005 meters 0.2891977144710478 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:0.54 [[ 9.99997609e-01 1.86939991e-04 -2.17863035e-03 1.65000337e+00] [-1.80004200e-04 9.99994917e-01 3.18331719e-03 5.33505418e-02] [ 2.17921437e-03 -3.18291742e-03 9.99992560e-01 5.39953797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters 0.28921426676593137 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:0.54 [[ 9.99997363e-01 6.51814671e-07 -2.29658576e-03 1.65048438e+00] [ 5.51748759e-06 9.99996392e-01 2.68628564e-03 5.53729296e-02] [ 2.29657923e-03 -2.68629123e-03 9.99993755e-01 5.39478242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65255784400006 meters 0.287811738068884 Centerline is valid? [False, False] Translation: X:1.63, Y:0.06, Z:0.54 [[ 9.99971532e-01 5.07484039e-03 -5.58403063e-03 1.62902183e+00] [-5.08130607e-03 9.99986435e-01 -1.14431039e-03 5.86234532e-02] [ 5.57814769e-03 1.17265198e-03 9.99983754e-01 5.40837867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68255784400003 meters 0.29017872825728136 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:0.54 [[ 9.99992734e-01 -4.49095098e-04 -3.78555879e-03 1.65179450e+00] [ 4.55360173e-04 9.99998528e-01 1.65429408e-03 6.38787882e-02] [ 3.78481028e-03 -1.65600586e-03 9.99991466e-01 5.39876201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71255784400006 meters 0.28916424085728043 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:0.54 [[ 9.99992804e-01 -5.16572706e-04 -3.75839365e-03 1.65155576e+00] [ 5.22124722e-04 9.99998774e-01 1.47639996e-03 6.46405851e-02] [ 3.75762637e-03 -1.47835168e-03 9.99991847e-01 5.40234592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters 0.29052289804420817 Centerline is valid? [False, False] Translation: X:1.67, Y:0.07, Z:0.54 [[ 9.99984283e-01 5.58098580e-03 -5.35767546e-04 1.67346675e+00] [-5.58191428e-03 9.99982894e-01 -1.74743490e-03 6.77340578e-02] [ 5.26005972e-04 1.75039805e-03 9.99998330e-01 5.38462997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77255784400006 meters 0.2859627482415194 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:0.54 [[ 9.99999491e-01 -8.84884757e-04 4.85632082e-04 1.61223138e+00] [ 8.85022641e-04 9.99999568e-01 -2.83786457e-04 6.42230636e-02] [-4.85380754e-04 2.84216108e-04 9.99999842e-01 5.37189108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80255784400003 meters 0.28962190071974525 Centerline is valid? [False, False] Translation: X:1.66, Y:0.07, Z:0.54 [[ 9.99994811e-01 -1.84531063e-04 3.21618769e-03 1.65702721e+00] [ 1.85191953e-04 9.99999962e-01 -2.05191953e-04 6.76336149e-02] [-3.21614970e-03 2.05786501e-04 9.99994807e-01 5.35074847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83255784400006 meters 0.2886781223440491 Centerline is valid? [False, False] Translation: X:1.66, Y:0.07, Z:0.54 [[ 9.99994896e-01 -1.44417612e-04 3.19181843e-03 1.65702635e+00] [ 1.44728756e-04 9.99999985e-01 -9.72510306e-05 6.71958876e-02] [-3.19180433e-03 9.77124821e-05 9.99994901e-01 5.35229547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters 0.2896633986165717 Centerline is valid? [False, False] Translation: X:1.68, Y:0.07, Z:0.53 [[ 0.99996432 -0.00592603 0.00602032 1.67887453] [ 0.00590796 0.999978 0.00301499 0.06681465] [-0.00603806 -0.00297931 0.99997733 0.53346329] [ 0. 0. 0. 1. ]] SLAMing on 268.89255784400007 meters 0.288531700864028 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 0.99996959 0.00246492 0.00739905 1.65832389] [-0.00248382 0.99999367 0.00254729 0.05935998] [-0.00739272 -0.00256559 0.99996938 0.53267574] [ 0. 0. 0. 1. ]] SLAMing on 268.92255784400004 meters 0.28841105311097764 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 0.99996959 0.00254714 0.00737115 1.65839552] [-0.00256769 0.99999284 0.00277926 0.05841751] [-0.00736402 -0.0027981 0.99996897 0.53269798] [ 0. 0. 0. 1. ]] SLAMing on 268.95255784400007 meters 0.2876196282598643 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 0.99996995 0.00264028 0.00728848 1.65864627] [-0.00266256 0.99999181 0.00304785 0.05731887] [-0.00728038 -0.00306716 0.99996879 0.53261958] [ 0. 0. 0. 1. ]] SLAMing on 268.98255784400004 meters 0.2884030136414857 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 0.99997127 0.00273141 0.00707052 1.65931967] [-0.00275494 0.99999069 0.00332124 0.05617354] [-0.00706139 -0.00334062 0.99996949 0.53235031] [ 0. 0. 0. 1. ]] SLAMing on 269.01255784400007 meters 0.2875140322368842 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:0.53 [[ 9.99965747e-01 7.16321494e-03 4.14641093e-03 1.63860253e+00] [-7.16045889e-03 9.99974133e-01 -6.79149101e-04 5.37736630e-02] [-4.15116856e-03 6.49435633e-04 9.99991173e-01 5.32478346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04255784400004 meters 0.2889481544864243 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 9.99987875e-01 -1.14395264e-03 4.78976594e-03 1.65896824e+00] [ 1.14226701e-03 9.99999285e-01 3.54643268e-04 5.68351440e-02] [-4.79016821e-03 -3.49167776e-04 9.99988466e-01 5.33074924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.072557844 meters 0.2885848966035881 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:0.53 [[ 9.99987666e-01 -1.03404650e-03 4.85777031e-03 1.65868540e+00] [ 1.03090716e-03 9.99999258e-01 6.48711479e-04 5.56396585e-02] [-4.85843751e-03 -6.43695567e-04 9.99987991e-01 5.33353899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10255784400005 meters 0.28699631303879736 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.53 [[ 9.99987878e-01 -8.23862689e-04 4.85443515e-03 1.65851658e+00] [ 8.18205974e-04 9.99998984e-01 1.16713807e-03 5.34997050e-02] [-4.85539178e-03 -1.16315200e-03 9.99987536e-01 5.33763047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.132557844 meters 0.287228897807862 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:0.53 [[ 9.99988066e-01 -7.52705126e-04 4.82708545e-03 1.65858475e+00] [ 7.46154215e-04 9.99998798e-01 1.35877243e-03 5.27165297e-02] [-4.82810241e-03 -1.35515446e-03 9.99987426e-01 5.33782974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16255784400005 meters 0.28905722242353143 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99993540e-01 1.70304781e-04 3.59028454e-03 1.69853418e+00] [-1.74994495e-04 9.99999132e-01 1.30594989e-03 5.55137113e-02] [-3.59005902e-03 -1.30656973e-03 9.99992702e-01 5.36381978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192557844 meters 0.2900205456290772 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99993943e-01 1.39884941e-04 3.47758385e-03 1.69898978e+00] [-1.44159151e-04 9.99999235e-01 1.22885452e-03 5.58104895e-02] [-3.47740929e-03 -1.22934841e-03 9.99993198e-01 5.35976692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22255784400005 meters 0.28918945091136994 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99994509e-01 6.50249370e-06 3.31386407e-03 1.69949372e+00] [-9.15073220e-06 9.99999681e-01 7.99124611e-04 5.74962447e-02] [-3.31385781e-03 -7.99150548e-04 9.99994190e-01 5.35632523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252557844 meters 0.2896431166970405 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99994261e-01 -1.25548733e-04 3.38573330e-03 1.69927228e+00] [ 1.24154709e-04 9.99999907e-01 4.11941795e-04 5.90676979e-02] [-3.38578470e-03 -4.11519076e-04 9.99994184e-01 5.35686228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28255784400005 meters 0.2899641806068077 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99994173e-01 -2.77003491e-04 3.40267088e-03 1.69922997e+00] [ 2.77125691e-04 9.99999961e-01 -3.54416480e-05 6.08766165e-02] [-3.40266092e-03 3.63844090e-05 9.99994210e-01 5.35661354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312557844 meters 0.29013101781329387 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99994197e-01 -4.44347088e-04 3.37761147e-03 1.69934008e+00] [ 4.46028440e-04 9.99999777e-01 -4.97056234e-04 6.27406472e-02] [-3.37738986e-03 4.98559861e-04 9.99994172e-01 5.35541065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34255784400005 meters 0.28936318509074754 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99994063e-01 -6.94179079e-04 3.37520580e-03 1.69942825e+00] [ 6.98083368e-04 9.99999089e-01 -1.15571534e-03 6.54390003e-02] [-3.37440045e-03 1.15806465e-03 9.99993636e-01 5.35297920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372557844 meters 0.28936318509074754 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99994063e-01 -6.94179079e-04 3.37520580e-03 1.69942825e+00] [ 6.98083368e-04 9.99999089e-01 -1.15571534e-03 6.54390003e-02] [-3.37440045e-03 1.15806465e-03 9.99993636e-01 5.35297920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40255784400006 meters 0.2891538048403102 Centerline is valid? [False, False] Translation: X:1.68, Y:0.07, Z:0.54 [[ 0.99998763 0.00454634 0.002019 1.67577421] [-0.00453638 0.99997767 -0.00490638 0.06540674] [-0.00204126 0.00489716 0.99998593 0.53725435] [ 0. 0. 0. 1. ]] SLAMing on 269.43255784400003 meters 0.2903385217430638 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99987410e-01 -1.10238777e-03 4.89534285e-03 1.69762888e+00] [ 1.11122147e-03 9.99997759e-01 -1.80215697e-03 6.56341807e-02] [-4.89334520e-03 1.80757409e-03 9.99986394e-01 5.35759980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46255784400006 meters 0.28825840842084627 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:0.54 [[ 9.99963468e-01 -7.98291351e-03 3.05531452e-03 1.67486828e+00] [ 7.97983829e-03 9.99967643e-01 1.01738420e-03 6.49873800e-02] [-3.06333735e-03 -9.92966113e-04 9.99994815e-01 5.37550723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49255784400003 meters 0.2891622907775953 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99990561e-01 1.16933025e-03 4.18463712e-03 1.69531938e+00] [-1.17025639e-03 9.99999291e-01 2.18878111e-04 6.33134229e-02] [-4.18437821e-03 -2.23773144e-04 9.99991220e-01 5.37894937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52255784400006 meters 0.28894652657459663 Centerline is valid? [False, False] Translation: X:1.70, Y:0.06, Z:0.54 [[ 9.99990868e-01 1.08039092e-03 4.13482938e-03 1.69544804e+00] [-1.08032129e-03 9.99999416e-01 -1.90748571e-05 6.42899238e-02] [-4.13484757e-03 1.46077387e-05 9.99991451e-01 5.37875026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55255784400003 meters 0.2893993639103867 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99991239e-01 9.54668801e-04 4.07564596e-03 1.69565983e+00] [-9.53223520e-04 9.99999482e-01 -3.56541729e-04 6.56677156e-02] [-4.07598423e-03 3.52653604e-04 9.99991631e-01 5.37706877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58255784400006 meters 0.29014466513535014 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99992189e-01 6.73991435e-04 3.89452415e-03 1.69641317e+00] [-6.68899154e-04 9.99998920e-01 -1.30870348e-03 6.93977464e-02] [-3.89540200e-03 1.30608821e-03 9.99991560e-01 5.36893040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61255784400004 meters 0.2902031988367413 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99992197e-01 5.20759328e-04 3.91604962e-03 1.69645211e+00] [-5.13807264e-04 9.99998291e-01 -1.77607113e-03 7.12565633e-02] [-3.91696783e-03 1.77404518e-03 9.99990755e-01 5.36634892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64255784400007 meters 0.2903277408606289 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99991813e-01 3.88646182e-04 4.02785150e-03 1.69614615e+00] [-3.79939431e-04 9.99997590e-01 -2.16217627e-03 7.28340074e-02] [-4.02868212e-03 2.16062823e-03 9.99989551e-01 5.36664088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67255784400004 meters 0.29012169379401437 Centerline is valid? [False, False] Translation: X:1.70, Y:0.07, Z:0.54 [[ 9.99991230e-01 2.74303723e-04 4.17902321e-03 1.69565095e+00] [-2.63900773e-04 9.99996866e-01 -2.48967403e-03 7.41993784e-02] [-4.17969304e-03 2.48854935e-03 9.99988169e-01 5.36909068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70255784400007 meters 0.2907966349260291 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99990293e-01 -8.99857728e-06 4.40612609e-03 1.69497219e+00] [ 2.36189365e-05 9.99994495e-01 -3.31814823e-03 7.76081396e-02] [-4.40607197e-03 3.31822009e-03 9.99984788e-01 5.37073693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73255784400004 meters 0.2900337138061864 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99990375e-01 -1.71324231e-04 4.38404367e-03 1.69516723e+00] [ 1.87763773e-04 9.99992952e-01 -3.74972147e-03 7.93647771e-02] [-4.38337035e-03 3.75050855e-03 9.99983360e-01 5.36737437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76255784400007 meters 0.28936993129039973 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99990575e-01 -3.22495089e-04 4.32959658e-03 1.69535719e+00] [ 3.40454703e-04 9.99991339e-01 -4.14800729e-03 8.09993155e-02] [-4.32822137e-03 4.14944222e-03 9.99982024e-01 5.36596662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79255784400004 meters 0.2898795288728682 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99990620e-01 -4.10941772e-04 4.31181472e-03 1.69536967e+00] [ 4.29821250e-04 9.99990322e-01 -4.37853294e-03 8.19511372e-02] [-4.30997367e-03 4.38034518e-03 9.99981118e-01 5.36649110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822557844 meters 0.2888946622690502 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99990222e-01 -4.49812407e-04 4.39933928e-03 1.69472445e+00] [ 4.69564982e-04 9.99989810e-01 -4.48989416e-03 8.24409433e-02] [-4.39727484e-03 4.49191603e-03 9.99980243e-01 5.37688095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85255784400005 meters 0.2895595298156201 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99990254e-01 -4.27495340e-04 4.39426336e-03 1.69459800e+00] [ 4.46968188e-04 9.99990081e-01 -4.43139838e-03 8.22042007e-02] [-4.39232537e-03 4.43331929e-03 9.99980526e-01 5.38027720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882557844 meters 0.2880000873945881 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99974337e-01 -7.09255682e-03 1.01036323e-03 1.67335134e+00] [ 7.09430058e-03 9.99973334e-01 -1.73287477e-03 7.91718566e-02] [-9.98045779e-04 1.73999812e-03 9.99997988e-01 5.39875506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91255784400005 meters 0.288379405568624 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99974837e-01 -7.04658261e-03 8.19516621e-04 1.67392173e+00] [ 7.04788778e-03 9.99973882e-01 -1.60078186e-03 7.86107629e-02] [-8.08215176e-04 1.60651744e-03 9.99998383e-01 5.39671448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942557844 meters 0.2885759823008317 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99975203e-01 -7.01528606e-03 6.15550979e-04 1.67470120e+00] [ 7.01620794e-03 9.99974248e-01 -1.50849775e-03 7.81906395e-02] [-6.04952585e-04 1.51277918e-03 9.99998673e-01 5.38985513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97255784400005 meters 0.2895450467795617 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99974855e-01 -7.06149741e-03 6.50941088e-04 1.67463135e+00] [ 7.06255080e-03 9.99973731e-01 -1.63041854e-03 7.86931772e-02] [-6.39410792e-04 1.63497485e-03 9.99998459e-01 5.38923058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002557844 meters 0.2891031020047573 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99974446e-01 -7.11581939e-03 6.87260245e-04 1.67444158e+00] [ 7.11703148e-03 9.99973094e-01 -1.77760686e-03 7.93061082e-02] [-6.74592624e-04 1.78245268e-03 9.99998184e-01 5.39130613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03255784400005 meters 0.2887083258825717 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99995924e-01 -2.79423599e-03 5.86349204e-04 1.67463838e+00] [ 2.79275788e-03 9.99992958e-01 2.50672546e-03 7.94384447e-02] [-5.93349458e-04 -2.50507771e-03 9.99996686e-01 5.39140984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062557844 meters 0.28889580010062016 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99995494e-01 -2.93580378e-03 6.26617537e-04 1.67462717e+00] [ 2.93448191e-03 9.99993489e-01 2.10013424e-03 8.10859903e-02] [-6.32779039e-04 -2.09828598e-03 9.99997598e-01 5.38882347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09255784400005 meters 0.290143353976484 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99995164e-01 -3.05147501e-03 6.00438573e-04 1.67486522e+00] [ 3.05040879e-03 9.99993783e-01 1.76871545e-03 8.24268638e-02] [-6.05832032e-04 -1.76687532e-03 9.99998256e-01 5.38440214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters 0.29081885094244825 Centerline is valid? [False, False] Translation: X:1.68, Y:0.08, Z:0.54 [[ 9.99994876e-01 -3.14919563e-03 5.74720591e-04 1.67504758e+00] [ 3.14832765e-03 9.99993912e-01 1.50497180e-03 8.35101391e-02] [-5.79456543e-04 -1.50315468e-03 9.99998702e-01 5.38158499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15255784400006 meters 0.2904603274449583 Centerline is valid? [False, False] Translation: X:1.68, Y:0.08, Z:0.54 [[ 9.99994701e-01 -3.21164271e-03 5.32782103e-04 1.67521532e+00] [ 3.21092448e-03 9.99993942e-01 1.34349962e-03 8.41746305e-02] [-5.37093717e-04 -1.34178177e-03 9.99998956e-01 5.38014475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters 0.28871231215327914 Centerline is valid? [False, False] Translation: X:1.65, Y:0.08, Z:0.54 [[ 9.99997129e-01 2.32181331e-03 -5.91858393e-04 1.65128193e+00] [-2.32308856e-03 9.99994962e-01 -2.16316360e-03 8.32305056e-02] [ 5.86832949e-04 2.16453233e-03 9.99997485e-01 5.40005016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21255784400006 meters 0.28928240028714136 Centerline is valid? [False, False] Translation: X:1.67, Y:0.09, Z:0.54 [[ 9.99981979e-01 -5.95695660e-03 7.46184411e-04 1.67146649e+00] [ 5.95782979e-03 9.99981563e-01 -1.17350365e-03 8.61028182e-02] [-7.39180143e-04 1.17792815e-03 9.99999033e-01 5.41116306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24255784400003 meters 0.2885615261619401 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99982742e-01 -5.83483880e-03 6.85352232e-04 1.67152437e+00] [ 5.83537240e-03 9.99982671e-01 -7.79178514e-04 8.45318280e-02] [-6.80793974e-04 7.83164353e-04 9.99999462e-01 5.41390929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27255784400006 meters 0.28914298073540157 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99983538e-01 -5.71586901e-03 5.01749513e-04 1.67206772e+00] [ 5.71608936e-03 9.99983567e-01 -4.38828792e-04 8.31240761e-02] [-4.99232980e-04 4.41689613e-04 9.99999778e-01 5.41229421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30255784400003 meters 0.28901944650818534 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99984316e-01 -5.59107211e-03 3.29397832e-04 1.67256097e+00] [ 5.59110102e-03 9.99984366e-01 -8.68960356e-05 8.16688326e-02] [-3.28906841e-04 8.87363693e-05 9.99999942e-01 5.41121309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33255784400006 meters 0.2883692290686186 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99984868e-01 -5.49138328e-03 3.28286587e-04 1.67256344e+00] [ 5.49132438e-03 9.99984906e-01 1.80028131e-04 8.05667108e-02] [-3.29270236e-04 -1.78222679e-04 9.99999930e-01 5.41142168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36255784400004 meters 0.288410177242781 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99985710e-01 -5.32921975e-03 4.24336310e-04 1.67200101e+00] [ 5.32895081e-03 9.99985601e-01 6.32421725e-04 7.86617593e-02] [-4.27700515e-04 -6.30151420e-04 9.99999710e-01 5.42027799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39255784400007 meters 0.28928898536185543 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99992734e-01 2.98777875e-03 2.36741084e-03 1.69120919e+00] [-2.98641053e-03 9.99995372e-01 -5.81261754e-04 7.62376550e-02] [-2.36913656e-03 5.74187470e-04 9.99997029e-01 5.43446988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42255784400004 meters 0.28855300850981686 Centerline is valid? [False, False] Translation: X:1.67, Y:0.08, Z:0.54 [[ 9.99982242e-01 -5.89710555e-03 8.60051631e-04 1.67086967e+00] [ 5.89689931e-03 9.99982584e-01 2.42135077e-04 7.84357335e-02] [-8.61464548e-04 -2.37059139e-04 9.99999601e-01 5.43277480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45255784400007 meters 0.2912338657665584 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99991434e-01 3.78191141e-03 1.68215743e-03 1.69391350e+00] [-3.78221520e-03 9.99992832e-01 1.77451764e-04 7.85752177e-02] [-1.68147427e-03 -1.83812526e-04 9.99998569e-01 5.42361418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters 0.29093711161600067 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99991718e-01 3.71710457e-03 1.65718893e-03 1.69406102e+00] [-3.71712041e-03 9.99993091e-01 6.48090956e-06 7.92793858e-02] [-1.65715339e-03 -1.26408267e-05 9.99998627e-01 5.42167848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51255784400007 meters 0.28968365533172946 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99992096e-01 3.62118017e-03 1.64176236e-03 1.69415534e+00] [-3.62077831e-03 9.99993414e-01 -2.47675674e-04 8.03244879e-02] [-1.64264843e-03 2.41729258e-04 9.99998622e-01 5.42028171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54255784400004 meters 0.2901351515828962 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99992347e-01 3.49413367e-03 1.75989606e-03 1.69376340e+00] [-3.49308351e-03 9.99993720e-01 -5.99434459e-04 8.17905391e-02] [-1.76197952e-03 5.93282408e-04 9.99998272e-01 5.42213843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572557844 meters 0.28886875887450464 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99992326e-01 3.46195758e-03 1.83391356e-03 1.69345048e+00] [-3.46070363e-03 9.99993776e-01 -6.86489424e-04 8.21642712e-02] [-1.83627874e-03 6.80137524e-04 9.99998083e-01 5.42496261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60255784400005 meters 0.28968540348788757 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:0.54 [[ 9.99984964e-01 -4.24769960e-03 3.46839274e-03 1.71210313e+00] [ 4.24483247e-03 9.99990643e-01 8.33588449e-04 8.62622286e-02] [-3.47190112e-03 -8.18853169e-04 9.99993638e-01 5.44125148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632557844 meters 0.2886575082420389 Centerline is valid? [False, False] Translation: X:1.69, Y:0.08, Z:0.54 [[ 9.99991294e-01 3.64002291e-03 2.04002784e-03 1.69466176e+00] [-3.63881539e-03 9.99993202e-01 -5.95313666e-04 8.05368975e-02] [-2.04218093e-03 5.87885198e-04 9.99997742e-01 5.42518658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66255784400005 meters 0.2891710447559028 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99991420e-01 3.69250444e-03 1.87782901e-03 1.69524550e+00] [-3.69168104e-03 9.99993088e-01 -4.41765965e-04 7.98744981e-02] [-1.87944726e-03 4.34829829e-04 9.99998139e-01 5.42114723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692557844 meters 0.2909458973311984 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99986889e-01 -4.74611547e-03 1.92239126e-03 1.71631354e+00] [ 4.74518342e-03 9.99988622e-01 4.89109273e-04 8.32241928e-02] [-1.92469075e-03 -4.79980762e-04 9.99998033e-01 5.42754838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72255784400005 meters 0.29043798159664896 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99987700e-01 -4.64669619e-03 1.73449882e-03 1.71683354e+00] [ 4.64538813e-03 9.99988923e-01 7.57411543e-04 8.20971547e-02] [-1.73799907e-03 -7.49344806e-04 9.99998209e-01 5.42687534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752557844 meters 0.28981344013585186 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99995016e-01 3.11712340e-03 5.01085283e-04 1.69831477e+00] [-3.11671773e-03 9.99994816e-01 -8.08323037e-04 7.79396598e-02] [-5.03602328e-04 8.06757267e-04 9.99999548e-01 5.40721126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78255784400005 meters 0.2911713700531522 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99995287e-01 -2.89691988e-03 1.01679786e-03 1.72204407e+00] [ 2.89461545e-03 9.99993256e-01 2.26056089e-03 8.02184401e-02] [-1.02333966e-03 -2.25760699e-03 9.99996928e-01 5.39418325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812557844 meters 0.291131660654701 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99994892e-01 -3.01555579e-03 1.05953122e-03 1.72197567e+00] [ 3.01357508e-03 9.99993718e-01 1.86607709e-03 8.17430580e-02] [-1.06515183e-03 -1.86287458e-03 9.99997698e-01 5.39259602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84255784400005 meters 0.28973977811062324 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99992737e-01 3.51570553e-03 -1.47191473e-03 1.69984234e+00] [-3.51697047e-03 9.99993448e-01 -8.57677888e-04 8.32710393e-02] [ 1.46888974e-03 8.62848339e-04 9.99998549e-01 5.40889181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872557844 meters 0.290863372191291 Centerline is valid? [False, False] Translation: X:1.70, Y:0.08, Z:0.54 [[ 9.99993057e-01 3.39749975e-03 -1.53038940e-03 1.70008823e+00] [-3.39938349e-03 9.99993466e-01 -1.22997080e-03 8.47526689e-02] [ 1.52620058e-03 1.23516464e-03 9.99998073e-01 5.40598561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90255784400006 meters 0.29177086060346075 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:0.54 [[ 9.99993506e-01 3.23668910e-03 -1.58461497e-03 1.70035090e+00] [-3.23942127e-03 9.99993266e-01 -1.72466396e-03 8.67332101e-02] [ 1.57902210e-03 1.72978599e-03 9.99997257e-01 5.40243475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93255784400003 meters 0.29076821158418986 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:0.54 [[ 9.99982994e-01 -5.68061490e-03 -1.31994019e-03 1.67955274e+00] [ 5.67858067e-03 9.99982691e-01 -1.53982151e-03 9.54146291e-02] [ 1.32866448e-03 1.53229993e-03 9.99997943e-01 5.39309888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96255784400006 meters 0.28942138106571785 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:0.54 [[ 9.99982300e-01 -5.84294189e-03 -1.12239847e-03 1.67885671e+00] [ 5.84068075e-03 9.99980928e-01 -2.00738334e-03 9.73760634e-02] [ 1.13410609e-03 2.00079224e-03 9.99997355e-01 5.39728466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99255784400003 meters 0.2897393598458456 Centerline is valid? [False, False] Translation: X:1.70, Y:0.10, Z:0.54 [[ 9.99995168e-01 2.64203682e-03 1.63809859e-03 1.69806519e+00] [-2.63669876e-03 9.99991235e-01 -3.25233525e-03 9.91803881e-02] [-1.64667702e-03 3.24800037e-03 9.99993369e-01 5.40557667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02255784400006 meters 0.2879645837423603 Centerline is valid? [False, False] Translation: X:1.67, Y:0.10, Z:0.54 [[ 9.99992759e-01 -3.80500536e-03 -6.26104918e-05 1.67462155e+00] [ 3.80497689e-03 9.99992660e-01 -4.48781673e-04 9.96267735e-02] [ 6.43176489e-05 4.48540192e-04 9.99999897e-01 5.42667097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05255784400003 meters 0.28947188696705944 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:0.54 [[ 9.99999929e-01 2.24392199e-04 -3.02911960e-04 1.67514293e+00] [-2.23516396e-04 9.99995804e-01 2.88822373e-03 1.03340587e-01] [ 3.03558784e-04 -2.88815582e-03 9.99995783e-01 5.42652337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08255784400006 meters 0.2881382857611233 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:0.54 [[ 9.99999938e-01 9.40332910e-05 -3.39768283e-04 1.67523051e+00] [-9.31685119e-05 9.99996759e-01 2.54432244e-03 1.04745401e-01] [ 3.40006432e-04 -2.54429063e-03 9.99996705e-01 5.42614577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11255784400004 meters 0.29092198121402907 Centerline is valid? [False, False] Translation: X:1.71, Y:0.11, Z:0.55 [[ 9.99999601e-01 -2.36559700e-04 -8.61500153e-04 1.71494272e+00] [ 2.37888034e-04 9.99998783e-01 1.54210793e-03 1.11652221e-01] [ 8.61134304e-04 -1.54231225e-03 9.99998440e-01 5.45294663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14255784400007 meters 0.28923677429492567 Centerline is valid? [False, False] Translation: X:1.71, Y:0.11, Z:0.55 [[ 9.99999522e-01 -5.29257894e-04 -8.21645440e-04 1.71466735e+00] [ 5.29955423e-04 9.99999499e-01 8.48956753e-04 1.14513089e-01] [ 8.21195712e-04 -8.49391783e-04 9.99999302e-01 5.45573275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17255784400004 meters 0.2898939196962327 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:0.55 [[ 9.99999390e-01 -7.02779714e-04 -8.51892704e-04 1.71470588e+00] [ 7.03132492e-04 9.99999667e-01 4.13882291e-04 1.16303864e-01] [ 8.51601553e-04 -4.14481032e-04 9.99999551e-01 5.45609942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20255784400007 meters 0.28875968962128407 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:0.54 [[ 9.99999631e-01 -7.27841043e-04 4.56444333e-04 1.67561201e+00] [ 7.27755498e-04 9.99999718e-01 1.87555183e-04 1.16552728e-01] [-4.56580714e-04 -1.87222934e-04 9.99999878e-01 5.42063843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23255784400004 meters 0.28952249272348884 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:0.54 [[ 9.99999527e-01 -8.84386137e-04 4.04004373e-04 1.67584061e+00] [ 8.84476207e-04 9.99999584e-01 -2.22820026e-04 1.18233626e-01] [-4.03807146e-04 2.23177253e-04 9.99999894e-01 5.41797857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26255784400007 meters 0.28989787453437704 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:0.54 [[ 9.99999363e-01 -1.07537217e-03 3.44283991e-04 1.67610870e+00] [ 1.07561892e-03 9.99999164e-01 -7.17327673e-04 1.20270810e-01] [-3.43512309e-04 7.17697534e-04 9.99999683e-01 5.41505667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29255784400004 meters 0.28989787453437704 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:0.54 [[ 9.99999363e-01 -1.07537217e-03 3.44283991e-04 1.67610870e+00] [ 1.07561892e-03 9.99999164e-01 -7.17327673e-04 1.20270810e-01] [-3.43512309e-04 7.17697534e-04 9.99999683e-01 5.41505667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters 0.29008039692705806 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:0.54 [[ 9.99998917e-01 -1.42090939e-03 3.84235361e-04 1.67601782e+00] [ 1.42154877e-03 9.99997597e-01 -1.66891330e-03 1.24118849e-01] [-3.81863063e-04 1.66945770e-03 9.99998534e-01 5.41390570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35255784400005 meters 0.28850727177302166 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:0.54 [[ 9.99998667e-01 -1.56705556e-03 4.59525068e-04 1.67571364e+00] [ 1.56799909e-03 9.99996649e-01 -2.06014374e-03 1.25740400e-01] [-4.56295168e-04 2.06086153e-03 9.99997772e-01 5.41612292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters 0.2898300661950225 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:0.54 [[ 9.99998432e-01 -1.69507352e-03 5.11854331e-04 1.67541374e+00] [ 1.69629658e-03 9.99995685e-01 -2.39855809e-03 1.27157058e-01] [-5.07786390e-04 2.39942259e-03 9.99996992e-01 5.41954794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41255784400005 meters 0.28704442866180296 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:0.54 [[ 9.99997314e-01 -1.01635585e-03 2.08298488e-03 1.63398644e+00] [ 1.02028043e-03 9.99997705e-01 -1.88391926e-03 1.25918526e-01] [-2.08106537e-03 1.88603943e-03 9.99996056e-01 5.40366025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters 0.28858255597341664 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:0.54 [[ 9.99966109e-01 -7.10356518e-03 4.16168508e-03 1.65617675e+00] [ 7.09942244e-03 9.99974289e-01 1.00937589e-03 1.29025943e-01] [-4.16874825e-03 -9.79796126e-04 9.99990831e-01 5.39166757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47255784400005 meters 0.2895132420096357 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:0.54 [[ 9.99984285e-01 1.56252393e-03 5.38411640e-03 1.67649252e+00] [-1.56278122e-03 9.99998778e-01 4.35806846e-05 1.27259962e-01] [-5.38404173e-03 -5.19941957e-05 9.99985505e-01 5.39454959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502557844 meters 0.2901156136529108 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:0.54 [[ 9.99984371e-01 1.52587629e-03 5.37869710e-03 1.67650167e+00] [-1.52560045e-03 9.99998835e-01 -5.53867465e-05 1.27666600e-01] [-5.37877535e-03 4.71801381e-05 9.99985533e-01 5.39458849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53255784400005 meters 0.2887705823806997 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:0.54 [[ 0.99998633 -0.00433407 0.00292638 1.65328479] [ 0.00432529 0.99998614 0.00300199 0.12661284] [-0.00293935 -0.00298929 0.99999121 0.54192197] [ 0. 0. 0. 1. ]] SLAMing on 271.562557844 meters 0.28881406403452986 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:0.54 [[ 0.99998596 -0.00441234 0.00293567 1.65323458] [ 0.00440416 0.99998642 0.00278761 0.12749784] [-0.00294793 -0.00277464 0.99999181 0.5419593 ] [ 0. 0. 0. 1. ]] SLAMing on 271.59255784400005 meters 0.2905809665848938 Centerline is valid? [False, False] Translation: X:1.67, Y:0.13, Z:0.54 [[ 9.99982349e-01 3.91331561e-03 4.47074378e-03 1.67312897e+00] [-3.92016035e-03 9.99991156e-01 1.52327045e-03 1.27000592e-01] [-4.46474320e-03 -1.54076960e-03 9.99988846e-01 5.42927784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters 0.28748660437769774 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:0.55 [[ 9.99995606e-01 -2.55058959e-03 1.51091214e-03 1.65010533e+00] [ 2.54479405e-03 9.99989445e-01 3.82537337e-03 1.25123885e-01] [-1.52065315e-03 -3.82151160e-03 9.99991542e-01 5.45534693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65255784400006 meters 0.2891229934320066 Centerline is valid? [False, False] Translation: X:1.67, Y:0.13, Z:0.54 [[ 9.99990024e-01 3.35908569e-03 2.94406614e-03 1.67323469e+00] [-3.36004721e-03 9.99994303e-01 3.21711775e-04 1.26291631e-01] [-2.94296871e-03 -3.31600767e-04 9.99995614e-01 5.44051978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68255784400003 meters 0.28819815569586726 Centerline is valid? [False, False] Translation: X:1.67, Y:0.13, Z:0.54 [[ 9.99990212e-01 3.40415046e-03 2.82633987e-03 1.67357549e+00] [-3.40544496e-03 9.99994099e-01 4.53324111e-04 1.25749020e-01] [-2.82478001e-03 -4.62944618e-04 9.99995903e-01 5.43958214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71255784400006 meters 0.291980274371656 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.55 [[ 9.99996065e-01 2.69172233e-03 7.90614549e-04 1.71469429e+00] [-2.69195571e-03 9.99996333e-01 2.94268596e-04 1.26576066e-01] [-7.89819561e-04 -2.96395737e-04 9.99999644e-01 5.46684327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74255784400003 meters 0.29046719820947103 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.55 [[ 9.99981083e-01 -6.05161629e-03 -1.10089340e-03 1.69428813e+00] [ 6.05331583e-03 9.99980482e-01 1.54705732e-03 1.23249383e-01] [ 1.09150972e-03 -1.55369211e-03 9.99998197e-01 5.46339066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77255784400006 meters 0.2893405325496141 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.55 [[ 9.99981829e-01 -5.92742770e-03 -1.09835227e-03 1.69417695e+00] [ 5.92950723e-03 9.99980616e-01 1.89983050e-03 1.21812912e-01] [ 1.08706987e-03 -1.90630866e-03 9.99997592e-01 5.46619474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80255784400003 meters 0.2884858486441954 Centerline is valid? [False, False] Translation: X:1.69, Y:0.12, Z:0.55 [[ 9.99982622e-01 -5.79604264e-03 -1.07798785e-03 1.69402706e+00] [ 5.79847548e-03 9.99980618e-01 2.26756706e-03 1.20310689e-01] [ 1.06482404e-03 -2.27377834e-03 9.99996848e-01 5.46875037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83255784400006 meters 0.2874771122431745 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.55 [[ 9.99995537e-01 2.34320842e-03 -1.85342075e-03 1.67563501e+00] [-2.34128103e-03 9.99996717e-01 1.04140079e-03 1.13906374e-01] [ 1.85585489e-03 -1.03705676e-03 9.99997740e-01 5.45358657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86255784400004 meters 0.2887468606674191 Centerline is valid? [False, False] Translation: X:1.70, Y:0.11, Z:0.54 [[ 9.99992180e-01 -3.75824278e-03 -1.23113746e-03 1.69856312e+00] [ 3.76390245e-03 9.99982209e-01 4.62750343e-03 1.14520018e-01] [ 1.21372428e-03 -4.63210113e-03 9.99988535e-01 5.44160407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89255784400007 meters 0.2879214215314668 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 0.99998542 0.00500439 -0.00202927 1.67819522] [-0.00499641 0.99997985 0.00391663 0.11090609] [ 0.00204883 -0.00390644 0.99999027 0.54337091] [ 0. 0. 0. 1. ]] SLAMing on 271.92255784400004 meters 0.28903442705146315 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 0.99998564 0.00497883 -0.00198467 1.67802821] [-0.00497117 0.99998024 0.00384856 0.11118832] [ 0.00200379 -0.00383864 0.99999062 0.54348892] [ 0. 0. 0. 1. ]] SLAMing on 271.95255784400007 meters 0.28855283581404545 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 9.99998351e-01 5.78722629e-04 -1.72155706e-03 1.67720456e+00] [-5.79842798e-04 9.99999620e-01 -6.50243788e-04 1.11937495e-01] [ 1.72118010e-03 6.51240948e-04 9.99998307e-01 5.43804459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98255784400004 meters 0.2879182050030668 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 9.99998410e-01 6.87712679e-04 -1.64527949e-03 1.67681160e+00] [-6.88293561e-04 9.99999701e-01 -3.52519204e-04 1.10693482e-01] [ 1.64503657e-03 3.53651078e-04 9.99998584e-01 5.44294321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01255784400007 meters 0.2883909398234273 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 9.99998328e-01 7.54356349e-04 -1.66576621e-03 1.67698974e+00] [-7.54643165e-04 9.99999701e-01 -1.71560814e-04 1.09945279e-01] [ 1.66563629e-03 1.72817586e-04 9.99998598e-01 5.44009784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04255784400004 meters 0.289380091272722 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 9.99998012e-01 8.27917670e-04 -1.81405916e-03 1.67754157e+00] [-8.27854622e-04 9.99999657e-01 3.55054934e-05 1.09078027e-01] [ 1.81408793e-03 -3.40036455e-05 9.99998354e-01 5.43618970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.072557844 meters 0.288208418978798 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.54 [[ 0.99999269 -0.00332485 -0.00188982 1.67793204] [ 0.00331765 0.99998727 -0.00380147 0.10698709] [ 0.00190244 0.00379517 0.99999099 0.5432029 ] [ 0. 0. 0. 1. ]] SLAMing on 272.10255784400005 meters 0.2878923048170772 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:0.54 [[ 0.99999318 -0.00315482 -0.00191935 1.67794073] [ 0.00314846 0.99998957 -0.00330735 0.10499322] [ 0.00192976 0.00330128 0.99999269 0.54338154] [ 0. 0. 0. 1. ]] SLAMing on 272.132557844 meters 0.2891227939672775 Centerline is valid? [False, False] Translation: X:1.72, Y:0.10, Z:0.55 [[ 0.99999223 -0.00259659 -0.00296516 1.71720298] [ 0.00258987 0.99999407 -0.00226801 0.10292862] [ 0.00297104 0.00226031 0.99999303 0.54696538] [ 0. 0. 0. 1. ]] SLAMing on 272.16255784400005 meters 0.28920772670286693 Centerline is valid? [False, False] Translation: X:1.72, Y:0.10, Z:0.55 [[ 9.99993024e-01 -2.27398419e-03 -2.96319587e-03 1.71716787e+00] [ 2.26995430e-03 9.99996495e-01 -1.36263699e-03 9.92381693e-02] [ 2.96628410e-03 1.35590117e-03 9.99994681e-01 5.47045033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192557844 meters 0.2881295365837227 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:0.55 [[ 0.99997675 0.00566619 -0.00379442 1.69897485] [-0.00567631 0.99998035 -0.00266103 0.09243166] [ 0.00377927 0.0026825 0.99998926 0.54505235] [ 0. 0. 0. 1. ]] SLAMing on 272.22255784400005 meters 0.2879140203961182 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:0.55 [[ 0.99997578 0.00583307 -0.003797 1.69900454] [-0.00584158 0.99998044 -0.00223591 0.09067934] [ 0.00378389 0.00225803 0.99999029 0.54502036] [ 0. 0. 0. 1. ]] SLAMing on 272.252557844 meters 0.28828805086354653 Centerline is valid? [False, False] Translation: X:1.72, Y:0.09, Z:0.55 [[ 9.99993530e-01 -2.76555232e-03 -2.30048029e-03 1.71874776e+00] [ 2.76380452e-03 9.99995890e-01 -7.62586928e-04 9.03206802e-02] [ 2.30257981e-03 7.56223916e-04 9.99997063e-01 5.45667023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28255784400005 meters 0.28708164837794264 Centerline is valid? [False, False] Translation: X:1.70, Y:0.09, Z:0.55 [[ 0.9999846 0.00373603 -0.00410422 1.69671434] [-0.00374937 0.9999877 -0.00324754 0.08681046] [ 0.00409204 0.00326288 0.9999863 0.54683884] [ 0. 0. 0. 1. ]] SLAMing on 272.312557844 meters 0.28857199961308744 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99997646e-01 -1.66348823e-03 -1.39330451e-03 1.72008399e+00] [ 1.66398047e-03 9.99998554e-01 3.52204135e-04 8.33289365e-02] [ 1.39271661e-03 -3.54521738e-04 9.99998967e-01 5.44367785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34255784400005 meters 0.28859149830248265 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99997870e-01 -1.49165869e-03 -1.42616914e-03 1.72017562e+00] [ 1.49276777e-03 9.99998584e-01 7.76918388e-04 8.15731915e-02] [ 1.42500822e-03 -7.79045673e-04 9.99998681e-01 5.44395649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372557844 meters 0.2880464148256973 Centerline is valid? [False, False] Translation: X:1.72, Y:0.08, Z:0.54 [[ 9.99997883e-01 -1.28747276e-03 -1.60527617e-03 1.72077929e+00] [ 1.28953213e-03 9.99998346e-01 1.28249765e-03 7.95003271e-02] [ 1.60362233e-03 -1.28456499e-03 9.99997889e-01 5.44139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40255784400006 meters 0.2889453739245709 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99970213e-01 7.69136541e-03 -6.44337892e-04 1.74254157e+00] [-7.69089133e-03 9.99970155e-01 7.35033948e-04 7.77154381e-02] [ 6.49972076e-04 -7.30056521e-04 9.99999522e-01 5.44191055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43255784400003 meters 0.28864008035100547 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99970293e-01 7.68758347e-03 -5.59794248e-04 1.74247847e+00] [-7.68717591e-03 9.99970189e-01 7.26587940e-04 7.77535534e-02] [ 5.65363266e-04 -7.22263119e-04 9.99999579e-01 5.43825459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46255784400006 meters 0.2892674707837776 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99994123e-01 3.40926387e-03 -3.62116897e-04 1.74206398e+00] [-3.41049576e-03 9.99988207e-01 -3.45760314e-03 7.75762124e-02] [ 3.50324745e-04 3.45881782e-03 9.99993957e-01 5.43612765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49255784400003 meters 0.289739940388291 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99993820e-01 3.49423804e-03 -3.88033234e-04 1.74220804e+00] [-3.49547799e-03 9.99988635e-01 -3.24214967e-03 7.66885561e-02] [ 3.76699981e-04 3.24348599e-03 9.99994669e-01 5.43448696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52255784400006 meters 0.28910177871092513 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99993642e-01 3.53635985e-03 -4.58930430e-04 1.74247570e+00] [-3.53777706e-03 9.99988860e-01 -3.12489811e-03 7.62015205e-02] [ 4.47874553e-04 3.12650183e-03 9.99995012e-01 5.43249648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55255784400003 meters 0.28973692750229296 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:0.54 [[ 9.99993502e-01 3.57053222e-03 -4.97226171e-04 1.74264946e+00] [-3.57202256e-03 9.99989032e-01 -3.02939799e-03 7.58061318e-02] [ 4.86404154e-04 3.03115441e-03 9.99995288e-01 5.43073138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58255784400006 meters 0.2905635381263743 Centerline is valid? [False, False] Translation: X:1.77, Y:0.08, Z:0.54 [[ 9.99997445e-01 -1.99762655e-03 1.05812170e-03 1.76515251e+00] [ 1.99701528e-03 9.99997839e-01 5.78433001e-04 7.63814428e-02] [-1.05927491e-03 -5.76318438e-04 9.99999273e-01 5.41829529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61255784400004 meters 0.28939895477585265 Centerline is valid? [False, False] Translation: X:1.76, Y:0.08, Z:0.54 [[ 9.99997270e-01 -1.99035986e-03 1.22392001e-03 1.76459554e+00] [ 1.98963452e-03 9.99997845e-01 5.93573819e-04 7.63382353e-02] [-1.22509880e-03 -5.91137045e-04 9.99999075e-01 5.42164910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64255784400007 meters 0.28989256195930047 Centerline is valid? [False, False] Translation: X:1.76, Y:0.08, Z:0.54 [[ 9.99997070e-01 -2.02674373e-03 1.32347638e-03 1.76424758e+00] [ 2.02609247e-03 9.99997826e-01 4.93237326e-04 7.67627171e-02] [-1.32447317e-03 -4.90554396e-04 9.99999003e-01 5.42378906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67255784400004 meters 0.2873819854141163 Centerline is valid? [False, False] Translation: X:1.72, Y:0.07, Z:0.54 [[ 9.99998556e-01 -1.68322178e-03 2.34692355e-04 1.71956314e+00] [ 1.68294659e-03 9.99997902e-01 1.16788045e-03 7.29849522e-02] [-2.36657664e-04 -1.16748379e-03 9.99999290e-01 5.43592435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70255784400007 meters 0.28952204868035547 Centerline is valid? [False, False] Translation: X:1.76, Y:0.08, Z:0.54 [[ 9.99995369e-01 -1.03920721e-03 2.86043911e-03 1.76262113e+00] [ 1.03485113e-03 9.99998303e-01 1.52393175e-03 7.69504476e-02] [-2.86201794e-03 -1.52096457e-03 9.99994748e-01 5.42895466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73255784400004 meters 0.2896301675429213 Centerline is valid? [False, False] Translation: X:1.76, Y:0.08, Z:0.54 [[ 9.99995455e-01 -1.07188182e-03 2.81815025e-03 1.76280923e+00] [ 1.06783114e-03 9.99998395e-01 1.43846370e-03 7.72923387e-02] [-2.81968759e-03 -1.43544786e-03 9.99994994e-01 5.42707146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76255784400007 meters 0.28769165685710835 Centerline is valid? [False, False] Translation: X:1.72, Y:0.07, Z:0.54 [[ 9.99992207e-01 -1.62364497e-03 3.59844529e-03 1.72444200e+00] [ 1.61912330e-03 9.99997897e-01 1.25912003e-03 7.44472967e-02] [-3.60048209e-03 -1.25328389e-03 9.99992733e-01 5.39292514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79255784400004 meters 0.28922229546106615 Centerline is valid? [False, False] Translation: X:1.75, Y:0.07, Z:0.54 [[ 9.99960967e-01 7.23097500e-03 5.07708542e-03 1.74525648e+00] [-7.23314594e-03 9.99973757e-01 4.09363554e-04 7.35225462e-02] [-5.07399208e-03 -4.46070875e-04 9.99987028e-01 5.39408288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822557844 meters 0.2895177737394671 Centerline is valid? [False, False] Translation: X:1.75, Y:0.07, Z:0.54 [[ 9.99961536e-01 7.13687576e-03 5.09820844e-03 1.74524752e+00] [-7.13777888e-03 9.99974513e-01 1.58971850e-04 7.45521475e-02] [-5.09694394e-03 -1.95355620e-04 9.99986991e-01 5.39287355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85255784400005 meters 0.28869008999832174 Centerline is valid? [False, False] Translation: X:1.73, Y:0.08, Z:0.54 [[ 9.99989804e-01 -1.36336845e-03 4.30503532e-03 1.72611401e+00] [ 1.35902842e-03 9.99998566e-01 1.01089400e-03 8.10011134e-02] [-4.30640736e-03 -1.00503302e-03 9.99990222e-01 5.37348408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882557844 meters 0.28873358579805064 Centerline is valid? [False, False] Translation: X:1.73, Y:0.08, Z:0.54 [[ 9.99989529e-01 -1.48567857e-03 4.32832726e-03 1.72606296e+00] [ 1.48282023e-03 9.99998680e-01 6.63515229e-04 8.24232717e-02] [-4.32930732e-03 -6.57090151e-04 9.99990413e-01 5.37289742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91255784400005 meters 0.289192296583059 Centerline is valid? [False, False] Translation: X:1.73, Y:0.08, Z:0.54 [[ 9.99989247e-01 -1.61541784e-03 4.34699935e-03 1.72600277e+00] [ 1.61410751e-03 9.99998651e-01 3.04925044e-04 8.38971092e-02] [-4.34748607e-03 -2.97905241e-04 9.99990505e-01 5.37276892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters 0.28954867473790263 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.54 [[ 9.99987773e-01 -1.88509252e-03 4.57165598e-03 1.72510119e+00] [ 1.88715687e-03 9.99998119e-01 -4.47283378e-04 8.71206336e-02] [-4.57080422e-03 4.55905341e-04 9.99989450e-01 5.37982356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97255784400005 meters 0.29026141159138696 Centerline is valid? [False, False] Translation: X:1.72, Y:0.09, Z:0.54 [[ 9.99987077e-01 -1.99634149e-03 4.67549767e-03 1.72469518e+00] [ 1.99982306e-03 9.99997726e-01 -7.40084901e-04 8.83536868e-02] [-4.67400958e-03 7.49425505e-04 9.99988796e-01 5.38272498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002557844 meters 0.28839574571302234 Centerline is valid? [False, False] Translation: X:1.72, Y:0.09, Z:0.54 [[ 9.99986734e-01 -2.07838002e-03 4.71292695e-03 1.72451797e+00] [ 2.08291897e-03 9.99997371e-01 -9.58381163e-04 8.92563425e-02] [-4.71092269e-03 9.68185094e-04 9.99988435e-01 5.38430222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03255784400005 meters 0.28933698673519853 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.54 [[ 9.99987665e-01 -2.22790703e-03 4.43911932e-03 1.72535561e+00] [ 2.23395675e-03 9.99996582e-01 -1.35832702e-03 9.08559435e-02] [-4.43607792e-03 1.36822707e-03 9.99989225e-01 5.37949669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062557844 meters 0.2875341459803102 Centerline is valid? [False, False] Translation: X:1.73, Y:0.09, Z:0.54 [[ 9.99987991e-01 -2.28887382e-03 4.33346045e-03 1.72570368e+00] [ 2.29545292e-03 9.99996220e-01 -1.51384449e-03 9.14830772e-02] [-4.32997907e-03 1.52377357e-03 9.99989465e-01 5.37751244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09255784400005 meters 0.2896550455156203 Centerline is valid? [False, False] Translation: X:1.77, Y:0.09, Z:0.54 [[ 9.99995965e-01 -1.19240918e-03 2.57827441e-03 1.76614999e+00] [ 1.19443742e-03 9.99998978e-01 -7.85268714e-04 9.45900890e-02] [-2.57733541e-03 7.88345133e-04 9.99996368e-01 5.40711442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters 0.28854788937208226 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:0.54 [[ 9.99990554e-01 4.33017432e-03 3.76560094e-04 1.74343834e+00] [-4.32849479e-03 9.99981161e-01 -4.35215113e-03 9.49881323e-02] [-3.95398573e-04 4.35048008e-03 9.99990458e-01 5.42576033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15255784400006 meters 0.2882508012020779 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.54 [[ 9.99989355e-01 -4.27803807e-03 1.72867727e-03 1.76414484e+00] [ 4.28445502e-03 9.99983882e-01 -3.72556112e-03 9.81034497e-02] [-1.71271132e-03 3.73292790e-03 9.99991566e-01 5.43264962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18255784400003 meters 0.2882508012020779 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.54 [[ 9.99989355e-01 -4.27803807e-03 1.72867727e-03 1.76414484e+00] [ 4.28445502e-03 9.99983882e-01 -3.72556112e-03 9.81034497e-02] [-1.71271132e-03 3.73292790e-03 9.99991566e-01 5.43264962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21255784400006 meters 0.2882009405974498 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.54 [[ 9.99989663e-01 -4.20739498e-03 1.72395556e-03 1.76402723e+00] [ 4.21347216e-03 9.99984869e-01 -3.53680052e-03 9.73259447e-02] [-1.70904876e-03 3.54402780e-03 9.99992259e-01 5.43581595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24255784400003 meters 0.2879377079758922 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.54 [[ 9.99989958e-01 -4.12505910e-03 1.75168694e-03 1.76387259e+00] [ 4.13085392e-03 9.99985965e-01 -3.31750606e-03 9.64253864e-02] [-1.73797745e-03 3.32470870e-03 9.99992963e-01 5.43795791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27255784400006 meters 0.2882766194393036 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.54 [[ 9.99998904e-01 -3.59527222e-06 1.48020017e-03 1.76455653e+00] [ 2.25025044e-06 9.99999587e-01 9.08676266e-04 9.56712090e-02] [-1.48020283e-03 -9.08671940e-04 9.99998492e-01 5.43791696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30255784400003 meters 0.28774613170406643 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.54 [[ 9.99999100e-01 1.09333681e-04 1.33721187e-03 1.76499567e+00] [-1.11013778e-04 9.99999205e-01 1.25640869e-03 9.42614346e-02] [-1.33707344e-03 -1.25655601e-03 9.99998317e-01 5.43613492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33255784400006 meters 0.28929464321235215 Centerline is valid? [False, False] Translation: X:1.81, Y:0.09, Z:0.55 [[ 9.99999732e-01 -4.05019215e-04 -6.09124976e-04 1.80637604e+00] [ 4.05702763e-04 9.99999288e-01 1.12247629e-03 9.33119708e-02] [ 6.08669918e-04 -1.12272311e-03 9.99999185e-01 5.46033240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36255784400004 meters 0.28756811207891714 Centerline is valid? [False, False] Translation: X:1.77, Y:0.09, Z:0.54 [[ 9.99999611e-01 -8.69224134e-04 -1.52414124e-04 1.76894425e+00] [ 8.69431528e-04 9.99998689e-01 1.36598266e-03 8.79277840e-02] [ 1.51226579e-04 -1.36611464e-03 9.99999055e-01 5.42006165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39255784400007 meters 0.28790418564991793 Centerline is valid? [False, False] Translation: X:1.77, Y:0.08, Z:0.54 [[ 9.99999697e-01 -6.37973385e-04 -4.45626054e-04 1.76971425e+00] [ 6.38952015e-04 9.99997377e-01 2.19939935e-03 8.46369629e-02] [ 4.44221727e-04 -2.19968342e-03 9.99997482e-01 5.41902288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters 0.2866553561310809 Centerline is valid? [False, False] Translation: X:1.77, Y:0.08, Z:0.54 [[ 9.99999784e-01 -5.06154807e-04 -4.18340430e-04 1.76961036e+00] [ 5.07234893e-04 9.99996528e-01 2.58577438e-03 8.30778572e-02] [ 4.17030176e-04 -2.58598602e-03 9.99996569e-01 5.42018281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45255784400007 meters 0.2882507652659247 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999147e-01 -9.18627671e-04 -9.28488559e-04 1.80708912e+00] [ 9.20805495e-04 9.99996820e-01 2.34785887e-03 8.28632365e-02] [ 9.26328798e-04 -2.34871183e-03 9.99996813e-01 5.46442849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48255784400004 meters 0.2870000871019049 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999400e-01 -8.05997322e-04 -7.41612612e-04 1.80642483e+00] [ 8.07975895e-04 9.99996105e-01 2.67151333e-03 8.15317353e-02] [ 7.39456491e-04 -2.67211093e-03 9.99996157e-01 5.46974942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51255784400007 meters 0.2871489249092702 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999621e-01 -6.45153728e-04 -5.85091050e-04 1.80591952e+00] [ 6.46994462e-04 9.99994825e-01 3.15135113e-03 7.95851760e-02] [ 5.83054917e-04 -3.15172849e-03 9.99994863e-01 5.47295509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54255784400004 meters 0.2872731967297755 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999629e-01 -5.79933217e-04 -6.36852037e-04 1.80613646e+00] [ 5.82047993e-04 9.99994301e-01 3.32552251e-03 7.88635353e-02] [ 6.34919827e-04 -3.32589195e-03 9.99994268e-01 5.47114142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.572557844 meters 0.28758956415502246 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999660e-01 -5.40110329e-04 -6.22388913e-04 1.80620515e+00] [ 5.42241275e-04 9.99993975e-01 3.42875126e-03 7.84292775e-02] [ 6.20533259e-04 -3.42908759e-03 9.99993928e-01 5.46884299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60255784400005 meters 0.28779364675853997 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999663e-01 -5.19646395e-04 -6.35398690e-04 1.80630811e+00] [ 5.21855932e-04 9.99993801e-01 3.48219635e-03 7.82033038e-02] [ 6.33585240e-04 -3.48252676e-03 9.99993735e-01 5.46731000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.632557844 meters 0.2889390491506535 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999804e-01 -4.07324750e-04 -4.74616522e-04 1.80572496e+00] [ 4.09123227e-04 9.99992714e-01 3.79541244e-03 7.69046095e-02] [ 4.73067098e-04 -3.79560587e-03 9.99992685e-01 5.47188000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66255784400005 meters 0.28664067287761125 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:0.55 [[ 9.99999845e-01 -3.16065789e-04 -4.58278861e-04 1.80563402e+00] [ 3.17919585e-04 9.99991745e-01 4.05071177e-03 7.58673039e-02] [ 4.56994787e-04 -4.05085684e-03 9.99991691e-01 5.47321863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692557844 meters 0.28632449000058285 Centerline is valid? [False, False] Translation: X:1.78, Y:0.07, Z:0.55 [[ 9.99986092e-01 4.77026912e-03 -2.24954936e-03 1.78345967e+00] [-4.76971654e-03 9.99988593e-01 2.50942055e-04 7.36883658e-02] [ 2.25072076e-03 -2.40208852e-04 9.99997438e-01 5.48103104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72255784400005 meters 0.2869365315873937 Centerline is valid? [False, False] Translation: X:1.81, Y:0.07, Z:0.55 [[ 9.99985558e-01 -4.83486682e-03 -2.34696043e-03 1.80740647e+00] [ 4.83619433e-03 9.99988149e-01 5.60282359e-04 7.16667970e-02] [ 2.34422372e-03 -5.71624624e-04 9.99997089e-01 5.46894544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752557844 meters 0.2872166338575442 Centerline is valid? [False, False] Translation: X:1.79, Y:0.07, Z:0.55 [[ 9.99989734e-01 3.41818412e-03 -2.97457780e-03 1.78891974e+00] [-3.41932493e-03 9.99994082e-01 -3.78520288e-04 6.53753370e-02] [ 2.97326635e-03 3.88687450e-04 9.99995504e-01 5.45085022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78255784400005 meters 0.2874499845160027 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.55 [[ 9.99989419e-01 3.54681994e-03 -2.92952558e-03 1.78874943e+00] [-3.54687556e-03 9.99993710e-01 -1.37914576e-05 6.38932111e-02] [ 2.92945823e-03 2.41819743e-05 9.99995709e-01 5.45228760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812557844 meters 0.28661503674063243 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.55 [[ 9.99988198e-01 3.79587783e-03 -3.03251636e-03 1.78891164e+00] [-3.79372116e-03 9.99992547e-01 7.16614977e-04 6.09642540e-02] [ 3.03521395e-03 -7.05101998e-04 9.99995145e-01 5.45472718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84255784400005 meters 0.28832189996417396 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.55 [[ 9.99987354e-01 3.91667026e-03 -3.15464055e-03 1.78935027e+00] [-3.91339778e-03 9.99991799e-01 1.04286066e-03 5.96131442e-02] [ 3.15869922e-03 -1.03050211e-03 9.99994480e-01 5.45186633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872557844 meters 0.2883141341678267 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.54 [[ 9.99986832e-01 4.02607483e-03 -3.18207567e-03 1.78953405e+00] [-4.02186564e-03 9.99991030e-01 1.32807522e-03 5.84300215e-02] [ 3.18739406e-03 -1.31525985e-03 9.99994055e-01 5.44945732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90255784400006 meters 0.2879214262006725 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.55 [[ 9.99986626e-01 4.12234896e-03 -3.12300910e-03 1.78932809e+00] [-4.11742393e-03 9.99990272e-01 1.58180466e-03 5.73830309e-02] [ 3.12949947e-03 -1.56892475e-03 9.99993872e-01 5.45074522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93255784400003 meters 0.2872459914754361 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.55 [[ 0.99998634 0.00435937 -0.00288351 1.78852871] [-0.00435273 0.99998787 0.00230427 0.05445055] [ 0.00289353 -0.00229169 0.99999319 0.54564612] [ 0. 0. 0. 1. ]] SLAMing on 273.96255784400006 meters 0.2875269383186224 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.55 [[ 0.99998532 0.00449495 -0.00302467 1.78897208] [-0.0044868 0.99998631 0.00269399 0.05286023] [ 0.00303674 -0.00268038 0.9999918 0.54545109] [ 0. 0. 0. 1. ]] SLAMing on 273.99255784400003 meters 0.28774443067629435 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.55 [[ 0.99998395 0.00463279 -0.00326025 1.78969577] [-0.00462265 0.99998447 0.00311195 0.05114365] [ 0.00327461 -0.00309682 0.99998984 0.54511358] [ 0. 0. 0. 1. ]] SLAMing on 274.02255784400006 meters 0.285656740172641 Centerline is valid? [False, False] Translation: X:1.77, Y:0.05, Z:0.54 [[ 0.99997807 -0.00431837 -0.00502086 1.76867555] [ 0.00433789 0.99998305 0.00388394 0.05150009] [ 0.005004 -0.00390563 0.99997985 0.54490137] [ 0. 0. 0. 1. ]] SLAMing on 274.05255784400003 meters 0.28714889272055527 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.54 [[ 9.99993999e-01 1.95743806e-03 -2.85823677e-03 1.79030464e+00] [-1.95470883e-03 9.99997631e-01 9.57344490e-04 5.00186329e-02] [ 2.86010394e-03 -9.51751725e-04 9.99995457e-01 5.43868540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08255784400006 meters 0.28882323513599756 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994298e-01 1.22482885e-03 -3.14694950e-03 1.82818999e+00] [-1.22276430e-03 9.99999036e-01 6.57890354e-04 4.69587704e-02] [ 3.14775227e-03 -6.54038625e-04 9.99994832e-01 5.47671476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11255784400004 meters 0.2875558589207554 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994394e-01 1.31568618e-03 -3.07912089e-03 1.82797204e+00] [-1.31291201e-03 9.99998731e-01 9.02809019e-04 4.59582583e-02] [ 3.08030480e-03 -8.98761343e-04 9.99994852e-01 5.47770171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14255784400007 meters 0.2882912966337902 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994368e-01 1.38139493e-03 -3.05882707e-03 1.82789480e+00] [-1.37810244e-03 9.99998469e-01 1.07823481e-03 4.52372629e-02] [ 3.06031185e-03 -1.07401336e-03 9.99994740e-01 5.47822405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17255784400004 meters 0.2882364084947012 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:0.55 [[ 9.99994256e-01 1.43547831e-03 -3.07050101e-03 1.82790014e+00] [-1.43174020e-03 9.99998232e-01 1.21927801e-03 4.46523388e-02] [ 3.07224583e-03 -1.21487484e-03 9.99994543e-01 5.47879224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20255784400007 meters 0.28763287832325396 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99993904e-01 1.38965236e-03 -3.20330992e-03 1.82827077e+00] [-1.38613907e-03 9.99998436e-01 1.09872736e-03 4.51511981e-02] [ 3.20483176e-03 -1.09428043e-03 9.99994266e-01 5.47813505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23255784400004 meters 0.2884697075741431 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99993878e-01 1.31490480e-03 -3.24261336e-03 1.82843860e+00] [-1.31197864e-03 9.99998730e-01 9.04371008e-04 4.59527326e-02] [ 3.24379840e-03 -9.00111232e-04 9.99994334e-01 5.47665839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26255784400007 meters 0.2877094029242673 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994044e-01 1.22230178e-03 -3.22758060e-03 1.82833752e+00] [-1.22018456e-03 9.99999039e-01 6.57865356e-04 4.69715208e-02] [ 3.22838161e-03 -6.53923194e-04 9.99994575e-01 5.47805748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29255784400004 meters 0.2886439358615479 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994524e-01 1.11192008e-03 -3.11711940e-03 1.82797101e+00] [-1.11079160e-03 9.99999317e-01 3.63737376e-04 4.81974894e-02] [ 3.11752172e-03 -3.60272914e-04 9.99995076e-01 5.48001972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters 0.28822058176950566 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994888e-01 8.65396410e-04 -3.07826251e-03 1.82780087e+00] [-8.66346179e-04 9.99999578e-01 -3.07220626e-04 5.09497620e-02] [ 3.07799534e-03 3.09885896e-04 9.99995215e-01 5.48153719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35255784400005 meters 0.2887938275316812 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99994616e-01 7.02389387e-04 -3.20531067e-03 1.82836338e+00] [-7.04764875e-04 9.99999478e-01 -7.40040792e-04 5.27554837e-02] [ 3.20478920e-03 7.42295798e-04 9.99994589e-01 5.47606031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters 0.28864070211687926 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.54 [[ 9.99996400e-01 5.63843391e-04 -2.62338940e-03 1.79148557e+00] [-5.66317708e-04 9.99999395e-01 -9.42528264e-04 5.51800333e-02] [ 2.62285638e-03 9.44010542e-04 9.99996115e-01 5.42772134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41255784400005 meters 0.2871300420364997 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:0.54 [[ 9.99996375e-01 4.16368975e-04 -2.66024005e-03 1.79168223e+00] [-4.19938074e-04 9.99999012e-01 -1.34122809e-03 5.68189539e-02] [ 2.65967898e-03 1.34234037e-03 9.99995562e-01 5.42526356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442557844 meters 0.28978938390337106 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99998797e-01 9.34994918e-04 -1.23741786e-03 1.82881344e+00] [-9.36693461e-04 9.99998619e-01 -1.37278354e-03 6.09198976e-02] [ 1.23613260e-03 1.37394097e-03 9.99998292e-01 5.46152243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47255784400005 meters 0.2870485626501929 Centerline is valid? [False, False] Translation: X:1.81, Y:0.06, Z:0.55 [[ 9.99980891e-01 -5.48947604e-03 -2.84328151e-03 1.80585292e+00] [ 5.49373583e-03 9.99983795e-01 1.49255838e-03 6.22843384e-02] [ 2.83504207e-03 -1.50815009e-03 9.99994844e-01 5.48042720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters 0.2884825471597203 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99993163e-01 3.11081858e-03 -1.99897494e-03 1.82557537e+00] [-3.11023831e-03 9.99995120e-01 2.93327749e-04 5.94178275e-02] [ 1.99987767e-03 -2.87108455e-04 9.99997959e-01 5.48966578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53255784400005 meters 0.2894535794263401 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992967e-01 3.07029575e-03 -2.15408522e-03 1.82611306e+00] [-3.06991110e-03 9.99995271e-01 1.81848280e-04 5.98592552e-02] [ 2.15463336e-03 -1.75234151e-04 9.99997663e-01 5.48604400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters 0.28842792484230334 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992727e-01 3.06090090e-03 -2.27532915e-03 1.82650615e+00] [-3.06054833e-03 9.99995304e-01 1.58421522e-04 5.99447672e-02] [ 2.27580338e-03 -1.51456615e-04 9.99997399e-01 5.48397724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59255784400005 meters 0.2888158718679169 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992719e-01 3.09880267e-03 -2.22700234e-03 1.82615728e+00] [-3.09822640e-03 9.99995166e-01 2.62169699e-04 5.95246225e-02] [ 2.22780398e-03 -2.55268032e-04 9.99997486e-01 5.48963140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622557844 meters 0.2889466887875045 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992953e-01 3.11749819e-03 -2.09175444e-03 1.82564616e+00] [-3.11684955e-03 9.99995094e-01 3.13282547e-04 5.93121552e-02] [ 2.09272084e-03 -3.06760656e-04 9.99997763e-01 5.49367258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65255784400006 meters 0.2877603466361937 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992862e-01 3.12542938e-03 -2.12301365e-03 1.82556863e+00] [-3.12472593e-03 9.99995062e-01 3.34582375e-04 5.92240585e-02] [ 2.12404888e-03 -3.27946151e-04 9.99997690e-01 5.49731105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters 0.28859567535885744 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992587e-01 3.11122870e-03 -2.26859151e-03 1.82598929e+00] [-3.11056001e-03 9.99995118e-01 2.98225322e-04 5.93707942e-02] [ 2.26950829e-03 -2.91166521e-04 9.99997382e-01 5.49604551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71255784400006 meters 0.28916032549912324 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992233e-01 3.07164591e-03 -2.46972545e-03 1.82662239e+00] [-3.07121436e-03 9.99995268e-01 1.78511199e-04 5.98583027e-02] [ 2.47026209e-03 -1.70924757e-04 9.99996934e-01 5.49239697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters 0.2883734509442003 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99991817e-01 3.01549618e-03 -2.69689597e-03 1.82716605e+00] [-3.01556615e-03 9.99995453e-01 -2.18797060e-05 6.06547112e-02] [ 2.69681772e-03 3.00121951e-05 9.99996363e-01 5.49213495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77255784400006 meters 0.2883592983271264 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992109e-01 2.97181878e-03 -2.63621687e-03 1.82692386e+00] [-2.97222076e-03 9.99995572e-01 -1.48578031e-04 6.11689828e-02] [ 2.63576365e-03 1.56412277e-04 9.99996514e-01 5.49457294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters 0.2885526056362696 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992483e-01 2.91719523e-03 -2.55404168e-03 1.82658142e+00] [-2.91797749e-03 9.99995697e-01 -3.02613487e-04 6.17997296e-02] [ 2.55314791e-03 3.10063849e-04 9.99996693e-01 5.49787616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83255784400006 meters 0.288931886882007 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992674e-01 2.91156311e-03 -2.48509910e-03 1.82630938e+00] [-2.91236046e-03 9.99995709e-01 -3.17293649e-04 6.18617085e-02] [ 2.48416461e-03 3.24528829e-04 9.99996862e-01 5.50028880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters 0.28837787646993296 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99993068e-01 2.89902848e-03 -2.33664745e-03 1.82578419e+00] [-2.89985758e-03 9.99995734e-01 -3.51516144e-04 6.20135268e-02] [ 2.33561842e-03 3.58289652e-04 9.99997208e-01 5.50385002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89255784400007 meters 0.2889501035839598 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99993358e-01 2.92691286e-03 -2.17199734e-03 1.82520271e+00] [-2.92751481e-03 9.99995677e-01 -2.74010728e-04 6.17146416e-02] [ 2.17118595e-03 2.80367463e-04 9.99997604e-01 5.50830224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters 0.2883042583763952 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99993216e-01 2.97059032e-03 -2.17800622e-03 1.82526968e+00] [-2.97093916e-03 9.99995574e-01 -1.56949274e-04 6.12320325e-02] [ 2.17753035e-03 1.63418934e-04 9.99997616e-01 5.50713098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95255784400007 meters 0.2890227017796411 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992996e-01 2.99435243e-03 -2.24518350e-03 1.82556563e+00] [-2.99456884e-03 9.99995512e-01 -9.30307269e-05 6.09657545e-02] [ 2.24489485e-03 9.97534319e-05 9.99997475e-01 5.50435699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters 0.28915768748574217 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99992725e-01 3.03003125e-03 -2.31706696e-03 1.82582910e+00] [-3.03002743e-03 9.99995409e-01 5.15718935e-06 6.05624163e-02] [ 2.31707195e-03 1.86362462e-06 9.99997316e-01 5.50252944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01255784400007 meters 0.28822186632659463 Centerline is valid? [False, False] Translation: X:1.81, Y:0.06, Z:0.55 [[ 9.99974763e-01 -5.47611731e-03 -4.52613507e-03 1.80682494e+00] [ 5.48197176e-03 9.99984152e-01 1.28208403e-03 6.20713191e-02] [ 4.51904250e-03 -1.30686382e-03 9.99988935e-01 5.49871438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04255784400004 meters 0.28835554840248806 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99988774e-01 2.95773912e-03 -3.70193997e-03 1.82666617e+00] [-2.95734599e-03 9.99995621e-01 1.11664793e-04 5.82486340e-02] [ 3.70225404e-03 -1.00715622e-04 9.99993142e-01 5.51123116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0725578440001 meters 0.28885950768020124 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99988477e-01 3.00658576e-03 -3.74249618e-03 1.82681669e+00] [-3.00571879e-03 9.99995455e-01 2.37258614e-04 5.77325500e-02] [ 3.74319251e-03 -2.26006989e-04 9.99992969e-01 5.51020520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10255784400005 meters 0.28885950768020124 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99988477e-01 3.00658576e-03 -3.74249618e-03 1.82681669e+00] [-3.00571879e-03 9.99995455e-01 2.37258614e-04 5.77325500e-02] [ 3.74319251e-03 -2.26006989e-04 9.99992969e-01 5.51020520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.132557844 meters 0.28905473774238744 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.55 [[ 9.99988235e-01 3.05900097e-03 -3.76473318e-03 1.82684866e+00] [-3.05761312e-03 9.99995255e-01 3.74345489e-04 5.71687276e-02] [ 3.76586044e-03 -3.62829987e-04 9.99992843e-01 5.51081914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16255784400005 meters 0.28719128532391724 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.55 [[ 9.99993983e-01 2.30470145e-03 -2.59273338e-03 1.78722125e+00] [-2.30296383e-03 9.99997122e-01 6.72973581e-04 5.38461883e-02] [ 2.59427692e-03 -6.66998560e-04 9.99996412e-01 5.48058379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192557844 meters 0.2893582245384415 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99990787e-01 1.57606637e-03 -3.99282100e-03 1.82750250e+00] [-1.57698828e-03 9.99998731e-01 -2.27751997e-04 5.35534495e-02] [ 3.99245698e-03 2.34046531e-04 9.99992003e-01 5.50890153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22255784400005 meters 0.28894225466201107 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99990074e-01 1.70972917e-03 -4.11439769e-03 1.82793045e+00] [-1.70922598e-03 9.99998531e-01 1.25810810e-04 5.20923467e-02] [ 4.11460675e-03 -1.18777126e-04 9.99991528e-01 5.50655473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252557844 meters 0.29021733196141497 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99989199e-01 1.84271995e-03 -4.26684143e-03 1.82836135e+00] [-1.84065164e-03 9.99998187e-01 4.88615972e-04 5.06143431e-02] [ 4.26773408e-03 -4.80756926e-04 9.99990778e-01 5.50582386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28255784400005 meters 0.28978000459716924 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.55 [[ 9.99988592e-01 2.00155628e-03 -4.33703485e-03 1.82859292e+00] [-1.99753918e-03 9.99997572e-01 9.30365917e-04 4.88127958e-02] [ 4.33888650e-03 -9.21691906e-04 9.99990162e-01 5.50460556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312557844 meters 0.28864141997295534 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:0.55 [[ 0.99998809 0.00233825 -0.00428315 1.82832845] [-0.00232988 0.99999537 0.00195883 0.04472515] [ 0.00428771 -0.00194882 0.99998891 0.55075756] [ 0. 0. 0. 1. ]] SLAMing on 275.34255784400005 meters 0.2900638983133121 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:0.55 [[ 9.99991263e-01 -4.15104058e-03 -4.92246411e-04 1.84922778e+00] [ 4.15313682e-03 9.99981972e-01 4.33682720e-03 4.06039768e-02] [ 4.74235191e-04 -4.33883368e-03 9.99990475e-01 5.49252249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372557844 meters 0.2889689656792476 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:0.55 [[ 9.99998690e-01 1.33862468e-03 -9.09481097e-04 1.82573930e+00] [-1.33763478e-03 9.99998513e-01 1.08816196e-03 3.61137040e-02] [ 9.10936385e-04 -1.08694398e-03 9.99998994e-01 5.50415487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40255784400006 meters 0.28991045541895205 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:0.55 [[ 9.99998387e-01 1.53599456e-03 -9.30589836e-04 1.82574193e+00] [-1.53449348e-03 9.99997524e-01 1.61161461e-03 3.39803554e-02] [ 9.33062963e-04 -1.61018403e-03 9.99998268e-01 5.50530942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43255784400003 meters 0.2897830228803151 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:0.55 [[ 9.99998070e-01 1.72729776e-03 -9.36351007e-04 1.82583001e+00] [-1.72532036e-03 9.99996289e-01 2.10851713e-03 3.19408670e-02] [ 9.39989569e-04 -2.10689756e-03 9.99997339e-01 5.50371567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46255784400006 meters 0.2894829387802145 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:0.55 [[ 9.99997256e-01 -2.16760075e-03 -8.88198297e-04 1.82591092e+00] [ 2.16685470e-03 9.99997300e-01 -8.40065695e-04 2.67793430e-02] [ 8.90016826e-04 8.38138793e-04 9.99999253e-01 5.50054459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49255784400003 meters 0.2899174773128844 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:0.55 [[ 9.99997560e-01 -1.97429569e-03 -9.90818767e-04 1.82615915e+00] [ 1.97395335e-03 9.99997992e-01 -3.46373063e-04 2.47638633e-02] [ 9.91500620e-04 3.44416388e-04 9.99999449e-01 5.50092415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52255784400006 meters 0.2909236343419513 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:0.55 [[ 9.99984710e-01 5.29698888e-03 1.58799519e-03 1.84711624e+00] [-5.29317392e-03 9.99983118e-01 -2.39702906e-03 2.27538489e-02] [-1.60066542e-03 2.38858688e-03 9.99995866e-01 5.49203150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55255784400003 meters 0.2895086886341601 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:0.55 [[ 9.99997125e-01 -2.06732894e-03 1.21459957e-03 1.82328603e+00] [ 2.06641111e-03 9.99997579e-01 7.56435982e-04 1.93353289e-02] [-1.21616043e-03 -7.53923945e-04 9.99998976e-01 5.51096784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58255784400006 meters 0.29068848508126355 Centerline is valid? [False, False] Translation: X:1.84, Y:0.02, Z:0.55 [[ 9.99978881e-01 5.09827417e-03 4.03050685e-03 1.84396059e+00] [-5.09181560e-03 9.99985739e-01 -1.61106207e-03 1.87429867e-02] [-4.03866301e-03 1.59050545e-03 9.99990580e-01 5.50112538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61255784400004 meters 0.29001673317537585 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:0.55 [[ 9.99986615e-01 -4.29393414e-03 2.88636768e-03 1.82382206e+00] [ 4.29617149e-03 9.99990475e-01 -7.69389534e-04 1.97738000e-02] [-2.88303648e-03 7.81779567e-04 9.99995538e-01 5.49978177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64255784400007 meters 0.2895151865009578 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:0.55 [[ 9.99987044e-01 -4.18103564e-03 2.90368532e-03 1.82376567e+00] [ 4.18241696e-03 9.99991143e-01 -4.69803018e-04 1.85610715e-02] [-2.90169534e-03 4.81941354e-04 9.99995674e-01 5.50031613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67255784400004 meters 0.29122973241329053 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.55 [[ 9.99996003e-01 -2.48255280e-03 1.35277272e-03 1.86406512e+00] [ 2.48214113e-03 9.99996873e-01 3.05906654e-04 1.78837730e-02] [-1.35352792e-03 -3.02547659e-04 9.99999038e-01 5.52768561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70255784400007 meters 0.29082341435254994 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.55 [[ 9.99996342e-01 -2.39363357e-03 1.25933578e-03 1.86441451e+00] [ 2.39293730e-03 9.99996983e-01 5.54098779e-04 1.68579743e-02] [-1.26065829e-03 -5.51083241e-04 9.99999054e-01 5.52497584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73255784400004 meters 0.29239196249182353 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:0.55 [[ 9.99987096e-01 4.89136148e-03 1.37218692e-03 1.88772646e+00] [-4.88885020e-03 9.99986380e-01 -1.82755240e-03 1.34055268e-02] [-1.38110745e-03 1.82082040e-03 9.99997389e-01 5.51303411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76255784400007 meters 0.29035913439339195 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:0.55 [[ 9.99995260e-01 -1.76242524e-03 -2.52453867e-03 1.86646261e+00] [ 1.76457791e-03 9.99998081e-01 8.50724137e-04 9.14029385e-03] [ 2.52303448e-03 -8.55174850e-04 9.99996451e-01 5.53570620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79255784400004 meters 0.2907785187682445 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:0.55 [[ 9.99995315e-01 -1.68407852e-03 -2.55599397e-03 1.86653077e+00] [ 1.68678796e-03 9.99998017e-01 1.05824813e-03 8.29009706e-03] [ 2.55420672e-03 -1.06255459e-03 9.99996173e-01 5.53614394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8225578440001 meters 0.2921457530401041 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:0.55 [[ 9.99972912e-01 7.33025055e-03 -6.65321134e-04 1.88619360e+00] [-7.32999396e-03 9.99973060e-01 3.87280708e-04 4.81655073e-03] [ 6.68142075e-04 -3.82393418e-04 9.99999704e-01 5.54292068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85255784400005 meters 0.29123112906108045 Centerline is valid? [False, False] Translation: X:1.86, Y:0.00, Z:0.55 [[ 9.99995547e-01 -2.49563953e-03 -1.63645182e-03 1.86453683e+00] [ 2.49730128e-03 9.99996367e-01 1.01420096e-03 2.77795739e-03] [ 1.63391479e-03 -1.01828316e-03 9.99998147e-01 5.54505971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters 0.2911954079872502 Centerline is valid? [False, False] Translation: X:1.86, Y:0.00, Z:0.55 [[ 9.99995760e-01 -2.39198968e-03 -1.66101303e-03 1.86450575e+00] [ 2.39416257e-03 9.99996279e-01 1.30741791e-03 1.60765631e-03] [ 1.65787952e-03 -1.31138910e-03 9.99997766e-01 5.54745105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91255784400005 meters 0.29023336403259864 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.00, Z:0.55 [[ 9.99983284e-01 5.36756633e-03 -2.14962152e-03 1.84594176e+00] [-5.36716204e-03 9.99985578e-01 1.93797627e-04 -4.91479763e-03] [ 2.15063074e-03 -1.82257020e-04 9.99997671e-01 5.53324893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters 0.29189890409184005 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:0.55 [[ 9.99999625e-01 -5.04602134e-04 7.04420446e-04 1.86759449e+00] [ 5.02409560e-04 9.99995040e-01 3.10930772e-03 -6.15428727e-03] [-7.05985916e-04 -3.10895264e-03 9.99994918e-01 5.52050097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97255784400005 meters 0.2918079541330416 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:0.55 [[ 9.99999642e-01 -3.74139373e-04 7.59385607e-04 1.86735056e+00] [ 3.71498608e-04 9.99993894e-01 3.47466908e-03 -7.62034945e-03] [-7.60680981e-04 -3.47438573e-03 9.99993675e-01 5.52335285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002557844 meters 0.29175671846989043 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:0.55 [[ 9.99999706e-01 -2.57572057e-04 7.22092175e-04 1.86733149e+00] [ 2.54809988e-04 9.99992661e-01 3.82257774e-03 -8.99461003e-03] [-7.23071465e-04 -3.82239262e-03 9.99992433e-01 5.52633631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03255784400005 meters 0.29172429611863154 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:0.55 [[ 9.99999871e-01 -1.49081192e-04 4.85243422e-04 1.86786262e+00] [ 1.47062043e-04 9.99991343e-01 4.15848299e-03 -1.03379395e-02] [-4.85859173e-04 -4.15841110e-03 9.99991236e-01 5.52821186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062557844 meters 0.2916596795953377 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:0.55 [[ 9.99999987e-01 9.78701177e-05 1.24517299e-04 1.86907863e+00] [-9.84851565e-05 9.99987749e-01 4.94900423e-03 -1.37501876e-02] [-1.24031414e-04 -4.94901644e-03 9.99987746e-01 5.52020151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09255784400005 meters 0.29235933880083886 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.02, Z:0.55 [[ 9.99999973e-01 2.28483970e-04 3.96921525e-05 1.86949030e+00] [-2.28691192e-04 9.99985920e-01 5.30163013e-03 -1.52392429e-02] [-3.84802562e-05 -5.30163906e-03 9.99985945e-01 5.51590389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122557844 meters 0.29189860462823586 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.02, Z:0.55 [[ 9.99999945e-01 3.28650607e-04 4.09920342e-05 1.86950427e+00] [-3.28873609e-04 9.99984465e-01 5.56424100e-03 -1.63125264e-02] [-3.91627063e-05 -5.56425418e-03 9.99984519e-01 5.51569261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15255784400006 meters 0.2928095574951752 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 0.99997318 0.00698207 0.00221092 1.88994517] [-0.00698774 0.9999723 0.00256473 -0.0196601 ] [-0.00219296 -0.00258011 0.99999427 0.55146406] [ 0. 0. 0. 1. ]] SLAMing on 276.18255784400003 meters 0.2919067358996683 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99993585e-01 2.71468458e-03 2.33689003e-03 1.88962913e+00] [-2.71090383e-03 9.99995014e-01 -1.61950670e-03 -1.99188099e-02] [-2.34127483e-03 1.61316123e-03 9.99995958e-01 5.51254531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21255784400006 meters 0.2918066535221839 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99993376e-01 2.75093160e-03 2.38343441e-03 1.88957326e+00] [-2.74731897e-03 9.99995074e-01 -1.51767710e-03 -2.03367599e-02] [-2.38759769e-03 1.51111900e-03 9.99996008e-01 5.51114698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters 0.29259741038369996 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99993132e-01 2.79494655e-03 2.43412358e-03 1.88943104e+00] [-2.79156373e-03 9.99995135e-01 -1.39203950e-03 -2.08389445e-02] [-2.43800241e-03 1.38523493e-03 9.99996069e-01 5.51159480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27255784400006 meters 0.2917525130685292 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992666e-01 2.81809861e-03 2.59359201e-03 1.88891595e+00] [-2.81465353e-03 9.99995153e-01 -1.33099759e-03 -2.10554221e-02] [-2.59733032e-03 1.32368776e-03 9.99995751e-01 5.51444846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30255784400003 meters 0.29235798363543947 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992150e-01 2.86559358e-03 2.73641656e-03 1.88835332e+00] [-2.86227854e-03 9.99995166e-01 -1.21460332e-03 -2.15212488e-02] [-2.73988389e-03 1.20676140e-03 9.99995518e-01 5.51923397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33255784400006 meters 0.29154393091627406 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99991995e-01 2.90563374e-03 2.75102818e-03 1.88825196e+00] [-2.90259139e-03 9.99995172e-01 -1.10924238e-03 -2.19445838e-02] [-2.75423795e-03 1.10124838e-03 9.99995601e-01 5.52075682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36255784400004 meters 0.2917394568455346 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992137e-01 2.89099344e-03 2.71426949e-03 1.88834107e+00] [-2.88789236e-03 9.99995174e-01 -1.14573321e-03 -2.17942566e-02] [-2.71756870e-03 1.13788568e-03 9.99995660e-01 5.52087326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39255784400007 meters 0.2915685864478996 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992190e-01 2.87023743e-03 2.71690414e-03 1.88837634e+00] [-2.86698501e-03 9.99995170e-01 -1.20024483e-03 -2.15738297e-02] [-2.72033601e-03 1.19244613e-03 9.99995589e-01 5.51988544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42255784400004 meters 0.2915883092851095 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992503e-01 2.85914288e-03 2.61136833e-03 1.88868528e+00] [-2.85595511e-03 9.99995173e-01 -1.22364317e-03 -2.14864026e-02] [-2.61485430e-03 1.21617604e-03 9.99995842e-01 5.51885620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45255784400007 meters 0.29231419339285053 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992613e-01 2.84505651e-03 2.58439481e-03 1.88876641e+00] [-2.84180999e-03 9.99995169e-01 -1.25900843e-03 -2.13429293e-02] [-2.58796428e-03 1.25165477e-03 9.99995868e-01 5.51858377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters 0.2923953720921275 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992646e-01 2.85495104e-03 2.56085245e-03 1.88873079e+00] [-2.85180380e-03 9.99995175e-01 -1.23179199e-03 -2.14405384e-02] [-2.56435680e-03 1.22447989e-03 9.99995962e-01 5.52080019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51255784400007 meters 0.29169355221733756 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992712e-01 2.84711049e-03 2.54354431e-03 1.88881972e+00] [-2.84393189e-03 9.99995172e-01 -1.25241690e-03 -2.13652356e-02] [-2.54709780e-03 1.24517410e-03 9.99995981e-01 5.51977202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54255784400004 meters 0.29257130594544456 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992974e-01 2.85135379e-03 2.43331026e-03 1.88923792e+00] [-2.84835517e-03 9.99995181e-01 -1.23489616e-03 -2.14709060e-02] [-2.43681966e-03 1.22795656e-03 9.99996277e-01 5.51658135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5725578440001 meters 0.2918932985661275 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99993099e-01 2.85078242e-03 2.38202801e-03 1.88954536e+00] [-2.84784659e-03 9.99995182e-01 -1.23497441e-03 -2.15019276e-02] [-2.38553718e-03 1.22818224e-03 9.99996400e-01 5.51243137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60255784400005 meters 0.2928002771431851 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99993079e-01 2.87831904e-03 2.35737332e-03 1.88958175e+00] [-2.87559648e-03 9.99995196e-01 -1.15748929e-03 -2.18131132e-02] [-2.36069362e-03 1.15070243e-03 9.99996551e-01 5.51309513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.632557844 meters 0.2921995405540859 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992827e-01 2.93334186e-03 2.39622765e-03 1.88925938e+00] [-2.93093668e-03 9.99995198e-01 -1.00663187e-03 -2.23977667e-02] [-2.39916894e-03 9.99601457e-04 9.99996622e-01 5.51863533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66255784400005 meters 0.29294637346403596 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992595e-01 2.99204790e-03 2.42012148e-03 1.88899248e+00] [-2.99001139e-03 9.99995173e-01 -8.44669335e-04 -2.30305859e-02] [-2.42263709e-03 8.37426890e-04 9.99996715e-01 5.52367826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692557844 meters 0.2923191076626362 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:0.55 [[ 9.99992468e-01 3.06760831e-03 2.37790233e-03 1.88904724e+00] [-3.06609823e-03 9.99995096e-01 -6.38433634e-04 -2.38691578e-02] [-2.37984913e-03 6.31137943e-04 9.99996969e-01 5.52504622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72255784400005 meters 0.29160774603387457 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.55 [[ 0.99999142 -0.00360263 -0.00204604 1.86966624] [ 0.00360758 0.99999056 0.00242148 -0.03090045] [ 0.00203729 -0.00242884 0.99999498 0.55347427] [ 0. 0. 0. 1. ]] SLAMing on 276.752557844 meters 0.2912081972867988 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.55 [[ 0.99999152 -0.0034807 -0.00220134 1.87022913] [ 0.0034868 0.99999009 0.0027694 -0.03236775] [ 0.00219168 -0.00277705 0.99999374 0.55307498] [ 0. 0. 0. 1. ]] SLAMing on 276.78255784400005 meters 0.29223115739732525 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.55 [[ 0.99999187 -0.00333293 -0.00227079 1.8704048 ] [ 0.00334011 0.99998941 0.00316475 -0.03398837] [ 0.00226022 -0.00317231 0.99999241 0.55310712] [ 0. 0. 0. 1. ]] SLAMing on 276.812557844 meters 0.29357170437518304 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.03, Z:0.55 [[ 9.99993101e-01 3.68848562e-03 4.39934213e-04 1.89152235e+00] [-3.68872055e-03 9.99993054e-01 5.34388579e-04 -3.45875619e-02] [-4.37960072e-04 -5.36007686e-04 9.99999760e-01 5.51818951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84255784400005 meters 0.29229808376308664 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.55 [[ 9.99981231e-01 -6.12678386e-03 3.38706152e-05 1.87031592e+00] [ 6.12673668e-03 9.99980448e-01 1.25143949e-03 -3.31824994e-02] [-4.15372523e-05 -1.25120849e-03 9.99999216e-01 5.52058125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872557844 meters 0.2920867583409491 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.55 [[ 9.99981588e-01 -6.06794926e-03 5.75106067e-05 1.87014724e+00] [ 6.06786166e-03 9.99980586e-01 1.41748530e-03 -3.38353916e-02] [-6.61107191e-05 -1.41711024e-03 9.99998994e-01 5.52345154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90255784400006 meters 0.291948179550066 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.04, Z:0.55 [[ 9.99997709e-01 1.73448138e-03 -1.25440598e-03 1.85014542e+00] [-1.73367906e-03 9.99998292e-01 6.40408288e-04 -3.89006679e-02] [ 1.25551461e-03 -6.38232084e-04 9.99999008e-01 5.50682318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93255784400003 meters 0.2938418641453076 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.55 [[ 9.99994257e-01 -3.38833922e-03 6.70702715e-05 1.87471803e+00] [ 3.38805770e-03 9.99986936e-01 3.82745776e-03 -3.80298443e-02] [-8.00381205e-05 -3.82720854e-03 9.99992673e-01 5.48270289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96255784400006 meters 0.2934399325229475 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.55 [[ 9.99994205e-01 -3.40053758e-03 1.59954387e-04 1.87448483e+00] [ 3.39990685e-03 9.99987035e-01 3.79072762e-03 -3.78742574e-02] [-1.72842825e-04 -3.79016183e-03 9.99992802e-01 5.48266260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99255784400003 meters 0.2934399325229475 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.55 [[ 9.99994205e-01 -3.40053758e-03 1.59954387e-04 1.87448483e+00] [ 3.39990685e-03 9.99987035e-01 3.79072762e-03 -3.78742574e-02] [-1.72842825e-04 -3.79016183e-03 9.99992802e-01 5.48266260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02255784400006 meters 0.29370868774222914 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.55 [[ 9.99994268e-01 -3.37597788e-03 2.57832744e-04 1.87401085e+00] [ 3.37495952e-03 9.99986882e-01 3.85297501e-03 -3.80592040e-02] [-2.70836920e-04 -3.85208275e-03 9.99992544e-01 5.48815088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05255784400003 meters 0.29246669855586555 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.55 [[ 9.99994310e-01 -3.35793216e-03 3.23907990e-04 1.87364845e+00] [ 3.35664372e-03 9.99986763e-01 3.89952143e-03 -3.82024355e-02] [-3.36998031e-04 -3.89841199e-03 9.99992344e-01 5.49286995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08255784400006 meters 0.2938381535420141 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.04, Z:0.55 [[ 9.99990326e-01 3.15210777e-03 3.06795077e-03 1.89493213e+00] [-3.15422865e-03 9.99994790e-01 6.86708895e-04 -3.82074270e-02] [-3.06577020e-03 -6.96379270e-04 9.99995058e-01 5.48054694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11255784400004 meters 0.29156053213374533 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:0.55 [[ 9.99990158e-01 7.70631563e-04 4.36924593e-03 1.85503194e+00] [-7.72056651e-04 9.99999649e-01 3.24486113e-04 -4.26912144e-02] [-4.36899433e-03 -3.27856224e-04 9.99990402e-01 5.45701320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14255784400007 meters 0.2920877898309055 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:0.55 [[ 9.99990189e-01 8.48180975e-04 4.34768497e-03 1.85506098e+00] [-8.50564009e-04 9.99999489e-01 5.46295921e-04 -4.35865472e-02] [-4.34721939e-03 -5.49988545e-04 9.99990400e-01 5.45780359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17255784400004 meters 0.29268987746123926 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.04, Z:0.54 [[ 0.99996455 -0.00461541 0.00704225 1.87732938] [ 0.00458964 0.99998273 0.0036712 -0.04498736] [-0.00705907 -0.00363874 0.99996846 0.54389715] [ 0. 0. 0. 1. ]] SLAMing on 277.20255784400007 meters 0.29252565733358327 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.54 [[ 0.99996635 -0.00450166 0.00685777 1.87779055] [ 0.00447423 0.99998195 0.00400944 -0.04636899] [-0.00687569 -0.00397862 0.99996845 0.54395543] [ 0. 0. 0. 1. ]] SLAMing on 277.23255784400004 meters 0.29318578901803516 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.54 [[ 0.99996824 -0.00437207 0.00666359 1.87832448] [ 0.00434284 0.99998092 0.00439343 -0.04794355] [-0.00668267 -0.00436435 0.99996815 0.5438875 ] [ 0. 0. 0. 1. ]] SLAMing on 277.26255784400007 meters 0.29241446471526655 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.55 [[ 9.99985187e-01 3.02416709e-04 5.43450393e-03 1.85506167e+00] [-3.08582388e-04 9.99999310e-01 1.13374049e-03 -5.30161392e-02] [-5.43415732e-03 -1.13540069e-03 9.99984590e-01 5.45263402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29255784400004 meters 0.2928998452045878 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.05, Z:0.55 [[ 9.99985070e-01 3.75353724e-04 5.45150554e-03 1.85488442e+00] [-3.82598552e-04 9.99999045e-01 1.32797716e-03 -5.37933188e-02] [-5.45100187e-03 -1.33004307e-03 9.99984259e-01 5.45584566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3225578440001 meters 0.29246568581082283 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.05, Z:0.55 [[ 9.99984581e-01 4.28319172e-04 5.53667960e-03 1.85456179e+00] [-4.36445675e-04 9.99998829e-01 1.46663257e-03 -5.43403023e-02] [-5.53604493e-03 -1.46902641e-03 9.99983597e-01 5.45840190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35255784400005 meters 0.29422719063449077 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.05, Z:0.55 [[ 9.99984488e-01 4.73114862e-04 5.54974654e-03 1.85445429e+00] [-4.81910476e-04 9.99998630e-01 1.58363766e-03 -5.48110601e-02] [-5.54898969e-03 -1.58628758e-03 9.99983346e-01 5.46013513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382557844 meters 0.2921065229152102 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 9.99981307e-01 5.00484103e-03 3.51240803e-03 1.83054728e+00] [-4.99879358e-03 9.99986012e-01 -1.72841283e-03 -5.67611895e-02] [-3.52100933e-03 1.71082272e-03 9.99992338e-01 5.48451179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41255784400005 meters 0.29193019866939857 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 9.99980870e-01 5.11281500e-03 3.48121266e-03 1.83052844e+00] [-5.10789577e-03 9.99985946e-01 -1.42050777e-03 -5.79966289e-02] [-3.48842653e-03 1.40269893e-03 9.99992932e-01 5.48693603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442557844 meters 0.29319528162900577 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.06, Z:0.55 [[ 9.99979866e-01 -9.29117555e-04 6.27736523e-03 1.85254400e+00] [ 9.22293992e-04 9.99998981e-01 1.08981800e-03 -5.92381361e-02] [-6.27837140e-03 -1.08400648e-03 9.99979703e-01 5.46792781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47255784400005 meters 0.2902648438118238 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 0.99998447 0.00363595 0.00422354 1.82893011] [-0.00362629 0.99999079 -0.00229366 -0.06109708] [-0.00423184 0.00227831 0.99998845 0.54878795] [ 0. 0. 0. 1. ]] SLAMing on 277.502557844 meters 0.2933505027576902 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.06, Z:0.55 [[ 9.99977069e-01 -1.56250409e-03 6.58943021e-03 1.85228158e+00] [ 1.55660074e-03 9.99998383e-01 9.00915871e-04 -6.22883006e-02] [-6.59082724e-03 -8.90638100e-04 9.99977884e-01 5.46318172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53255784400005 meters 0.29103325484347176 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 0.99998784 0.00314966 0.00379406 1.82981176] [-0.00314022 0.99999197 -0.00248943 -0.06229975] [-0.00380187 0.00247748 0.9999897 0.54816722] [ 0. 0. 0. 1. ]] SLAMing on 277.562557844 meters 0.2923352009143825 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 0.99998851 0.00314074 0.00362263 1.83047507] [-0.00313168 0.99999196 -0.00250327 -0.06230755] [-0.00363047 0.00249189 0.99999031 0.54760038] [ 0. 0. 0. 1. ]] SLAMing on 277.59255784400005 meters 0.29240819988869593 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.06, Z:0.55 [[ 9.99981704e-01 -4.45027390e-03 4.09727578e-03 1.84965459e+00] [ 4.45600304e-03 9.99989106e-01 -1.39021329e-03 -5.75916410e-02] [-4.09104431e-03 1.40844533e-03 9.99990640e-01 5.48904994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters 0.2917378458254307 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 0.99999068 0.00346286 0.00257874 1.82955148] [-0.003458 0.99999224 -0.0018872 -0.0622051 ] [-0.00258525 0.00187827 0.99999489 0.54922675] [ 0. 0. 0. 1. ]] SLAMing on 277.65255784400006 meters 0.2917701928279946 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 9.99990597e-01 3.54692955e-03 2.49484921e-03 1.82975303e+00] [-3.54284114e-03 9.99992377e-01 -1.64125739e-03 -6.32091821e-02] [-2.50065162e-03 1.63240311e-03 9.99995541e-01 5.49268292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters 0.2922364438778225 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.06, Z:0.55 [[ 9.99990581e-01 3.64886812e-03 2.35015565e-03 1.83004789e+00] [-3.64579097e-03 9.99992493e-01 -1.31229132e-03 -6.45098800e-02] [-2.35492638e-03 1.30371078e-03 9.99996377e-01 5.49435724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71255784400006 meters 0.29277608122954774 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:0.55 [[ 9.99990318e-01 3.77614969e-03 2.25912277e-03 1.83017172e+00] [-3.77412462e-03 9.99992473e-01 -8.99986535e-04 -6.61267512e-02] [-2.26250425e-03 8.91451611e-04 9.99997043e-01 5.49691331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters 0.2937178048046956 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:0.55 [[ 9.99989790e-01 3.92355872e-03 2.24183986e-03 1.83007389e+00] [-3.92260348e-03 9.99992214e-01 -4.30335910e-04 -6.79598513e-02] [-2.24351085e-03 4.21537667e-04 9.99997394e-01 5.50041384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77255784400006 meters 0.2899525174397816 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.07, Z:0.55 [[ 9.99992383e-01 1.28428093e-03 3.68580457e-03 1.78936712e+00] [-1.28286943e-03 9.99999103e-01 -3.85295358e-04 -7.32872918e-02] [-3.68629609e-03 3.80564017e-04 9.99993133e-01 5.48858580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters 0.29055780661595193 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:0.55 [[ 9.99947417e-01 -7.62101140e-03 6.86178851e-03 1.80845273e+00] [ 7.62054652e-03 9.99970959e-01 9.38926282e-05 -7.86681031e-02] [-6.86230479e-03 -4.15971125e-05 9.99976453e-01 5.49723648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83255784400006 meters 0.29070498634964553 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:0.55 [[ 9.99948807e-01 -7.42610626e-03 6.87291221e-03 1.80821330e+00] [ 7.42116761e-03 9.99972186e-01 7.43791254e-04 -8.11852335e-02] [-6.87824452e-03 -6.92748143e-04 9.99976105e-01 5.50317759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86255784400004 meters 0.2909188255054734 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:0.55 [[ 9.99950463e-01 -7.23079241e-03 6.84015763e-03 1.80811616e+00] [ 7.22147683e-03 9.99972965e-01 1.38561535e-03 -8.36852139e-02] [-6.84999180e-03 -1.33615067e-03 9.99975646e-01 5.50782727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89255784400007 meters 0.2902970707142031 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:0.55 [[ 9.99981049e-01 4.32537702e-04 6.14122437e-03 1.78961636e+00] [-4.37344913e-04 9.99999599e-01 7.81455987e-04 -9.15974983e-02] [-6.14088390e-03 -7.84127011e-04 9.99980837e-01 5.49806488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92255784400004 meters 0.2908789784779196 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:0.55 [[ 9.99981563e-01 6.36987036e-04 6.03893529e-03 1.78977507e+00] [-6.45556098e-04 9.99998788e-01 1.41712597e-03 -9.41075244e-02] [-6.03802528e-03 -1.42099831e-03 9.99980761e-01 5.50025452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95255784400007 meters 0.2899257979597212 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.55 [[ 9.99980237e-01 1.00737785e-03 6.20565223e-03 1.78879448e+00] [-1.02390298e-03 9.99995937e-01 2.66031482e-03 -9.89216810e-02] [-6.20294708e-03 -2.66661623e-03 9.99977206e-01 5.51270588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98255784400004 meters 0.29067903365497505 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.55 [[ 9.99979466e-01 1.19588765e-03 6.29580336e-03 1.78836671e+00] [-1.21605661e-03 9.99994138e-01 3.20070313e-03 -1.01075049e-01] [-6.29193877e-03 -3.20829346e-03 9.99975059e-01 5.51745795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01255784400007 meters 0.29081234475247947 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.55 [[ 9.99978989e-01 1.36966072e-03 6.33599756e-03 1.78810864e+00] [-1.39306815e-03 9.99992216e-01 3.69141850e-03 -1.03035191e-01] [-6.33089225e-03 -3.70016742e-03 9.99973114e-01 5.52113685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04255784400004 meters 0.2910438838188356 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.55 [[ 9.99978809e-01 1.52087844e-03 6.33001416e-03 1.78809970e+00] [-1.54684258e-03 9.99990403e-01 4.09887757e-03 -1.04689356e-01] [-6.32371952e-03 -4.10858225e-03 9.99971565e-01 5.52160376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0725578440001 meters 0.29029265437107843 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 9.99979162e-01 1.66142189e-03 6.23822927e-03 1.78844404e+00] [-1.68936023e-03 9.99988556e-01 4.47597344e-03 -1.06262698e-01] [-6.23072139e-03 -4.48641879e-03 9.99970525e-01 5.51913529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10255784400005 meters 0.29057822446449755 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 0.99997982 0.0019139 0.00605825 1.78921706] [-0.00194527 0.99998471 0.00517662 -0.10930024] [-0.00604824 -0.0051883 0.99996825 0.55106702] [ 0. 0. 0. 1. ]] SLAMing on 278.132557844 meters 0.29158153754237326 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 0.99998047 0.00200106 0.00592101 1.78965644] [-0.00203314 0.99998327 0.00541561 -0.11030518] [-0.00591007 -0.00542754 0.99996781 0.55085846] [ 0. 0. 0. 1. ]] SLAMing on 278.16255784400005 meters 0.2905559067413736 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99989177e-01 4.41915904e-03 1.45530186e-03 1.76753998e+00] [-4.41927269e-03 9.99990232e-01 7.48912095e-05 -1.06931364e-01] [-1.45495669e-03 -8.13217747e-05 9.99998938e-01 5.54370360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192557844 meters 0.2916473348324357 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.55 [[ 9.99991830e-01 -3.50917714e-03 2.00663373e-03 1.78825884e+00] [ 3.50739093e-03 9.99993450e-01 8.92982033e-04 -1.04811445e-01] [-2.00975422e-03 -8.85936688e-04 9.99997588e-01 5.54838951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22255784400005 meters 0.2910630031917724 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 9.99992167e-01 -3.44076059e-03 1.95613338e-03 1.78840177e+00] [ 3.43866187e-03 9.99993510e-01 1.07524510e-03 -1.05558375e-01] [-1.95982035e-03 -1.06851019e-03 9.99997509e-01 5.54804826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252557844 meters 0.2914863719992987 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 9.99992533e-01 -3.36289777e-03 1.90384425e-03 1.78855644e+00] [ 3.36045418e-03 9.99993528e-01 1.28524973e-03 -1.06427854e-01] [-1.90815409e-03 -1.27884235e-03 9.99997362e-01 5.54755204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28255784400005 meters 0.2925153279979956 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 9.99993057e-01 -3.20750112e-03 1.89676595e-03 1.78866394e+00] [ 3.20428479e-03 9.99993428e-01 1.69630726e-03 -1.08137452e-01] [-1.90219439e-03 -1.69021770e-03 9.99996762e-01 5.54561248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312557844 meters 0.2924735214970918 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 0.99999337 -0.00312231 0.00187414 1.78867382] [ 0.0031187 0.99999328 0.0019256 -0.10906961] [-0.00188014 -0.00191974 0.99999639 0.55467005] [ 0. 0. 0. 1. ]] SLAMing on 278.34255784400005 meters 0.2909138526599644 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.55 [[ 0.99999367 -0.00305548 0.00182497 1.78874121] [ 0.00305163 0.99999312 0.00211072 -0.10981209] [-0.0018314 -0.00210513 0.99999611 0.55480037] [ 0. 0. 0. 1. ]] SLAMing on 278.372557844 meters 0.29060746985084224 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99990652e-01 4.27878999e-03 6.23186577e-04 1.77005575e+00] [-4.27942671e-03 9.99990319e-01 1.02398640e-03 -1.14923881e-01] [-6.18799121e-04 -1.02664371e-03 9.99999282e-01 5.53636931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40255784400006 meters 0.29094538793570945 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99990738e-01 4.26518785e-03 5.75929866e-04 1.77015661e+00] [-4.26575564e-03 9.99990413e-01 9.88277745e-04 -1.14775737e-01] [-5.71709155e-04 -9.90725368e-04 9.99999346e-01 5.53681649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43255784400003 meters 0.29299325941759113 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99990868e-01 4.23200179e-03 5.94719691e-04 1.77011541e+00] [-4.23253403e-03 9.99990641e-01 8.96564184e-04 -1.14399434e-01] [-5.90919863e-04 -8.99073168e-04 9.99999421e-01 5.53672646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46255784400006 meters 0.2916522528961571 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99991600e-01 4.04418761e-03 6.67366406e-04 1.77003284e+00] [-4.04445345e-03 9.99991742e-01 3.97475332e-04 -1.12372400e-01] [-6.65753430e-04 -4.00171126e-04 9.99999698e-01 5.53472772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49255784400003 meters 0.29042299663040516 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99992083e-01 3.90798941e-03 7.48921702e-04 1.76983409e+00] [-3.90801423e-03 9.99992363e-01 3.16805371e-05 -1.10871651e-01] [-7.48792175e-04 -3.46070830e-05 9.99999719e-01 5.53477298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52255784400006 meters 0.29142038592719066 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992842e-01 -3.38784356e-03 1.68491495e-03 1.78885660e+00] [ 3.38611723e-03 9.99993740e-01 1.02637488e-03 -1.04993940e-01] [-1.68838161e-03 -1.02066221e-03 9.99998054e-01 5.55023091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55255784400003 meters 0.2900988488805629 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.55 [[ 9.99990367e-01 4.38761570e-03 1.19355045e-04 1.76937263e+00] [-4.38759078e-03 9.99990353e-01 -2.08254123e-04 -1.05586031e-01] [-1.20267632e-04 2.07728436e-04 9.99999971e-01 5.54864761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58255784400006 meters 0.29054140951209456 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99993834e-01 -3.26959072e-03 1.28163832e-03 1.79029145e+00] [ 3.26906188e-03 9.99994571e-01 4.14505688e-04 -1.02366467e-01] [-1.28298662e-03 -4.10313377e-04 9.99999093e-01 5.55785682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61255784400004 meters 0.29072414325236856 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99993430e-01 -3.27138000e-03 1.56123923e-03 1.78946738e+00] [ 3.27076156e-03 9.99994572e-01 3.98512906e-04 -1.02268433e-01] [-1.56253444e-03 -3.93403847e-04 9.99998702e-01 5.56190727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64255784400007 meters 0.2899582346490301 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99993063e-01 -3.18982630e-03 1.92313001e-03 1.78840173e+00] [ 3.18859790e-03 9.99994711e-01 6.41479291e-04 -1.03184834e-01] [-1.92516604e-03 -6.35342753e-04 9.99997945e-01 5.56731333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67255784400004 meters 0.29174248585314905 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992516e-01 -3.13728160e-03 2.26371658e-03 1.78743057e+00] [ 3.13545813e-03 9.99994758e-01 8.08620574e-04 -1.03809662e-01] [-2.26624159e-03 -8.01516735e-04 9.99997111e-01 5.57181908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70255784400007 meters 0.28968095795539156 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992303e-01 -3.07249859e-03 2.43999450e-03 1.78694537e+00] [ 3.07004714e-03 9.99994780e-01 1.00780451e-03 -1.04585499e-01] [-2.44307824e-03 -1.00030585e-03 9.99996515e-01 5.57323663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73255784400004 meters 0.2907503056981094 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992641e-01 -3.11418719e-03 2.24056237e-03 1.78752517e+00] [ 3.11220464e-03 9.99994763e-01 8.87789236e-04 -1.04211951e-01] [-2.24331538e-03 -8.80809614e-04 9.99997096e-01 5.57081856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76255784400007 meters 0.29024589774925075 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992768e-01 -3.13114002e-03 2.15877712e-03 1.78783861e+00] [ 3.12933062e-03 9.99994750e-01 8.41028296e-04 -1.04042787e-01] [-2.16139916e-03 -8.34266686e-04 9.99997316e-01 5.56819960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79255784400004 meters 0.29128741326635627 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992582e-01 -3.16893557e-03 2.18968318e-03 1.78789565e+00] [ 3.16731824e-03 9.99994709e-01 7.41688366e-04 -1.03653567e-01] [-2.19202196e-03 -7.34747441e-04 9.99997328e-01 5.56522202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8225578440001 meters 0.2918775165624139 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:0.56 [[ 9.99992310e-01 -3.22264639e-03 2.23485432e-03 1.78787490e+00] [ 3.22131417e-03 9.99994632e-01 5.99455144e-04 -1.03084772e-01] [-2.23677415e-03 -5.92251366e-04 9.99997323e-01 5.56317596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85255784400005 meters 0.28963395264300873 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99996426e-01 2.24084574e-03 -1.45813120e-03 1.76648290e+00] [-2.24388044e-03 9.99995313e-01 -2.08292948e-03 -9.96580843e-02] [ 1.45345684e-03 2.08619391e-03 9.99996768e-01 5.58120924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters 0.2897894135932398 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99996681e-01 2.14631040e-03 -1.42526722e-03 1.76644282e+00] [-2.14963630e-03 9.99994961e-01 -2.33610909e-03 -9.86299925e-02] [ 1.42024603e-03 2.33916514e-03 9.99996256e-01 5.58055269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91255784400005 meters 0.2897894135932398 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99996681e-01 2.14631040e-03 -1.42526722e-03 1.76644282e+00] [-2.14963630e-03 9.99994961e-01 -2.33610909e-03 -9.86299925e-02] [ 1.42024603e-03 2.33916514e-03 9.99996256e-01 5.58055269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters 0.2909877192616049 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99997006e-01 2.05382607e-03 -1.33053722e-03 1.76620271e+00] [-2.05725909e-03 9.99994545e-01 -2.58396186e-03 -9.76190406e-02] [ 1.32522296e-03 2.58669138e-03 9.99995776e-01 5.58095025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97255784400005 meters 0.29031816387174303 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99997162e-01 2.01673555e-03 -1.26840231e-03 1.76603990e+00] [-2.02013872e-03 9.99994348e-01 -2.68749812e-03 -9.72013415e-02] [ 1.26297517e-03 2.69005284e-03 9.99995584e-01 5.58121167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters 0.2898813017204218 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99997286e-01 2.00472465e-03 -1.18687101e-03 1.76581688e+00] [-2.00795197e-03 9.99994273e-01 -2.72426583e-03 -9.70536845e-02] [ 1.18140281e-03 2.72664161e-03 9.99995585e-01 5.58169014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03255784400005 meters 0.29179815920700575 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99997172e-01 1.98897134e-03 -1.30412029e-03 1.76619200e+00] [-1.99257036e-03 9.99994194e-01 -2.76426913e-03 -9.69061506e-02] [ 1.29861467e-03 2.76685986e-03 9.99995329e-01 5.57984310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters 0.2903119305540897 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.10, Z:0.56 [[ 9.99976561e-01 -5.34449415e-03 -4.27941371e-03 1.74668002e+00] [ 5.34333782e-03 9.99985685e-01 -2.81595550e-04 -9.52381569e-02] [ 4.28085743e-03 2.58722597e-04 9.99990804e-01 5.57801174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09255784400005 meters 0.29176121027743546 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 9.99986186e-01 3.93322991e-03 -3.48668841e-03 1.76638582e+00] [-3.93861048e-03 9.99991061e-01 -1.53765472e-03 -9.76754790e-02] [ 3.48060930e-03 1.55136619e-03 9.99992739e-01 5.57979592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122557844 meters 0.29152552131817 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 0.99998651 0.00382707 -0.00351082 1.76653397] [-0.00383345 0.99999101 -0.00181339 -0.09655976] [ 0.00350385 0.00182682 0.99999219 0.55782986] [ 0. 0. 0. 1. ]] SLAMing on 279.15255784400006 meters 0.2905461325211333 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.10, Z:0.56 [[ 0.99998683 0.00371258 -0.00354384 1.76664027] [-0.00372008 0.99999085 -0.00211211 -0.09534297] [ 0.00353596 0.00212527 0.99999149 0.55782154] [ 0. 0. 0. 1. ]] SLAMing on 279.18255784400003 meters 0.29084502731880474 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998674 0.00358289 -0.00369934 1.76707898] [-0.00359197 0.99999054 -0.00245183 -0.09395363] [ 0.00369052 0.00246509 0.99999015 0.55777741] [ 0. 0. 0. 1. ]] SLAMing on 279.21255784400006 meters 0.29032460027945833 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998643 0.00340282 -0.00394528 1.76790586] [-0.00341448 0.99998981 -0.00295257 -0.09188883] [ 0.00393519 0.002966 0.99998786 0.55726941] [ 0. 0. 0. 1. ]] SLAMing on 279.24255784400003 meters 0.28999525243175506 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998681 0.00334303 -0.00389884 1.76791262] [-0.00335517 0.99998953 -0.00311024 -0.09125583] [ 0.0038884 0.00312328 0.99998756 0.55700246] [ 0. 0. 0. 1. ]] SLAMing on 279.27255784400006 meters 0.2906088608560691 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998744 0.00331547 -0.00375887 1.76749013] [-0.00332746 0.99998938 -0.00318799 -0.0909315 ] [ 0.00374826 0.00320046 0.99998785 0.55718511] [ 0. 0. 0. 1. ]] SLAMing on 279.30255784400003 meters 0.2894893545529749 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998793 0.00331226 -0.00362788 1.76707205] [-0.00332388 0.99998935 -0.003201 -0.09086639] [ 0.00361723 0.00321302 0.9999883 0.55742859] [ 0. 0. 0. 1. ]] SLAMing on 279.33255784400006 meters 0.2890562134678216 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.09, Z:0.56 [[ 0.99998851 0.00331143 -0.00346622 1.76650024] [-0.00332255 0.99998934 -0.00320744 -0.09082558] [ 0.00345557 0.00321892 0.99998885 0.5578403 ] [ 0. 0. 0. 1. ]] SLAMing on 279.36255784400004 meters 0.2903252650706286 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:0.56 [[ 9.99997764e-01 -2.11064633e-03 1.31474540e-04 1.78732636e+00] [ 2.11067681e-03 9.99997746e-01 -2.32095983e-04 -9.38699355e-02] [-1.30984371e-04 2.32372964e-04 9.99999964e-01 5.56601224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39255784400007 meters 0.2899800418955969 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.09, Z:0.56 [[ 0.9999912 0.00267429 -0.00323104 1.76482599] [-0.00268514 0.99999076 -0.00335841 -0.09161098] [ 0.00322203 0.00336705 0.99998914 0.55849111] [ 0. 0. 0. 1. ]] SLAMing on 279.42255784400004 meters 0.2896196875994213 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.09, Z:0.56 [[ 0.99999105 0.00275375 -0.00321095 1.7647906 ] [-0.00276385 0.99999123 -0.00314511 -0.09248252] [ 0.00320226 0.00315396 0.9999899 0.55842659] [ 0. 0. 0. 1. ]] SLAMing on 279.45255784400007 meters 0.28923942105211 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:0.56 [[ 9.99987458e-01 -4.77086818e-03 -1.52428842e-03 1.78406973e+00] [ 4.76807752e-03 9.99986960e-01 -1.82921930e-03 -9.10251763e-02] [ 1.53299551e-03 1.82192844e-03 9.99997165e-01 5.59614808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48255784400004 meters 0.28876668480508566 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:0.56 [[ 9.99988351e-01 -4.62069104e-03 -1.39557570e-03 1.78338607e+00] [ 4.61870550e-03 9.99988322e-01 -1.42262419e-03 -9.26754540e-02] [ 1.40213291e-03 1.41616187e-03 9.99998014e-01 5.60480316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51255784400007 meters 0.2884425943874269 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.09, Z:0.56 [[ 9.99988520e-01 -4.58339345e-03 -1.39735640e-03 1.78324546e+00] [ 4.58154708e-03 9.99988631e-01 -1.32167888e-03 -9.30731105e-02] [ 1.40339829e-03 1.31526165e-03 9.99998150e-01 5.60809289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54255784400004 meters 0.29040970608686656 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:0.56 [[ 9.99989953e-01 4.42837514e-03 -6.94915477e-04 1.80229713e+00] [-4.43015868e-03 9.99986842e-01 -2.58635223e-03 -9.71576721e-02] [ 6.83452995e-04 2.58940483e-03 9.99996414e-01 5.62091105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5725578440001 meters 0.2892453833291794 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:0.56 [[ 9.99989913e-01 4.44976998e-03 -6.11541908e-04 1.80206516e+00] [-4.45130425e-03 9.99986890e-01 -2.53082524e-03 -9.73827800e-02] [ 6.00272301e-04 2.53352187e-03 9.99996610e-01 5.62129678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60255784400005 meters 0.28935411721355064 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:0.56 [[ 9.99989777e-01 4.48443333e-03 -5.79597576e-04 1.80194034e+00] [-4.48583472e-03 9.99986963e-01 -2.43962654e-03 -9.77528539e-02] [ 5.68649678e-04 2.44220157e-03 9.99996856e-01 5.62215601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632557844 meters 0.28967537375898783 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:0.56 [[ 9.99989642e-01 4.52232437e-03 -5.13661554e-04 1.80165808e+00] [-4.52351572e-03 9.99987026e-01 -2.34233813e-03 -9.81396314e-02] [ 5.03062077e-04 2.34463742e-03 9.99997125e-01 5.62462273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66255784400005 meters 0.28914457210840017 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.10, Z:0.56 [[ 9.99989634e-01 4.54241368e-03 -3.13111604e-04 1.80110507e+00] [-4.54311975e-03 9.99987052e-01 -2.29244763e-03 -9.83484906e-02] [ 3.02694304e-04 2.29384637e-03 9.99997323e-01 5.62576456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692557844 meters 0.2899269552235242 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.10, Z:0.56 [[ 9.99995251e-01 -2.88232002e-03 1.09097457e-03 1.82076853e+00] [ 2.88356163e-03 9.99995195e-01 -1.13821995e-03 -9.51222124e-02] [-1.08768861e-03 1.14136043e-03 9.99998757e-01 5.63634328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72255784400005 meters 0.2891560238720647 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99995231e-01 -2.90046634e-03 1.06047050e-03 1.82099522e+00] [ 2.90172091e-03 9.99995090e-01 -1.18341114e-03 -9.49515152e-02] [-1.05703285e-03 1.18648269e-03 9.99998737e-01 5.63305280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752557844 meters 0.2887629843242786 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99995295e-01 -2.89825698e-03 1.00467302e-03 1.82126621e+00] [ 2.89944015e-03 9.99995103e-01 -1.17821766e-03 -9.49882016e-02] [-1.00125333e-03 1.18112511e-03 9.99998801e-01 5.62993901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78255784400005 meters 0.2888359057489404 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99995268e-01 -2.90235073e-03 1.01971642e-03 1.82120965e+00] [ 2.90357447e-03 9.99995064e-01 -1.20065777e-03 -9.49140605e-02] [-1.01622665e-03 1.20361291e-03 9.99998759e-01 5.63046917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812557844 meters 0.2919377295052491 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99995095e-01 -2.92519532e-03 1.11970489e-03 1.82096563e+00] [ 2.92661581e-03 9.99994912e-01 -1.26909873e-03 -9.46455998e-02] [-1.11598683e-03 1.27236945e-03 9.99998568e-01 5.63049041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84255784400005 meters 0.29039300577251553 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99994884e-01 -2.97696394e-03 1.17018326e-03 1.82087709e+00] [ 2.97860409e-03 9.99994581e-01 -1.40238003e-03 -9.41100218e-02] [-1.16600209e-03 1.40585837e-03 9.99998332e-01 5.62977269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872557844 meters 0.28970017001083076 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.57 [[ 9.99996966e-01 -1.09523316e-03 2.20629801e-03 1.81596421e+00] [ 1.09473723e-03 9.99999375e-01 2.25973608e-04 -9.18146486e-02] [-2.20654412e-03 -2.23557606e-04 9.99997541e-01 5.65835396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90255784400006 meters 0.29137207380772034 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.57 [[ 9.99996822e-01 -1.24155411e-03 2.19409727e-03 1.81620576e+00] [ 1.24185785e-03 9.99999219e-01 -1.37078087e-04 -9.03523489e-02] [-2.19392536e-03 1.39802408e-04 9.99997584e-01 5.65426734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93255784400003 meters 0.29010529036017996 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.57 [[ 9.99996699e-01 -1.38817582e-03 2.16217957e-03 1.81645655e+00] [ 1.38931503e-03 9.99998897e-01 -5.25468810e-04 -8.87808943e-02] [-2.16144775e-03 5.28471024e-04 9.99997524e-01 5.65081584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96255784400006 meters 0.2888208387833773 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.09, Z:0.56 [[ 9.99996525e-01 -1.73641872e-03 1.98360913e-03 1.81730892e+00] [ 1.73923181e-03 9.99997483e-01 -1.41732263e-03 -8.51417524e-02] [-1.98114307e-03 1.42076766e-03 9.99997028e-01 5.64219048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99255784400003 meters 0.2905049555809125 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:0.56 [[ 0.99999646 -0.00192385 0.00184029 1.81801482] [ 0.00192731 0.99999637 -0.00188045 -0.08325539] [-0.00183667 0.00188399 0.99999654 0.56356812] [ 0. 0. 0. 1. ]] SLAMing on 280.02255784400006 meters 0.2895229133522475 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:0.56 [[ 9.99996197e-01 -2.12623336e-03 1.75634869e-03 1.81845835e+00] [ 2.13042922e-03 9.99994873e-01 -2.39056161e-03 -8.11791714e-02] [-1.75125679e-03 2.39429429e-03 9.99995600e-01 5.63147998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05255784400003 meters 0.2897834888224596 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:0.56 [[ 9.99995934e-01 -2.29502175e-03 1.69286113e-03 1.81870979e+00] [ 2.29982611e-03 9.99993318e-01 -2.84154955e-03 -7.93573695e-02] [-1.68632841e-03 2.84543129e-03 9.99994530e-01 5.62994523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08255784400006 meters 0.2899116589165591 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:0.56 [[ 9.99995709e-01 -2.44026971e-03 1.62098339e-03 1.81884485e+00] [ 2.44550262e-03 9.99991780e-01 -3.23413675e-03 -7.77505243e-02] [-1.61307790e-03 3.23808699e-03 9.99993456e-01 5.63151986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11255784400004 meters 0.29000085180372515 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:0.56 [[ 9.99995277e-01 -2.69802269e-03 1.47212849e-03 1.81930712e+00] [ 2.70374568e-03 9.99988742e-01 -3.89951815e-03 -7.50157324e-02] [-1.46159092e-03 3.90347999e-03 9.99991313e-01 5.63058757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14255784400007 meters 0.28846714831865095 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:0.56 [[ 9.99994951e-01 -2.81062504e-03 1.48236616e-03 1.81943770e+00] [ 2.81680663e-03 9.99987277e-01 -4.18461769e-03 -7.38579817e-02] [-1.47058591e-03 4.18877210e-03 9.99990146e-01 5.62753744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17255784400004 meters 0.28841268208813375 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:0.56 [[ 9.99994639e-01 -2.89280779e-03 1.53437312e-03 1.81945560e+00] [ 2.89953044e-03 9.99986128e-01 -4.39738844e-03 -7.29903076e-02] [-1.52163104e-03 4.40181383e-03 9.99989154e-01 5.62434789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20255784400007 meters 0.289686916590815 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99999472e-01 -1.02427676e-03 -8.69210646e-05 1.85920816e+00] [ 1.02391236e-03 9.99991097e-01 -4.09362562e-03 -7.46335378e-02] [ 9.11132964e-05 4.09353446e-03 9.99991617e-01 5.65221406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23255784400004 meters 0.29004681543627325 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99999360e-01 -1.12641660e-03 -1.09791649e-04 1.85907884e+00] [ 1.12592733e-03 9.99989866e-01 -4.35898681e-03 -7.35455599e-02] [ 1.14700571e-04 4.35886040e-03 9.99990494e-01 5.65680233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26255784400007 meters 0.28940820724548294 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99999250e-01 -1.22363503e-03 -5.62743824e-05 1.85878428e+00] [ 1.22336133e-03 9.99988530e-01 -4.63065046e-03 -7.24014163e-02] [ 6.19399631e-05 4.63057814e-03 9.99989277e-01 5.66109794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29255784400004 meters 0.28894854096316935 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99999076e-01 -1.35953411e-03 2.43406930e-05 1.85846694e+00] [ 1.35963915e-03 9.99986481e-01 -5.01879653e-03 -7.08020909e-02] [-1.75171389e-05 5.01882499e-03 9.99987405e-01 5.66434685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3225578440001 meters 0.2894157319867968 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99998904e-01 -1.47991264e-03 4.29572643e-05 1.85842388e+00] [ 1.48012129e-03 9.99984593e-01 -5.35011763e-03 -6.94484057e-02] [-3.50388957e-05 5.35017535e-03 9.99985687e-01 5.66470047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35255784400005 meters 0.2903567643428782 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99998745e-01 -1.58449008e-03 1.90727583e-05 1.85859700e+00] [ 1.58457241e-03 9.99982864e-01 -5.63564598e-03 -6.82853479e-02] [-1.01428064e-05 5.63566912e-03 9.99984119e-01 5.66242713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382557844 meters 0.2912090315699227 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.07, Z:0.57 [[ 9.99998573e-01 -1.68872412e-03 3.53431435e-05 1.85862591e+00] [ 1.68890376e-03 9.99981051e-01 -5.91983284e-03 -6.71225182e-02] [-2.53455092e-05 5.91988409e-03 9.99982477e-01 5.66112790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41255784400005 meters 0.2898263721163171 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998226e-01 -1.87132595e-03 2.14964773e-04 1.85809787e+00] [ 1.87267629e-03 9.99977359e-01 -6.46330698e-03 -6.48998528e-02] [-2.02864952e-04 6.46369807e-03 9.99979090e-01 5.66363828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442557844 meters 0.2885285706459282 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998024e-01 -1.96808246e-03 2.79859392e-04 1.85782454e+00] [ 1.96992102e-03 9.99975423e-01 -6.72849306e-03 -6.37975888e-02] [-2.66610285e-04 6.72903107e-03 9.99977324e-01 5.66650907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47255784400005 meters 0.2901523524544341 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99997872e-01 -2.04446677e-03 2.77028032e-04 1.85776277e+00] [ 2.04633761e-03 9.99973892e-01 -6.93020815e-03 -6.29645712e-02] [-2.62852219e-04 6.93076030e-03 9.99975947e-01 5.66834531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502557844 meters 0.28853326269393037 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.06, Z:0.57 [[ 0.99995571 -0.00912317 -0.00231368 1.83667153] [ 0.00911263 0.99994822 -0.00452866 -0.06093893] [ 0.00235487 0.00450737 0.99998707 0.56848999] [ 0. 0. 0. 1. ]] SLAMing on 280.53255784400005 meters 0.28978134220870516 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998168e-01 5.83413459e-04 -1.82288098e-03 1.85701278e+00] [-5.92589075e-04 9.99987138e-01 -5.03710060e-03 -6.41105923e-02] [ 1.81991882e-03 5.03817160e-03 9.99985652e-01 5.68455098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562557844 meters 0.2881853479386278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998265e-01 5.20425250e-04 -1.78862001e-03 1.85707428e+00] [-5.29718635e-04 9.99986343e-01 -5.19930100e-03 -6.34551798e-02] [ 1.78588974e-03 5.20023945e-03 9.99984884e-01 5.68144243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59255784400005 meters 0.2886106041949016 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998346e-01 4.45274966e-04 -1.76320305e-03 1.85702973e+00] [-4.54780735e-04 9.99985346e-01 -5.39446765e-03 -6.26557128e-02] [ 1.76077519e-03 5.39526060e-03 9.99983895e-01 5.68119615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622557844 meters 0.28823581781944774 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998422e-01 3.64425727e-04 -1.73857625e-03 1.85694023e+00] [-3.74169047e-04 9.99984210e-01 -5.60716491e-03 -6.17796006e-02] [ 1.73650540e-03 5.60780659e-03 9.99982768e-01 5.68211521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65255784400006 meters 0.2890395257892627 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998367e-01 2.75662551e-04 -1.78632056e-03 1.85701235e+00] [-2.86089144e-04 9.99982910e-01 -5.83928578e-03 -6.08249717e-02] [ 1.78468036e-03 5.83978729e-03 9.99981356e-01 5.68353907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters 0.2878072958179307 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.57 [[ 9.99998065e-01 1.35662616e-05 -1.96708234e-03 1.85768034e+00] [-2.64092674e-05 9.99978685e-01 -6.52908299e-03 -5.79770334e-02] [ 1.96695184e-03 6.52912231e-03 9.99976751e-01 5.67961746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71255784400006 meters 0.28883993489772947 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.56 [[ 0.99999283 0.00271272 -0.00264331 1.86202791] [-0.00272349 0.99998798 -0.00407818 -0.05549688] [ 0.00263221 0.00408535 0.99998819 0.56462304] [ 0. 0. 0. 1. ]] SLAMing on 280.74255784400003 meters 0.2892488358288113 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.99999321 0.00257958 -0.00263014 1.86220153] [-0.0025912 0.99998685 -0.00442653 -0.05407349] [ 0.00261869 0.00443331 0.99998674 0.56419681] [ 0. 0. 0. 1. ]] SLAMing on 280.77255784400006 meters 0.2898448068413696 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.99999365 0.00244245 -0.00259685 1.86220199] [-0.00245485 0.99998555 -0.0047825 -0.05261209] [ 0.00258513 0.00478885 0.99998519 0.56404683] [ 0. 0. 0. 1. ]] SLAMing on 280.80255784400003 meters 0.2898448068413696 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.99999365 0.00244245 -0.00259685 1.86220199] [-0.00245485 0.99998555 -0.0047825 -0.05261209] [ 0.00258513 0.00478885 0.99998519 0.56404683] [ 0. 0. 0. 1. ]] SLAMing on 280.83255784400006 meters 0.2887995497880812 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.999994 0.00232324 -0.00256912 1.86221025] [-0.0023363 0.99998431 -0.00509034 -0.05134974] [ 0.00255725 0.00509632 0.99998374 0.56390571] [ 0. 0. 0. 1. ]] SLAMing on 280.86255784400004 meters 0.29105376309153963 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.99999379 0.00211082 -0.00282317 1.86311464] [-0.00212674 0.99998178 -0.005649 -0.04901989] [ 0.00281119 0.00565497 0.99998006 0.56337071] [ 0. 0. 0. 1. ]] SLAMing on 280.89255784400007 meters 0.29084480617962005 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.56 [[ 0.99999348 0.00200864 -0.00300015 1.86379681] [-0.00202638 0.99998041 -0.0059218 -0.04788415] [ 0.0029882 0.00592784 0.99997797 0.56287265] [ 0. 0. 0. 1. ]] SLAMing on 280.92255784400004 meters 0.2901039285363236 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.05, Z:0.56 [[ 9.99981992e-01 -1.55210178e-03 -5.79711243e-03 1.84191255e+00] [ 1.54909018e-03 9.99998663e-01 -5.23952973e-04 -4.51492765e-02] [ 5.79791791e-03 5.14963288e-04 9.99983059e-01 5.64669856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95255784400007 meters 0.2896492204556275 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:0.56 [[ 9.99981494e-01 -1.72937023e-03 -5.83267599e-03 1.84201492e+00] [ 1.72355676e-03 9.99998013e-01 -1.00158677e-03 -4.31937574e-02] [ 5.83439652e-03 9.91515286e-04 9.99982488e-01 5.64682391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98255784400004 meters 0.290375069356944 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:0.56 [[ 9.99981036e-01 -1.93293931e-03 -5.84741807e-03 1.84205538e+00] [ 1.92380552e-03 9.99996921e-01 -1.56724143e-03 -4.08942884e-02] [ 5.85042945e-03 1.55596241e-03 9.99981676e-01 5.64726624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01255784400007 meters 0.28949917417868026 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:0.56 [[ 0.99998067 -0.0021417 -0.00583731 1.84204169] [ 0.0021292 0.99999543 -0.00214819 -0.03853844] [ 0.00584188 0.00213572 0.99998066 0.56474686] [ 0. 0. 0. 1. ]] SLAMing on 281.04255784400004 meters 0.29021645568163734 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:0.57 [[ 0.99998047 -0.00232808 -0.00579914 1.84182086] [ 0.00231254 0.99999372 -0.00268506 -0.03636046] [ 0.00580535 0.0026716 0.99997958 0.56509826] [ 0. 0. 0. 1. ]] SLAMing on 281.0725578440001 meters 0.2894993543188662 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.03, Z:0.57 [[ 0.99998029 -0.0025139 -0.00575402 1.8415298 ] [ 0.00249545 0.99999173 -0.00321069 -0.03419943] [ 0.00576204 0.00319626 0.99997829 0.56558187] [ 0. 0. 0. 1. ]] SLAMing on 281.10255784400005 meters 0.28852541774281776 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.03, Z:0.57 [[ 9.99988262e-01 -4.90547096e-04 -4.82032666e-03 1.83604818e+00] [ 4.81070234e-04 9.99997950e-01 -1.96698366e-03 -2.84864945e-02] [ 4.82128167e-03 1.96464166e-03 9.99986448e-01 5.69842905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132557844 meters 0.28853881421680344 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.03, Z:0.57 [[ 9.99988003e-01 -6.80671041e-04 -4.85076355e-03 1.83621891e+00] [ 6.68812869e-04 9.99996785e-01 -2.44580217e-03 -2.65235830e-02] [ 4.85241275e-03 2.44252858e-03 9.99985244e-01 5.69693256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16255784400005 meters 0.28902313963942755 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.02, Z:0.57 [[ 9.99987710e-01 -8.41959021e-04 -4.88575814e-03 1.83645761e+00] [ 8.28065095e-04 9.99995610e-01 -2.84508693e-03 -2.48843336e-02] [ 4.88813214e-03 2.84100624e-03 9.99984017e-01 5.69421328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192557844 meters 0.289292147125939 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.02, Z:0.57 [[ 9.99987587e-01 -9.99998748e-04 -4.88113827e-03 1.83658496e+00] [ 9.84139715e-04 9.99994233e-01 -3.25036519e-03 -2.32272864e-02] [ 4.88436048e-03 3.24552112e-03 9.99982805e-01 5.69149131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22255784400005 meters 0.2883496510302239 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.02, Z:0.57 [[ 9.99987132e-01 -1.38255490e-03 -4.88110062e-03 1.83647528e+00] [ 1.36181149e-03 9.99990039e-01 -4.25051070e-03 -1.91070281e-02] [ 4.88692857e-03 4.24380887e-03 9.99979054e-01 5.69502433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252557844 meters 0.2894855228051402 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.02, Z:0.57 [[ 9.99986866e-01 -1.58086654e-03 -4.87522609e-03 1.83630943e+00] [ 1.55762579e-03 9.99987424e-01 -4.76722867e-03 -1.69708768e-02] [ 4.88270113e-03 4.75957228e-03 9.99976753e-01 5.69904914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28255784400005 meters 0.28936008442614647 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.57 [[ 9.99986815e-01 -1.78936343e-03 -4.81329723e-03 1.83606508e+00] [ 1.76390038e-03 9.99984456e-01 -5.28920091e-03 -1.48197250e-02] [ 4.82268672e-03 5.28064099e-03 9.99974428e-01 5.70137072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312557844 meters 0.2901377413997135 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.57 [[ 0.99998658 -0.00198954 -0.00478386 1.83605879] [ 0.00196189 0.99998138 -0.0057787 -0.0128075 ] [ 0.00479526 0.00576923 0.99997186 0.57003456] [ 0. 0. 0. 1. ]] SLAMing on 281.34255784400005 meters 0.2875252033230507 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.57 [[ 0.99998682 0.00222399 -0.00462833 1.83579318] [-0.00223274 0.99999573 -0.00188574 -0.01114523] [ 0.00462412 0.00189605 0.99998751 0.56985113] [ 0. 0. 0. 1. ]] SLAMing on 281.372557844 meters 0.2895751466241721 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.57 [[ 0.99998771 0.00187998 -0.00458676 1.83596066] [-0.00189239 0.99999456 -0.0027027 -0.00777723] [ 0.00458165 0.00271135 0.99998583 0.56935366] [ 0. 0. 0. 1. ]] SLAMing on 281.40255784400006 meters 0.2896581906569737 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.57 [[ 9.99988093e-01 1.70340606e-03 -4.57301339e-03 1.83599466e+00] [-1.71782321e-03 9.99993561e-01 -3.15058314e-03 -5.93420836e-03] [ 4.56761722e-03 3.15840126e-03 9.99984581e-01 5.69259668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43255784400003 meters 0.2905585493534265 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.00, Z:0.57 [[ 9.99988202e-01 1.57045630e-03 -4.59658792e-03 1.83603095e+00] [-1.58647886e-03 9.99992672e-01 -3.48418396e-03 -4.56133828e-03] [ 4.59108247e-03 3.49143525e-03 9.99983366e-01 5.69354644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46255784400006 meters 0.2880732883453876 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:0.57 [[ 9.99967990e-01 -4.96402099e-03 -6.27521506e-03 1.81399083e+00] [ 4.95890500e-03 9.99987360e-01 -8.30565474e-04 -7.45460118e-04] [ 6.27925868e-03 7.99420692e-04 9.99979966e-01 5.70549244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49255784400003 meters 0.2902047016926372 Centerline is valid? [False, False] Translation: X:1.81, Y:0.00, Z:0.57 [[ 9.99965764e-01 -5.21823663e-03 -6.42192101e-03 1.81463647e+00] [ 5.20902648e-03 9.99985382e-01 -1.45006518e-03 1.80083491e-03] [ 6.42939392e-03 1.41656358e-03 9.99978328e-01 5.70017840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52255784400006 meters 0.28796515028442143 Centerline is valid? [False, False] Translation: X:1.82, Y:0.00, Z:0.57 [[ 9.99964517e-01 -5.35940155e-03 -6.49935500e-03 1.81502598e+00] [ 5.34768154e-03 9.99984046e-01 -1.81929725e-03 3.32980976e-03] [ 6.50900166e-03 1.78447621e-03 9.99977224e-01 5.69621891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55255784400003 meters 0.29243751420837427 Centerline is valid? [False, False] Translation: X:1.84, Y:0.00, Z:0.57 [[ 9.99979799e-01 3.44814909e-03 -5.33966750e-03 1.83561576e+00] [-3.46301230e-03 9.99990148e-01 -2.77680635e-03 1.14516649e-03] [ 5.33004006e-03 2.79524159e-03 9.99981888e-01 5.69750869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58255784400006 meters 0.28934716147333683 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:0.57 [[ 9.99979951e-01 -2.55915284e-03 -5.79205456e-03 1.81318423e+00] [ 2.56165150e-03 9.99996629e-01 4.24017247e-04 6.17301505e-03] [ 5.79094991e-03 -4.38845971e-04 9.99983136e-01 5.70547949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61255784400004 meters 0.28997079581583746 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:0.57 [[ 9.99978462e-01 -2.87138901e-03 -5.90182139e-03 1.81357069e+00] [ 2.86839480e-03 9.99995753e-01 -5.15737926e-04 9.91983132e-03] [ 5.90327721e-03 4.98798064e-04 9.99982451e-01 5.70338757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64255784400007 meters 0.2884116518545015 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:0.57 [[ 9.99977801e-01 -3.00947770e-03 -5.94471749e-03 1.81376412e+00] [ 3.00427413e-03 9.99995096e-01 -8.84061434e-04 1.14344600e-02] [ 5.94734890e-03 8.66182248e-04 9.99981939e-01 5.70178621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67255784400004 meters 0.28886463121177225 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:0.57 [[ 9.99976986e-01 -3.12533666e-03 -6.02166189e-03 1.81400889e+00] [ 3.11821374e-03 9.99994428e-01 -1.19190848e-03 1.27003046e-02] [ 6.02535345e-03 1.17310422e-03 9.99981159e-01 5.70099128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70255784400007 meters 0.29025961594386307 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:0.57 [[ 9.99976169e-01 -3.23954695e-03 -6.09649161e-03 1.81425377e+00] [ 3.23049027e-03 9.99993665e-01 -1.49481793e-03 1.39465678e-02] [ 6.10129552e-03 1.47508765e-03 9.99980299e-01 5.70013688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73255784400004 meters 0.28817780392006265 Centerline is valid? [False, False] Translation: X:1.81, Y:0.02, Z:0.57 [[ 9.99975760e-01 -3.33938503e-03 -6.10970011e-03 1.81437304e+00] [ 3.32871715e-03 9.99992919e-01 -1.75539297e-03 1.50201705e-02] [ 6.11551878e-03 1.73501295e-03 9.99979795e-01 5.69849242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76255784400007 meters 0.2900342301500462 Centerline is valid? [False, False] Translation: X:1.85, Y:0.01, Z:0.57 [[ 9.99972014e-01 -2.22221438e-03 -7.14374718e-03 1.85409494e+00] [ 2.21551796e-03 9.99997099e-01 -9.45160103e-04 1.35496560e-02] [ 7.14582681e-03 9.29306551e-04 9.99974036e-01 5.72927580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79255784400004 meters 0.28845376295035063 Centerline is valid? [False, False] Translation: X:1.81, Y:0.02, Z:0.57 [[ 9.99976688e-01 -2.58428594e-03 -6.32023689e-03 1.81477731e+00] [ 2.57407783e-03 9.99995370e-01 -1.62274778e-03 1.83140107e-02] [ 6.32440128e-03 1.60644117e-03 9.99978710e-01 5.69835747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8225578440001 meters 0.2913240600852383 Centerline is valid? [False, False] Translation: X:1.86, Y:0.01, Z:0.57 [[ 9.99992845e-01 -1.60003468e-03 -3.42787329e-03 1.85821033e+00] [ 1.59697457e-03 9.99998324e-01 -8.95264880e-04 1.43115099e-02] [ 3.42930000e-03 8.89784248e-04 9.99993724e-01 5.68768535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85255784400005 meters 0.2890162092982557 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 9.99992507e-01 -1.74588115e-03 -3.45500867e-03 1.85825774e+00] [ 1.74153303e-03 9.99997688e-01 -1.26110528e-03 1.58216709e-02] [ 3.45720243e-03 1.25507882e-03 9.99993236e-01 5.68848557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882557844 meters 0.2900365777215283 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 9.99992317e-01 -1.80661642e-03 -3.47873299e-03 1.85836906e+00] [ 1.80167954e-03 9.99997366e-01 -1.42177132e-03 1.64908066e-02] [ 3.48129243e-03 1.41549283e-03 9.99992938e-01 5.68751156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91255784400005 meters 0.2892585244194599 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 9.99992158e-01 -1.86500614e-03 -3.49367754e-03 1.85833001e+00] [ 1.85950940e-03 9.99997029e-01 -1.57592707e-03 1.71207998e-02] [ 3.49660628e-03 1.56941818e-03 9.99992655e-01 5.68943017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942557844 meters 0.2893254314612508 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 9.99992158e-01 -1.91616365e-03 -3.46594457e-03 1.85814004e+00] [ 1.91023156e-03 9.99996707e-01 -1.71403684e-03 1.76771502e-02] [ 3.46921753e-03 1.70740264e-03 9.99992525e-01 5.69243409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97255784400005 meters 0.2880178340345263 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 0.99999228 -0.0019888 -0.0033876 1.85778045] [ 0.00198234 0.99999621 -0.00190875 0.01846689] [ 0.00339138 0.00190202 0.99999244 0.56965214] [ 0. 0. 0. 1. ]] SLAMing on 282.002557844 meters 0.2900006948368301 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.57 [[ 0.99997681 0.00651201 -0.00199444 1.87824034] [-0.00651799 0.99997424 -0.00300475 0.0168547 ] [ 0.00197482 0.00301768 0.9999935 0.57030599] [ 0. 0. 0. 1. ]] SLAMing on 282.03255784400005 meters 0.2899691615049643 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.57 [[ 0.99997707 0.00644892 -0.00206441 1.87849601] [-0.00645545 0.99997413 -0.00317307 0.01755405] [ 0.00204389 0.00318632 0.99999283 0.5701575 ] [ 0. 0. 0. 1. ]] SLAMing on 282.062557844 meters 0.2897436143825056 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.57 [[ 0.99997742 0.00638057 -0.00210704 1.87861634] [-0.00638762 0.99997398 -0.00335322 0.01829904] [ 0.00208559 0.0033666 0.99999216 0.57015544] [ 0. 0. 0. 1. ]] SLAMing on 282.09255784400005 meters 0.28869106590370913 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.57 [[ 0.99997785 0.00632114 -0.00208191 1.87855794] [-0.00632842 0.99997382 -0.00350945 0.01894363] [ 0.00205967 0.00352254 0.99999167 0.57016057] [ 0. 0. 0. 1. ]] SLAMing on 282.122557844 meters 0.28808493989782213 Centerline is valid? [False, False] Translation: X:1.86, Y:0.02, Z:0.57 [[ 9.99999600e-01 3.15790151e-04 8.37362453e-04 1.86279318e+00] [-3.14628716e-04 9.99998989e-01 -1.38678517e-03 2.17039485e-02] [-8.37799540e-04 1.38652115e-03 9.99998688e-01 5.65415835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15255784400006 meters 0.2894807456272305 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.56 [[ 0.99997839 -0.00535337 0.00381562 1.88398483] [ 0.00534588 0.99998377 0.00197052 0.02091573] [-0.00382611 -0.00195008 0.99999078 0.56455919] [ 0. 0. 0. 1. ]] SLAMing on 282.18255784400003 meters 0.28932560908867083 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99992538e-01 2.81437429e-03 2.64642575e-03 1.86507938e+00] [-2.81564295e-03 9.99995923e-01 4.75781287e-04 1.88638890e-02] [-2.64507593e-03 -4.83229126e-04 9.99996385e-01 5.62789012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21255784400006 meters 0.29007140124283387 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99992567e-01 2.79570964e-03 2.65500849e-03 1.86517041e+00] [-2.79684242e-03 9.99995999e-01 4.23041951e-04 1.90807107e-02] [-2.65381517e-03 -4.30464447e-04 9.99996386e-01 5.62529235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24255784400003 meters 0.2885281981747742 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99992648e-01 2.76192469e-03 2.65997429e-03 1.86522478e+00] [-2.76281199e-03 9.99996129e-01 3.29957062e-04 1.94644000e-02] [-2.65905268e-03 -3.37303645e-04 9.99996408e-01 5.62380687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27255784400006 meters 0.28957551348756483 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99993148e-01 2.62352440e-03 2.61188583e-03 1.86541636e+00] [-2.62349351e-03 9.99996559e-01 -1.52542859e-05 2.09017387e-02] [-2.61191686e-03 8.40191590e-06 9.99996589e-01 5.62278410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters 0.28892176002616426 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99993504e-01 2.54628830e-03 2.55105784e-03 1.86572707e+00] [-2.54573987e-03 9.99996736e-01 -2.18203418e-04 2.17525002e-02] [-2.55160512e-03 2.11707671e-04 9.99996722e-01 5.61946942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33255784400006 meters 0.28890547182904547 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99993876e-01 2.49115186e-03 2.45804091e-03 1.86607431e+00] [-2.49024887e-03 9.99996831e-01 -3.70354378e-04 2.23928315e-02] [-2.45895572e-03 3.64230977e-04 9.99996910e-01 5.61698618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters 0.28880346704048926 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99994097e-01 2.45853074e-03 2.40023697e-03 1.86633383e+00] [-2.45742993e-03 9.99996874e-01 -4.61468822e-04 2.27738757e-02] [-2.40136400e-03 4.55567684e-04 9.99997013e-01 5.61440927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39255784400007 meters 0.28895929733582276 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99994237e-01 2.43052523e-03 2.37035221e-03 1.86650267e+00] [-2.42925248e-03 9.99996904e-01 -5.39678664e-04 2.31025718e-02] [-2.37165657e-03 5.33917370e-04 9.99997045e-01 5.61231913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters 0.28938634429044224 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99994483e-01 2.36033746e-03 2.33709425e-03 1.86673697e+00] [-2.35864252e-03 9.99996954e-01 -7.27721508e-04 2.38842243e-02] [-2.33880480e-03 7.22205124e-04 9.99997004e-01 5.60907417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45255784400007 meters 0.2894400448878973 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99994554e-01 2.31847365e-03 2.34861861e-03 1.86674966e+00] [-2.31650577e-03 9.99996964e-01 -8.40262640e-04 2.43512399e-02] [-2.35055961e-03 8.34817476e-04 9.99996889e-01 5.60823540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48255784400004 meters 0.2887771111612962 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99994561e-01 2.27330710e-03 2.38972171e-03 1.86664018e+00] [-2.27101008e-03 9.99996957e-01 -9.63482908e-04 2.48530938e-02] [-2.39190474e-03 9.58050585e-04 9.99996680e-01 5.60854588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51255784400007 meters 0.2917624686224291 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:0.56 [[ 0.99997776 -0.00366993 0.00556887 1.8892707 ] [ 0.00365884 0.9999913 0.00200092 0.02162257] [-0.00557616 -0.0019805 0.99998249 0.55860459] [ 0. 0. 0. 1. ]] SLAMing on 282.54255784400004 meters 0.2901929774203116 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99986733e-01 4.04916338e-03 3.18415908e-03 1.87140210e+00] [-4.05006569e-03 9.99991760e-01 2.76977950e-04 1.93671503e-02] [-3.18301131e-03 -2.89870328e-04 9.99994892e-01 5.56895094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5725578440001 meters 0.2893338939136432 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987017e-01 4.03785380e-03 3.10831930e-03 1.87167294e+00] [-4.03862907e-03 9.99991815e-01 2.43179998e-04 1.95174544e-02] [-3.10731193e-03 -2.55730189e-04 9.99995140e-01 5.56719797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60255784400005 meters 0.2899545009669687 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987065e-01 4.02636844e-03 3.10772546e-03 1.87169304e+00] [-4.02704848e-03 9.99991869e-01 2.12596203e-04 1.96454024e-02] [-3.10684420e-03 -2.25108414e-04 9.99995148e-01 5.56680863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.632557844 meters 0.2903632418612516 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987006e-01 3.99597695e-03 3.16532715e-03 1.87137816e+00] [-3.99641632e-03 9.99992006e-01 1.32493516e-04 1.99704221e-02] [-3.16477241e-03 -1.45141760e-04 9.99994982e-01 5.57105113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66255784400005 meters 0.2879361373576457 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99986560e-01 3.93073113e-03 3.38072786e-03 1.87049691e+00] [-3.93050265e-03 9.99992273e-01 -7.42224021e-05 2.08512417e-02] [-3.38099349e-03 6.09334448e-05 9.99994283e-01 5.58219079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692557844 meters 0.28887680764706575 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987058e-01 3.83567077e-03 3.34224256e-03 1.87048468e+00] [-3.83458134e-03 9.99992593e-01 -3.32305091e-04 2.18991119e-02] [-3.34349241e-03 3.19484689e-04 9.99994359e-01 5.58508855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72255784400005 meters 0.28887680764706575 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987058e-01 3.83567077e-03 3.34224256e-03 1.87048468e+00] [-3.83458134e-03 9.99992593e-01 -3.32305091e-04 2.18991119e-02] [-3.34349241e-03 3.19484689e-04 9.99994359e-01 5.58508855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752557844 meters 0.288570908752843 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99987865e-01 3.74691015e-03 3.19854938e-03 1.87088568e+00] [-3.74504648e-03 9.99992814e-01 -5.88450882e-04 2.29507561e-02] [-3.20073126e-03 5.76465025e-04 9.99994711e-01 5.58442483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78255784400005 meters 0.28865817597086063 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99988606e-01 3.67221613e-03 3.05001490e-03 1.87133926e+00] [-3.66978169e-03 9.99992944e-01 -8.03386313e-04 2.38493110e-02] [-3.05294358e-03 7.92184270e-04 9.99995026e-01 5.58289988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812557844 meters 0.2894659808924013 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99989006e-01 3.60381480e-03 2.99996319e-03 1.87154891e+00] [-3.60086945e-03 9.99993030e-01 -9.86619301e-04 2.46152368e-02] [-3.00349787e-03 9.75805979e-04 9.99995013e-01 5.58132551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84255784400005 meters 0.2895712795554748 Centerline is valid? [False, False] Translation: X:1.87, Y:0.03, Z:0.56 [[ 9.99989008e-01 3.56131884e-03 3.04961001e-03 1.87139495e+00] [-3.55799211e-03 9.99993070e-01 -1.09560234e-03 2.50612421e-02] [-3.05349067e-03 1.08473981e-03 9.99994750e-01 5.58203655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872557844 meters 0.29042913209070365 Centerline is valid? [False, False] Translation: X:1.87, Y:0.03, Z:0.56 [[ 9.99988725e-01 3.55134186e-03 3.15236835e-03 1.87105310e+00] [-3.54782705e-03 9.99993079e-01 -1.11986615e-03 2.51480370e-02] [-3.15632357e-03 1.10866947e-03 9.99994404e-01 5.58398267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90255784400006 meters 0.2873367974228465 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99995281e-01 -2.92535386e-03 9.38455369e-04 1.84954629e+00] [ 2.92389735e-03 9.99994525e-01 1.54966898e-03 2.66251735e-02] [-9.42983561e-04 -1.54691772e-03 9.99998359e-01 5.59665202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93255784400003 meters 0.2878072949174215 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99995154e-01 -2.98538995e-03 8.83251834e-04 1.84970840e+00] [ 2.98416208e-03 9.99994584e-01 1.38824202e-03 2.72962143e-02] [-8.87391494e-04 -1.38559953e-03 9.99998646e-01 5.59628702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96255784400006 meters 0.2872471648378389 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99994981e-01 -3.05686617e-03 8.32213505e-04 1.84988796e+00] [ 3.05587048e-03 9.99994617e-01 1.19508985e-03 2.80979611e-02] [-8.35862255e-04 -1.19254071e-03 9.99998940e-01 5.59529569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99255784400003 meters 0.28838439261902327 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99994439e-01 -3.25520246e-03 7.25676210e-04 1.85018007e+00] [ 3.25474453e-03 9.99994504e-01 6.31318034e-04 3.03852658e-02] [-7.27727290e-04 -6.28952632e-04 9.99999537e-01 5.59510140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02255784400006 meters 0.2889503561133793 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99994124e-01 -3.35186108e-03 7.18820125e-04 1.85018642e+00] [ 3.35159351e-03 9.99994314e-01 3.73117449e-04 3.14455407e-02] [-7.20066676e-04 -3.70706064e-04 9.99999672e-01 5.59558695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05255784400003 meters 0.28986779110416283 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99993849e-01 -3.42273190e-03 7.66102984e-04 1.85001698e+00] [ 3.42258822e-03 9.99994125e-01 1.88774052e-04 3.22019027e-02] [-7.66744606e-04 -1.86150836e-04 9.99999689e-01 5.59683885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08255784400006 meters 0.28918574758482846 Centerline is valid? [False, False] Translation: X:1.87, Y:0.03, Z:0.56 [[ 9.99984941e-01 5.15737538e-03 1.87602336e-03 1.86943135e+00] [-5.15601458e-03 9.99986442e-01 -7.29477900e-04 2.77976445e-02] [-1.87976012e-03 7.19794111e-04 9.99997974e-01 5.60109556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11255784400004 meters 0.28671328663686607 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:0.56 [[ 9.99999106e-01 -1.14742842e-03 -6.87283674e-04 1.84750263e+00] [ 1.14882438e-03 9.99997271e-01 2.03417938e-03 2.77215629e-02] [ 6.84947724e-04 -2.03496713e-03 9.99997695e-01 5.61550602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14255784400007 meters 0.2888119922452437 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99983545e-01 5.36286443e-03 -2.03701010e-03 1.87211049e+00] [-5.36343769e-03 9.99985579e-01 -2.76062806e-04 2.11764487e-02] [ 2.03550023e-03 2.86983640e-04 9.99997887e-01 5.59643355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17255784400004 meters 0.2890465904933216 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99982953e-01 5.44699363e-03 -2.10318537e-03 1.87240787e+00] [-5.44708679e-03 9.99985164e-01 -3.85701345e-05 2.02238591e-02] [ 2.10294407e-03 5.00257103e-05 9.99997788e-01 5.59286156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20255784400007 meters 0.29035048325347085 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:0.56 [[ 9.99992235e-01 -3.57791035e-03 -1.65182749e-03 1.89407920e+00] [ 3.57913625e-03 9.99993321e-01 7.39787138e-04 2.02762138e-02] [ 1.64916956e-03 -7.45693509e-04 9.99998362e-01 5.59827483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23255784400004 meters 0.2896534803995173 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99984143e-01 4.97115323e-03 -2.64613044e-03 1.87389871e+00] [-4.97199279e-03 9.99987591e-01 -3.10795333e-04 1.76360899e-02] [ 2.64455259e-03 3.23946946e-04 9.99996451e-01 5.58762239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26255784400007 meters 0.29024030605724954 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99984079e-01 4.91967029e-03 -2.76372243e-03 1.87417110e+00] [-4.92093105e-03 9.99987791e-01 -4.49568878e-04 1.82121750e-02] [ 2.76147696e-03 4.63161808e-04 9.99996080e-01 5.58842108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29255784400004 meters 0.29002125692247177 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.56 [[ 9.99983573e-01 4.82754121e-03 -3.09018176e-03 1.87503606e+00] [-4.82996576e-03 9.99988033e-01 -7.77614911e-04 1.95430753e-02] [ 3.08639081e-03 7.92527609e-04 9.99994923e-01 5.58699697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3225578440001 meters 0.28902601996342137 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:0.56 [[ 9.99983977e-01 4.73192361e-03 -3.10734966e-03 1.87509051e+00] [-4.73523588e-03 9.99988227e-01 -1.05945662e-03 2.06734553e-02] [ 3.10229981e-03 1.07415368e-03 9.99994611e-01 5.58701823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35255784400005 meters 0.28877201203421277 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99984664e-01 4.62592172e-03 -3.04498659e-03 1.87498633e+00] [-4.63008001e-03 9.99988356e-01 -1.35998786e-03 2.18825981e-02] [ 3.03865994e-03 1.37406553e-03 9.99994439e-01 5.58617424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382557844 meters 0.28830925094176807 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:0.56 [[ 9.99985297e-01 4.51735376e-03 -2.99976011e-03 1.87483768e+00] [-4.52235677e-03 9.99988391e-01 -1.66311933e-03 2.31081973e-02] [ 2.99221238e-03 1.67666087e-03 9.99994118e-01 5.58745999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41255784400005 meters 0.2891552058389723 Centerline is valid? [False, False] Translation: X:1.87, Y:0.03, Z:0.56 [[ 0.9999861 0.00434812 -0.00298284 1.87475916] [-0.0043546 0.99998816 -0.00216966 0.02514103] [ 0.00297337 0.00218262 0.9999932 0.55889942] [ 0. 0. 0. 1. ]] SLAMing on 283.442557844 meters 0.2879597146159552 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:0.56 [[ 0.99998612 0.00425516 -0.00310735 1.87515575] [-0.0042627 0.99998798 -0.00242153 0.02620333] [ 0.00309701 0.00243474 0.99999224 0.55875219] [ 0. 0. 0. 1. ]] SLAMing on 283.47255784400005 meters 0.28926853467440355 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996279e-01 -2.16945163e-03 -1.65405732e-03 1.89795742e+00] [ 2.17036788e-03 9.99997492e-01 5.52344853e-04 2.62172422e-02] [ 1.65285489e-03 -5.55932711e-04 9.99998480e-01 5.57179085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502557844 meters 0.28915076967864695 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:0.56 [[ 0.99997716 0.00435568 -0.00516815 1.87833719] [-0.00436727 0.99998797 -0.00223405 0.02858694] [ 0.00515836 0.00225657 0.99998415 0.5575991 ] [ 0. 0. 0. 1. ]] SLAMing on 283.53255784400005 meters 0.28907474086493995 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:0.56 [[ 0.99997815 0.00423817 -0.00507287 1.87806863] [-0.00425108 0.99998774 -0.00253743 0.02983476] [ 0.00506205 0.00255894 0.99998391 0.55769825] [ 0. 0. 0. 1. ]] SLAMing on 283.562557844 meters 0.2883811334602567 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:0.56 [[ 0.99997922 0.00419938 -0.00489064 1.8775453 ] [-0.0042123 0.99998765 -0.00263615 0.03023478] [ 0.00487951 0.0026567 0.99998457 0.55788194] [ 0. 0. 0. 1. ]] SLAMing on 283.59255784400005 meters 0.2907493498882704 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996089e-01 -2.36437288e-03 -1.49400836e-03 1.89812745e+00] [ 2.36439631e-03 9.99997205e-01 1.39183445e-05 2.83842731e-02] [ 1.49397127e-03 -1.74507179e-05 9.99998884e-01 5.56802711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622557844 meters 0.29036289859553605 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996297e-01 -2.30800945e-03 -1.44172700e-03 1.89800070e+00] [ 2.30824689e-03 9.99997323e-01 1.63051081e-04 2.77690421e-02] [ 1.44134681e-03 -1.66378339e-04 9.99998947e-01 5.56776461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65255784400006 meters 0.28957512417846215 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996473e-01 -2.26107462e-03 -1.39306619e-03 1.89798911e+00] [ 2.26148013e-03 9.99997401e-01 2.89579250e-04 2.72563187e-02] [ 1.39240781e-03 -2.92728620e-04 9.99998988e-01 5.56506367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68255784400003 meters 0.28904457211734064 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996530e-01 -2.22011797e-03 -1.41806715e-03 1.89809608e+00] [ 2.22067952e-03 9.99997456e-01 3.94546946e-04 2.68272449e-02] [ 1.41718761e-03 -3.97694649e-04 9.99998917e-01 5.56400798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71255784400006 meters 0.2904863173562711 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996430e-01 -2.20009342e-03 -1.51635509e-03 1.89839174e+00] [ 2.20076662e-03 9.99997480e-01 4.42434587e-04 2.66389564e-02] [ 1.51537788e-03 -4.45770151e-04 9.99998752e-01 5.56292917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74255784400003 meters 0.2899358980494244 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996392e-01 -2.20973635e-03 -1.52732831e-03 1.89831774e+00] [ 2.21037675e-03 9.99997470e-01 4.17735417e-04 2.67377067e-02] [ 1.52640136e-03 -4.21109881e-04 9.99998746e-01 5.56523038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77255784400006 meters 0.2891344166010388 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996445e-01 -2.25994039e-03 -1.41504277e-03 1.89788693e+00] [ 2.26035793e-03 9.99997402e-01 2.93546128e-04 2.72400294e-02] [ 1.41437570e-03 -2.96743588e-04 9.99998956e-01 5.56860330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80255784400003 meters 0.2883168747619619 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996462e-01 -2.32178579e-03 -1.29853928e-03 1.89741995e+00] [ 2.32195908e-03 9.99997296e-01 1.31956641e-04 2.78924194e-02] [ 1.29822939e-03 -1.34971329e-04 9.99999148e-01 5.57285863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83255784400006 meters 0.2879082767025439 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996264e-01 -2.40662153e-03 -1.29623464e-03 1.89724508e+00] [ 2.40649257e-03 9.99997099e-01 -1.01041599e-04 2.88376524e-02] [ 1.29647405e-03 9.79218425e-05 9.99999155e-01 5.57701518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters 0.28942414942702516 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996148e-01 -2.42317157e-03 -1.35327850e-03 1.89749712e+00] [ 2.42297435e-03 9.99997054e-01 -1.47349819e-04 2.90442003e-02] [ 1.35363157e-03 1.44070293e-04 9.99999073e-01 5.57458809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89255784400007 meters 0.28819864787884053 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996437e-01 -2.39331719e-03 -1.18271576e-03 1.89694656e+00] [ 2.39324391e-03 9.99997134e-01 -6.33713606e-05 2.86676279e-02] [ 1.18286404e-03 6.05406075e-05 9.99999299e-01 5.57733142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters 0.2896993763215006 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:0.56 [[ 9.99983160e-01 5.76712981e-03 6.47379785e-04 1.91541287e+00] [-5.76633633e-03 9.99982629e-01 -1.22093783e-03 2.39199938e-02] [-6.54409847e-04 1.21718426e-03 9.99999045e-01 5.58885859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95255784400007 meters 0.2876860980296988 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997278e-01 -2.32634023e-03 1.78271933e-04 1.89556885e+00] [ 2.32634568e-03 9.99997294e-01 -3.03897694e-05 2.87943025e-02] [-1.78200753e-04 3.08044088e-05 9.99999984e-01 5.57885403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98255784400004 meters 0.2882165486915225 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997291e-01 -2.31725019e-03 2.19615288e-04 1.89546276e+00] [ 2.31725162e-03 9.99997315e-01 -6.26417848e-06 2.86924282e-02] [-2.19600183e-04 6.77306539e-06 9.99999976e-01 5.57885021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01255784400007 meters 0.2890492338821135 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997345e-01 -2.29546479e-03 2.02396299e-04 1.89562144e+00] [ 2.29545481e-03 9.99997364e-01 4.95409213e-05 2.84783530e-02] [-2.02509485e-04 -4.90761982e-05 9.99999978e-01 5.57615982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04255784400004 meters 0.28915872331608183 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997455e-01 -2.25513675e-03 7.21709311e-05 1.89615646e+00] [ 2.25512529e-03 9.99997445e-01 1.58547158e-04 2.80361480e-02] [-7.25282922e-05 -1.58384000e-04 9.99999985e-01 5.57081277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0725578440001 meters 0.2895671063401312 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997661e-01 -2.14144336e-03 -3.03988909e-04 1.89743710e+00] [ 2.14160649e-03 9.99997562e-01 5.37300104e-04 2.64578234e-02] [ 3.02837570e-04 -5.37949872e-04 9.99999809e-01 5.55946860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10255784400005 meters 0.28974584969436645 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997867e-01 -2.03845588e-03 -3.33983206e-04 1.89759640e+00] [ 2.03872781e-03 9.99997589e-01 8.15888353e-04 2.53222580e-02] [ 3.32319248e-04 -8.16567514e-04 9.99999611e-01 5.55726293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.132557844 meters 0.28964274698776277 Centerline is valid? [False, False] Translation: X:1.90, Y:0.02, Z:0.56 [[ 9.99998007e-01 -1.97302836e-03 -3.06496648e-04 1.89751283e+00] [ 1.97333050e-03 9.99997564e-01 9.88625090e-04 2.46045229e-02] [ 3.04545316e-04 -9.89227938e-04 9.99999464e-01 5.55733693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16255784400005 meters 0.2894949343790286 Centerline is valid? [False, False] Translation: X:1.90, Y:0.02, Z:0.56 [[ 9.99998061e-01 -1.94504427e-03 -3.07717787e-04 1.89747246e+00] [ 1.94536948e-03 9.99997546e-01 1.06009982e-03 2.43047135e-02] [ 3.05655090e-04 -1.06069639e-03 9.99999391e-01 5.55822493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192557844 meters 0.2889001766702009 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997908e-01 -2.01520618e-03 -3.51802102e-04 1.89754667e+00] [ 2.01551237e-03 9.99997589e-01 8.72164234e-04 2.50647589e-02] [ 3.50043663e-04 -8.72871471e-04 9.99999558e-01 5.55926072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22255784400005 meters 0.2893334476171174 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997756e-01 -2.05996779e-03 -4.95226305e-04 1.89797542e+00] [ 2.06033344e-03 9.99997604e-01 7.38977819e-04 2.56139827e-02] [ 4.93702849e-04 -7.39996491e-04 9.99999604e-01 5.55757936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252557844 meters 0.2886342406923059 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:0.56 [[ 9.99973700e-01 6.98095977e-03 -1.96627283e-03 1.87687727e+00] [-6.98093787e-03 9.99975633e-01 1.79996832e-05 2.66004212e-02] [ 1.96635057e-03 -4.27278134e-06 9.99998067e-01 5.55140434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28255784400005 meters 0.2899926614473893 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996779e-01 -2.09706442e-03 -1.43006436e-03 1.89674074e+00] [ 2.09809896e-03 9.99997538e-01 7.22311700e-04 2.98167844e-02] [ 1.42854610e-03 -7.25309790e-04 9.99998717e-01 5.56217382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312557844 meters 0.2884655658181213 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99997129e-01 -2.19419747e-03 -9.63405569e-04 1.89534077e+00] [ 2.19456490e-03 9.99997520e-01 3.80501153e-04 3.11160076e-02] [ 9.62568284e-04 -3.82614317e-04 9.99999464e-01 5.57102103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34255784400005 meters 0.28846571338565247 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:0.56 [[ 9.99997094e-01 -2.24679584e-03 -8.74394278e-04 1.89496055e+00] [ 2.24700269e-03 9.99997448e-01 2.35658682e-04 3.16896499e-02] [ 8.73862569e-04 -2.37622763e-04 9.99999590e-01 5.57513833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372557844 meters 0.28813340194987447 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:0.56 [[ 9.99997071e-01 -2.28458686e-03 -7.99660331e-04 1.89471707e+00] [ 2.28469371e-03 9.99997381e-01 1.32730073e-04 3.21079476e-02] [ 7.99355003e-04 -1.34556663e-04 9.99999671e-01 5.57648533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40255784400006 meters 0.28829406582115313 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:0.56 [[ 9.99997012e-01 -2.31968669e-03 -7.71461802e-04 1.89463259e+00] [ 2.31971629e-03 9.99997309e-01 3.74784917e-05 3.24955771e-02] [ 7.71372787e-04 -3.92679523e-05 9.99999702e-01 5.57685435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43255784400003 meters 0.2872647101483603 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:0.56 [[ 9.99996951e-01 -2.36110192e-03 -7.23653586e-04 1.89454003e+00] [ 2.36104996e-03 9.99997210e-01 -7.26587321e-05 3.29453715e-02] [ 7.23823121e-04 7.09499283e-05 9.99999736e-01 5.57627856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46255784400006 meters 0.28838877721665007 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996573e-01 -2.45382395e-03 -9.12696500e-04 1.89506494e+00] [ 2.45350114e-03 9.99996927e-01 -3.54635098e-04 3.40974492e-02] [ 9.13563908e-04 3.52394581e-04 9.99999521e-01 5.57500690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49255784400003 meters 0.28811008539878374 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:0.56 [[ 9.99996284e-01 -2.52389191e-03 -1.03027731e-03 1.89537857e+00] [ 2.52331848e-03 9.99996661e-01 -5.57507340e-04 3.49262310e-02] [ 1.03168096e-03 5.54905551e-04 9.99999314e-01 5.57465260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52255784400006 meters 0.28956643292600226 Centerline is valid? [False, False] Translation: X:1.90, Y:0.04, Z:0.56 [[ 9.99995935e-01 -2.60627044e-03 -1.15664156e-03 1.89570101e+00] [ 2.60534485e-03 9.99996285e-01 -8.01026246e-04 3.59171393e-02] [ 1.15872495e-03 7.98009540e-04 9.99999010e-01 5.57465314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55255784400003 meters 0.28847046084814754 Centerline is valid? [False, False] Translation: X:1.90, Y:0.04, Z:0.56 [[ 9.99995728e-01 -2.68877635e-03 -1.14633474e-03 1.89563511e+00] [ 2.68757938e-03 9.99995843e-01 -1.04443786e-03 3.68885450e-02] [ 1.14913823e-03 1.04135253e-03 9.99998798e-01 5.57568998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58255784400006 meters 0.2880192110492831 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99995628e-01 -2.82913274e-03 -8.60164530e-04 1.89479418e+00] [ 2.82780352e-03 9.99994812e-01 -1.54262047e-03 3.87987081e-02] [ 8.64524346e-04 1.54018135e-03 9.99998440e-01 5.58019711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61255784400004 meters 0.2880192110492831 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99995628e-01 -2.82913274e-03 -8.60164530e-04 1.89479418e+00] [ 2.82780352e-03 9.99994812e-01 -1.54262047e-03 3.87987081e-02] [ 8.64524346e-04 1.54018135e-03 9.99998440e-01 5.58019711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64255784400007 meters 0.28857144600026624 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:0.56 [[ 9.99983894e-01 5.67097945e-03 2.26012896e-04 1.91552252e+00] [-5.67036120e-03 9.99980417e-01 -2.64813394e-03 3.80946077e-02] [-2.41025983e-04 2.64680971e-03 9.99996468e-01 5.58615870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67255784400004 meters 0.2877979700200196 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99999175e-01 -5.55382075e-04 -1.15832910e-03 1.89315167e+00] [ 5.55542251e-04 9.99999836e-01 1.37965115e-04 4.02463776e-02] [ 1.15825228e-03 -1.38608502e-04 9.99999320e-01 5.59252519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70255784400007 meters 0.28933041912075597 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99999015e-01 -6.24122761e-04 -1.25737634e-03 1.89347204e+00] [ 6.24043964e-04 9.99999803e-01 -6.30593114e-05 4.10720997e-02] [ 1.25741545e-03 6.22745911e-05 9.99999208e-01 5.59077826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73255784400004 meters 0.2891084882371765 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99998857e-01 -6.68749154e-04 -1.35609839e-03 1.89376277e+00] [ 6.68494320e-04 9.99999759e-01 -1.88361782e-04 4.15886852e-02] [ 1.35622403e-03 1.87455022e-04 9.99999063e-01 5.58989334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76255784400007 meters 0.2894110293131456 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99998709e-01 -6.98835934e-04 -1.44721825e-03 1.89399894e+00] [ 6.98441415e-04 9.99999719e-01 -2.73092020e-04 4.19375868e-02] [ 1.44740869e-03 2.72080870e-04 9.99998915e-01 5.58980220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79255784400004 meters 0.28867479020409115 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99998556e-01 -8.07693996e-04 -1.49490756e-03 1.89418919e+00] [ 8.06815197e-04 9.99999501e-01 -5.88371255e-04 4.32155199e-02] [ 1.49538204e-03 5.87164292e-04 9.99998710e-01 5.58795008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8225578440001 meters 0.2884865428906479 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99998449e-01 -8.70686885e-04 -1.53079685e-03 1.89440604e+00] [ 8.69527009e-04 9.99999335e-01 -7.58196223e-04 4.39194922e-02] [ 1.53145598e-03 7.56863978e-04 9.99998541e-01 5.58508123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85255784400005 meters 0.28942649023193967 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:0.56 [[ 9.99998284e-01 -9.26819987e-04 -1.60384146e-03 1.89470715e+00] [ 9.25350843e-04 9.99999152e-01 -9.16515531e-04 4.45746821e-02] [ 1.60468955e-03 9.15029843e-04 9.99998294e-01 5.58228496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters 0.28773717212415045 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998251e-01 -1.06746410e-03 -1.53581509e-03 1.89451525e+00] [ 1.06533430e-03 9.99998471e-01 -1.38691143e-03 4.64305860e-02] [ 1.53729322e-03 1.38527285e-03 9.99997859e-01 5.58277552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91255784400005 meters 0.28777186197840027 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998202e-01 -1.16614824e-03 -1.49531650e-03 1.89429606e+00] [ 1.16363534e-03 9.99997911e-01 -1.68028183e-03 4.76003202e-02] [ 1.49727283e-03 1.67853881e-03 9.99997470e-01 5.58573375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters 0.2877685629675533 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998184e-01 -1.25343461e-03 -1.43543695e-03 1.89408010e+00] [ 1.25065117e-03 9.99997339e-01 -1.93834387e-03 4.86328759e-02] [ 1.43786272e-03 1.93654512e-03 9.99997091e-01 5.58740570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97255784400005 meters 0.2889145362634914 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998096e-01 -1.35082840e-03 -1.40812238e-03 1.89399845e+00] [ 1.34769496e-03 9.99996619e-01 -2.22383899e-03 4.97820992e-02] [ 1.41112164e-03 2.22193704e-03 9.99996536e-01 5.58769818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters 0.2885959912291073 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99997946e-01 -1.47502704e-03 -1.39026453e-03 1.89408840e+00] [ 1.47137517e-03 9.99995475e-01 -2.62411612e-03 5.13734769e-02] [ 1.39412888e-03 2.62206513e-03 9.99995591e-01 5.58421763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03255784400005 meters 0.2891600549905335 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99997926e-01 -1.52533019e-03 -1.34954177e-03 1.89401662e+00] [ 1.52160870e-03 9.99995049e-01 -2.75434057e-03 5.19072753e-02] [ 1.35373637e-03 2.75228138e-03 9.99995296e-01 5.58347739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters 0.2886884102578602 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998011e-01 -1.51501614e-03 -1.29711547e-03 1.89383953e+00] [ 1.51147378e-03 9.99995138e-01 -2.72759025e-03 5.17968858e-02] [ 1.30124151e-03 2.72562427e-03 9.99995439e-01 5.58439983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09255784400005 meters 0.2874999835255947 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998127e-01 -1.45924084e-03 -1.27119463e-03 1.89369491e+00] [ 1.45595389e-03 9.99995605e-01 -2.58281813e-03 5.11961826e-02] [ 1.27495799e-03 2.58096249e-03 9.99995857e-01 5.58620373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters 0.28822889954015873 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:0.56 [[ 9.99998152e-01 -1.35536694e-03 -1.36364547e-03 1.89392513e+00] [ 1.35221581e-03 9.99996420e-01 -2.30908789e-03 5.00713756e-02] [ 1.36677025e-03 2.30723967e-03 9.99996404e-01 5.58637578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15255784400006 meters 0.2870788906805349 Centerline is valid? [False, False] Translation: X:1.86, Y:0.05, Z:0.55 [[ 9.99999507e-01 -9.68991389e-04 -2.17410461e-04 1.85543321e+00] [ 9.68525150e-04 9.99997253e-01 -2.13446401e-03 4.87777027e-02] [ 2.19478141e-04 2.13425239e-03 9.99997698e-01 5.54911920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters 0.287601088184775 Centerline is valid? [False, False] Translation: X:1.86, Y:0.05, Z:0.55 [[ 9.99999574e-01 -9.15025117e-04 -1.25043151e-04 1.85517735e+00] [ 9.14774274e-04 9.99997598e-01 -1.99159793e-03 4.81864742e-02] [ 1.26865213e-04 1.99148270e-03 9.99998009e-01 5.54968081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21255784400006 meters 0.28662238163395953 Centerline is valid? [False, False] Translation: X:1.81, Y:0.05, Z:0.55 [[ 9.99998649e-01 -5.17702170e-04 1.56029730e-03 1.81497406e+00] [ 5.20726083e-04 9.99997986e-01 -1.93825324e-03 4.77971044e-02] [-1.55929072e-03 1.93906311e-03 9.99996904e-01 5.52151245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24255784400003 meters 0.28822378448434804 Centerline is valid? [False, False] Translation: X:1.85, Y:0.05, Z:0.55 [[ 9.99998275e-01 4.62818989e-04 1.79892938e-03 1.85405968e+00] [-4.61309056e-04 9.99999541e-01 -8.39675080e-04 4.76190110e-02] [-1.79931717e-03 8.38843769e-04 9.99998029e-01 5.54812285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27255784400006 meters 0.28681361686727297 Centerline is valid? [False, False] Translation: X:1.85, Y:0.05, Z:0.56 [[ 9.99997553e-01 4.23646976e-04 2.17125295e-03 1.85298797e+00] [-4.21494898e-04 9.99999420e-01 -9.91530705e-04 4.82530127e-02] [-2.17167175e-03 9.90613107e-04 9.99997151e-01 5.55286763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30255784400003 meters 0.2864269629761687 Centerline is valid? [False, False] Translation: X:1.85, Y:0.05, Z:0.56 [[ 9.99997448e-01 3.48007610e-04 2.23230205e-03 1.85280205e+00] [-3.45283203e-04 9.99999195e-01 -1.22071661e-03 4.91597492e-02] [-2.23272508e-03 1.21994272e-03 9.99996763e-01 5.55371902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33255784400006 meters 0.287502203500874 Centerline is valid? [False, False] Translation: X:1.88, Y:0.05, Z:0.55 [[ 0.99997895 -0.00556474 0.00333581 1.87566588] [ 0.00555812 0.99998258 0.0019886 0.0523841 ] [-0.00334682 -0.00197002 0.99999246 0.55417906] [ 0. 0. 0. 1. ]] SLAMing on 285.36255784400004 meters 0.2861896095593531 Centerline is valid? [False, False] Translation: X:1.86, Y:0.05, Z:0.55 [[ 9.99998764e-01 1.29431656e-03 8.93013650e-04 1.85513377e+00] [-1.29358296e-03 9.99998826e-01 -8.21575184e-04 5.35005523e-02] [-8.94075980e-04 8.20418981e-04 9.99999264e-01 5.54505641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39255784400007 meters 0.2868459264544182 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99999106e-01 1.12149687e-03 7.27747495e-04 1.85578486e+00] [-1.12044466e-03 9.99998329e-01 -1.44464406e-03 5.59463966e-02] [-7.29366442e-04 1.44382737e-03 9.99998692e-01 5.53812814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42255784400004 meters 0.2884449120170582 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99988471e-01 -4.43337931e-03 1.84457382e-03 1.87896438e+00] [ 4.42949711e-03 9.99987977e-01 2.10344802e-03 5.86388010e-02] [-1.85387703e-03 -2.09525323e-03 9.99996087e-01 5.52561238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45255784400007 meters 0.28770905687327014 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99987930e-01 -4.56013238e-03 1.82891893e-03 1.87904528e+00] [ 4.55689966e-03 9.99988055e-01 1.76784655e-03 6.00217346e-02] [-1.83695870e-03 -1.75949101e-03 9.99996765e-01 5.52454416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48255784400004 meters 0.28825024428662993 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99987596e-01 -4.66949245e-03 1.73335912e-03 1.87937274e+00] [ 4.66692280e-03 9.99988009e-01 1.48356240e-03 6.12012721e-02] [-1.74026582e-03 -1.47545454e-03 9.99997397e-01 5.52248042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51255784400007 meters 0.2883195591461004 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99995799e-01 2.80531717e-03 -7.29303831e-04 1.86216232e+00] [-2.80590389e-03 9.99995740e-01 -8.04714799e-04 5.98636489e-02] [ 7.27043244e-04 8.06757775e-04 9.99999410e-01 5.50058525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54255784400004 meters 0.28829007588621747 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99995963e-01 2.73229709e-03 -7.80481186e-04 1.86239681e+00] [-2.73307318e-03 9.99995770e-01 -9.95043732e-04 6.06534612e-02] [ 7.77759130e-04 9.97172827e-04 9.99999200e-01 5.49813863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5725578440001 meters 0.28796019164393444 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99996119e-01 2.67702331e-03 -7.72186539e-04 1.86245541e+00] [-2.67790169e-03 9.99995766e-01 -1.13873779e-03 6.12443513e-02] [ 7.69134842e-04 1.14080121e-03 9.99999054e-01 5.49627362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60255784400005 meters 0.2889593943946493 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99996258e-01 2.61871394e-03 -7.92023180e-04 1.86254672e+00] [-2.61973524e-03 9.99995735e-01 -1.29121030e-03 6.18729493e-02] [ 7.88638492e-04 1.29328036e-03 9.99998853e-01 5.49527692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.632557844 meters 0.28806758906660407 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:0.55 [[ 9.99982310e-01 -5.55264750e-03 -2.13241316e-03 1.84286592e+00] [ 5.55228506e-03 9.99984570e-01 -1.75848989e-04 6.49561161e-02] [ 2.13335669e-03 1.64006112e-04 9.99997711e-01 5.48315238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66255784400005 meters 0.2893700708118689 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99995195e-01 3.05364765e-03 -5.33142983e-04 1.86376328e+00] [-3.05408244e-03 9.99995003e-01 -8.16621352e-04 6.28377896e-02] [ 5.30646645e-04 8.18245691e-04 9.99999524e-01 5.48394271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692557844 meters 0.2886962057743526 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99995508e-01 2.94350916e-03 -5.66049560e-04 1.86384907e+00] [-2.94413059e-03 9.99995061e-01 -1.10015097e-03 6.40165480e-02] [ 5.62808459e-04 1.10181255e-03 9.99999235e-01 5.48378317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72255784400005 meters 0.2874030075901406 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:0.55 [[ 9.99988397e-01 -3.62330705e-03 -3.17458136e-03 1.84204958e+00] [ 3.62736058e-03 9.99992612e-01 1.27204428e-03 6.40395686e-02] [ 3.16994890e-03 -1.28354487e-03 9.99994152e-01 5.49927535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752557844 meters 0.2879562605190691 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99988408e-01 4.55424680e-03 -1.56268351e-03 1.86190280e+00] [-4.55409381e-03 9.99989625e-01 1.01448879e-04 6.20398548e-02] [ 1.56312932e-03 -9.43310959e-05 9.99998774e-01 5.50748486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78255784400005 meters 0.28855565068994715 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99988354e-01 4.54552143e-03 -1.62183702e-03 1.86207113e+00] [-4.54539810e-03 9.99989666e-01 7.97205183e-05 6.21333582e-02] [ 1.62218263e-03 -7.23476950e-05 9.99998682e-01 5.50710616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812557844 meters 0.2867773622663834 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:0.55 [[ 9.99986644e-01 -4.05830674e-03 -3.20020514e-03 1.84121840e+00] [ 4.06059341e-03 9.99991505e-01 7.08362848e-04 6.43721165e-02] [ 3.19730320e-03 -7.21348119e-04 9.99994628e-01 5.50590431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84255784400005 meters 0.286685384297852 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99990035e-01 4.06351239e-03 -1.84885293e-03 1.86067115e+00] [-4.06438095e-03 9.99991632e-01 -4.66264981e-04 6.08324270e-02] [ 1.84694279e-03 4.73774777e-04 9.99998182e-01 5.51916212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872557844 meters 0.2869248240766933 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.55 [[ 9.99989996e-01 4.09489377e-03 -1.79997009e-03 1.86043957e+00] [-4.09559204e-03 9.99991539e-01 -3.84416865e-04 6.04917367e-02] [ 1.79838072e-03 3.91784962e-04 9.99998306e-01 5.52171275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90255784400006 meters 0.2873414364186466 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99991245e-01 -4.14417820e-03 -5.78561133e-04 1.87937760e+00] [ 4.14476703e-03 9.99990890e-01 1.02028457e-03 6.41554576e-02] [ 5.74327622e-04 -1.02267364e-03 9.99999312e-01 5.53623756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93255784400003 meters 0.2869534953292013 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99991364e-01 -4.12063184e-03 -5.39757461e-04 1.87934763e+00] [ 4.12121516e-03 9.99990920e-01 1.08410450e-03 6.38926011e-02] [ 5.35285364e-04 -1.08631959e-03 9.99999267e-01 5.53469356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96255784400006 meters 0.2873687210731067 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99991445e-01 -4.10129891e-03 -5.38070031e-04 1.87940712e+00] [ 4.10190778e-03 9.99990943e-01 1.13538758e-03 6.36844081e-02] [ 5.33408594e-04 -1.13758498e-03 9.99999211e-01 5.53326842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99255784400003 meters 0.28854997827434825 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99991456e-01 4.05723126e-03 7.91986243e-04 1.89923127e+00] [-4.05724175e-03 9.99991769e-01 1.16314218e-05 6.05103253e-02] [-7.91932533e-04 -1.48446021e-05 9.99999686e-01 5.54418757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02255784400006 meters 0.28643907958791764 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99989767e-01 -4.43523671e-03 -8.91633858e-04 1.87898869e+00] [ 4.43601162e-03 9.99989783e-01 8.69007530e-04 6.26987466e-02] [ 8.87770495e-04 -8.72953936e-04 9.99999225e-01 5.54090164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05255784400003 meters 0.2871712923669828 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99990064e-01 -4.33816345e-03 -1.02576787e-03 1.87934775e+00] [ 4.33931781e-03 9.99989951e-01 1.12582604e-03 6.16422326e-02] [ 1.02087354e-03 -1.13026598e-03 9.99998840e-01 5.54066174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08255784400006 meters 0.2877167567984625 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99990394e-01 -4.24350636e-03 -1.09772029e-03 1.87960865e+00] [ 4.24501150e-03 9.99990048e-01 1.37247228e-03 6.06240528e-02] [ 1.09188527e-03 -1.37711893e-03 9.99998456e-01 5.53918296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11255784400004 meters 0.2882121950048892 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99990831e-01 -4.13395651e-03 -1.11758163e-03 1.87971754e+00] [ 4.13580008e-03 9.99990082e-01 1.65235634e-03 5.94631404e-02] [ 1.11073978e-03 -1.65696328e-03 9.99998010e-01 5.53810936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14255784400007 meters 0.2871024527115899 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99991391e-01 -4.01501567e-03 -1.04793206e-03 1.87946032e+00] [ 4.01706780e-03 9.99990004e-01 1.96356143e-03 5.81845782e-02] [ 1.04003785e-03 -1.96775414e-03 9.99997523e-01 5.54014863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17255784400004 meters 0.287595051609558 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99992125e-01 -3.85652753e-03 -9.36119493e-04 1.87903823e+00] [ 3.85875142e-03 9.99989709e-01 2.38558528e-03 5.64396020e-02] [ 9.26909784e-04 -2.38917875e-03 9.99996716e-01 5.54412980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20255784400007 meters 0.28685936429765485 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99992392e-01 -3.79717997e-03 -8.92814522e-04 1.87894036e+00] [ 3.79943582e-03 9.99989560e-01 2.53870162e-03 5.58083651e-02] [ 8.83165294e-04 -2.54207450e-03 9.99996379e-01 5.54393857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23255784400004 meters 0.2865778243542802 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99992522e-01 -3.76186265e-03 -8.97141755e-04 1.87905340e+00] [ 3.76421169e-03 9.99989454e-01 2.63120650e-03 5.54284752e-02] [ 8.87234056e-04 -2.63456386e-03 9.99996136e-01 5.54173014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26255784400007 meters 0.2884155860060211 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99994693e-01 2.87766881e-03 1.52763305e-03 1.90098074e+00] [-2.87773172e-03 9.99995859e-01 3.89850861e-05 5.62188520e-02] [-1.52751454e-03 -4.33809973e-05 9.99998832e-01 5.52570554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29255784400004 meters 0.2876939564897986 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99994962e-01 2.83517727e-03 1.42773442e-03 1.90132626e+00] [-2.83507103e-03 9.99995978e-01 -7.64293744e-05 5.66850184e-02] [-1.42794537e-03 7.23812608e-05 9.99998978e-01 5.52328918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3225578440001 meters 0.28937259132014104 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99995089e-01 2.80360732e-03 1.40031267e-03 1.90144242e+00] [-2.80338822e-03 9.99996058e-01 -1.58405366e-04 5.70196405e-02] [-1.40075125e-03 1.54478968e-04 9.99999007e-01 5.52222150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35255784400005 meters 0.28754372307346154 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99995158e-01 2.76664074e-03 1.42462392e-03 1.90139243e+00] [-2.76627907e-03 9.99996141e-01 -2.55776563e-04 5.74204552e-02] [-1.42532607e-03 2.51834417e-04 9.99998953e-01 5.52187308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters 0.2860190870141057 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.55 [[ 9.99981783e-01 -6.02962247e-03 -2.79208067e-04 1.88032169e+00] [ 6.02968338e-03 9.99981798e-01 2.17822000e-04 5.90835304e-02] [ 2.77889600e-04 -2.19501568e-04 9.99999937e-01 5.52423092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41255784400005 meters 0.28695863076519795 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:0.55 [[ 9.99996667e-01 2.41048346e-03 9.25275134e-04 1.90004487e+00] [-2.40970831e-03 9.99996746e-01 -8.37956498e-04 5.67009876e-02] [-9.27292003e-04 8.35724061e-04 9.99999221e-01 5.53509587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters 0.2876318167684061 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.55 [[ 9.99982345e-01 -5.70312623e-03 1.66858804e-03 1.91912192e+00] [ 5.70216124e-03 9.99983573e-01 5.82515473e-04 6.11020076e-02] [-1.67188279e-03 -5.72990631e-04 9.99998438e-01 5.54773226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47255784400005 meters 0.2890050847252618 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.56 [[ 9.99992343e-01 2.99458882e-03 2.51916385e-03 1.94009507e+00] [-2.99408287e-03 9.99995497e-01 -2.04588760e-04 5.87960823e-02] [-2.51976517e-03 1.97044608e-04 9.99996806e-01 5.55074236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502557844 meters 0.2878355367538166 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.55 [[ 9.99984843e-01 -5.49793034e-03 2.92723581e-04 1.92038783e+00] [ 5.49777592e-03 9.99984749e-01 5.25747110e-04 6.13505975e-02] [-2.95609638e-04 -5.24129812e-04 9.99999819e-01 5.54736775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53255784400005 meters 0.2878355367538166 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.55 [[ 9.99984843e-01 -5.49793034e-03 2.92723581e-04 1.92038783e+00] [ 5.49777592e-03 9.99984749e-01 5.25747110e-04 6.13505975e-02] [-2.95609638e-04 -5.24129812e-04 9.99999819e-01 5.54736775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters 0.2873004064260092 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.55 [[ 9.99984462e-01 -5.56711933e-03 2.88296390e-04 1.92031006e+00] [ 5.56702537e-03 9.99984451e-01 3.25693336e-04 6.21537248e-02] [-2.90105081e-04 -3.24083322e-04 9.99999905e-01 5.54929311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59255784400005 meters 0.2877721441393773 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.56 [[ 9.99984299e-01 -5.59633422e-03 2.87819034e-04 1.92021960e+00] [ 5.59626304e-03 9.99984310e-01 2.47527563e-04 6.24747945e-02] [-2.89199765e-04 -2.45912966e-04 9.99999928e-01 5.55135238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters 0.28718712273176716 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.56 [[ 9.99984427e-01 -5.57210815e-03 3.11335176e-04 1.92019653e+00] [ 5.57200995e-03 9.99984426e-01 3.15416928e-04 6.22014815e-02] [-3.13087865e-04 -3.13677254e-04 9.99999902e-01 5.55054646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65255784400006 meters 0.2869180530130671 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:0.55 [[ 9.99984572e-01 -5.54604872e-03 3.12088933e-04 1.92032773e+00] [ 5.54592842e-03 9.99984547e-01 3.85024245e-04 6.19160236e-02] [-3.14219473e-04 -3.83287482e-04 9.99999877e-01 5.54753135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters 0.28914318580884524 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996634e-01 1.42825126e-03 2.16615384e-03 1.94305202e+00] [-1.42414283e-03 9.99997187e-01 -1.89700411e-03 6.17940872e-02] [-2.16885715e-03 1.89391281e-03 9.99995855e-01 5.53028362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71255784400006 meters 0.2883918817342589 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996727e-01 1.49080444e-03 2.07924337e-03 1.94337854e+00] [-1.48720405e-03 9.99997394e-01 -1.73206286e-03 6.11104095e-02] [-2.08182012e-03 1.72896494e-03 9.99996338e-01 5.52808711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74255784400003 meters 0.28802551972576435 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996672e-01 1.50506580e-03 2.09559144e-03 1.94324992e+00] [-1.50151696e-03 9.99997438e-01 -1.69402376e-03 6.09659306e-02] [-2.09813569e-03 1.69087156e-03 9.99996369e-01 5.53010156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77255784400006 meters 0.28724640522595385 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996538e-01 1.53926862e-03 2.13410663e-03 1.94307421e+00] [-1.53584859e-03 9.99997535e-01 -1.60327110e-03 6.06016094e-02] [-2.13656924e-03 1.59998789e-03 9.99996438e-01 5.53198353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters 0.2883543917017279 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996489e-01 1.57762463e-03 2.12932159e-03 1.94318243e+00] [-1.57442101e-03 9.99997628e-01 -1.50536265e-03 6.01866642e-02] [-2.13169144e-03 1.50200492e-03 9.99996600e-01 5.52994768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83255784400006 meters 0.2876333782027491 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996644e-01 1.54261967e-03 2.08119996e-03 1.94342178e+00] [-1.53929635e-03 9.99997539e-01 -1.59748518e-03 6.05533112e-02] [-2.08365915e-03 1.59427624e-03 9.99996558e-01 5.52712521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters 0.28882019621801247 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996816e-01 1.51008247e-03 2.02196779e-03 1.94358971e+00] [-1.50668832e-03 9.99997455e-01 -1.67911242e-03 6.08843172e-02] [-2.02449825e-03 1.67606059e-03 9.99996546e-01 5.52668940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89255784400007 meters 0.2895260712121596 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996816e-01 1.47711707e-03 2.04586171e-03 1.94346394e+00] [-1.47350904e-03 9.99997359e-01 -1.76396160e-03 6.12427678e-02] [-2.04846188e-03 1.76094139e-03 9.99996351e-01 5.52802433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters 0.28720216732414156 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996725e-01 1.49854574e-03 2.07465463e-03 1.94326887e+00] [-1.49500330e-03 9.99997424e-01 -1.70798325e-03 6.10216756e-02] [-2.07720878e-03 1.70487604e-03 9.99996389e-01 5.53099472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95255784400007 meters 0.2875769151032161 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99996868e-01 1.52821465e-03 1.98218813e-03 1.94359501e+00] [-1.52499244e-03 9.99997515e-01 -1.62607902e-03 6.06704177e-02] [-1.98466820e-03 1.62305111e-03 9.99996713e-01 5.52887674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98255784400004 meters 0.2881729035271987 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99997229e-01 1.53495369e-03 1.78473051e-03 1.94421993e+00] [-1.53209316e-03 9.99997541e-01 -1.60304183e-03 6.05552795e-02] [-1.78718672e-03 1.60030301e-03 9.99997122e-01 5.52589613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01255784400007 meters 0.2881897731845393 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99997421e-01 1.51483147e-03 1.69183155e-03 1.94450572e+00] [-1.51203733e-03 9.99997493e-01 -1.65161264e-03 6.07454841e-02] [-1.69432922e-03 1.64905027e-03 9.99997205e-01 5.52473319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04255784400004 meters 0.2894177595111642 Centerline is valid? [False, False] Translation: X:1.97, Y:0.06, Z:0.55 [[ 0.9999861 -0.00411774 0.00329425 1.96599477] [ 0.00411073 0.99998928 0.00212998 0.06262714] [-0.00330299 -0.00211641 0.99999231 0.55188605] [ 0. 0. 0. 1. ]] SLAMing on 287.0725578440001 meters 0.28655227652053816 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99993384e-01 1.95241149e-03 3.06936119e-03 1.94087915e+00] [-1.94944367e-03 9.99997630e-01 -9.69612354e-04 6.05539118e-02] [-3.07124700e-03 9.63622392e-04 9.99994819e-01 5.54869299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10255784400005 meters 0.28714155704415356 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.56 [[ 9.99993421e-01 2.02775692e-03 3.00783990e-03 1.94090972e+00] [-2.02549394e-03 9.99997664e-01 -7.55218135e-04 5.96836944e-02] [-3.00936428e-03 7.49120805e-04 9.99995191e-01 5.55185157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.132557844 meters 0.28699862705886103 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.56 [[ 9.99993508e-01 2.07812737e-03 2.94363387e-03 1.94107197e+00] [-2.07633817e-03 9.99997658e-01 -6.10747517e-04 5.91001915e-02] [-2.94489619e-03 6.04631573e-04 9.99995481e-01 5.55188674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16255784400005 meters 0.2865854106147272 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.56 [[ 9.99993384e-01 2.16017067e-03 2.92659746e-03 1.94116696e+00] [-2.15905312e-03 9.99997595e-01 -3.84966481e-04 5.81780211e-02] [-2.92742202e-03 3.78645254e-04 9.99995643e-01 5.55080637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192557844 meters 0.2869751960074158 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99993129e-01 2.32431529e-03 2.88792492e-03 1.94138998e+00] [-2.32451124e-03 9.99997296e-01 6.44967876e-05 5.63374399e-02] [-2.88776720e-03 -7.12093583e-05 9.99995828e-01 5.54808806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22255784400005 meters 0.2877479103965629 Centerline is valid? [False, False] Translation: X:1.94, Y:0.06, Z:0.55 [[ 9.99992986e-01 2.38625796e-03 2.88688469e-03 1.94136546e+00] [-2.38692848e-03 9.99997125e-01 2.28841203e-04 5.56627943e-02] [-2.88633032e-03 -2.35730386e-04 9.99995807e-01 5.54882603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252557844 meters 0.2854949997650484 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:0.56 [[ 9.99993036e-01 -3.71952443e-03 3.04784381e-04 1.91860314e+00] [ 3.71850745e-03 9.99987733e-01 3.27198807e-03 5.31184002e-02] [-3.16950882e-04 -3.27083194e-03 9.99994601e-01 5.56940729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28255784400005 meters 0.28703551716001563 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.56 [[ 9.99986340e-01 4.96993784e-03 1.61879546e-03 1.93943675e+00] [-4.97412821e-03 9.99984262e-01 2.59491402e-03 5.12115576e-02] [-1.60587342e-03 -2.60293067e-03 9.99995323e-01 5.57561441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312557844 meters 0.2866746103888206 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.56 [[ 9.99986480e-01 4.97754377e-03 1.50434238e-03 1.93978043e+00] [-4.98147254e-03 9.99984162e-01 2.61925178e-03 5.11078134e-02] [-1.49128111e-03 -2.62671020e-03 9.99995438e-01 5.57440151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34255784400005 meters 0.28750483999560317 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.56 [[ 9.99986545e-01 4.97028622e-03 1.48560392e-03 1.93985645e+00] [-4.97413960e-03 9.99984245e-01 2.60147423e-03 5.11795630e-02] [-1.47265045e-03 -2.60882883e-03 9.99995513e-01 5.57374502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372557844 meters 0.28581157053716855 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:0.56 [[ 9.99998332e-01 6.80097094e-04 1.69491897e-03 1.93933221e+00] [-6.77384193e-04 9.99998490e-01 -1.60066836e-03 5.07380210e-02] [-1.69600502e-03 1.59951758e-03 9.99997283e-01 5.57353205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40255784400006 meters 0.28807340322244185 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.56 [[ 0.99997929 -0.00497402 0.00408316 1.96147938] [ 0.00496586 0.99998565 0.00200804 0.05011753] [-0.00409308 -0.00198772 0.99998965 0.55558713] [ 0. 0. 0. 1. ]] SLAMing on 287.43255784400003 meters 0.28770454590501854 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.56 [[ 0.99997971 -0.00489005 0.00408311 1.96146932] [ 0.00488097 0.9999856 0.00223125 0.04919313] [-0.00409396 -0.00221128 0.99998917 0.55563891] [ 0. 0. 0. 1. ]] SLAMing on 287.46255784400006 meters 0.28813521295845324 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.56 [[ 0.99998031 -0.00476819 0.00408072 1.9614368 ] [ 0.00475778 0.99998541 0.00255658 0.0478526 ] [-0.00409285 -0.00253712 0.99998841 0.5557602 ] [ 0. 0. 0. 1. ]] SLAMing on 287.49255784400003 meters 0.2873952125323415 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 9.99989601e-01 3.24209514e-03 3.20717364e-03 1.94343073e+00] [-3.24615927e-03 9.99993934e-01 1.26280662e-03 4.10741236e-02] [-3.20306005e-03 -1.27320449e-03 9.99994060e-01 5.54304925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52255784400006 meters 0.2873459237973906 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 9.99989446e-01 3.47843146e-03 3.00137375e-03 1.94401092e+00] [-3.48427215e-03 9.99992042e-01 1.94297605e-03 3.83106505e-02] [-2.99459136e-03 -1.95341315e-03 9.99993608e-01 5.54235475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55255784400003 meters 0.2864015245724015 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 0.9999893 0.00359539 0.00291076 1.94436775] [-0.00360197 0.99999096 0.00226044 0.03698399] [-0.0029026 -0.0022709 0.99999321 0.55397733] [ 0. 0. 0. 1. ]] SLAMing on 287.58255784400006 meters 0.2867774766564176 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 0.99998908 0.00369542 0.00286089 1.94463435] [-0.00370265 0.99998995 0.00252766 0.03586691] [-0.00285152 -0.00253822 0.99999271 0.55368819] [ 0. 0. 0. 1. ]] SLAMing on 287.61255784400004 meters 0.28769543614634707 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 0.99998876 0.00375289 0.00289729 1.94465312] [-0.00376064 0.99998935 0.00267607 0.03525438] [-0.00288722 -0.00268694 0.99999222 0.55344914] [ 0. 0. 0. 1. ]] SLAMing on 287.64255784400007 meters 0.2881268141539928 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:0.55 [[ 9.99994632e-01 -4.11123171e-04 3.25081211e-03 1.94378240e+00] [ 4.14960178e-04 9.99999218e-01 -1.17973612e-03 3.37159170e-02] [-3.25032455e-03 1.18107875e-03 9.99994020e-01 5.53478781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67255784400004 meters 0.28698521042839176 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:0.55 [[ 9.99994585e-01 -4.01077896e-04 3.26629271e-03 1.94375946e+00] [ 4.04839669e-04 9.99999256e-01 -1.15111525e-03 3.35987257e-02] [-3.26582859e-03 1.15243135e-03 9.99994003e-01 5.53443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70255784400007 meters 0.2887572062365085 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:0.55 [[ 9.99994501e-01 -4.12754084e-04 3.29053268e-03 1.94380885e+00] [ 4.16647481e-04 9.99999214e-01 -1.18261422e-03 3.37228083e-02] [-3.29004197e-03 1.18397871e-03 9.99993887e-01 5.53172481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73255784400004 meters 0.28870095431638754 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:0.55 [[ 9.99994403e-01 -4.58027024e-04 3.31419807e-03 1.94382316e+00] [ 4.62369187e-04 9.99999036e-01 -1.30952258e-03 3.42390402e-02] [-3.31359508e-03 1.31104763e-03 9.99993651e-01 5.52980396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76255784400007 meters 0.2873923744480768 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 9.99994225e-01 -5.43756256e-04 3.35460521e-03 1.94381346e+00] [ 5.48988121e-04 9.99998634e-01 -1.55888317e-03 3.52360589e-02] [-3.35375298e-03 1.56071581e-03 9.99993158e-01 5.52720902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79255784400004 meters 0.28612747484602746 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:0.55 [[ 9.99994082e-01 -5.62506136e-04 3.39393378e-03 1.94380387e+00] [ 5.67972976e-04 9.99998543e-01 -1.61001916e-03 3.54437875e-02] [-3.39302319e-03 1.61193730e-03 9.99992945e-01 5.52503893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8225578440001 meters 0.28814268928058173 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99997802e-01 4.99282887e-04 2.03628397e-03 1.98384199e+00] [-4.97066604e-04 9.99999284e-01 -1.08875682e-03 3.91603439e-02] [-2.03682611e-03 1.08774226e-03 9.99997334e-01 5.55158344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85255784400005 meters 0.2871738489595107 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99997780e-01 4.63325635e-04 2.05533867e-03 1.98371244e+00] [-4.60893371e-04 9.99999193e-01 -1.18370427e-03 3.95575039e-02] [-2.05588545e-03 1.18275435e-03 9.99997187e-01 5.55330537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters 0.28680972293322854 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99997616e-01 4.33085457e-04 2.13998005e-03 1.98342866e+00] [-4.30374022e-04 9.99999104e-01 -1.26733554e-03 3.99111143e-02] [-2.14052700e-03 1.26641153e-03 9.99996907e-01 5.55480193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91255784400005 meters 0.28655258726419874 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99997350e-01 4.24036173e-04 2.26291668e-03 1.98291158e+00] [-4.21085197e-04 9.99999061e-01 -1.30437582e-03 4.00657379e-02] [-2.26346766e-03 1.30341949e-03 9.99996589e-01 5.56058063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters 0.28838971116835493 Centerline is valid? [False, False] Translation: X:2.01, Y:0.04, Z:0.55 [[ 9.99974989e-01 -5.51615444e-03 4.42640584e-03 2.00521305e+00] [ 5.50789702e-03 9.99983073e-01 1.87551864e-03 4.10556791e-02] [-4.43667657e-03 -1.85109155e-03 9.99988445e-01 5.54322068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97255784400005 meters 0.2878214984680752 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.55 [[ 9.99992599e-01 2.84982446e-03 2.58450929e-03 1.98635768e+00] [-2.85220823e-03 9.99995510e-01 9.19114002e-04 3.69102635e-02] [-2.58187837e-03 -9.26478758e-04 9.99996238e-01 5.53356660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002557844 meters 0.2872192992803859 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.55 [[ 9.99993132e-01 2.78284577e-03 2.44783672e-03 1.98690463e+00] [-2.78468918e-03 9.99995841e-01 7.49992770e-04 3.76166021e-02] [-2.44573942e-03 -7.56804084e-04 9.99996723e-01 5.52866431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03255784400005 meters 0.28847963666705645 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.55 [[ 9.99993608e-01 2.68877407e-03 2.35670482e-03 1.98733935e+00] [-2.68996446e-03 9.99996256e-01 5.02084270e-04 3.86310059e-02] [-2.35534601e-03 -5.08420513e-04 9.99997097e-01 5.52354945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters 0.2863019462708673 Centerline is valid? [False, False] Translation: X:1.96, Y:0.04, Z:0.56 [[ 9.99991642e-01 -4.06605397e-03 -4.27734063e-04 1.96403941e+00] [ 4.06719617e-03 9.99988072e-01 2.70426665e-03 3.67475350e-02] [ 4.16733267e-04 -2.70598372e-03 9.99996252e-01 5.55174414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09255784400005 meters 0.2867543676209309 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990556e-01 4.04631718e-03 1.58620739e-03 1.98300309e+00] [-4.04827419e-03 9.99991046e-01 1.23250192e-03 3.54110758e-02] [-1.58120609e-03 -1.23891168e-03 9.99997982e-01 5.56684952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters 0.2871518623430047 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990659e-01 3.99541646e-03 1.64876507e-03 1.98265009e+00] [-3.99722500e-03 9.99991411e-01 1.09507234e-03 3.60055364e-02] [-1.64437564e-03 -1.10165260e-03 9.99998041e-01 5.57115634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15255784400006 meters 0.2875516164121036 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990668e-01 3.95743124e-03 1.73265022e-03 1.98211222e+00] [-3.95915618e-03 9.99991669e-01 9.93254857e-04 3.64862757e-02] [-1.72870505e-03 -1.00010542e-03 9.99998006e-01 5.57854344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters 0.2873820230010155 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990553e-01 3.97468883e-03 1.75969068e-03 1.98196698e+00] [-3.97651867e-03 9.99991555e-01 1.03759259e-03 3.63087557e-02] [-1.75555171e-03 -1.04458023e-03 9.99997913e-01 5.58032157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21255784400006 meters 0.28652036264475483 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990696e-01 3.97047231e-03 1.68645866e-03 1.98224199e+00] [-3.97221112e-03 9.99991581e-01 1.02894309e-03 3.63307184e-02] [-1.68235908e-03 -1.03563249e-03 9.99998049e-01 5.57832307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters 0.2868068759551649 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990833e-01 3.96099994e-03 1.62642905e-03 1.98252230e+00] [-3.96264006e-03 9.99991642e-01 1.00643967e-03 3.64090641e-02] [-1.62242895e-03 -1.01287540e-03 9.99998171e-01 5.57540218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27255784400006 meters 0.2883110153839307 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990938e-01 3.94976809e-03 1.58842380e-03 1.98274045e+00] [-3.95132560e-03 9.99991715e-01 9.78595340e-04 3.65136330e-02] [-1.58454541e-03 -9.84862852e-04 9.99998260e-01 5.57263578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters 0.2896447997219242 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99991061e-01 3.94487635e-03 1.52152624e-03 1.98308985e+00] [-3.94635433e-03 9.99991743e-01 9.69601230e-04 3.65362351e-02] [-1.51768872e-03 -9.75597045e-04 9.99998372e-01 5.56862931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33255784400006 meters 0.2888173678932792 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99991030e-01 3.99134588e-03 1.41742093e-03 1.98344001e+00] [-3.99289888e-03 9.99991429e-01 1.09452025e-03 3.60113686e-02] [-1.41304017e-03 -1.10017005e-03 9.99998396e-01 5.56694072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters 0.2885209744968483 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99990926e-01 4.05739687e-03 1.29827538e-03 1.98378867e+00] [-4.05904820e-03 9.99990953e-01 1.27184690e-03 3.52727020e-02] [-1.29310325e-03 -1.27710512e-03 9.99998348e-01 5.56626286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39255784400007 meters 0.28726492370257556 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99995034e-01 2.12316760e-03 2.32916846e-03 1.97817540e+00] [-2.12205799e-03 9.99997634e-01 -4.78766340e-04 3.50993761e-02] [-2.33017945e-03 4.73821331e-04 9.99997173e-01 5.60576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters 0.28726492370257556 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:0.56 [[ 9.99995034e-01 2.12316760e-03 2.32916846e-03 1.97817540e+00] [-2.12205799e-03 9.99997634e-01 -4.78766340e-04 3.50993761e-02] [-2.33017945e-03 4.73821331e-04 9.99997173e-01 5.60576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45255784400007 meters 0.2883077964501616 Centerline is valid? [False, False] Translation: X:2.00, Y:0.03, Z:0.56 [[ 0.99997951 -0.00407102 0.00494045 1.99955012] [ 0.00405816 0.99998836 0.00261066 0.03458009] [-0.00495102 -0.00259056 0.99998439 0.55905142] [ 0. 0. 0. 1. ]] SLAMing on 288.48255784400004 meters 0.28639875869755127 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:0.56 [[ 9.99992567e-01 1.52842336e-03 3.53973044e-03 1.97629258e+00] [-1.52596681e-03 9.99998593e-01 -6.96589900e-04 3.20724359e-02] [-3.54079015e-03 6.91183211e-04 9.99993493e-01 5.60828974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51255784400007 meters 0.2886915641537553 Centerline is valid? [False, False] Translation: X:2.02, Y:0.03, Z:0.56 [[ 9.99996729e-01 1.54155391e-03 2.04084378e-03 2.01660376e+00] [-1.54031482e-03 9.99998629e-01 -6.08580261e-04 3.22682889e-02] [-2.04177914e-03 6.05434728e-04 9.99997732e-01 5.63593532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54255784400004 meters 0.2877132448335787 Centerline is valid? [False, False] Translation: X:2.02, Y:0.03, Z:0.56 [[ 9.99996652e-01 1.67659349e-03 1.97092716e-03 2.01687295e+00] [-1.67611144e-03 9.99998565e-01 -2.46205966e-04 3.07659366e-02] [-1.97133711e-03 2.42901648e-04 9.99998027e-01 5.63428218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5725578440001 meters 0.28657442484607887 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:0.56 [[ 9.99997288e-01 8.01818332e-04 2.18661680e-03 1.97834107e+00] [-8.01105428e-04 9.99999626e-01 -3.26886838e-04 2.60240923e-02] [-2.18687809e-03 3.25134241e-04 9.99997556e-01 5.60358825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60255784400005 meters 0.28867938390086395 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:0.56 [[ 9.99997517e-01 1.11299337e-03 1.93086347e-03 1.97942729e+00] [-1.11408283e-03 9.99999221e-01 5.63252543e-04 2.22313010e-02] [-1.93023507e-03 -5.65402286e-04 9.99997977e-01 5.59474854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.632557844 meters 0.28881360056686795 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:0.56 [[ 9.99997398e-01 1.29919806e-03 1.87494041e-03 1.97963106e+00] [-1.30119372e-03 9.99998588e-01 1.06356210e-03 2.01784760e-02] [-1.87355599e-03 -1.06599899e-03 9.99997677e-01 5.59381619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66255784400005 meters 0.2895603297572671 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:0.56 [[ 9.99997112e-01 1.49653090e-03 1.88058338e-03 1.97956096e+00] [-1.49953659e-03 9.99997599e-01 1.59788340e-03 1.79935727e-02] [-1.87818758e-03 -1.60069878e-03 9.99996955e-01 5.59558064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692557844 meters 0.2893115536871895 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:0.56 [[ 9.99996728e-01 1.68014067e-03 1.92903680e-03 1.97928621e+00] [-1.68417444e-03 9.99996395e-01 2.09136159e-03 1.59641486e-02] [-1.92551606e-03 -2.09460358e-03 9.99995953e-01 5.59947511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72255784400005 meters 0.28765446121884086 Centerline is valid? [False, False] Translation: X:1.94, Y:0.01, Z:0.56 [[ 9.99994478e-01 5.17027221e-04 3.28263422e-03 1.93859430e+00] [-5.23805252e-04 9.99997732e-01 2.06429057e-03 1.04415831e-02] [-3.28155948e-03 -2.06599864e-03 9.99992481e-01 5.57879713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752557844 meters 0.2865525820072217 Centerline is valid? [False, False] Translation: X:1.94, Y:0.01, Z:0.56 [[ 9.99994220e-01 8.81466496e-04 3.28375616e-03 1.93868354e+00] [-8.91472964e-04 9.99994960e-01 3.04704642e-03 6.45477724e-03] [-3.28105374e-03 -3.04995619e-03 9.99989966e-01 5.57738663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78255784400005 meters 0.28804035735882605 Centerline is valid? [False, False] Translation: X:1.98, Y:0.01, Z:0.56 [[ 9.99998943e-01 6.01063555e-04 1.32402079e-03 1.97964495e+00] [-6.04463251e-04 9.99996518e-01 2.56880376e-03 6.79779834e-03] [-1.32247217e-03 -2.56960136e-03 9.99995824e-01 5.60319104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812557844 meters 0.28877884455718966 Centerline is valid? [False, False] Translation: X:1.98, Y:0.01, Z:0.56 [[ 9.99999058e-01 6.98974543e-04 1.18107018e-03 1.98022008e+00] [-7.02318470e-04 9.99995740e-01 2.83322992e-03 5.68507242e-03] [-1.17908479e-03 -2.83405674e-03 9.99995289e-01 5.59834423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84255784400005 meters 0.28873352760611976 Centerline is valid? [False, False] Translation: X:1.98, Y:0.00, Z:0.56 [[ 9.99999159e-01 7.87949821e-04 1.03030365e-03 1.98072638e+00] [-7.91119954e-04 9.99994944e-01 3.08011287e-03 4.64455382e-03] [-1.02787146e-03 -3.08092538e-03 9.99994726e-01 5.59560927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872557844 meters 0.2878108678608954 Centerline is valid? [False, False] Translation: X:1.98, Y:0.00, Z:0.56 [[ 9.99999059e-01 8.70981210e-04 1.06014387e-03 1.98070342e+00] [-8.74474892e-04 9.99994174e-01 3.29948873e-03 3.74086990e-03] [-1.05726390e-03 -3.30041269e-03 9.99993995e-01 5.59463069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90255784400006 meters 0.2897755474094006 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:0.56 [[ 9.99998970e-01 4.57507604e-04 1.36010084e-03 2.01647337e+00] [-4.61052442e-04 9.99996495e-01 2.60713520e-03 3.52646426e-03] [-1.35890329e-03 -2.60775959e-03 9.99995676e-01 5.64232943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93255784400003 meters 0.28811943711620497 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:0.56 [[ 9.99998795e-01 5.31746984e-04 1.45882698e-03 2.01610287e+00] [-5.35834701e-04 9.99995928e-01 2.80309838e-03 2.73145068e-03] [-1.45733050e-03 -2.80387669e-03 9.99995007e-01 5.64538203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96255784400006 meters 0.28920815219657575 Centerline is valid? [False, False] Translation: X:2.04, Y:0.00, Z:0.56 [[ 9.99962490e-01 7.14009974e-03 4.90279175e-03 2.03732911e+00] [-7.14167273e-03 9.99974452e-01 3.03403586e-04 4.07796116e-03] [-4.90050016e-03 -3.38406339e-04 9.99987935e-01 5.62702248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99255784400003 meters 0.28860285917076456 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:0.56 [[ 9.99994764e-01 -1.29875171e-03 2.96409025e-03 2.01771225e+00] [ 1.29317752e-03 9.99997393e-01 1.88171756e-03 3.19093940e-03] [-2.96652641e-03 -1.87787461e-03 9.99993837e-01 5.61923127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02255784400006 meters 0.28899000551491427 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:0.56 [[ 9.99995037e-01 -1.22946331e-03 2.90059863e-03 2.01789895e+00] [ 1.22346471e-03 9.99997111e-01 2.06892281e-03 2.41598857e-03] [-2.90313392e-03 -2.06536376e-03 9.99993653e-01 5.61884526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05255784400003 meters 0.28750063922608343 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:0.56 [[ 9.99994998e-01 -1.14357844e-03 2.94883069e-03 2.01773050e+00] [ 1.13678723e-03 9.99996700e-01 2.30366776e-03 1.45508137e-03] [-2.95145539e-03 -2.30030404e-03 9.99992999e-01 5.62018540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08255784400006 meters 0.28802324783402444 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.00, Z:0.56 [[ 9.99957483e-01 7.48872093e-03 5.38058684e-03 2.03672188e+00] [-7.49732114e-03 9.99970646e-01 1.57998996e-03 -2.15721159e-03] [-5.36859679e-03 -1.62026277e-03 9.99984276e-01 5.62624934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11255784400004 meters 0.2877108443185347 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.00, Z:0.56 [[ 9.99956875e-01 7.59436908e-03 5.34540452e-03 2.03679122e+00] [-7.60445164e-03 9.99969340e-01 1.86841930e-03 -3.34483341e-03] [-5.33105116e-03 -1.90898759e-03 9.99983968e-01 5.62701084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14255784400007 meters 0.28719996619490723 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.00, Z:0.56 [[ 9.99993920e-01 -1.22536835e-03 3.26476097e-03 2.01687279e+00] [ 1.21576308e-03 9.99994932e-01 2.94246871e-03 -3.96222669e-03] [-3.26835003e-03 -2.93848164e-03 9.99990342e-01 5.62255533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17255784400004 meters 0.2886182887240482 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.01, Z:0.56 [[ 9.99995282e-01 -9.36196049e-04 2.92557015e-03 2.01799550e+00] [ 9.25234340e-04 9.99992556e-01 3.74597228e-03 -7.35235282e-03] [-2.92905533e-03 -3.74324777e-03 9.99988704e-01 5.61804171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20255784400007 meters 0.28977323161088553 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.01, Z:0.56 [[ 9.99995566e-01 -8.24444240e-04 2.86155116e-03 2.01814984e+00] [ 8.12886526e-04 9.99991518e-01 4.03778374e-03 -8.56250423e-03] [-2.86485582e-03 -4.03543971e-03 9.99987754e-01 5.61863477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23255784400004 meters 0.28887937674414493 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.56 [[ 9.99972666e-01 7.12777865e-03 1.96500323e-03 1.99863675e+00] [-7.13394786e-03 9.99969590e-01 3.15062068e-03 -1.48183680e-02] [-1.94248655e-03 -3.16455280e-03 9.99993106e-01 5.60902730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26255784400007 meters 0.2873749559221435 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.56 [[ 9.99993355e-01 2.86448813e-03 2.25505187e-03 1.99774081e+00] [-2.86212304e-03 9.99995351e-01 -1.05132549e-03 -1.49226750e-02] [-2.25805290e-03 1.04486427e-03 9.99996905e-01 5.61157683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29255784400004 meters 0.28856204631548704 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.01, Z:0.56 [[ 9.99976045e-01 -5.26818315e-03 4.48959745e-03 2.01672610e+00] [ 5.26761545e-03 9.99986116e-01 1.38261337e-04 -1.23467931e-02] [-4.49026351e-03 -1.14608552e-04 9.99989912e-01 5.61705234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3225578440001 meters 0.2891194212250971 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.01, Z:0.56 [[ 9.99976533e-01 -5.19732885e-03 4.46330526e-03 2.01685141e+00] [ 5.19590971e-03 9.99986447e-01 3.29493853e-04 -1.31370300e-02] [-4.46495726e-03 -3.06295190e-04 9.99989985e-01 5.61598229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35255784400005 meters 0.28816427152940804 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.56 [[ 9.99991088e-01 2.90452998e-03 3.06400423e-03 1.99674987e+00] [-2.90333832e-03 9.99995708e-01 -3.93298576e-04 -1.80879547e-02] [-3.06513342e-03 3.84399230e-04 9.99995229e-01 5.61069891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters 0.28893692621158396 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.56 [[ 9.99991032e-01 2.94698718e-03 3.04173371e-03 1.99695107e+00] [-2.94615151e-03 9.99995621e-01 -2.79178928e-04 -1.85660458e-02] [-3.04254313e-03 2.70215016e-04 9.99995335e-01 5.60745890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41255784400005 meters 0.28823031361427554 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.56 [[ 9.99990836e-01 3.03548817e-03 3.01899527e-03 1.99699975e+00] [-3.03537556e-03 9.99995392e-01 -4.18832543e-05 -1.95415631e-02] [-3.01910850e-03 3.27190860e-05 9.99995442e-01 5.60791481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters 0.2876414926647597 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.56 [[ 9.99989882e-01 3.30168233e-03 3.05516392e-03 1.99665854e+00] [-3.30415957e-03 9.99994216e-01 8.06145378e-04 -2.29031071e-02] [-3.05248461e-03 -8.16231971e-04 9.99995008e-01 5.61435951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47255784400005 meters 0.2889886650933986 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.56 [[ 9.99989263e-01 3.46430017e-03 3.07781413e-03 1.99641581e+00] [-3.46825120e-03 9.99993167e-01 1.27930484e-03 -2.48080975e-02] [-3.07336120e-03 -1.28996574e-03 9.99994445e-01 5.61914926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters 0.28718630950940927 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.56 [[ 9.99988693e-01 3.61841868e-03 3.08549126e-03 1.99621282e+00] [-3.62373286e-03 9.99991958e-01 1.71846285e-03 -2.65814409e-02] [-3.07924833e-03 -1.72962441e-03 9.99993763e-01 5.62386044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53255784400005 meters 0.2892296304412777 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.56 [[ 0.99998118 -0.00445051 0.00422258 2.01691226] [ 0.00443836 0.999986 0.00288157 -0.02470211] [-0.00423535 -0.00286277 0.99998693 0.5628378 ] [ 0. 0. 0. 1. ]] SLAMing on 289.562557844 meters 0.28752980156433683 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.56 [[ 9.99997668e-01 8.60601084e-04 1.98077055e-03 1.99531919e+00] [-8.60043411e-04 9.99999590e-01 -2.82378155e-04 -2.85900614e-02] [-1.98101275e-03 2.80673948e-04 9.99997998e-01 5.63666482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59255784400005 meters 0.28725259357054034 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.56 [[ 9.99997692e-01 9.38352888e-04 1.93265470e-03 1.99553475e+00] [-9.38217518e-04 9.99999557e-01 -7.09492470e-05 -2.94709429e-02] [-1.93272042e-03 6.91358328e-05 9.99998130e-01 5.63469307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters 0.2873606208275713 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.56 [[ 9.99997743e-01 1.04359986e-03 1.85045091e-03 1.99577071e+00] [-1.04399926e-03 9.99999432e-01 2.14885980e-04 -3.06597242e-02] [-1.85022560e-03 -2.16817364e-04 9.99998265e-01 5.63436104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65255784400006 meters 0.2877655405078453 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.56 [[ 9.99997651e-01 1.18354266e-03 1.81575394e-03 1.99575213e+00] [-1.18463790e-03 9.99999117e-01 6.02230414e-04 -3.22315941e-02] [-1.81503957e-03 -6.04380010e-04 9.99998170e-01 5.63723718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters 0.2884443944223822 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.56 [[ 9.99996995e-01 1.54432013e-03 1.90370585e-03 1.99503428e+00] [-1.54779516e-03 9.99997136e-01 1.82528246e-03 -3.70109641e-02] [-1.90088157e-03 -1.82822353e-03 9.99996522e-01 5.64943421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71255784400006 meters 0.28732968773917394 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.57 [[ 9.99996815e-01 1.75653851e-03 1.81222059e-03 1.99522521e+00] [-1.76104620e-03 9.99995352e-01 2.48879962e-03 -3.96346442e-02] [-1.80784049e-03 -2.49198310e-03 9.99995261e-01 5.65055291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74255784400003 meters 0.28710037534563415 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.57 [[ 9.99996619e-01 1.96575286e-03 1.70226486e-03 1.99552025e+00] [-1.97110276e-03 9.99993106e-01 3.14686376e-03 -4.22623652e-02] [-1.69606717e-03 -3.15020846e-03 9.99993600e-01 5.65000728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77255784400006 meters 0.28777384049245797 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.56 [[ 9.99996294e-01 2.19486478e-03 1.61082900e-03 1.99579162e+00] [-2.20102436e-03 9.99990235e-01 3.83209822e-03 -4.50219924e-02] [-1.60240233e-03 -3.83562949e-03 9.99991360e-01 5.64924574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters 0.28770539721607974 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.57 [[ 9.99995849e-01 2.42485241e-03 1.55622875e-03 1.99583765e+00] [-2.43180863e-03 9.99986991e-01 4.48370640e-03 -4.76360546e-02] [-1.54533618e-03 -4.48747224e-03 9.99988737e-01 5.65178917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83255784400006 meters 0.28753489805625887 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.57 [[ 9.99995370e-01 2.62539910e-03 1.53829460e-03 1.99577853e+00] [-2.63310798e-03 9.99983878e-01 5.03090362e-03 -4.98347721e-02] [-1.52506167e-03 -5.03493082e-03 9.99986162e-01 5.65433235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters 0.2865328792964766 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.57 [[ 9.99997813e-01 -1.45072018e-03 1.50630263e-03 1.99595823e+00] [ 1.44857278e-03 9.99997934e-01 1.42572464e-03 -5.27446325e-02] [-1.50836784e-03 -1.42353953e-03 9.99997849e-01 5.65180418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89255784400007 meters 0.28821543352971385 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.06, Z:0.57 [[ 9.99968170e-01 7.87034921e-03 1.31044779e-03 2.01809856e+00] [-7.87164162e-03 9.99968534e-01 9.84018308e-04 -5.71074968e-02] [-1.30266198e-03 -9.94302362e-04 9.99998657e-01 5.65115915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters 0.28815323366579076 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.06, Z:0.56 [[ 9.99997220e-01 -1.26065786e-03 -1.99278161e-03 2.00033374e+00] [ 1.26422015e-03 9.99997604e-01 1.78735183e-03 -5.66566284e-02] [ 1.99052360e-03 -1.78986617e-03 9.99996417e-01 5.64117016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95255784400007 meters 0.28964583744104694 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:0.57 [[ 9.99995643e-01 -7.17711269e-04 -2.86330857e-03 2.03928346e+00] [ 7.20334139e-04 9.99999322e-01 9.15101524e-04 -5.44818242e-02] [ 2.86264985e-03 -9.17160076e-04 9.99995482e-01 5.67167281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98255784400004 meters 0.2893516291639034 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:0.57 [[ 9.99995831e-01 -7.09514340e-04 -2.79896794e-03 2.03911801e+00] [ 7.12142244e-04 9.99999307e-01 9.37998054e-04 -5.45692579e-02] [ 2.79830048e-03 -9.39987407e-04 9.99995643e-01 5.67173878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01255784400007 meters 0.2892228992373933 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:0.57 [[ 9.99996156e-01 -6.86733278e-04 -2.68651526e-03 2.03877502e+00] [ 6.89413412e-04 9.99999266e-01 9.96825755e-04 -5.47944817e-02] [ 2.68582873e-03 -9.98674042e-04 9.99995894e-01 5.67314299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04255784400004 meters 0.2896841485585954 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:0.57 [[ 9.99996299e-01 -6.46491947e-04 -2.64257180e-03 2.03856270e+00] [ 6.49402449e-04 9.99999183e-01 1.10068036e-03 -5.51992174e-02] [ 2.64185806e-03 -1.10239238e-03 9.99995903e-01 5.67550188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0725578440001 meters 0.2891361888916546 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:0.57 [[ 9.99996432e-01 -5.34781892e-04 -2.61709028e-03 2.03846504e+00] [ 5.38439097e-04 9.99998879e-01 1.39692656e-03 -5.64096918e-02] [ 2.61634029e-03 -1.39833072e-03 9.99995600e-01 5.67650273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10255784400005 meters 0.2889853400355185 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:0.57 [[ 9.99996330e-01 -2.35016588e-04 -2.69887676e-03 2.03876471e+00] [ 2.41635029e-04 9.99996964e-01 2.45223054e-03 -6.05244565e-02] [ 2.69829225e-03 -2.45287368e-03 9.99993351e-01 5.67433960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.132557844 meters 0.2884378648867736 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:0.57 [[ 9.99996507e-01 -2.62412475e-05 -2.64295204e-03 2.03860075e+00] [ 3.43753238e-05 9.99995263e-01 3.07764968e-03 -6.30223691e-02] [ 2.64285876e-03 -3.07772978e-03 9.99991771e-01 5.67489722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16255784400005 meters 0.2891950511708268 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99979674e-01 6.33484271e-03 -7.21546942e-04 2.06119279e+00] [-6.33483149e-03 9.99979935e-01 1.78254858e-05 -6.53373917e-02] [ 7.21645386e-04 -1.32542451e-05 9.99999740e-01 5.65837585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192557844 meters 0.28968030546605006 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99978357e-01 6.52586416e-03 -8.36329929e-04 2.06153715e+00] [-6.52541940e-03 9.99978567e-01 5.33435661e-04 -6.74571545e-02] [ 8.39793133e-04 -5.27966712e-04 9.99999508e-01 5.65744592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22255784400005 meters 0.28831287288472474 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.57 [[ 9.99991074e-01 -2.55763450e-03 -3.36305524e-03 2.04290638e+00] [ 2.56443814e-03 9.99994671e-01 2.02029898e-03 -7.02071048e-02] [ 3.35787013e-03 -2.02890530e-03 9.99992304e-01 5.65346162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252557844 meters 0.2898600033675727 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.57 [[ 0.99999117 -0.00245783 -0.00340814 2.0431053 ] [ 0.00246562 0.99999436 0.00228246 -0.07129287] [ 0.00340251 -0.00229084 0.99999159 0.56518787] [ 0. 0. 0. 1. ]] SLAMing on 290.28255784400005 meters 0.28892366285283533 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.57 [[ 0.99999122 -0.00243274 -0.00341253 2.04317045] [ 0.00244077 0.99999426 0.00235159 -0.07157768] [ 0.00340679 -0.0023599 0.99999141 0.56507109] [ 0. 0. 0. 1. ]] SLAMing on 290.312557844 meters 0.2897953749902742 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.56 [[ 9.99986265e-01 5.17843598e-03 -8.08814442e-04 2.06348150e+00] [-5.17845016e-03 9.99986592e-01 -1.54335213e-05 -7.08391477e-02] [ 8.08723676e-04 1.96217146e-05 9.99999673e-01 5.64438865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34255784400005 meters 0.2897953749902742 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.56 [[ 9.99986265e-01 5.17843598e-03 -8.08814442e-04 2.06348150e+00] [-5.17845016e-03 9.99986592e-01 -1.54335213e-05 -7.08391477e-02] [ 8.08723676e-04 1.96217146e-05 9.99999673e-01 5.64438865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372557844 meters 0.2888439550926068 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.57 [[ 0.99999369 -0.00205783 -0.00289555 2.04069706] [ 0.00206548 0.99999438 0.00263986 -0.07199358] [ 0.0028901 -0.00264583 0.99999232 0.56661358] [ 0. 0. 0. 1. ]] SLAMing on 290.40255784400006 meters 0.290708830456655 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99986943e-01 5.10691152e-03 1.83562735e-04 2.06151202e+00] [-5.10689230e-03 9.99986954e-01 -1.05038891e-04 -6.92565036e-02] [-1.84096764e-04 1.04100085e-04 9.99999978e-01 5.65306895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43255784400003 meters 0.2902290240970563 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99987219e-01 5.04877676e-03 2.67019681e-04 2.06126813e+00] [-5.04870504e-03 9.99987219e-01 -2.68610085e-04 -6.85843041e-02] [-2.68372420e-04 2.67258548e-04 9.99999928e-01 5.65374521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46255784400006 meters 0.2880305493549013 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:0.57 [[ 9.99988746e-01 -4.74424616e-03 1.72901378e-06 2.03950406e+00] [ 4.74424582e-03 9.99988733e-01 1.62923472e-04 -6.62065146e-02] [-2.50194336e-06 -1.62913436e-04 9.99999987e-01 5.65394506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49255784400003 meters 0.2891142600431422 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.56 [[ 0.9999896 0.0025163 0.00380349 2.05921399] [-0.00250787 0.9999944 -0.00221722 -0.06408373] [-0.00380904 0.00220765 0.99999031 0.56427266] [ 0. 0. 0. 1. ]] SLAMing on 290.52255784400006 meters 0.28870114429305654 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.56 [[ 0.99998903 0.00250259 0.00396062 2.05862374] [-0.00249363 0.99999433 -0.0022649 -0.06384398] [-0.00396627 0.002255 0.99998959 0.56476988] [ 0. 0. 0. 1. ]] SLAMing on 290.55255784400003 meters 0.2895578753897035 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:0.57 [[ 9.99978161e-01 -5.12693155e-03 4.17037923e-03 2.07917606e+00] [ 5.13160432e-03 9.99986217e-01 -1.11053829e-03 -5.91892422e-02] [-4.16462809e-03 1.13191477e-03 9.99990687e-01 5.66361340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58255784400006 meters 0.2885506753304566 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.57 [[ 9.99995327e-01 2.51425634e-03 1.73892328e-03 2.06117944e+00] [-2.51043441e-03 9.99994436e-01 -2.19656862e-03 -6.38635812e-02] [-1.74443634e-03 2.19219290e-03 9.99996076e-01 5.65298983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61255784400004 meters 0.2879852281106905 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.56 [[ 9.99995695e-01 2.52980375e-03 1.48656686e-03 2.06192213e+00] [-2.52662776e-03 9.99994530e-01 -2.13447156e-03 -6.41575860e-02] [-1.49195853e-03 2.13070637e-03 9.99996617e-01 5.64993495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64255784400007 meters 0.2903245129495722 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.56 [[ 9.99995809e-01 2.56091360e-03 1.35058389e-03 2.06232823e+00] [-2.55815512e-03 9.99994647e-01 -2.04022920e-03 -6.45620141e-02] [-1.35580151e-03 2.03676565e-03 9.99997007e-01 5.64841123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67255784400004 meters 0.2886133067300811 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99995641e-01 2.62687531e-03 1.34795722e-03 2.06222430e+00] [-2.62437056e-03 9.99994833e-01 -1.85659574e-03 -6.52979838e-02] [-1.35282730e-03 1.85305010e-03 9.99997368e-01 5.65109877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70255784400007 meters 0.28864677785097453 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.07, Z:0.57 [[ 9.99977277e-01 -5.69095978e-03 3.61375061e-03 2.08256796e+00] [ 5.69498474e-03 9.99983173e-01 -1.10448079e-03 -6.61554834e-02] [-3.60740424e-03 1.12503595e-03 9.99992860e-01 5.65645927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73255784400004 meters 0.288184058448737 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99993168e-01 2.43006465e-03 2.78540721e-03 2.06256397e+00] [-2.42561953e-03 9.99995781e-01 -1.59812619e-03 -7.21690255e-02] [-2.78927900e-03 1.59135893e-03 9.99994844e-01 5.65245240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76255784400007 meters 0.2875871186544493 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.57 [[ 9.99992709e-01 2.55334534e-03 2.83933552e-03 2.06233353e+00] [-2.54983531e-03 9.99995981e-01 -1.23914924e-03 -7.36012433e-02] [-2.84248809e-03 1.23190037e-03 9.99995201e-01 5.65492857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79255784400004 meters 0.288157370139631 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.07, Z:0.57 [[ 9.99974834e-01 -4.88169263e-03 5.14776562e-03 2.08202632e+00] [ 4.88093762e-03 9.99988075e-01 1.59221311e-04 -7.27444771e-02] [-5.14848151e-03 -1.34091381e-04 9.99986737e-01 5.66233405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8225578440001 meters 0.2870827561702603 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.08, Z:0.57 [[ 9.99984248e-01 3.03865621e-03 4.71919059e-03 2.06205363e+00] [-3.03753188e-03 9.99995357e-01 -2.45395285e-04 -8.08259885e-02] [-4.71991435e-03 2.31056727e-04 9.99988834e-01 5.65651012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85255784400005 meters 0.28615867379600307 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.08, Z:0.57 [[ 9.99984396e-01 3.11852262e-03 4.63482835e-03 2.06230543e+00] [-3.11842629e-03 9.99995137e-01 -2.80108885e-05 -8.17203603e-02] [-4.63489316e-03 1.35570808e-05 9.99989259e-01 5.65565820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters 0.2879216560001278 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:0.57 [[ 9.99990524e-01 3.53221281e-03 2.54471304e-03 2.10353328e+00] [-3.52890834e-03 9.99992926e-01 -1.30188425e-03 -8.00988592e-02] [-2.54929357e-03 1.29289186e-03 9.99995915e-01 5.67625989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91255784400005 meters 0.28758366697383236 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:0.57 [[ 9.99991162e-01 3.59275345e-03 2.18367505e-03 2.10461589e+00] [-3.59027752e-03 9.99992909e-01 -1.13670128e-03 -8.08350620e-02] [-2.18774345e-03 1.12885124e-03 9.99996970e-01 5.67061861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942557844 meters 0.2889494491903619 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:0.57 [[ 9.99991431e-01 3.57959377e-03 2.07970909e-03 2.10498352e+00] [-3.57716824e-03 9.99992919e-01 -1.16883475e-03 -8.07171169e-02] [-2.08387832e-03 1.16138526e-03 9.99997154e-01 5.66797081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97255784400005 meters 0.2890120265397718 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:0.57 [[ 9.99991592e-01 3.56722750e-03 2.02241666e-03 2.10521499e+00] [-3.56480540e-03 9.99992926e-01 -1.19997279e-03 -8.06021964e-02] [-2.02668293e-03 1.19275318e-03 9.99997235e-01 5.66574165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002557844 meters 0.2887017262222582 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:0.57 [[ 9.99991705e-01 3.57586210e-03 1.95029602e-03 2.10545192e+00] [-3.57358202e-03 9.99992929e-01 -1.17132888e-03 -8.07229101e-02] [-1.95447074e-03 1.16434962e-03 9.99997412e-01 5.66434231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03255784400005 meters 0.2886647332367224 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:0.57 [[ 9.99991706e-01 3.54283602e-03 2.00907554e-03 2.10531737e+00] [-3.54030627e-03 9.99992938e-01 -1.26132420e-03 -8.03551843e-02] [-2.01353001e-03 1.25420099e-03 9.99997186e-01 5.66398149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062557844 meters 0.2899643379803208 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:0.57 [[ 9.99988862e-01 -2.03215799e-03 4.25972683e-03 2.12727846e+00] [ 2.02484231e-03 9.99996469e-01 1.72101581e-03 -7.97739881e-02] [-4.26320916e-03 -1.71237137e-03 9.99989446e-01 5.65122818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09255784400005 meters 0.2883568899057811 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:0.57 [[ 9.99991154e-01 3.14827895e-03 2.78939462e-03 2.10453091e+00] [-3.14426031e-03 9.99994014e-01 -1.44390310e-03 -8.28820605e-02] [-2.79392374e-03 1.43511974e-03 9.99995067e-01 5.66571295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters 0.288916464873723 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:0.57 [[ 9.99981939e-01 -4.58051039e-03 3.89121504e-03 2.12499303e+00] [ 4.58187953e-03 9.99989444e-01 -3.43013195e-04 -8.08801179e-02] [-3.88960279e-03 3.60836078e-04 9.99992370e-01 5.67394928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15255784400006 meters 0.28718335102176723 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.09, Z:0.57 [[ 9.99982846e-01 -5.77605857e-03 9.71975272e-04 2.08084742e+00] [ 5.77584478e-03 9.99983295e-01 2.22619366e-04 -8.73428278e-02] [-9.73244897e-04 -2.17001569e-04 9.99999503e-01 5.69814491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters 0.2894622556612679 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.57 [[ 9.99988164e-01 -3.80666589e-03 3.02998978e-03 2.12316336e+00] [ 3.80448378e-03 9.99992500e-01 7.25609123e-04 -8.67501640e-02] [-3.03272920e-03 -7.14072988e-04 9.99995146e-01 5.69597417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21255784400006 meters 0.28802882979875644 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:0.57 [[ 9.99998885e-01 9.82212360e-04 1.12456772e-03 2.09941184e+00] [-9.79522567e-04 9.99996664e-01 -2.38990394e-03 -8.92142108e-02] [-1.12691137e-03 2.38879973e-03 9.99996512e-01 5.71683446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24255784400003 meters 0.28820061263168933 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.57 [[ 9.99974488e-01 -6.90356341e-03 1.83414333e-03 2.12027409e+00] [ 6.90621605e-03 9.99975109e-01 -1.44387928e-03 -8.67941337e-02] [-1.82412977e-03 1.45650944e-03 9.99997276e-01 5.72079863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27255784400006 meters 0.2891273229665773 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.57 [[ 9.99975497e-01 -6.76840808e-03 1.78713895e-03 2.12040620e+00] [ 6.77035494e-03 9.99976492e-01 -1.08558269e-03 -8.82675632e-02] [-1.77974927e-03 1.09765565e-03 9.99997814e-01 5.72080801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30255784400003 meters 0.2888290311752971 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:0.57 [[ 9.99998547e-01 8.99350297e-04 1.44820423e-03 2.10078074e+00] [-8.96541550e-04 9.99997718e-01 -1.93895147e-03 -9.38847354e-02] [-1.44994472e-03 1.93765028e-03 9.99997072e-01 5.70879750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33255784400006 meters 0.2881909382685681 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:0.57 [[ 9.99998353e-01 9.76859599e-04 1.52987815e-03 2.10046107e+00] [-9.74203925e-04 9.99998019e-01 -1.73565725e-03 -9.47011777e-02] [-1.53157061e-03 1.73416398e-03 9.99997323e-01 5.71152731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36255784400004 meters 0.2889361672411016 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.57 [[ 9.99981403e-01 -4.36521894e-03 4.25884594e-03 2.12135575e+00] [ 4.35858640e-03 9.99989276e-01 1.56539537e-03 -9.48466113e-02] [-4.26563356e-03 -1.54680371e-03 9.99989706e-01 5.70094592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39255784400007 meters 0.2895567804366578 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:0.57 [[ 9.99981957e-01 -4.30192034e-03 4.19278675e-03 2.12164116e+00] [ 4.29469169e-03 9.99989279e-01 1.73155071e-03 -9.55592524e-02] [-4.20019079e-03 -1.71351274e-03 9.99989711e-01 5.69857214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42255784400004 meters 0.28962035367646705 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:0.57 [[ 0.99998333 -0.00413559 0.00403045 2.12232953] [ 0.0041268 0.9999891 0.00218614 -0.09754279] [-0.00403944 -0.00216947 0.99998949 0.56931038] [ 0. 0. 0. 1. ]] SLAMing on 291.45255784400007 meters 0.28781595445082936 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.10, Z:0.57 [[ 9.99999142e-01 6.59525940e-04 1.13142716e-03 2.09938839e+00] [-6.58496211e-04 9.99999369e-01 -9.10246349e-04 -9.78760524e-02] [-1.13202678e-03 9.09500528e-04 9.99998946e-01 5.71586540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48255784400004 meters 0.29001443656327364 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:0.57 [[ 9.99997245e-01 1.90575073e-03 1.37048959e-03 2.13939715e+00] [-1.90453245e-03 9.99997791e-01 -8.89694463e-04 -9.88184184e-02] [-1.37218210e-03 8.87081870e-04 9.99998665e-01 5.73603850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51255784400007 meters 0.28845839889202857 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:0.57 [[ 9.99964741e-01 -8.36268007e-03 7.62709853e-04 2.11736265e+00] [ 8.36309282e-03 9.99964883e-01 -5.39585560e-04 -9.93128852e-02] [-7.58170688e-04 5.45945149e-04 9.99999564e-01 5.74463539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54255784400004 meters 0.288330707998059 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:0.58 [[ 9.99997355e-01 3.77108579e-04 2.26896804e-03 2.13549796e+00] [-3.72793238e-04 9.99998122e-01 -1.90201826e-03 -1.04095998e-01] [-2.26968105e-03 1.90116737e-03 9.99995617e-01 5.76238375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5725578440001 meters 0.28703426372052865 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:0.58 [[ 9.99997158e-01 5.09392507e-04 2.32893195e-03 2.13526531e+00] [-5.05782499e-04 9.99998670e-01 -1.55039660e-03 -1.05522023e-01] [-2.32971862e-03 1.54921427e-03 9.99996086e-01 5.76439344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60255784400005 meters 0.28836930477463013 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:0.57 [[ 0.99998143 -0.00427431 0.00434492 2.15839475] [ 0.00426484 0.99998851 0.00218708 -0.10713802] [-0.00435421 -0.00216851 0.99998817 0.57464332] [ 0. 0. 0. 1. ]] SLAMing on 291.632557844 meters 0.28894826146316516 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:0.57 [[ 0.99998201 -0.00417269 0.00430896 2.15863537] [ 0.00416213 0.99998832 0.00245768 -0.10827445] [-0.00431916 -0.0024397 0.9999877 0.57432434] [ 0. 0. 0. 1. ]] SLAMing on 291.66255784400005 meters 0.2873306512192993 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:0.58 [[ 9.99997635e-01 1.29019508e-03 1.75059939e-03 2.13801212e+00] [-1.28956049e-03 9.99999102e-01 -3.63579232e-04 -1.12461387e-01] [-1.75106691e-03 3.61320868e-04 9.99998402e-01 5.75100361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692557844 meters 0.28929977785616406 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:0.57 [[ 0.9999868 -0.00306631 0.00412293 2.16171533] [ 0.00305233 0.99998958 0.00339368 -0.11385223] [-0.00413329 -0.00338105 0.99998574 0.57308382] [ 0. 0. 0. 1. ]] SLAMing on 291.72255784400005 meters 0.28908447382522096 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:0.57 [[ 0.99998665 -0.00301474 0.00419589 2.16149304] [ 0.00299995 0.99998929 0.0035253 -0.1143795 ] [-0.00420647 -0.00351266 0.99998498 0.57317115] [ 0. 0. 0. 1. ]] SLAMing on 291.752557844 meters 0.2894114896158334 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:0.57 [[ 0.99998679 -0.00296616 0.00419796 2.16156918] [ 0.00295084 0.99998898 0.00365182 -0.11490775] [-0.00420875 -0.00363939 0.99998452 0.57300187] [ 0. 0. 0. 1. ]] SLAMing on 291.78255784400005 meters 0.28894522814483403 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.12, Z:0.57 [[ 9.99998512e-01 1.48566351e-03 8.76993608e-04 2.14284809e+00] [-1.48547363e-03 9.99998873e-01 -2.17121444e-04 -1.17868513e-01] [-8.77315190e-04 2.15818370e-04 9.99999592e-01 5.72243943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812557844 meters 0.28927690210729157 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.12, Z:0.57 [[ 9.99998524e-01 1.53282027e-03 7.76228676e-04 2.14323464e+00] [-1.53275366e-03 9.99998822e-01 -8.63992562e-05 -1.18434666e-01] [-7.76360196e-04 8.52093613e-05 9.99999695e-01 5.71951856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84255784400005 meters 0.2884483788530797 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.12, Z:0.57 [[ 9.99998417e-01 1.56058772e-03 8.54465202e-04 2.14303756e+00] [-1.56057265e-03 9.99998782e-01 -1.82994556e-05 -1.18707942e-01] [-8.54492720e-04 1.69659716e-05 9.99999635e-01 5.71953826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872557844 meters 0.2896813318372623 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.57 [[ 9.99994236e-01 3.07566555e-03 1.43796102e-03 2.18047030e+00] [-3.07532756e-03 9.99995243e-01 -2.37202516e-04 -1.15549781e-01] [-1.43868374e-03 2.32778947e-04 9.99998938e-01 5.74739966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90255784400006 meters 0.29012119503609984 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99993833e-01 3.15968703e-03 1.53321527e-03 2.18003573e+00] [-3.15965515e-03 9.99995008e-01 -2.32084979e-05 -1.16403278e-01] [-1.53328095e-03 1.83639232e-05 9.99998824e-01 5.75180834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93255784400003 meters 0.2888523245643454 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.11, Z:0.58 [[ 9.99995772e-01 1.38905298e-03 2.55458325e-03 2.17497335e+00] [-1.38444815e-03 9.99997415e-01 -1.80346345e-03 -1.14605004e-01] [-2.55708175e-03 1.79991913e-03 9.99995111e-01 5.78643042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96255784400006 meters 0.28896293459647593 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99996025e-01 1.42289240e-03 2.43427314e-03 2.17532290e+00] [-1.41873018e-03 9.99997530e-01 -1.71071358e-03 -1.15000364e-01] [-2.43670129e-03 1.70725320e-03 9.99995574e-01 5.78561810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99255784400003 meters 0.29046731687571353 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99996429e-01 1.41909742e-03 2.26445999e-03 2.17584979e+00] [-1.41522969e-03 9.99997539e-01 -1.70870552e-03 -1.15033293e-01] [-2.26687924e-03 1.70549469e-03 9.99995976e-01 5.78340024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02255784400006 meters 0.28942674664777124 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.11, Z:0.58 [[ 9.99988118e-01 -3.64223589e-03 3.24004674e-03 2.19949379e+00] [ 3.63650746e-03 9.99991818e-01 1.77214488e-03 -1.14593139e-01] [-3.24647480e-03 -1.76034137e-03 9.99993181e-01 5.76664332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05255784400003 meters 0.28893506631231863 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99998683e-01 8.34199506e-04 1.39222137e-03 2.17593024e+00] [-8.31813746e-04 9.99998186e-01 -1.71333565e-03 -1.16047306e-01] [-1.39364811e-03 1.71217532e-03 9.99997563e-01 5.78319369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08255784400006 meters 0.2878829114206634 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99998440e-01 8.78928840e-04 1.53195024e-03 2.17547860e+00] [-8.76481554e-04 9.99998340e-01 -1.59743661e-03 -1.16503437e-01] [-1.53335173e-03 1.59609140e-03 9.99997551e-01 5.78571880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11255784400004 meters 0.2903225662597112 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981718e-01 -4.12694797e-03 4.41949644e-03 2.19728201e+00] [ 4.11918942e-03 9.99989962e-01 1.76319485e-03 -1.17158993e-01] [-4.42672869e-03 -1.74495787e-03 9.99988680e-01 5.76952455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14255784400007 meters 0.28868120513664286 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981456e-01 -4.10999296e-03 4.49398652e-03 2.19701399e+00] [ 4.10192141e-03 9.99989960e-01 1.80382391e-03 -1.17312398e-01] [-4.50135511e-03 -1.78535648e-03 9.99988275e-01 5.77134107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17255784400004 meters 0.2883109441271092 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981016e-01 -4.06605670e-03 4.62982542e-03 2.19650570e+00] [ 4.05718040e-03 9.99989917e-01 1.92498025e-03 -1.17753788e-01] [-4.63760582e-03 -1.90615967e-03 9.99987430e-01 5.77543859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20255784400007 meters 0.2898073623500598 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:0.58 [[ 9.99972294e-01 2.92413697e-03 6.84555657e-03 2.21812889e+00] [-2.91606394e-03 9.99995041e-01 -1.18899465e-03 -1.17730292e-01] [-6.84899941e-03 1.16899963e-03 9.99975862e-01 5.75817048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23255784400004 meters 0.2898073623500598 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:0.58 [[ 9.99972294e-01 2.92413697e-03 6.84555657e-03 2.21812889e+00] [-2.91606394e-03 9.99995041e-01 -1.18899465e-03 -1.17730292e-01] [-6.84899941e-03 1.16899963e-03 9.99975862e-01 5.75817048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26255784400007 meters 0.2892173324298582 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99983015e-01 -4.44342071e-03 3.77167349e-03 2.19752315e+00] [ 4.43757543e-03 9.99988942e-01 1.55674139e-03 -1.19633638e-01] [-3.77854904e-03 -1.53997787e-03 9.99991675e-01 5.77597177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29255784400004 meters 0.2888779623829809 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982922e-01 -4.45335561e-03 3.78460079e-03 2.19749404e+00] [ 4.44760118e-03 9.99988943e-01 1.52754281e-03 -1.19515872e-01] [-3.79136163e-03 -1.51068432e-03 9.99991672e-01 5.77586916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3225578440001 meters 0.2889038179846237 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982806e-01 -4.48440256e-03 3.77852534e-03 2.19751470e+00] [ 4.47896140e-03 9.99988922e-01 1.44725389e-03 -1.19186481e-01] [-3.78497355e-03 -1.43030514e-03 9.99991814e-01 5.77575992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35255784400005 meters 0.28780818294574817 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99991514e-01 3.28608477e-03 2.48450171e-03 2.17785552e+00] [-3.28731059e-03 9.99994477e-01 4.89460365e-04 -1.22144205e-01] [-2.48287958e-03 -4.97623541e-04 9.99996794e-01 5.76841889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters 0.28859893334637327 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982276e-01 -4.41247099e-03 3.99729135e-03 2.19864443e+00] [ 4.40839086e-03 9.99989754e-01 1.02895878e-03 -1.17762116e-01] [-4.00179065e-03 -1.01131892e-03 9.99991481e-01 5.77391578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41255784400005 meters 0.2884562023922426 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982101e-01 -4.41197820e-03 4.04135027e-03 2.19845814e+00] [ 4.40786342e-03 9.99989758e-01 1.02650982e-03 -1.17741567e-01] [-4.04583782e-03 -1.00867772e-03 9.99991307e-01 5.77561990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442557844 meters 0.28856768908024893 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981874e-01 -4.41183085e-03 4.09729080e-03 2.19825150e+00] [ 4.40766740e-03 9.99989761e-01 1.02462052e-03 -1.17718565e-01] [-4.10176930e-03 -1.00654245e-03 9.99991081e-01 5.77719409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47255784400005 meters 0.2884515554193636 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981968e-01 -4.41818971e-03 4.06723143e-03 2.19840472e+00] [ 4.41412837e-03 9.99989751e-01 1.00698779e-03 -1.17661873e-01] [-4.07163881e-03 -9.89016350e-04 9.99991222e-01 5.77541344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters 0.28839696554604555 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982094e-01 -4.42002273e-03 4.03432822e-03 2.19852581e+00] [ 4.41601992e-03 9.99989749e-01 1.00055699e-03 -1.17643858e-01] [-4.03870935e-03 -9.82723399e-04 9.99991362e-01 5.77453888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53255784400005 meters 0.28766655528547025 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99982041e-01 -4.39430987e-03 4.07520219e-03 2.19840465e+00] [ 4.38999877e-03 9.99989795e-01 1.06622891e-03 -1.17915957e-01] [-4.07984595e-03 -1.04831963e-03 9.99991128e-01 5.77496168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters 0.2886277569856785 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99981804e-01 -4.39863358e-03 4.12837327e-03 2.19814856e+00] [ 4.39436132e-03 9.99989800e-01 1.04335415e-03 -1.17813469e-01] [-4.13292049e-03 -1.02519361e-03 9.99990934e-01 5.77824595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59255784400005 meters 0.28735404224080313 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99990749e-01 3.38194791e-03 2.65806735e-03 2.17926964e+00] [-3.38236546e-03 9.99994268e-01 1.52610483e-04 -1.22239027e-01] [-2.65753600e-03 -1.61599626e-04 9.99996456e-01 5.77000779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters 0.2885857307325408 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99990922e-01 3.39992721e-03 2.56816711e-03 2.17961290e+00] [-3.40046431e-03 9.99994197e-01 2.04801533e-04 -1.22470072e-01] [-2.56745590e-03 -2.13532635e-04 9.99996681e-01 5.76703497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65255784400006 meters 0.2877997888332118 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99990920e-01 3.46262061e-03 2.48414057e-03 2.17994128e+00] [-3.46358612e-03 9.99993928e-01 3.84473577e-04 -1.23220177e-01] [-2.48279420e-03 -3.93074121e-04 9.99996841e-01 5.76403694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters 0.28832942600833333 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:0.58 [[ 9.99990804e-01 3.52546267e-03 2.44177909e-03 2.18001555e+00] [-3.52687537e-03 9.99993616e-01 5.74491168e-04 -1.23973344e-01] [-2.43973815e-03 -5.83097736e-04 9.99996854e-01 5.76468344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71255784400006 meters 0.2863496094744021 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99989648e-01 3.65719831e-03 2.70707110e-03 2.17901950e+00] [-3.65999355e-03 9.99992773e-01 1.02833884e-03 -1.25783581e-01] [-2.70329069e-03 -1.03823605e-03 9.99995807e-01 5.77329927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74255784400003 meters 0.28967649173053117 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.58 [[ 9.99987396e-01 4.32317703e-03 2.55321236e-03 2.21810813e+00] [-4.32403345e-03 9.99990597e-01 3.30004586e-04 -1.26317143e-01] [-2.55176168e-03 -3.41040602e-04 9.99996686e-01 5.79751665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77255784400006 meters 0.2892214694611855 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.58 [[ 9.99987197e-01 4.37068772e-03 2.54989245e-03 2.21821866e+00] [-4.37186784e-03 9.99990339e-01 4.57425093e-04 -1.26856898e-01] [-2.54786855e-03 -4.68567030e-04 9.99996644e-01 5.79506790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80255784400003 meters 0.2887200345697421 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.13, Z:0.58 [[ 9.99989339e-01 -4.46417761e-03 1.17992069e-03 2.19954465e+00] [ 4.46159001e-03 9.99987656e-01 2.18664424e-03 -1.25568795e-01] [-1.18966770e-03 -2.18135660e-03 9.99996913e-01 5.77927108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83255784400006 meters 0.28773449088473313 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994817e-01 3.20367637e-03 3.19390281e-04 2.18054858e+00] [-3.20404397e-03 9.99994198e-01 1.15716639e-03 -1.30230192e-01] [-3.15681241e-04 -1.15818373e-03 9.99999279e-01 5.76470262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86255784400004 meters 0.28880989693360765 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994410e-01 3.33487722e-03 2.43462409e-04 2.18065088e+00] [-3.33525163e-03 9.99993231e-01 1.55400530e-03 -1.31805267e-01] [-2.38278344e-04 -1.55480862e-03 9.99998763e-01 5.76636876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89255784400007 meters 0.2884470300613742 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994282e-01 3.37881585e-03 1.43357171e-04 2.18091380e+00] [-3.37905062e-03 9.99992896e-01 1.67035098e-03 -1.32282003e-01] [-1.37712344e-04 -1.67082584e-03 9.99998595e-01 5.76606230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters 0.28810746778262125 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994317e-01 3.37072255e-03 7.04923665e-05 2.18107541e+00] [-3.37083436e-03 9.99992956e-01 1.65118264e-03 -1.32200102e-01] [-6.49261913e-05 -1.65141088e-03 9.99998634e-01 5.76662925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95255784400007 meters 0.2877466494995168 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994378e-01 3.35268748e-03 5.79261026e-05 2.18107333e+00] [-3.35277611e-03 9.99993092e-01 1.60453510e-03 -1.32004475e-01] [-5.25461977e-05 -1.60472029e-03 9.99998711e-01 5.76743938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98255784400004 meters 0.28838009800493086 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994408e-01 3.34308541e-03 8.53122902e-05 2.18094907e+00] [-3.34321602e-03 9.99993164e-01 1.57965969e-03 -1.31893876e-01] [-8.00307697e-05 -1.57993607e-03 9.99998749e-01 5.76871747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01255784400007 meters 0.2873250348808891 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:0.58 [[ 9.99994641e-01 3.27093757e-03 1.34552814e-04 2.18076924e+00] [-3.27112085e-03 9.99993690e-01 1.38528276e-03 -1.31079670e-01] [-1.30020792e-04 -1.38571547e-03 9.99999031e-01 5.77018368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04255784400004 meters 0.289701708896953 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.57 [[ 9.99982560e-01 5.01645814e-03 3.11692319e-03 2.22479240e+00] [-5.02052766e-03 9.99986553e-01 1.29916891e-03 -1.27413651e-01] [-3.11036405e-03 -1.31479486e-03 9.99994298e-01 5.74654688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0725578440001 meters 0.28882466894566705 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.57 [[ 9.99983014e-01 4.93490834e-03 3.10126641e-03 2.22497909e+00] [-4.93831502e-03 9.99987210e-01 1.09178486e-03 -1.26562012e-01] [-3.09583889e-03 -1.10708134e-03 9.99994595e-01 5.74346614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10255784400005 meters 0.28897407948360154 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.13, Z:0.57 [[ 9.99983458e-01 4.87025006e-03 3.06027787e-03 2.22523496e+00] [-4.87308559e-03 9.99987703e-01 9.19788950e-04 -1.25874505e-01] [-3.05576063e-03 -9.34686731e-04 9.99994894e-01 5.74005648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.132557844 meters 0.288505846624356 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.13, Z:0.57 [[ 9.99983926e-01 4.85590121e-03 2.92713454e-03 2.22566863e+00] [-4.85846147e-03 9.99987821e-01 8.68191536e-04 -1.25708735e-01] [-2.92288304e-03 -8.82398951e-04 9.99995339e-01 5.73721001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16255784400005 meters 0.29018114969413583 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.13, Z:0.57 [[ 9.99984059e-01 4.84317202e-03 2.90253544e-03 2.22574937e+00] [-4.84559351e-03 9.99987917e-01 8.27818908e-04 -1.25552029e-01] [-2.89849110e-03 -8.41870219e-04 9.99995445e-01 5.73675517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192557844 meters 0.2886365019050641 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99996467e-01 -2.59651725e-03 5.69328844e-04 2.20441916e+00] [ 2.59454902e-03 9.99990748e-01 3.43101657e-03 -1.24751214e-01] [-5.78232271e-04 -3.42952729e-03 9.99993952e-01 5.75300262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22255784400005 meters 0.2894662100426548 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99996394e-01 -2.63184766e-03 5.33698317e-04 2.20462226e+00] [ 2.63005244e-03 9.99990974e-01 3.33699386e-03 -1.24380302e-01] [-5.42475960e-04 -3.33557818e-03 9.99994290e-01 5.75039404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252557844 meters 0.2900990566399479 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.57 [[ 9.99996249e-01 -2.68168471e-03 5.56829296e-04 2.20464251e+00] [ 2.67988689e-03 9.99991274e-01 3.20470389e-03 -1.23845740e-01] [-5.65418443e-04 -3.20319963e-03 9.99994710e-01 5.74865843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28255784400005 meters 0.2911167378398389 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.58 [[ 9.99995771e-01 -2.77234452e-03 8.78502421e-04 2.20377579e+00] [ 2.76973039e-03 9.99991774e-01 2.96303848e-03 -1.22857646e-01] [-8.86709758e-04 -2.96059273e-03 9.99995224e-01 5.75103793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312557844 meters 0.2896589213465032 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.58 [[ 9.99976574e-01 6.32275393e-03 2.62181890e-03 2.22283366e+00] [-6.32755806e-03 9.99978310e-01 1.82813810e-03 -1.25672038e-01] [-2.61020317e-03 -1.84468499e-03 9.99994892e-01 5.75413674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34255784400005 meters 0.2893185544127025 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:0.58 [[ 9.99976631e-01 6.30221943e-03 2.64936611e-03 2.22278693e+00] [-6.30693131e-03 9.99978538e-01 1.77391596e-03 -1.25452346e-01] [-2.63812964e-03 -1.79058388e-03 9.99994917e-01 5.75365641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372557844 meters 0.2887958720535328 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:0.57 [[ 9.99995915e-01 -2.61498887e-03 1.15410652e-03 2.20412597e+00] [ 2.61145157e-03 9.99991921e-01 3.05590662e-03 -1.21642940e-01] [-1.16208835e-03 -3.05288024e-03 9.99994665e-01 5.74418487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40255784400006 meters 0.2918059036183988 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.12, Z:0.58 [[ 9.99997004e-01 -2.12735873e-03 -1.21059530e-03 2.24558866e+00] [ 2.12980468e-03 9.99995686e-01 2.02276597e-03 -1.22824927e-01] [ 1.20628693e-03 -2.02533824e-03 9.99997221e-01 5.76610183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43255784400003 meters 0.29011893974643377 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:0.58 [[ 9.99987417e-01 2.72888252e-03 -4.20936501e-03 2.22326188e+00] [-2.73488571e-03 9.99995250e-01 -1.42105425e-03 -1.20448760e-01] [ 4.20546713e-03 1.43254850e-03 9.99990131e-01 5.78170298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46255784400006 meters 0.2896440287985648 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:0.58 [[ 9.99987903e-01 2.65474367e-03 -4.14087244e-03 2.22296008e+00] [-2.66146289e-03 9.99995149e-01 -1.61799183e-03 -1.19621809e-01] [ 4.13655700e-03 1.62899304e-03 9.99990118e-01 5.78480373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49255784400003 meters 0.289011055697894 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:0.58 [[ 9.99988759e-01 2.52598812e-03 -4.01261154e-03 2.22253492e+00] [-2.53394357e-03 9.99994832e-01 -1.97876466e-03 -1.18116477e-01] [ 4.00759246e-03 1.98891015e-03 9.99989992e-01 5.78747428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52255784400006 meters 0.2898107151401033 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.11, Z:0.58 [[ 0.99999085 0.00223782 -0.00364458 2.22158379] [-0.00224887 0.99999288 -0.00302864 -0.11385996] [ 0.00363777 0.00303681 0.99998877 0.57896033] [ 0. 0. 0. 1. ]] SLAMing on 293.55255784400003 meters 0.2884809157539222 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.11, Z:0.58 [[ 9.99991434e-01 2.04807214e-03 -3.59677573e-03 2.22147944e+00] [-2.06092079e-03 9.99991496e-01 -3.57220438e-03 -1.11664687e-01] [ 3.58942901e-03 3.57958645e-03 9.99987151e-01 5.78988509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58255784400006 meters 0.28959758643819145 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.11, Z:0.58 [[ 9.99992022e-01 1.85510318e-03 -3.53748328e-03 2.22138786e+00] [-1.86959339e-03 9.99989858e-01 -4.09729521e-03 -1.09523990e-01] [ 3.52984650e-03 4.10387618e-03 9.99985349e-01 5.78918540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61255784400004 meters 0.2884186079189234 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.11, Z:0.58 [[ 9.99992358e-01 1.69133238e-03 -3.52465591e-03 2.22139591e+00] [-1.70724622e-03 9.99988341e-01 -4.51689648e-03 -1.07801143e-01] [ 3.51697524e-03 4.52287942e-03 9.99983587e-01 5.78866718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64255784400007 meters 0.29154728329548923 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.58 [[ 0.99998121 -0.00567677 -0.00231592 2.24060477] [ 0.00566915 0.99997855 -0.00328105 -0.10290319] [ 0.00233449 0.00326786 0.99999194 0.5805752 ] [ 0. 0. 0. 1. ]] SLAMing on 293.67255784400004 meters 0.28872216742340895 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.10, Z:0.58 [[ 0.9999871 0.00329054 -0.00386866 2.21890843] [-0.00330321 0.99998918 -0.0032753 -0.10331113] [ 0.00385785 0.00328803 0.99998715 0.58096698] [ 0. 0. 0. 1. ]] SLAMing on 293.70255784400007 meters 0.29105476691318377 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.58 [[ 0.99997516 -0.00585535 -0.00392257 2.24267932] [ 0.00584138 0.99997659 -0.00356424 -0.10118577] [ 0.00394334 0.00354123 0.99998595 0.58045836] [ 0. 0. 0. 1. ]] SLAMing on 293.73255784400004 meters 0.29088965721780347 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.58 [[ 9.99989671e-01 -1.93290853e-03 -4.11356140e-03 2.24302022e+00] [ 1.93416429e-03 9.99998084e-01 3.01316113e-04 -1.01345868e-01] [ 4.11297110e-03 -3.09269304e-04 9.99991494e-01 5.80450992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76255784400007 meters 0.2916454544732496 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:0.58 [[ 9.99989635e-01 -1.90880557e-03 -4.13355045e-03 2.24309245e+00] [ 1.91034521e-03 9.99998107e-01 3.68559518e-04 -1.01621610e-01] [ 4.13283912e-03 -3.76452206e-04 9.99991389e-01 5.80384469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79255784400004 meters 0.28952841543022134 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.10, Z:0.58 [[ 9.99992915e-01 -1.76536221e-03 -3.32474927e-03 2.20348688e+00] [ 1.77143275e-03 9.99996768e-01 1.82380507e-03 -1.00534589e-01] [ 3.32151884e-03 -1.82968172e-03 9.99992810e-01 5.77779049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8225578440001 meters 0.29154454732124946 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.10, Z:0.58 [[ 9.99966359e-01 7.82714756e-03 -2.45292241e-03 2.22389660e+00] [-7.82379969e-03 9.99968453e-01 1.37148589e-03 -1.04750625e-01] [ 2.46357985e-03 -1.35224858e-03 9.99996051e-01 5.77366604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85255784400005 meters 0.29127536900537276 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.10, Z:0.58 [[ 9.99966520e-01 7.78933344e-03 -2.50695004e-03 2.22417462e+00] [-7.78615520e-03 9.99968875e-01 1.27504340e-03 -1.04356582e-01] [ 2.51680375e-03 -1.25548121e-03 9.99996045e-01 5.77068127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters 0.29048646054537136 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:0.58 [[ 9.99990442e-01 -1.57998302e-03 -4.07679974e-03 2.20568569e+00] [ 1.58765078e-03 9.99996976e-01 1.87827749e-03 -9.82705726e-02] [ 4.07381976e-03 -1.88473207e-03 9.99989926e-01 5.76696816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91255784400005 meters 0.290105644568019 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:0.58 [[ 9.99990611e-01 -1.64417512e-03 -4.00934533e-03 2.20541928e+00] [ 1.65099627e-03 9.99997194e-01 1.69859625e-03 -9.75246865e-02] [ 4.00654130e-03 -1.70519972e-03 9.99990520e-01 5.76956097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters 0.2909717409341249 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.10, Z:0.58 [[ 9.99990956e-01 -1.72576437e-03 -3.88718249e-03 2.20498444e+00] [ 1.73144896e-03 9.99997436e-01 1.45950161e-03 -9.65260884e-02] [ 3.88465376e-03 -1.46621887e-03 9.99991380e-01 5.77308737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97255784400005 meters 0.2889423021772555 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.10, Z:0.58 [[ 9.99991251e-01 -1.82096923e-03 -3.76587951e-03 2.20454798e+00] [ 1.82539027e-03 9.99997649e-01 1.17086839e-03 -9.53363805e-02] [ 3.76373854e-03 -1.17773235e-03 9.99992224e-01 5.77692498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters 0.2895777281008523 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99991088e-01 -1.91746648e-03 -3.76121969e-03 2.20450650e+00] [ 1.92080537e-03 9.99997764e-01 8.84302678e-04 -9.41796313e-02] [ 3.75951566e-03 -8.91519369e-04 9.99992536e-01 5.77803734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03255784400005 meters 0.2914303249367923 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99990642e-01 -1.99353134e-03 -3.83960646e-03 2.20479061e+00] [ 1.99611809e-03 9.99997783e-01 6.69987034e-04 -9.33112926e-02] [ 3.83826231e-03 -6.77645072e-04 9.99992404e-01 5.77611946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters 0.29056148548654614 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99989666e-01 -2.11999724e-03 -4.02159915e-03 2.20549691e+00] [ 2.12124694e-03 9.99997703e-01 3.06507923e-04 -9.18116844e-02] [ 4.02094012e-03 -3.15035561e-04 9.99991866e-01 5.77001604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09255784400005 meters 0.2911108640425333 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99989622e-01 -2.13001896e-03 -4.02735839e-03 2.20553733e+00] [ 2.13116564e-03 9.99997690e-01 2.80450939e-04 -9.17065480e-02] [ 4.02675172e-03 -2.89030996e-04 9.99991851e-01 5.76946802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters 0.2908844209554453 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99990040e-01 -2.12431406e-03 -3.92520843e-03 2.20517705e+00] [ 2.12548567e-03 9.99997698e-01 2.94335681e-04 -9.17587553e-02] [ 3.92457413e-03 -3.02675724e-04 9.99992253e-01 5.77171854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15255784400006 meters 0.2908844209554453 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99990040e-01 -2.12431406e-03 -3.92520843e-03 2.20517705e+00] [ 2.12548567e-03 9.99997698e-01 2.94335681e-04 -9.17587553e-02] [ 3.92457413e-03 -3.02675724e-04 9.99992253e-01 5.77171854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters 0.29120350528774497 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99990500e-01 -2.11973666e-03 -3.80863059e-03 2.20476158e+00] [ 2.12091556e-03 9.99997704e-01 3.05521789e-04 -9.18031257e-02] [ 3.80797422e-03 -3.13596670e-04 9.99992700e-01 5.77453607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21255784400006 meters 0.2896556261966792 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99990645e-01 -2.13096636e-03 -3.76422511e-03 2.20463215e+00] [ 2.13201383e-03 9.99997690e-01 2.74279705e-04 -9.16759368e-02] [ 3.76363193e-03 -2.82302519e-04 9.99992878e-01 5.77498166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters 0.29030472925048334 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99990463e-01 -2.21279146e-03 -3.76518964e-03 2.20488497e+00] [ 2.21303998e-03 9.99997549e-01 6.18395347e-05 -9.08049132e-02] [ 3.76504358e-03 -7.01714602e-05 9.99992910e-01 5.76944094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27255784400006 meters 0.2912646897304728 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99990034e-01 -2.28953476e-03 -3.83263044e-03 2.20524515e+00] [ 2.28900766e-03 9.99997370e-01 -1.41911467e-04 -8.99736781e-02] [ 3.83294527e-03 1.33137132e-04 9.99992645e-01 5.76522861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters 0.29263596533658964 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99989633e-01 -2.36652573e-03 -3.89016478e-03 2.20544771e+00] [ 2.36522417e-03 9.99997145e-01 -3.39145066e-04 -8.91584514e-02] [ 3.89095627e-03 3.29940438e-04 9.99992376e-01 5.76419487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33255784400006 meters 0.2911505328205017 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99989137e-01 -2.58499982e-03 -3.87865885e-03 2.20541442e+00] [ 2.58163718e-03 9.99996288e-01 -8.71717397e-04 -8.69461940e-02] [ 3.88089784e-03 8.61694638e-04 9.99992098e-01 5.76484138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36255784400004 meters 0.29121132152614587 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:0.58 [[ 9.99989202e-01 -2.68467443e-03 -3.79307436e-03 2.20518747e+00] [ 2.68042927e-03 9.99995776e-01 -1.12382939e-03 -8.59086729e-02] [ 3.79607545e-03 1.11365018e-03 9.99992175e-01 5.76522817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39255784400007 meters 0.29233959160053935 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99989310e-01 -2.74338191e-03 -3.72201610e-03 2.20497497e+00] [ 2.73866239e-03 9.99995440e-01 -1.27250532e-03 -8.52912895e-02] [ 3.72549010e-03 1.26229837e-03 9.99992264e-01 5.76597190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters 0.29233959160053935 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.09, Z:0.58 [[ 9.99989310e-01 -2.74338191e-03 -3.72201610e-03 2.20497497e+00] [ 2.73866239e-03 9.99995440e-01 -1.27250532e-03 -8.52912895e-02] [ 3.72549010e-03 1.26229837e-03 9.99992264e-01 5.76597190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45255784400007 meters 0.2922329379437347 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.08, Z:0.58 [[ 9.99989117e-01 -2.84583214e-03 -3.69698201e-03 2.20500030e+00] [ 2.84016604e-03 9.99994786e-01 -1.53697769e-03 -8.42110221e-02] [ 3.70133671e-03 1.52646092e-03 9.99991985e-01 5.76423650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48255784400004 meters 0.29209024566092995 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.08, Z:0.58 [[ 9.99988627e-01 -2.93766237e-03 -3.75716162e-03 2.20528630e+00] [ 2.93100965e-03 9.99994129e-01 -1.77495888e-03 -8.32319062e-02] [ 3.76235380e-03 1.76392642e-03 9.99991367e-01 5.76163664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51255784400007 meters 0.29014538031198384 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:0.58 [[ 0.99997098 0.0053877 -0.00538539 2.18453378] [-0.00540172 0.99998205 -0.00259114 -0.08261664] [ 0.00537134 0.00262016 0.99998214 0.57543612] [ 0. 0. 0. 1. ]] SLAMing on 294.54255784400004 meters 0.29090507738081145 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.08, Z:0.58 [[ 9.99988034e-01 -2.34255232e-03 -4.29457394e-03 2.20390528e+00] [ 2.33623763e-03 9.99996183e-01 -1.47481704e-03 -7.81200949e-02] [ 4.29801239e-03 1.46476625e-03 9.99989691e-01 5.76891822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5725578440001 meters 0.2929537373953048 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.08, Z:0.58 [[ 9.99987633e-01 -2.47161107e-03 -4.31570533e-03 2.20391829e+00] [ 2.46377441e-03 9.99995308e-01 -1.82021988e-03 -7.67087162e-02] [ 4.32018396e-03 1.80956444e-03 9.99989031e-01 5.77023531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60255784400005 meters 0.291540604340472 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:0.58 [[ 0.9999677 0.00594398 -0.00540955 2.18207108] [-0.00596047 0.99997762 -0.00303817 -0.07366446] [ 0.00539137 0.00307031 0.99998075 0.57733811] [ 0. 0. 0. 1. ]] SLAMing on 294.632557844 meters 0.2905871571991136 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.07, Z:0.58 [[ 0.99997479 -0.00279975 -0.00652544 2.16348191] [ 0.00278545 0.9999937 -0.00219972 -0.06627423] [ 0.00653156 0.00218149 0.99997629 0.57619559] [ 0. 0. 0. 1. ]] SLAMing on 294.66255784400005 meters 0.2923286095899597 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.07, Z:0.58 [[ 9.99975598e-01 -8.52564538e-04 -6.93368446e-03 2.20454670e+00] [ 8.42797651e-04 9.99998649e-01 -1.41141429e-03 -6.70309002e-02] [ 6.93487841e-03 1.40553616e-03 9.99974966e-01 5.77802268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.692557844 meters 0.29327921234627435 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.07, Z:0.58 [[ 9.99975717e-01 -9.80212928e-04 -6.89965690e-03 2.20452489e+00] [ 9.68213762e-04 9.99998014e-01 -1.74222148e-03 -6.56852864e-02] [ 6.90135094e-03 1.73549883e-03 9.99974679e-01 5.77695845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72255784400005 meters 0.2915620370934811 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:0.58 [[ 9.99975821e-01 -1.12142319e-03 -6.86292511e-03 2.20438481e+00] [ 1.10695493e-03 9.99997158e-01 -2.11161161e-03 -6.41728525e-02] [ 6.86527361e-03 2.10396360e-03 9.99974220e-01 5.77831354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752557844 meters 0.2924882014531219 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:0.58 [[ 9.99975987e-01 -1.26540945e-03 -6.81358928e-03 2.20419399e+00] [ 1.24850374e-03 9.99996133e-01 -2.48485707e-03 -6.26318896e-02] [ 6.81670730e-03 2.47629061e-03 9.99973700e-01 5.78014561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78255784400005 meters 0.2923876295249917 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:0.58 [[ 9.99973221e-01 2.81593379e-03 -6.75479674e-03 2.20414094e+00] [-2.80869689e-03 9.99995472e-01 1.08062015e-03 -5.95011948e-02] [ 6.75780911e-03 -1.06161904e-03 9.99976602e-01 5.77936845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812557844 meters 0.2929378571382412 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:0.58 [[ 9.99973043e-01 2.60890546e-03 -6.86348643e-03 2.20461806e+00] [-2.60527888e-03 9.99996462e-01 5.37275735e-04 -5.72622767e-02] [ 6.86486385e-03 -5.19379955e-04 9.99976302e-01 5.77558989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84255784400005 meters 0.29206861770742615 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:0.58 [[ 9.99972939e-01 2.44040968e-03 -6.94008341e-03 2.20499199e+00] [-2.43986941e-03 9.99997020e-01 8.63136888e-05 -5.54173924e-02] [ 6.94027337e-03 -6.93784559e-05 9.99975914e-01 5.77185760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872557844 meters 0.29209422830421267 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:0.58 [[ 9.99973159e-01 2.26226108e-03 -6.96869275e-03 2.20519844e+00] [-2.26501027e-03 9.99997360e-01 -3.86638977e-04 -5.34831745e-02] [ 6.96779967e-03 4.02412760e-04 9.99975644e-01 5.76936368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90255784400006 meters 0.29306560620387856 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:0.58 [[ 9.99973651e-01 2.06717099e-03 -6.95878356e-03 2.20513534e+00] [-2.07344991e-03 9.99997450e-01 -8.95207708e-04 -5.13986534e-02] [ 6.95691527e-03 9.09612809e-04 9.99975387e-01 5.77077283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93255784400003 meters 0.292980873903913 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.05, Z:0.58 [[ 9.99974449e-01 1.87312142e-03 -6.89871979e-03 2.20488775e+00] [-1.88282950e-03 9.99997246e-01 -1.40100331e-03 -4.93293587e-02] [ 6.89607654e-03 1.41395662e-03 9.99975222e-01 5.77327307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96255784400006 meters 0.2921254654624236 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:0.58 [[ 9.99974485e-01 1.54737799e-03 -6.97390486e-03 2.20509102e+00] [-1.56310861e-03 9.99996245e-01 -2.25075457e-03 -4.58948346e-02] [ 6.97039591e-03 2.26159811e-03 9.99973149e-01 5.77384028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99255784400003 meters 0.29290759348208945 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:0.58 [[ 9.99982563e-01 -4.14233373e-03 -4.20893017e-03 2.22771465e+00] [ 4.14537470e-03 9.99991153e-01 7.14038220e-04 -4.65269842e-02] [ 4.20593515e-03 -7.31473361e-04 9.99990887e-01 5.75247599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02255784400006 meters 0.29198342529912874 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:0.57 [[ 9.99976988e-01 4.24677580e-03 -5.29043755e-03 2.20721289e+00] [-4.24880779e-03 9.99990904e-01 -3.72908882e-04 -4.68112388e-02] [ 5.28880577e-03 3.95378353e-04 9.99985936e-01 5.74353549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05255784400003 meters 0.2926853220937744 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:0.57 [[ 9.99977610e-01 4.11343831e-03 -5.27808094e-03 2.20715924e+00] [-4.11725466e-03 9.99991270e-01 -7.12395478e-04 -4.54106495e-02] [ 5.27510447e-03 7.34110731e-04 9.99985817e-01 5.74431949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08255784400006 meters 0.2912366454947791 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:0.57 [[ 9.99978381e-01 3.96243161e-03 -5.24748445e-03 2.20708932e+00] [-3.96822375e-03 9.99991528e-01 -1.09384308e-03 -4.38462357e-02] [ 5.24310571e-03 1.11464262e-03 9.99985634e-01 5.74452577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11255784400004 meters 0.2910707051390737 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:0.57 [[ 9.99979179e-01 3.69200679e-03 -5.29247962e-03 2.20716218e+00] [-3.70143055e-03 9.99991580e-01 -1.77190669e-03 -4.10586562e-02] [ 5.28589317e-03 1.79145954e-03 9.99984425e-01 5.74617849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14255784400007 meters 0.2919377635741558 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:0.57 [[ 9.99979321e-01 3.58053729e-03 -5.34211300e-03 2.20726363e+00] [-3.59161998e-03 9.99991415e-01 -2.06643995e-03 -3.98434274e-02] [ 5.33466818e-03 2.08558406e-03 9.99983596e-01 5.74709178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17255784400004 meters 0.29138565984404136 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:0.57 [[ 0.99998002 0.00344614 -0.00529984 2.2071087 ] [-0.00345902 0.99999108 -0.00242313 -0.03838696] [ 0.00529144 0.00244141 0.99998302 0.57487218] [ 0. 0. 0. 1. ]] SLAMing on 295.20255784400007 meters 0.29126350947805074 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:0.58 [[ 0.99998073 0.00331698 -0.00524706 2.20690731] [-0.00333151 0.99999064 -0.00276222 -0.03700098] [ 0.00523785 0.00277965 0.99998242 0.5750742 ] [ 0. 0. 0. 1. ]] SLAMing on 295.23255784400004 meters 0.2914572740987738 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99995332e-01 -2.16180529e-03 -2.15927788e-03 2.22877243e+00] [ 2.16270905e-03 9.99997575e-01 4.16298238e-04 -3.79151403e-02] [ 2.15837268e-03 -4.20966184e-04 9.99997582e-01 5.73703171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26255784400007 meters 0.2908718503656598 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99995281e-01 -2.24897751e-03 -2.09268235e-03 2.22855581e+00] [ 2.24938298e-03 9.99997452e-01 1.91420837e-04 -3.69980650e-02] [ 2.09224652e-03 -1.96127178e-04 9.99997792e-01 5.73829781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29255784400004 meters 0.29082660530082155 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99995353e-01 -2.26908244e-03 -2.03612339e-03 2.22845048e+00] [ 2.26936317e-03 9.99997416e-01 1.35573686e-04 -3.67761950e-02] [ 2.03581050e-03 -1.40193759e-04 9.99997918e-01 5.73748502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3225578440001 meters 0.2923026363101185 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99995253e-01 -2.25763212e-03 -2.09683098e-03 2.22864543e+00] [ 2.25797916e-03 9.99997437e-01 1.63151951e-04 -3.68951506e-02] [ 2.09645727e-03 -1.67885777e-04 9.99997788e-01 5.73647818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35255784400005 meters 0.2907142005484121 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:0.57 [[ 9.99995730e-01 -2.54641257e-03 -1.43349693e-03 2.19077530e+00] [ 2.54661943e-03 9.99996747e-01 1.42498000e-04 -3.41310796e-02] [ 1.43312941e-03 -1.46147962e-04 9.99998962e-01 5.69955502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.382557844 meters 0.2924835874431806 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99993782e-01 -1.62270200e-03 -3.13084807e-03 2.23218159e+00] [ 1.62525259e-03 9.99998349e-01 8.12292704e-04 -3.72151792e-02] [ 3.12952480e-03 -8.17376072e-04 9.99994769e-01 5.71962463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41255784400005 meters 0.2921477976142962 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99993729e-01 -1.66014815e-03 -3.12813004e-03 2.23225740e+00] [ 1.66238885e-03 9.99998363e-01 7.13843857e-04 -3.68103943e-02] [ 3.12693983e-03 -7.19039549e-04 9.99994853e-01 5.71785840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442557844 meters 0.29246689872944903 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99993416e-01 -1.67683554e-03 -3.21819525e-03 2.23255116e+00] [ 1.67899249e-03 9.99998368e-01 6.67650818e-04 -3.66144488e-02] [ 3.21707046e-03 -6.73049747e-04 9.99994599e-01 5.71643291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47255784400005 meters 0.2928794892436118 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99992799e-01 -1.73978874e-03 -3.37268213e-03 2.23299497e+00] [ 1.74145831e-03 9.99998363e-01 4.92152810e-04 -3.58850846e-02] [ 3.37182037e-03 -4.98022651e-04 9.99994191e-01 5.71541072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502557844 meters 0.2919778291291425 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99992829e-01 -1.75250373e-03 -3.35707652e-03 2.23291057e+00] [ 1.75405596e-03 9.99998356e-01 4.59489318e-04 -3.57531852e-02] [ 3.35626575e-03 -4.65374523e-04 9.99994259e-01 5.71647019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53255784400005 meters 0.2905306202392218 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.57 [[ 9.99992984e-01 -1.74055945e-03 -3.31711472e-03 2.23271005e+00] [ 1.74220260e-03 9.99998361e-01 4.92530227e-04 -3.58924165e-02] [ 3.31625201e-03 -4.98305857e-04 9.99994377e-01 5.71876290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562557844 meters 0.2931975666116329 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.57 [[ 9.99990575e-01 4.20908300e-03 -1.06470533e-03 2.25486355e+00] [-4.21208991e-03 9.99987102e-01 -2.83787363e-03 -3.70334030e-02] [ 1.05274676e-03 2.84233152e-03 9.99995406e-01 5.70345022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59255784400005 meters 0.29044538817880705 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99988998e-01 -4.51507843e-03 -1.27218301e-03 2.23473176e+00] [ 4.51268420e-03 9.99988053e-01 -1.87861286e-03 -3.25199300e-02] [ 1.28064989e-03 1.87285123e-03 9.99997426e-01 5.69675167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters 0.29015718109458655 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99989129e-01 -4.49853779e-03 -1.22646345e-03 2.23458758e+00] [ 4.49628481e-03 9.99988211e-01 -1.83358558e-03 -3.27042991e-02] [ 1.23469744e-03 1.82805112e-03 9.99997567e-01 5.69736000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65255784400006 meters 0.290967298391092 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99988831e-01 -4.54771722e-03 -1.28663499e-03 2.23491514e+00] [ 4.54518432e-03 9.99987740e-01 -1.96474730e-03 -3.21432920e-02] [ 1.29555433e-03 1.95887736e-03 9.99997242e-01 5.69348079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters 0.29155882207562617 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99988834e-01 -4.54143389e-03 -1.30650314e-03 2.23504458e+00] [ 4.53888350e-03 9.99987801e-01 -1.94846005e-03 -3.22046695e-02] [ 1.31533601e-03 1.94250823e-03 9.99997248e-01 5.69163106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71255784400006 meters 0.2927027563863083 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99988931e-01 -4.53310823e-03 -1.26064312e-03 2.23494366e+00] [ 4.53067550e-03 9.99987882e-01 -1.92596316e-03 -3.22988151e-02] [ 1.26935844e-03 1.92023028e-03 9.99997351e-01 5.69121943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters 0.2911409531245073 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99989080e-01 -4.51079644e-03 -1.22159181e-03 2.23482691e+00] [ 4.50851052e-03 9.99988093e-01 -1.86759620e-03 -3.25404208e-02] [ 1.23000161e-03 1.86206825e-03 9.99997510e-01 5.69154619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77255784400006 meters 0.29128372886775405 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.57 [[ 9.99989186e-01 -4.48239734e-03 -1.23917114e-03 2.23489353e+00] [ 4.48017117e-03 9.99988356e-01 -1.79347137e-03 -3.28412488e-02] [ 1.24719576e-03 1.78790028e-03 9.99997624e-01 5.69095084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters 0.2921706423528418 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.57 [[ 9.99988659e-01 4.76102704e-03 -1.20416151e-04 2.25516572e+00] [-4.76127008e-03 9.99986448e-01 -2.10573261e-03 -3.82848733e-02] [ 1.10389069e-04 2.10628206e-03 9.99997776e-01 5.68922243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83255784400006 meters 0.29229702339976693 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.57 [[ 9.99988388e-01 4.81685735e-03 -1.45419415e-04 2.25528455e+00] [-4.81713251e-03 9.99986486e-01 -1.95511013e-03 -3.88988984e-02] [ 1.35999963e-04 1.95578793e-03 9.99998078e-01 5.68772166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters 0.29463466185829584 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.57 [[ 9.99988110e-01 4.87420607e-03 -1.49557221e-04 2.25537337e+00] [-4.87446628e-03 9.99986514e-01 -1.79181591e-03 -3.95587626e-02] [ 1.40821524e-04 1.79252362e-03 9.99998384e-01 5.68559377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89255784400007 meters 0.2931847816760541 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:0.56 [[ 9.99992161e-01 -1.56564377e-03 3.63698722e-03 2.23827302e+00] [ 1.56389050e-03 9.99998660e-01 4.84859785e-04 -3.98978956e-02] [-3.63774146e-03 -4.79168134e-04 9.99993269e-01 5.63013050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters 0.2925121807196969 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.04, Z:0.56 [[ 9.99991969e-01 -1.55835042e-03 3.69228658e-03 2.23816493e+00] [ 1.55649799e-03 9.99998661e-01 5.04524495e-04 -3.99808782e-02] [-3.69306786e-03 -4.98773407e-04 9.99993056e-01 5.62934411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95255784400007 meters 0.2923057260791103 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:0.57 [[ 9.99992705e-01 3.81929888e-03 -5.96204743e-05 2.21527175e+00] [-3.81944097e-03 9.99989327e-01 -2.59949559e-03 -3.49856145e-02] [ 4.96915874e-05 2.59970434e-03 9.99996620e-01 5.65863042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98255784400004 meters 0.29154207160386186 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:0.57 [[ 9.99992765e-01 3.80247434e-03 -1.01684575e-04 2.21536979e+00] [-3.80273018e-03 9.99989267e-01 -2.64680605e-03 -3.47915949e-02] [ 9.16190712e-05 2.64717358e-03 9.99996492e-01 5.65888671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01255784400007 meters 0.29211990850259467 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:0.57 [[ 9.99992843e-01 3.78070067e-03 -1.40796958e-04 2.21541157e+00] [-3.78106796e-03 9.99989188e-01 -2.70678118e-03 -3.45485166e-02] [ 1.30561907e-04 2.70729417e-03 9.99996327e-01 5.66030980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04255784400004 meters 0.29211990850259467 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:0.57 [[ 9.99992843e-01 3.78070067e-03 -1.40796958e-04 2.21541157e+00] [-3.78106796e-03 9.99989188e-01 -2.70678118e-03 -3.45485166e-02] [ 1.30561907e-04 2.70729417e-03 9.99996327e-01 5.66030980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0725578440001 meters 0.2936648383039461 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987972e-01 -4.82505011e-03 8.80695661e-04 2.23644707e+00] [ 4.82678080e-03 9.99986403e-01 -1.97370150e-03 -3.27535720e-02] [-8.71160477e-04 1.97792869e-03 9.99997664e-01 5.66478456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10255784400005 meters 0.293424232244454 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987840e-01 -4.86945193e-03 7.80270375e-04 2.23701985e+00] [ 4.87107764e-03 9.99985941e-01 -2.09533936e-03 -3.22034111e-02] [-7.70056251e-04 2.09911463e-03 9.99997500e-01 5.65768392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.132557844 meters 0.29441204162891377 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987904e-01 -4.85927313e-03 7.60994226e-04 2.23716275e+00] [ 4.86083948e-03 9.99986043e-01 -2.07014982e-03 -3.22979863e-02] [-7.50924181e-04 2.07382385e-03 9.99997568e-01 5.65559765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16255784400005 meters 0.2927601572262761 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987995e-01 -4.84351855e-03 7.42221357e-04 2.23715804e+00] [ 4.84501602e-03 9.99986204e-01 -2.02920627e-03 -3.24659996e-02] [-7.32382620e-04 2.03277798e-03 9.99997666e-01 5.65673114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192557844 meters 0.29272883934967503 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99988096e-01 -4.82301803e-03 7.39183014e-04 2.23710858e+00] [ 4.82447050e-03 9.99986410e-01 -1.97594465e-03 -3.26874217e-02] [-7.29642952e-04 1.97948730e-03 9.99997775e-01 5.65794201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22255784400005 meters 0.2929228326269486 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99988062e-01 -4.84586725e-03 6.27891518e-04 2.23733781e+00] [ 4.84713904e-03 9.99986172e-01 -2.04004762e-03 -3.24230395e-02] [-6.17997036e-04 2.04306675e-03 9.99997722e-01 5.65932374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252557844 meters 0.2918765721946818 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987862e-01 -4.88439908e-03 6.46562733e-04 2.23725641e+00] [ 4.88577294e-03 9.99985773e-01 -2.14061492e-03 -3.20148523e-02] [-6.36097917e-04 2.14374790e-03 9.99997500e-01 5.66021593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28255784400005 meters 0.2928631714022522 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987391e-01 -4.97426584e-03 6.89459872e-04 2.23701142e+00] [ 4.97589954e-03 9.99984768e-01 -2.38843321e-03 -3.10156530e-02] [-6.77568668e-04 2.39183378e-03 9.99996910e-01 5.66376005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312557844 meters 0.29331964576832203 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99987212e-01 -5.01130267e-03 6.79644127e-04 2.23694353e+00] [ 5.01297919e-03 9.99984340e-01 -2.48790619e-03 -3.06156768e-02] [-6.67165833e-04 2.49128141e-03 9.99996674e-01 5.66602439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34255784400005 meters 0.29137609241779816 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99986978e-01 -5.05534092e-03 6.98392540e-04 2.23681570e+00] [ 5.05714412e-03 9.99983820e-01 -2.60474741e-03 -3.01450098e-02] [-6.85213354e-04 2.60824537e-03 9.99996364e-01 5.66802213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372557844 meters 0.2910496335522937 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99986706e-01 -5.10405327e-03 7.31818477e-04 2.23670334e+00] [ 5.10603618e-03 9.99983227e-01 -2.73379326e-03 -2.96210192e-02] [-7.17852776e-04 2.73749361e-03 9.99995995e-01 5.66882474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40255784400006 meters 0.2902517520169666 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:0.57 [[ 9.99986664e-01 -5.11470260e-03 7.14616094e-04 2.23667126e+00] [ 5.11665866e-03 9.99983093e-01 -2.76274319e-03 -2.95027922e-02] [-7.00473402e-04 2.76636280e-03 9.99995928e-01 5.67065450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43255784400003 meters 0.29301405899579236 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.03, Z:0.57 [[ 9.99993013e-01 3.40639566e-03 1.53932254e-03 2.25621872e+00] [-3.40046933e-03 9.99986860e-01 -3.83631477e-03 -3.41620751e-02] [-1.55237032e-03 3.83105355e-03 9.99991457e-01 5.67876969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46255784400006 meters 0.29257585817618686 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99988300e-01 -2.18485559e-03 4.31590467e-03 2.27851360e+00] [ 2.18724002e-03 9.99997458e-01 -5.47833116e-04 -3.66651037e-02] [-4.31469676e-03 5.57266626e-04 9.99990536e-01 5.66436301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49255784400003 meters 0.2915495625090301 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99988125e-01 -2.22313020e-03 4.33668780e-03 2.27838675e+00] [ 2.22597160e-03 9.99997311e-01 -6.50484968e-04 -3.62503884e-02] [-4.33523003e-03 6.60130588e-04 9.99990385e-01 5.66620813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52255784400006 meters 0.2949790116051111 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99988461e-01 -2.25698155e-03 4.24062811e-03 2.27863396e+00] [ 2.26016204e-03 9.99997168e-01 -7.45361706e-04 -3.58604611e-02] [-4.23893383e-03 7.54937613e-04 9.99990731e-01 5.66624536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55255784400003 meters 0.29330961170417036 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99988893e-01 -2.26957338e-03 4.13073715e-03 2.27897204e+00] [ 2.27283270e-03 9.99997109e-01 -7.84516278e-04 -3.56882554e-02] [-4.12894469e-03 7.93896039e-04 9.99991161e-01 5.66487985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58255784400006 meters 0.2923445949289167 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.57 [[ 9.99970356e-01 6.57696725e-03 4.00383639e-03 2.29957678e+00] [-6.57077241e-03 9.99977198e-01 -1.55841917e-03 -4.03613267e-02] [-4.01399477e-03 1.53206467e-03 9.99990770e-01 5.67081732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61255784400004 meters 0.2929393807964654 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.57 [[ 9.99970792e-01 6.57556089e-03 3.89580134e-03 2.29988006e+00] [-6.56950727e-03 9.99977196e-01 -1.56464601e-03 -4.03274033e-02] [-3.90600093e-03 1.53900682e-03 9.99991187e-01 5.67025994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64255784400007 meters 0.2903358693718142 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99997530e-01 -2.94939165e-04 2.20296672e-03 2.27665045e+00] [ 2.93072130e-04 9.99999598e-01 8.47783792e-04 -3.86748388e-02] [-2.20321588e-03 -8.47136070e-04 9.99997214e-01 5.69397585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67255784400004 meters 0.29242254235838255 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99997341e-01 -3.06191146e-04 2.28552255e-03 2.27640812e+00] [ 3.04319454e-04 9.99999618e-01 8.19236672e-04 -3.85623138e-02] [-2.28577252e-03 -8.18538965e-04 9.99997053e-01 5.69480935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70255784400007 meters 0.29195514581804466 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.57 [[ 9.99968745e-01 6.36647019e-03 4.68805982e-03 2.29752175e+00] [-6.35783851e-03 9.99978070e-01 -1.85381219e-03 -4.05665439e-02] [-4.69975925e-03 1.82394833e-03 9.99987293e-01 5.68153289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73255784400004 meters 0.29109803195969214 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99990993e-01 -2.16384913e-03 3.65113214e-03 2.27805417e+00] [ 2.16649387e-03 9.99997394e-01 -7.20562472e-04 -3.61967044e-02] [-3.64956343e-03 7.28466138e-04 9.99993075e-01 5.67565818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76255784400007 meters 0.29093118988590655 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99991273e-01 -2.08830323e-03 3.61832263e-03 2.27818831e+00] [ 2.09018821e-03 9.99997682e-01 -5.17252003e-04 -3.70301021e-02] [-3.61723407e-03 5.24810465e-04 9.99993320e-01 5.67425361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79255784400004 meters 0.2929113728145728 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.57 [[ 0.99998543 0.00387705 0.00375725 2.30193773] [-0.00386376 0.99998627 -0.00353983 -0.0433555 ] [-0.00377092 0.00352526 0.99998668 0.56581755] [ 0. 0. 0. 1. ]] SLAMing on 296.8225578440001 meters 0.29155198686835987 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 0.99998333 -0.00490414 0.00304652 2.28182244] [ 0.00491173 0.99998484 -0.00248866 -0.0403629 ] [-0.00303427 0.00250358 0.99999226 0.56535587] [ 0. 0. 0. 1. ]] SLAMing on 296.85255784400005 meters 0.2914884530763681 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99983520e-01 -4.79285708e-03 3.16035112e-03 2.28144907e+00] [ 4.79978556e-03 9.99986086e-01 -2.18838593e-03 -4.16107719e-02] [-3.14981852e-03 2.20351888e-03 9.99992612e-01 5.65507898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters 0.29106791269897403 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.57 [[ 9.99983718e-01 -4.69988138e-03 3.23639812e-03 2.28118705e+00] [ 4.70616172e-03 9.99987053e-01 -1.93566004e-03 -4.26568560e-02] [-3.22725884e-03 1.95085954e-03 9.99992889e-01 5.65634376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91255784400005 meters 0.2932406491927194 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.57 [[ 0.99998227 0.00387933 0.00451854 2.30072945] [-0.00386701 0.99998879 -0.00273278 -0.04871812] [-0.00452909 0.00271526 0.99998606 0.56613452] [ 0. 0. 0. 1. ]] SLAMing on 296.942557844 meters 0.29310002723674944 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.57 [[ 9.99986513e-01 -4.61181561e-03 2.38859948e-03 2.28241035e+00] [ 4.61508792e-03 9.99988417e-01 -1.36627838e-03 -4.53777075e-02] [-2.38227079e-03 1.37728355e-03 9.99996214e-01 5.65753546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97255784400005 meters 0.291617640043908 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.57 [[ 9.99987095e-01 -4.54282900e-03 2.27420349e-03 2.28276481e+00] [ 4.54553233e-03 9.99988967e-01 -1.18493888e-03 -4.61080743e-02] [-2.26879542e-03 1.19526105e-03 9.99996712e-01 5.65585563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters 0.2922591053649355 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.57 [[ 9.99987415e-01 -4.47053384e-03 2.27701782e-03 2.28266245e+00] [ 4.47279793e-03 9.99989507e-01 -9.90205410e-04 -4.69067229e-02] [-2.27256718e-03 1.00037759e-03 9.99996917e-01 5.65781394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03255784400005 meters 0.29120294299927024 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.57 [[ 9.99987528e-01 -4.39899756e-03 2.36501889e-03 2.28231181e+00] [ 4.40089829e-03 9.99989997e-01 -7.99080559e-04 -4.76910343e-02] [-2.36148008e-03 8.09478800e-04 9.99996884e-01 5.66060507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters 0.2916614558555419 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.57 [[ 9.99987893e-01 -4.24350370e-03 2.49129471e-03 2.28186831e+00] [ 4.24447213e-03 9.99990919e-01 -3.83566994e-04 -4.94017615e-02] [-2.48964442e-03 3.94136581e-04 9.99996823e-01 5.66293987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09255784400005 meters 0.2891624181975009 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.57 [[ 9.99992059e-01 3.94854622e-03 5.38795572e-04 2.26185368e+00] [-3.94793905e-03 9.99991576e-01 -1.12334026e-03 -5.21160276e-02] [-5.43226594e-04 1.12120421e-03 9.99999224e-01 5.65556084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters 0.29239348717737906 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.56 [[ 9.99991827e-01 -2.12792656e-03 3.43769532e-03 2.28486408e+00] [ 2.12187305e-03 9.99996194e-01 1.76361084e-03 -5.65885491e-02] [-3.44143507e-03 -1.75630208e-03 9.99992536e-01 5.63123587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15255784400006 meters 0.2910540470007452 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:0.56 [[ 9.99992148e-01 -2.04685504e-03 3.39336064e-03 2.28501262e+00] [ 2.04015227e-03 9.99995964e-01 1.97754561e-03 -5.74640773e-02] [-3.39739469e-03 -1.97060711e-03 9.99992287e-01 5.63033801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters 0.29124418707585986 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.56 [[ 9.99992225e-01 -1.96166378e-03 3.42085095e-03 2.28484727e+00] [ 1.95412841e-03 9.99995660e-01 2.20473139e-03 -5.84011312e-02] [-3.42516104e-03 -2.19802946e-03 9.99991718e-01 5.63221189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21255784400006 meters 0.29270087717452226 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.56 [[ 9.99964812e-01 6.60916307e-03 5.16658198e-03 2.30379597e+00] [-6.61584589e-03 9.99977299e-01 1.27745154e-03 -6.37655025e-02] [-5.15802181e-03 -1.31158790e-03 9.99985837e-01 5.63743769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters 0.29124632009738505 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.56 [[ 9.99963607e-01 6.67486203e-03 5.31330010e-03 2.30328686e+00] [-6.68268449e-03 9.99976611e-01 1.45585116e-03 -6.45068823e-02] [-5.30345822e-03 -1.49130529e-03 9.99984825e-01 5.64049713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27255784400006 meters 0.2910172053534502 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.56 [[ 9.99990713e-01 -2.10381079e-03 3.76138607e-03 2.28332549e+00] [ 2.09472146e-03 9.99994881e-01 2.41879470e-03 -6.10547593e-02] [-3.76645550e-03 -2.41089318e-03 9.99990001e-01 5.63822026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters 0.2916680074818174 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.56 [[ 9.99982337e-01 3.98431978e-03 4.41026140e-03 2.30597751e+00] [-3.97992228e-03 9.99991575e-01 -1.00543361e-03 -6.44804856e-02] [-4.41423021e-03 9.87863350e-04 9.99989769e-01 5.62507145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33255784400006 meters 0.29114289393915677 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.56 [[ 9.99981768e-01 4.05911549e-03 4.47067672e-03 2.30588536e+00] [-4.05555091e-03 9.99991451e-01 -8.06101533e-04 -6.52925440e-02] [-4.47391056e-03 7.87955779e-04 9.99989682e-01 5.62338269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36255784400004 meters 0.2905510188963977 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.56 [[ 9.99980659e-01 4.16452226e-03 4.61934031e-03 2.30544749e+00] [-4.16218785e-03 9.99991206e-01 -5.14852942e-04 -6.64919282e-02] [-4.62144380e-03 4.95616422e-04 9.99989198e-01 5.62435807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39255784400007 meters 0.29013994848651575 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.56 [[ 9.99979541e-01 4.28922644e-03 4.74557803e-03 2.30503195e+00] [-4.28848412e-03 9.99990791e-01 -1.66588230e-04 -6.79163319e-02] [-4.74624886e-03 1.46233485e-04 9.99988726e-01 5.62616660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters 0.29157293535163437 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99978231e-01 4.55123874e-03 4.77746135e-03 2.30493263e+00] [-4.55393688e-03 9.99989477e-01 5.54038248e-04 -7.08257424e-02] [-4.77488951e-03 -5.75782444e-04 9.99988434e-01 5.62582037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45255784400007 meters 0.29080833799098316 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.56 [[ 9.99978147e-01 4.67637034e-03 4.67312212e-03 2.30526441e+00] [-4.68054025e-03 9.99988657e-01 8.81779990e-04 -7.21598746e-02] [-4.66894558e-03 -9.03633456e-04 9.99988692e-01 5.62390487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48255784400004 meters 0.29081117129929696 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:0.56 [[ 9.99989190e-01 -3.92680023e-03 2.48980498e-03 2.28646931e+00] [ 3.92150514e-03 9.99990047e-01 2.12803570e-03 -6.96819313e-02] [-2.49813657e-03 -2.11824891e-03 9.99994636e-01 5.61865302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51255784400007 meters 0.29056057463773166 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:0.56 [[ 0.99998985 -0.0038358 0.00236158 2.28691914] [ 0.0038302 0.99998986 0.00236964 -0.07066532] [-0.00237065 -0.00236057 0.9999944 0.56154301] [ 0. 0. 0. 1. ]] SLAMing on 297.54255784400004 meters 0.29193213114847605 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.56 [[ 9.99983999e-01 4.92532950e-03 2.78265354e-03 2.30653595e+00] [-4.92957488e-03 9.99986693e-01 1.52086592e-03 -7.68026340e-02] [-2.77512575e-03 -1.53455888e-03 9.99994972e-01 5.62279611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5725578440001 meters 0.2910633595401717 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.56 [[ 9.99996256e-01 6.02946309e-04 2.66916211e-03 2.30667715e+00] [-5.95359058e-04 9.99995783e-01 -2.84244160e-03 -7.63683386e-02] [-2.67086470e-03 2.84084185e-03 9.99992398e-01 5.62495247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60255784400005 meters 0.29088146063968695 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.56 [[ 9.99995751e-01 6.71146235e-04 2.83699448e-03 2.30594678e+00] [-6.63596661e-04 9.99996239e-01 -2.66122127e-03 -7.71451140e-02] [-2.83876987e-03 2.65932734e-03 9.99992435e-01 5.63233513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.632557844 meters 0.290905691238697 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.56 [[ 9.99995675e-01 6.73607569e-04 2.86306229e-03 2.30581293e+00] [-6.66012881e-04 9.99996260e-01 -2.65277137e-03 -7.71773977e-02] [-2.86483851e-03 2.65085305e-03 9.99992383e-01 5.63388681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66255784400005 meters 0.2887489710954884 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.08, Z:0.57 [[ 9.99985533e-01 -5.30665948e-03 8.78885461e-04 2.28352092e+00] [ 5.30596577e-03 9.99985611e-01 7.89771571e-04 -7.58125049e-02] [-8.83063864e-04 -7.85096810e-04 9.99999302e-01 5.65096124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692557844 meters 0.28866578551627026 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.08, Z:0.56 [[ 9.99985394e-01 -5.33776885e-03 8.48986804e-04 2.28371173e+00] [ 5.33717021e-03 9.99985508e-01 7.05837074e-04 -7.54673308e-02] [-8.52742096e-04 -7.01295578e-04 9.99999391e-01 5.64832564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72255784400005 meters 0.2897621169994984 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.57 [[ 9.99993067e-01 3.46925798e-03 1.35313606e-03 2.30352902e+00] [-3.46884894e-03 9.99993937e-01 -3.04516834e-04 -8.01371361e-02] [-1.35418430e-03 2.99820898e-04 9.99999038e-01 5.65380622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752557844 meters 0.2905688287163301 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99993273e-01 3.43789164e-03 1.27879150e-03 2.30389301e+00] [-3.43739750e-03 9.99994017e-01 -3.88410755e-04 -7.97911149e-02] [-1.28011916e-03 3.84012428e-04 9.99999107e-01 5.64988611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78255784400005 meters 0.28956321625108306 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99993424e-01 3.39961573e-03 1.26263434e-03 2.30405658e+00] [-3.39899768e-03 9.99994103e-01 -4.91316206e-04 -7.93701571e-02] [-1.26429718e-03 4.87021284e-04 9.99999082e-01 5.64717018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812557844 meters 0.28941937966949544 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99993535e-01 3.36830225e-03 1.25904391e-03 2.30405635e+00] [-3.36758240e-03 9.99994165e-01 -5.73431171e-04 -7.90344843e-02] [-1.26096805e-03 5.69187530e-04 9.99999043e-01 5.64748866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84255784400005 meters 0.29145305443535885 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99993905e-01 3.28124844e-03 1.19314018e-03 2.30422864e+00] [-3.28027679e-03 9.99994287e-01 -8.15404148e-04 -7.80522894e-02] [-1.19580891e-03 8.11485348e-04 9.99998956e-01 5.64756630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872557844 meters 0.29062670648800254 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99994295e-01 3.18738535e-03 1.11823233e-03 2.30450138e+00] [-3.18618635e-03 9.99994349e-01 -1.07238005e-03 -7.70029987e-02] [-1.12164410e-03 1.06881103e-03 9.99998800e-01 5.64598659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90255784400006 meters 0.28970842622426274 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99994724e-01 3.07194774e-03 1.05599465e-03 2.30475977e+00] [-3.07048249e-03 9.99994325e-01 -1.38638613e-03 -7.57197078e-02] [-1.06024757e-03 1.38313641e-03 9.99998481e-01 5.64409694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93255784400003 meters 0.2901233417156449 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99995058e-01 2.97660111e-03 1.01166758e-03 2.30497205e+00] [-2.97493664e-03 9.99994225e-01 -1.64281282e-03 -7.46633828e-02] [-1.01655174e-03 1.63979505e-03 9.99998139e-01 5.64214668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96255784400006 meters 0.2901233417156449 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99995058e-01 2.97660111e-03 1.01166758e-03 2.30497205e+00] [-2.97493664e-03 9.99994225e-01 -1.64281282e-03 -7.46633828e-02] [-1.01655174e-03 1.63979505e-03 9.99998139e-01 5.64214668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99255784400003 meters 0.28889945956522833 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:0.56 [[ 9.99983827e-01 -5.68086893e-03 2.70529709e-04 2.28608346e+00] [ 5.68104710e-03 9.99983643e-01 -6.62462465e-04 -6.80883001e-02] [-2.66761921e-04 6.63988643e-04 9.99999744e-01 5.63176136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02255784400006 meters 0.28950112251504684 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:0.56 [[ 9.99983220e-01 -5.78436645e-03 3.16127040e-04 2.28596118e+00] [ 5.78465885e-03 9.99982834e-01 -9.32010669e-04 -6.69855255e-02] [-3.10730522e-04 9.33823717e-04 9.99999516e-01 5.63213403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05255784400003 meters 0.2898665766216416 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:0.56 [[ 9.99982065e-01 -5.97315701e-03 4.36820582e-04 2.28560220e+00] [ 5.97377291e-03 9.99981145e-01 -1.42251268e-03 -6.49699084e-02] [-4.28315455e-04 1.42509663e-03 9.99998893e-01 5.63364214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08255784400006 meters 0.29222305014389766 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:0.56 [[ 9.99981701e-01 -6.03072871e-03 4.78514525e-04 2.28550848e+00] [ 6.03147463e-03 9.99980573e-01 -1.57300272e-03 -6.43560664e-02] [-4.69018877e-04 1.57586008e-03 9.99998648e-01 5.63349104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11255784400004 meters 0.2897031388783228 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.07, Z:0.56 [[ 9.99996771e-01 2.53708468e-03 -1.44527465e-04 2.26452089e+00] [-2.53743612e-03 9.99993691e-01 -2.48573272e-03 -6.54243366e-02] [ 1.38220039e-04 2.48609142e-03 9.99996900e-01 5.62643280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14255784400007 meters 0.28958733126707714 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.07, Z:0.56 [[ 9.99996864e-01 2.50115116e-03 -1.28602278e-04 2.26452531e+00] [-2.50147455e-03 9.99993545e-01 -2.57914381e-03 -6.50438454e-02] [ 1.22150620e-04 2.57945742e-03 9.99996666e-01 5.62556833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17255784400004 meters 0.289837406492621 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:0.56 [[ 9.99997047e-01 2.42585105e-03 -1.47352593e-04 2.26468081e+00] [-2.42624993e-03 9.99993220e-01 -2.76995493e-03 -6.42529521e-02] [ 1.40632096e-04 2.77030427e-03 9.99996153e-01 5.62349654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20255784400007 meters 0.2897746074186724 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:0.56 [[ 9.99997127e-01 2.38862086e-03 -2.03027694e-04 2.26488511e+00] [-2.38919317e-03 9.99993036e-01 -2.86699662e-03 -6.38548293e-02] [ 1.96178113e-04 2.86747345e-03 9.99995870e-01 5.62224643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23255784400004 meters 0.2897586651516393 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:0.56 [[ 9.99997367e-01 2.29064285e-03 -1.38645819e-04 2.26471761e+00] [-2.29106447e-03 9.99992504e-01 -3.12134603e-03 -6.28132214e-02] [ 1.31494891e-04 3.12165545e-03 9.99995119e-01 5.62265079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26255784400007 meters 0.2893078923437058 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:0.56 [[ 9.99997475e-01 2.24485008e-03 -9.86133530e-05 2.26459325e+00] [-2.24515798e-03 9.99992225e-01 -3.24180743e-03 -6.23218167e-02] [ 9.13352146e-05 3.24202065e-03 9.99994740e-01 5.62332539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29255784400004 meters 0.2890512370250697 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:0.56 [[ 9.99997597e-01 2.19146804e-03 -6.20892674e-05 2.26454117e+00] [-2.19166559e-03 9.99991874e-01 -3.38359754e-03 -6.17449248e-02] [ 5.46737170e-05 3.38372549e-03 9.99994274e-01 5.62257928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3225578440001 meters 0.28980603801050203 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99991402e-01 -3.86585509e-03 1.50003269e-03 2.25022619e+00] [ 3.86627332e-03 9.99992488e-01 -2.76015307e-04 -5.92550626e-02] [-1.49895438e-03 2.81812470e-04 9.99998837e-01 5.56434145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35255784400005 meters 0.2892404700465251 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99991343e-01 -3.89177338e-03 1.47266174e-03 2.25039084e+00] [ 3.89228845e-03 9.99992365e-01 -3.47049276e-04 -5.89613932e-02] [-1.47129986e-03 3.52778295e-04 9.99998855e-01 5.56219766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters 0.28929569235814256 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99991402e-01 -3.87936744e-03 1.46515388e-03 2.25044163e+00] [ 3.87983207e-03 9.99992424e-01 -3.14413797e-04 -5.90934281e-02] [-1.46392306e-03 3.20095645e-04 9.99998877e-01 5.56141703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41255784400005 meters 0.29058339989275916 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99991662e-01 -3.81545901e-03 1.45548553e-03 2.25046225e+00] [ 3.81567518e-03 9.99992710e-01 -1.45775087e-04 -5.97873234e-02] [-1.45491872e-03 1.51327532e-04 9.99998930e-01 5.56139106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters 0.2890798514374023 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:0.55 [[ 9.99990765e-01 4.27337486e-03 4.55685204e-04 2.23087433e+00] [-4.27279578e-03 9.99990072e-01 -1.26428006e-03 -6.32267616e-02] [-4.61083422e-04 1.26232133e-03 9.99999097e-01 5.54730785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47255784400005 meters 0.2895750856554915 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99989769e-01 -4.13854659e-03 1.82592039e-03 2.25187653e+00] [ 4.13930009e-03 9.99991349e-01 -4.09082125e-04 -6.27192017e-02] [-1.82421159e-03 4.16635973e-04 9.99998249e-01 5.55181823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters 0.2868831339941697 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:0.56 [[ 9.99997311e-01 2.12805273e-03 -9.21890473e-04 2.22901941e+00] [-2.13075081e-03 9.99993421e-01 -2.93565131e-03 -6.07269430e-02] [ 9.15637187e-04 2.93760773e-03 9.99995266e-01 5.57416343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53255784400005 meters 0.2890984750906228 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99992209e-01 -3.24147402e-03 2.25286002e-03 2.25039361e+00] [ 3.24018376e-03 9.99994585e-01 5.76133531e-04 -6.36016168e-02] [-2.25471534e-03 -5.68829362e-04 9.99997296e-01 5.56021138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters 0.28842392801749994 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99992375e-01 -3.23429845e-03 2.18848527e-03 2.25058473e+00] [ 3.23300602e-03 9.99994597e-01 5.93839907e-04 -6.36658823e-02] [-2.19039411e-03 -5.86759993e-04 9.99997429e-01 5.55951246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59255784400005 meters 0.28959045001912276 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.07, Z:0.56 [[ 9.99981258e-01 5.29488504e-03 3.07377915e-03 2.27029902e+00] [-5.29280743e-03 9.99985759e-01 -6.83657711e-04 -6.72967877e-02] [-3.07735526e-03 6.67375977e-04 9.99995042e-01 5.56716461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters 0.28813656105350005 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99992258e-01 -3.45179717e-03 1.88895625e-03 2.25181587e+00] [ 3.45125886e-03 9.99994003e-01 2.88164448e-04 -6.13971899e-02] [-1.88993961e-03 -2.81642940e-04 9.99998174e-01 5.55880504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65255784400006 meters 0.2877663869648637 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99992559e-01 -3.57254783e-03 1.45539023e-03 2.25298689e+00] [ 3.57280890e-03 9.99993602e-01 -1.76818693e-04 -5.95535574e-02] [-1.45474922e-03 1.82017209e-04 9.99998925e-01 5.55548131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68255784400003 meters 0.2880245715456483 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99992328e-01 -3.67229514e-03 1.36331500e-03 2.25330839e+00] [ 3.67293592e-03 9.99993145e-01 -4.67811326e-04 -5.83782198e-02] [-1.36158771e-03 4.72815106e-04 9.99998961e-01 5.55356052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71255784400006 meters 0.28731010531363427 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.56 [[ 9.99991934e-01 -3.78832617e-03 1.33439030e-03 2.25340032e+00] [ 3.78938876e-03 9.99992504e-01 -7.94689930e-04 -5.70462060e-02] [-1.33136976e-03 7.99740043e-04 9.99998794e-01 5.55334162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters 0.28894212764633165 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:0.56 [[ 9.99985131e-01 4.86977276e-03 2.45436946e-03 2.27324220e+00] [-4.86455269e-03 9.99985903e-01 -2.12834648e-03 -5.88157415e-02] [-2.46469943e-03 2.11637542e-03 9.99994723e-01 5.55888190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77255784400006 meters 0.28947130682644545 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:0.56 [[ 0.99998603 0.00473627 0.00234538 2.27364733] [-0.00473044 0.99998572 -0.00248705 -0.05734099] [-0.00235712 0.00247593 0.99999416 0.55564377] [ 0. 0. 0. 1. ]] SLAMing on 298.80255784400003 meters 0.2881275342521123 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.55 [[ 9.99992557e-01 -3.65895920e-03 1.22429710e-03 2.25525244e+00] [ 3.66073206e-03 9.99992250e-01 -1.44896872e-03 -5.01948207e-02] [-1.21898589e-03 1.45343976e-03 9.99998201e-01 5.54090947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83255784400006 meters 0.2880675212850902 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.55 [[ 9.99991600e-01 -3.94049946e-03 1.12789922e-03 2.25562288e+00] [ 3.94293410e-03 9.99989884e-01 -2.16453963e-03 -4.72811804e-02] [-1.11935845e-03 2.16896868e-03 9.99997021e-01 5.53903714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters 0.28704076516600213 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.55 [[ 9.99991170e-01 -4.05141320e-03 1.11654401e-03 2.25558720e+00] [ 4.05414782e-03 9.99988761e-01 -2.45790325e-03 -4.60749783e-02] [-1.10657348e-03 2.46240818e-03 9.99996356e-01 5.54081156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89255784400007 meters 0.28659243101214854 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99990710e-01 -4.16293217e-03 1.11766226e-03 2.25553906e+00] [ 4.16599540e-03 9.99987534e-01 -2.75254997e-03 -4.48684999e-02] [-1.10618965e-03 2.75718058e-03 9.99995587e-01 5.54218777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters 0.2878729319988467 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99990317e-01 -4.26410216e-03 1.08784909e-03 2.25556325e+00] [ 4.26736040e-03 9.99986363e-01 -3.01059209e-03 -4.38097311e-02] [-1.07499678e-03 3.01520519e-03 9.99994876e-01 5.54363241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95255784400007 meters 0.28850670889935287 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99989781e-01 -4.37147975e-03 1.15268165e-03 2.25535851e+00] [ 4.37523517e-03 9.99985063e-01 -3.27584023e-03 -4.27209547e-02] [-1.13834416e-03 3.28085000e-03 9.99993970e-01 5.54471373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98255784400004 meters 0.2898021038552208 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99999002e-01 -9.25688542e-05 1.40991600e-03 2.25463406e+00] [ 9.13201014e-05 9.99999604e-01 8.85731736e-04 -4.22777960e-02] [-1.40999743e-03 -8.85602099e-04 9.99998614e-01 5.54657204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01255784400007 meters 0.28796626554231947 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99998906e-01 -2.63704677e-04 1.45537240e-03 2.25454985e+00] [ 2.63072877e-04 9.99999871e-01 4.34289572e-04 -4.04374817e-02] [-1.45548673e-03 -4.33906228e-04 9.99998847e-01 5.54643950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04255784400004 meters 0.2893527808856149 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.55 [[ 9.99960207e-01 8.34164182e-03 3.16248366e-03 2.27402102e+00] [-8.33967370e-03 9.99965023e-01 -6.35013349e-04 -4.38566968e-02] [-3.16767010e-03 6.08613998e-04 9.99994798e-01 5.54787671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0725578440001 meters 0.28914880832866663 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99996230e-01 -1.96923862e-04 2.73895868e-03 2.25432771e+00] [ 1.96180805e-04 9.99999944e-01 2.71557946e-04 -3.75112228e-02] [-2.73901201e-03 -2.71019591e-04 9.99996212e-01 5.53937233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10255784400005 meters 0.28762130158085114 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99996173e-01 -2.83538038e-04 2.75195466e-03 2.25428504e+00] [ 2.83432740e-04 9.99999959e-01 3.86528866e-05 -3.65568331e-02] [-2.75196550e-03 -3.78727446e-05 9.99996213e-01 5.53985560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.132557844 meters 0.2887374345577912 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99996314e-01 -3.45525305e-04 2.69318651e-03 2.25445157e+00] [ 3.45873182e-04 9.99999932e-01 -1.28704469e-04 -3.58726478e-02] [-2.69314186e-03 1.29635496e-04 9.99996365e-01 5.53967553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16255784400005 meters 0.288680527616787 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 9.99996528e-01 -4.10448010e-04 2.60279204e-03 2.25477708e+00] [ 4.11239077e-04 9.99999869e-01 -3.03402103e-04 -3.51473040e-02] [-2.60266717e-03 3.04471419e-04 9.99996567e-01 5.53773251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192557844 meters 0.28882638736244987 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.03, Z:0.55 [[ 9.99996730e-01 -4.74683624e-04 2.51288220e-03 2.25508362e+00] [ 4.75880305e-04 9.99999774e-01 -4.75642104e-04 -3.44413124e-02] [-2.51265586e-03 4.76836380e-04 9.99996730e-01 5.53614870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22255784400005 meters 0.2883210217531989 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.03, Z:0.55 [[ 9.99996790e-01 -5.84133648e-04 2.46553562e-03 2.25521540e+00] [ 5.86054484e-04 9.99999525e-01 -7.78423906e-04 -3.32041175e-02] [-2.46507975e-03 7.79866345e-04 9.99996658e-01 5.53620841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252557844 meters 0.2903839307437391 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:0.55 [[ 9.99996184e-01 -7.73480052e-04 2.65214019e-03 2.25467442e+00] [ 7.77239611e-04 9.99998694e-01 -1.41681940e-03 -3.06912010e-02] [-2.65104084e-03 1.41887534e-03 9.99995479e-01 5.53892064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28255784400005 meters 0.29009809912950274 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:0.55 [[ 9.99996010e-01 -8.99658176e-04 2.67790210e-03 2.25451213e+00] [ 9.04437340e-04 9.99998000e-01 -1.78399132e-03 -2.92226069e-02] [-2.67629176e-03 1.78640619e-03 9.99994823e-01 5.54167511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312557844 meters 0.2874344661923047 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:0.55 [[ 9.99995805e-01 -1.04472839e-03 2.70174172e-03 2.25440647e+00] [ 1.05074182e-03 9.99996972e-01 -2.22529991e-03 -2.74645195e-02] [-2.69940870e-03 2.22812941e-03 9.99993874e-01 5.54322088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34255784400005 meters 0.2883888551624901 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.56 [[ 9.99999158e-01 1.83860923e-04 1.28461779e-03 2.29437432e+00] [-1.81623346e-04 9.99998467e-01 -1.74172240e-03 -2.65919837e-02] [-1.28493605e-03 1.74148762e-03 9.99997658e-01 5.57330587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372557844 meters 0.28702465253194065 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99987691e-01 -4.93292359e-03 -5.33161592e-04 2.27257740e+00] [ 4.93392143e-03 9.99986048e-01 1.88673461e-03 -2.18280870e-02] [ 5.23847036e-04 -1.88934197e-03 9.99998078e-01 5.58103832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40255784400006 meters 0.28649564454209964 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99986506e-01 -5.14915819e-03 -6.88346090e-04 2.27308483e+00] [ 5.14999321e-03 9.99985998e-01 1.21686968e-03 -1.91629925e-02] [ 6.82070597e-04 -1.22039824e-03 9.99999023e-01 5.57857736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43255784400003 meters 0.28798715508713274 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.56 [[ 9.99992467e-01 3.73723195e-03 1.04811444e-03 2.29384990e+00] [-3.73694038e-03 9.99992978e-01 -2.80006855e-04 -1.41239895e-02] [-1.04915353e-03 2.76088005e-04 9.99999412e-01 5.57825035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46255784400006 meters 0.2884650091562574 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.56 [[ 9.99993282e-01 3.51662608e-03 1.03406678e-03 2.29391544e+00] [-3.51574467e-03 9.99993456e-01 -8.52961668e-04 -1.17819107e-02] [-1.03705956e-03 8.49320423e-04 9.99999102e-01 5.57817301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49255784400003 meters 0.286461396449686 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:0.56 [[ 9.99996274e-01 -2.69540786e-03 -4.32764946e-04 2.27198059e+00] [ 2.69627985e-03 9.99994310e-01 2.02715504e-03 -7.74397815e-03] [ 4.27298474e-04 -2.02831434e-03 9.99997852e-01 5.58797067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52255784400006 meters 0.28821910456725014 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.56 [[ 9.99980349e-01 6.11668002e-03 1.37371722e-03 2.29262515e+00] [-6.11836486e-03 9.99980532e-01 1.22564103e-03 -9.13876908e-03] [-1.36619362e-03 -1.23402185e-03 9.99998305e-01 5.58282252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55255784400003 meters 0.2880587508864978 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:0.56 [[ 9.99997405e-01 -2.16838915e-03 6.99303136e-04 2.27310620e+00] [ 2.16692837e-03 9.99995483e-01 2.08294220e-03 -2.21385984e-03] [-7.03816606e-04 -2.08142146e-03 9.99997586e-01 5.56998854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58255784400006 meters 0.28812657117697954 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:0.56 [[ 9.99997197e-01 -2.27346459e-03 6.61593577e-04 2.27327655e+00] [ 2.27226974e-03 9.99995796e-01 1.80120734e-03 -1.05701023e-03] [-6.65685777e-04 -1.79969897e-03 9.99998159e-01 5.56839701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61255784400004 meters 0.2888500508779052 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.00, Z:0.56 [[ 9.99977519e-01 6.69215611e-03 4.20626172e-04 2.29489748e+00] [-6.69245922e-03 9.99977344e-01 7.23384279e-04 -2.37019970e-03] [-4.15775641e-04 -7.26183040e-04 9.99999650e-01 5.56619667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64255784400007 meters 0.2864252078896917 Centerline is valid? [False, False] Translation: X:2.27, Y:0.00, Z:0.56 [[ 9.99999020e-01 4.85724869e-04 -1.31285535e-03 2.27189367e+00] [-4.81269120e-04 9.99994131e-01 3.39212527e-03 1.10050739e-03] [ 1.31449528e-03 -3.39149011e-03 9.99993385e-01 5.58370834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67255784400004 meters 0.28659414987614656 Centerline is valid? [False, False] Translation: X:2.27, Y:0.00, Z:0.56 [[ 9.99999112e-01 3.05265048e-04 -1.29741613e-03 2.27185944e+00] [-3.01472951e-04 9.99995686e-01 2.92199805e-03 3.03135613e-03] [ 1.29830252e-03 -2.92160432e-03 9.99994889e-01 5.58390238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70255784400007 meters 0.2876009099796085 Centerline is valid? [False, False] Translation: X:2.27, Y:0.01, Z:0.56 [[ 9.99999166e-01 1.20779672e-04 -1.28592092e-03 2.27179668e+00] [-1.17644360e-04 9.99997021e-01 2.43798130e-03 5.01585579e-03] [ 1.28621155e-03 -2.43782799e-03 9.99996201e-01 5.58488337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73255784400004 meters 0.28661919856579726 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:0.56 [[ 9.99968695e-01 6.42454085e-03 -4.61889186e-03 2.24924637e+00] [-6.42711268e-03 9.99979199e-01 -5.42178322e-04 1.10638388e-02] [ 4.61531253e-03 5.71847488e-04 9.99989186e-01 5.61334300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76255784400007 meters 0.2895436464747059 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:0.56 [[ 9.99985018e-01 5.25309032e-03 -1.53901456e-03 2.29464674e+00] [-5.25574936e-03 9.99984694e-01 -1.72883706e-03 1.23056859e-02] [ 1.52990926e-03 1.73689983e-03 9.99997321e-01 5.59086450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79255784400004 meters 0.28745909914813134 Centerline is valid? [False, False] Translation: X:2.27, Y:0.02, Z:0.56 [[ 9.99995539e-01 -5.13225214e-04 -2.94240244e-03 2.27070859e+00] [ 5.15399065e-04 9.99999595e-01 7.38090728e-04 1.88476853e-02] [ 2.94202245e-03 -7.39603947e-04 9.99995399e-01 5.61049586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8225578440001 meters 0.2875689794850911 Centerline is valid? [False, False] Translation: X:2.27, Y:0.02, Z:0.56 [[ 9.99995344e-01 -6.82660469e-04 -2.97408295e-03 2.27077484e+00] [ 6.83530641e-04 9.99999724e-01 2.91578426e-04 2.06645837e-02] [ 2.97388308e-03 -2.93609945e-04 9.99995535e-01 5.61119882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85255784400005 meters 0.2875689794850911 Centerline is valid? [False, False] Translation: X:2.27, Y:0.02, Z:0.56 [[ 9.99995344e-01 -6.82660469e-04 -2.97408295e-03 2.27077484e+00] [ 6.83530641e-04 9.99999724e-01 2.91578426e-04 2.06645837e-02] [ 2.97388308e-03 -2.93609945e-04 9.99995535e-01 5.61119882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.882557844 meters 0.2882430111823867 Centerline is valid? [False, False] Translation: X:2.27, Y:0.02, Z:0.56 [[ 9.99995101e-01 -8.27517973e-04 -3.01889033e-03 2.27085828e+00] [ 8.27259948e-04 9.99999654e-01 -8.67180762e-05 2.22045562e-02] [ 3.01896105e-03 8.42202443e-05 9.99995439e-01 5.61218412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91255784400005 meters 0.28900239278735046 Centerline is valid? [False, False] Translation: X:2.29, Y:0.02, Z:0.56 [[ 9.99987615e-01 4.97643879e-03 -7.00551709e-05 2.29306576e+00] [-4.97664494e-03 9.99982044e-01 -3.33829871e-03 2.44759365e-02] [ 5.34410739e-05 3.33860600e-03 9.99994425e-01 5.59184908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters 0.2877300759991215 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993791e-01 -3.19336190e-03 -1.49007708e-03 2.27365668e+00] [ 3.18967651e-03 9.99991865e-01 -2.46914507e-03 3.06158358e-02] [ 1.49794983e-03 2.46437688e-03 9.99995841e-01 5.58593695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97255784400005 meters 0.2886876698649076 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993385e-01 -3.27815525e-03 -1.57580618e-03 2.27402697e+00] [ 3.27389967e-03 9.99991008e-01 -2.69561066e-03 3.15492510e-02] [ 1.58462864e-03 2.69043380e-03 9.99995125e-01 5.58253696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters 0.2884938300976001 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993495e-01 -3.28287301e-03 -1.49425729e-03 2.27385498e+00] [ 3.27882156e-03 9.99990964e-01 -2.70576851e-03 3.15912302e-02] [ 1.50312648e-03 2.70085151e-03 9.99995223e-01 5.58168367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03255784400005 meters 0.2882556433409731 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993549e-01 -3.29038723e-03 -1.44087926e-03 2.27364146e+00] [ 3.28645118e-03 9.99990885e-01 -2.72560433e-03 3.16634541e-02] [ 1.44983442e-03 2.72085136e-03 9.99995247e-01 5.58348959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters 0.2892113985444409 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993655e-01 -3.30512784e-03 -1.32857797e-03 2.27328573e+00] [ 3.30144757e-03 9.99990734e-01 -2.76279167e-03 3.18031220e-02] [ 1.33769704e-03 2.75838791e-03 9.99995301e-01 5.58515661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09255784400005 meters 0.28732405636464486 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993608e-01 -3.32508064e-03 -1.31460145e-03 2.27314958e+00] [ 3.32136775e-03 9.99990518e-01 -2.81651455e-03 3.20118424e-02] [ 1.32395412e-03 2.81213027e-03 9.99995170e-01 5.58751369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters 0.28872723898709324 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993426e-01 -3.37766240e-03 -1.31906096e-03 2.27313410e+00] [ 3.37375130e-03 9.99989940e-01 -2.95612038e-03 3.25788866e-02] [ 1.32903247e-03 2.95165076e-03 9.99994761e-01 5.58826111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15255784400006 meters 0.288330418967014 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.56 [[ 9.99993009e-01 -3.52365311e-03 -1.25169665e-03 2.27279526e+00] [ 3.51944008e-03 9.99988188e-01 -3.35225584e-03 3.41864042e-02] [ 1.26349405e-03 3.34782713e-03 9.99993598e-01 5.59240742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters 0.2907653573811472 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.56 [[ 9.99988070e-01 4.86259611e-03 4.63770201e-04 2.29333046e+00] [-4.86061905e-03 9.99979480e-01 -4.17290185e-03 3.14366511e-02] [-4.84051821e-04 4.17059785e-03 9.99991186e-01 5.59326937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21255784400006 meters 0.2884032367774988 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.56 [[ 9.99988480e-01 4.77816373e-03 4.57114534e-04 2.29333385e+00] [-4.77610904e-03 9.99978936e-01 -4.39510698e-03 3.23451554e-02] [-4.78105445e-04 4.39287312e-03 9.99990237e-01 5.59379909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters 0.28802556106623534 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.56 [[ 9.99988945e-01 4.68791336e-03 3.65712880e-04 2.29359967e+00] [-4.68616690e-03 9.99978262e-01 -4.63849538e-03 3.33493006e-02] [-3.87449795e-04 4.63673031e-03 9.99989175e-01 5.59342710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27255784400006 meters 0.28618802920729625 Centerline is valid? [False, False] Translation: X:2.27, Y:0.04, Z:0.56 [[ 9.99998485e-01 -7.29447335e-04 -1.58026169e-03 2.27129887e+00] [ 7.27580922e-04 9.99999038e-01 -1.18133202e-03 3.50631365e-02] [ 1.58112189e-03 1.18018046e-03 9.99998054e-01 5.60518801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters 0.2885211815923384 Centerline is valid? [False, False] Translation: X:2.27, Y:0.04, Z:0.56 [[ 9.99998330e-01 -7.91418527e-04 -1.64718386e-03 2.27144656e+00] [ 7.89190088e-04 9.99998773e-01 -1.35308849e-03 3.57582809e-02] [ 1.64825270e-03 1.35178629e-03 9.99997728e-01 5.60578845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33255784400006 meters 0.2895591775447791 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.56 [[ 9.99984881e-01 5.17884118e-03 1.84852006e-03 2.29225029e+00] [-5.17071574e-03 9.99977067e-01 -4.37368627e-03 3.79318644e-02] [-1.87112829e-03 4.36406198e-03 9.99988727e-01 5.59237084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36255784400004 meters 0.2890388934946331 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.56 [[ 9.99984797e-01 5.15068248e-03 1.96885245e-03 2.29186690e+00] [-5.14189259e-03 9.99976907e-01 -4.44376567e-03 3.82091986e-02] [-1.99169541e-03 4.43357448e-03 9.99988188e-01 5.59410690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39255784400007 meters 0.28755907201674585 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:0.55 [[ 9.99991572e-01 -5.69693273e-04 4.06587977e-03 2.27636721e+00] [ 5.76106202e-04 9.99998592e-01 -1.57625788e-03 4.02211998e-02] [-4.06497606e-03 1.57858697e-03 9.99990492e-01 5.53935977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42255784400004 meters 0.29033852299110285 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:0.55 [[ 9.99992077e-01 -4.94040203e-04 3.94980142e-03 2.27679253e+00] [ 4.99422105e-04 9.99998948e-01 -1.36170534e-03 3.93533569e-02] [-3.94912453e-03 1.36366717e-03 9.99991272e-01 5.53582129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45255784400007 meters 0.28838366683779154 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:0.55 [[ 9.99992990e-01 -3.94641796e-04 3.72358060e-03 2.27755168e+00] [ 3.98570199e-04 9.99999365e-01 -1.05432380e-03 3.81082547e-02] [-3.72316215e-03 1.05580052e-03 9.99992512e-01 5.52977815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48255784400004 meters 0.2880918457095307 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:0.55 [[ 9.99994007e-01 -2.80298082e-04 3.45057328e-03 2.27843154e+00] [ 2.82688630e-04 9.99999720e-01 -6.92329329e-04 3.66742121e-02] [-3.45037826e-03 6.93300618e-04 9.99993807e-01 5.52353924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51255784400007 meters 0.28962697464676534 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:0.55 [[ 9.99994277e-01 -1.69439600e-04 3.37881752e-03 2.27875026e+00] [ 1.70637009e-04 9.99999923e-01 -3.54101802e-04 3.53489118e-02] [-3.37875726e-03 3.54676327e-04 9.99994229e-01 5.51936357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54255784400004 meters 0.2876870898452817 Centerline is valid? [False, False] Translation: X:2.24, Y:0.04, Z:0.55 [[ 9.99996847e-01 1.77281090e-04 2.50489529e-03 2.23779718e+00] [-1.77281576e-04 9.99999984e-01 -2.80427982e-08 3.60130222e-02] [-2.50489526e-03 -4.16029076e-07 9.99996863e-01 5.51103564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5725578440001 meters 0.28931609193220637 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.55 [[ 9.99999620e-01 -6.19591751e-04 6.12895646e-04 2.27926258e+00] [ 6.19318086e-04 9.99999708e-01 4.46601234e-04 3.00288190e-02] [-6.13172178e-04 -4.46221487e-04 9.99999712e-01 5.53136888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60255784400005 meters 0.28948769814552106 Centerline is valid? [False, False] Translation: X:2.26, Y:0.03, Z:0.55 [[ 9.99984911e-01 5.02075343e-03 -2.22923832e-03 2.25673265e+00] [-5.02744335e-03 9.99982845e-01 -3.00559603e-03 3.19016216e-02] [ 2.21410973e-03 3.01675805e-03 9.99992998e-01 5.54906280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.632557844 meters 0.28978141251965367 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99991508e-01 -4.05529625e-03 -7.33269518e-04 2.27782313e+00] [ 4.05365165e-03 9.99989296e-01 -2.23057400e-03 3.11897795e-02] [ 7.42307308e-04 2.22758264e-03 9.99997243e-01 5.55020787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66255784400005 meters 0.2904880232762819 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992006e-01 -3.93945321e-03 -6.85147371e-04 2.27760160e+00] [ 3.93812481e-03 9.99990384e-01 -1.92951090e-03 2.99358160e-02] [ 6.92742000e-04 1.92679727e-03 9.99997904e-01 5.55199073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692557844 meters 0.2893201999551281 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992403e-01 -3.84593284e-03 -6.34086801e-04 2.27737171e+00] [ 3.84486467e-03 9.99991202e-01 -1.67728455e-03 2.88829087e-02] [ 6.40531946e-04 1.67483383e-03 9.99998392e-01 5.55402118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72255784400005 meters 0.28741224294844653 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992904e-01 -3.71660179e-03 -6.15455222e-04 2.27725233e+00] [ 3.71577582e-03 9.99992202e-01 -1.33779339e-03 2.75009542e-02] [ 6.20422467e-04 1.33549700e-03 9.99998916e-01 5.55525231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752557844 meters 0.28843138283900505 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992975e-01 -3.67331257e-03 -7.46392943e-04 2.27763528e+00] [ 3.67239410e-03 9.99992502e-01 -1.22821576e-03 2.70664415e-02] [ 7.50898967e-04 1.22546608e-03 9.99998967e-01 5.55386639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78255784400005 meters 0.2886424045692824 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992935e-01 -3.65436425e-03 -8.80889541e-04 2.27793876e+00] [ 3.65332519e-03 9.99992632e-01 -1.17830264e-03 2.68672624e-02] [ 8.85188998e-04 1.17507614e-03 9.99998918e-01 5.55455432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812557844 meters 0.28954233989721506 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992800e-01 -3.66827758e-03 -9.71295104e-04 2.27813840e+00] [ 3.66708918e-03 9.99992529e-01 -1.22249223e-03 2.70452633e-02] [ 9.75772288e-04 1.21892161e-03 9.99998781e-01 5.55521634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84255784400005 meters 0.2881452874182795 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99992732e-01 -3.69717741e-03 -9.30543833e-04 2.27795764e+00] [ 3.69595919e-03 9.99992315e-01 -1.30748218e-03 2.73712065e-02] [ 9.35370675e-04 1.30403343e-03 9.99998712e-01 5.55737220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872557844 meters 0.28959679252729714 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.56 [[ 9.99983525e-01 5.59057913e-03 1.30162110e-03 2.29789031e+00] [-5.58848675e-03 9.99983095e-01 -1.60564394e-03 2.63271337e-02] [-1.31057557e-03 1.59834340e-03 9.99997864e-01 5.56260037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90255784400006 meters 0.2884219067230801 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994975e-01 -3.06560627e-03 8.07001914e-04 2.27808882e+00] [ 3.06632807e-03 9.99994899e-01 -8.94714815e-04 3.15123297e-02] [-8.04254953e-04 8.97184852e-04 9.99999274e-01 5.55705047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93255784400003 meters 0.2875110454974498 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994834e-01 -3.10076651e-03 8.46657336e-04 2.27796620e+00] [ 3.10160193e-03 9.99994703e-01 -9.87200159e-04 3.18850896e-02] [-8.43591774e-04 9.89821053e-04 9.99999154e-01 5.55764073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96255784400006 meters 0.2885122207710018 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994786e-01 -3.09787325e-03 9.11404479e-04 2.27780380e+00] [ 3.09876270e-03 9.99994722e-01 -9.76124461e-04 3.18395930e-02] [-9.08375759e-04 9.78943598e-04 9.99999108e-01 5.55755858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99255784400003 meters 0.2869013976711612 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994752e-01 -3.08561618e-03 9.87723922e-04 2.27756245e+00] [ 3.08654636e-03 9.99994793e-01 -9.41605849e-04 3.16950235e-02] [-9.84813345e-04 9.44649562e-04 9.99999069e-01 5.55861213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02255784400006 meters 0.28835250974972326 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994698e-01 -3.07438002e-03 1.07320597e-03 2.27729190e+00] [ 3.07535677e-03 9.99994857e-01 -9.09663456e-04 3.15592510e-02] [-1.07040380e-03 9.12959124e-04 9.99999010e-01 5.55981036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05255784400003 meters 0.28694550471057617 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994918e-01 -3.02996991e-03 9.92084664e-04 2.27750831e+00] [ 3.03076197e-03 9.99995089e-01 -7.97855725e-04 3.11010415e-02] [-9.89662313e-04 8.00858443e-04 9.99999190e-01 5.55950038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08255784400006 meters 0.28849558035996004 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.55 [[ 0.99999278 0.00302167 0.0023028 2.30204656] [-0.00301322 0.99998873 -0.00366772 0.02996894] [-0.00231386 0.00366076 0.99999062 0.55339774] [ 0. 0. 0. 1. ]] SLAMing on 301.11255784400004 meters 0.2873287072564606 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994713e-01 -3.23611035e-03 -3.17229134e-04 2.28050678e+00] [ 3.23585848e-03 9.99994452e-01 -7.91303500e-04 2.99093281e-02] [ 3.19788119e-04 7.90272808e-04 9.99999637e-01 5.55024530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14255784400007 meters 0.28724066647347557 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:0.56 [[ 9.99994944e-01 -3.17164795e-03 -2.30726446e-04 2.28022263e+00] [ 3.17150473e-03 9.99994780e-01 -6.18478846e-04 2.91847795e-02] [ 2.32686839e-04 6.17743968e-04 9.99999782e-01 5.55158518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17255784400004 meters 0.28854425278473184 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.56 [[ 9.99986323e-01 4.85027583e-03 1.95661468e-03 2.29880251e+00] [-4.84707170e-03 9.99986910e-01 -1.63901794e-03 2.37619684e-02] [-1.96453875e-03 1.62951167e-03 9.99996743e-01 5.56172559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20255784400007 meters 0.2880627117378066 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.56 [[ 9.99985154e-01 4.95273757e-03 2.27199750e-03 2.29772101e+00] [-4.94975752e-03 9.99986885e-01 -1.31539961e-03 2.23360370e-02] [-2.27848253e-03 1.30413425e-03 9.99996554e-01 5.56928689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23255784400004 meters 0.28745496905506696 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.56 [[ 9.99984853e-01 5.00743064e-03 2.28461722e-03 2.29766934e+00] [-5.00476448e-03 9.99986790e-01 -1.17123159e-03 2.17450401e-02] [-2.29045190e-03 1.15977988e-03 9.99996704e-01 5.56956998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26255784400007 meters 0.2871457166238966 Centerline is valid? [False, False] Translation: X:2.28, Y:0.02, Z:0.56 [[ 9.99994690e-01 -3.14907695e-03 8.39160148e-04 2.27819213e+00] [ 3.14900742e-03 9.99995038e-01 8.41664245e-05 2.47938389e-02] [-8.39421031e-04 -8.15234560e-05 9.99999644e-01 5.56030235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29255784400004 meters 0.2887402208149681 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994418e-01 3.12008493e-03 1.19547905e-03 2.30162315e+00] [-3.11678032e-03 9.99991344e-01 -2.75622401e-03 2.16751060e-02] [-1.20406835e-03 2.75248258e-03 9.99995487e-01 5.54728876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3225578440001 meters 0.288932497879053 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994353e-01 3.18378984e-03 1.07572464e-03 2.30199834e+00] [-3.18098642e-03 9.99991566e-01 -2.59781671e-03 2.10266642e-02] [-1.08398647e-03 2.59438017e-03 9.99996047e-01 5.54573927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35255784400005 meters 0.2892440226005722 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994291e-01 3.23111604e-03 9.88618412e-04 2.30229971e+00] [-3.22865545e-03 9.99991711e-01 -2.48047789e-03 2.05473209e-02] [-9.96624930e-04 2.47727182e-03 9.99996435e-01 5.54403950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters 0.28842575471807685 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994455e-01 3.21137929e-03 8.81109434e-04 2.30264032e+00] [-3.20913627e-03 9.99991637e-01 -2.53538795e-03 2.07889534e-02] [-8.89244158e-04 2.53254629e-03 9.99996398e-01 5.54262338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41255784400005 meters 0.28949046476267304 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994644e-01 3.17607759e-03 7.89742267e-04 2.30295389e+00] [-3.17399096e-03 9.99991506e-01 -2.62953249e-03 2.11872476e-02] [-7.98087158e-04 2.62701177e-03 9.99996231e-01 5.54095688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters 0.28992200971319787 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994761e-01 3.15337413e-03 7.30531551e-04 2.30320879e+00] [-3.15139863e-03 9.99991417e-01 -2.68974339e-03 2.14477888e-02] [-7.39007048e-04 2.68742710e-03 9.99996116e-01 5.53877032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47255784400005 meters 0.2889941561138459 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.55 [[ 9.99994801e-01 3.14389675e-03 7.16400234e-04 2.30337049e+00] [-3.14194138e-03 9.99991380e-01 -2.71440655e-03 2.15580853e-02] [-7.24927873e-04 2.71214155e-03 9.99996059e-01 5.53605134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters 0.2881243152663808 Centerline is valid? [False, False] Translation: X:2.28, Y:0.02, Z:0.55 [[ 9.99992984e-01 -3.39853027e-03 -1.57565287e-03 2.28314348e+00] [ 3.39850233e-03 9.99994225e-01 -2.04136197e-05 2.35593686e-02] [ 1.57571315e-03 1.50586165e-05 9.99998758e-01 5.53926968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53255784400005 meters 0.2892098841143923 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99996525e-01 2.59735549e-03 4.50637341e-04 2.30659151e+00] [-2.59605186e-03 9.99992513e-01 -2.86971968e-03 2.24013517e-02] [-4.58087649e-04 2.86853983e-03 9.99995781e-01 5.51685269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters 0.2884254198566631 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99982497e-01 -5.91587894e-03 9.34944582e-05 2.28598055e+00] [ 5.91606167e-03 9.99980310e-01 -2.09278810e-03 2.67128449e-02] [-8.11119362e-05 2.09330459e-03 9.99997806e-01 5.51185533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59255784400005 meters 0.28846116203357536 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99982554e-01 -5.90638989e-03 7.70383087e-05 2.28599782e+00] [ 5.90653672e-03 9.99980414e-01 -2.07001571e-03 2.66164980e-02] [-6.48104800e-05 2.07043463e-03 9.99997855e-01 5.51240675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters 0.28819109200391335 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99982514e-01 -5.91371780e-03 2.68043478e-06 2.28629902e+00] [ 5.91371046e-03 9.99980323e-01 -2.09301765e-03 2.67221744e-02] [ 9.69713368e-06 2.09299690e-03 9.99997810e-01 5.50987842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65255784400006 meters 0.28842418438833944 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998889e-01 -1.49046853e-03 -3.23955717e-05 2.28656404e+00] [ 1.49054365e-03 9.99995868e-01 2.45801187e-03 2.56249268e-02] [ 2.87318485e-05 -2.45805743e-03 9.99996979e-01 5.50516381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters 0.28919409131146445 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998711e-01 -1.59637396e-03 -1.74826267e-04 2.28706641e+00] [ 1.59674958e-03 9.99996371e-01 2.16993202e-03 2.68306037e-02] [ 1.71361609e-04 -2.17020837e-03 9.99997630e-01 5.50236822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71255784400006 meters 0.289242995669154 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998340e-01 -1.82170325e-03 4.00323967e-05 2.28632203e+00] [ 1.82164360e-03 9.99997300e-01 1.44282264e-03 2.97334698e-02] [-4.26606833e-05 -1.44274732e-03 9.99998958e-01 5.50789934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters 0.28854181527365486 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998038e-01 -1.97961120e-03 7.82383896e-05 2.28610326e+00] [ 1.97953199e-03 9.99997541e-01 9.99869482e-04 3.15328621e-02] [-8.02175500e-05 -9.99712645e-04 9.99999497e-01 5.51108755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77255784400006 meters 0.28854181527365486 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998038e-01 -1.97961120e-03 7.82383896e-05 2.28610326e+00] [ 1.97953199e-03 9.99997541e-01 9.99869482e-04 3.15328621e-02] [-8.02175500e-05 -9.99712645e-04 9.99999497e-01 5.51108755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters 0.28915677702485676 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99997764e-01 -2.11355831e-03 7.06570501e-05 2.28609699e+00] [ 2.11351314e-03 9.99997566e-01 6.33301598e-04 3.30308496e-02] [-7.19953980e-05 -6.33150847e-04 9.99999797e-01 5.51186565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83255784400006 meters 0.2883587313313325 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99997475e-01 -2.24720831e-03 1.71892490e-05 2.28614006e+00] [ 2.24720345e-03 9.99997436e-01 2.77629372e-04 3.44865002e-02] [-1.78130959e-05 -2.77590043e-04 9.99999961e-01 5.51429489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters 0.2880011014222031 Centerline is valid? [False, False] Translation: X:2.27, Y:0.03, Z:0.55 [[ 9.99977044e-01 6.68720615e-03 -1.09218737e-03 2.26524573e+00] [-6.68798770e-03 9.99977381e-01 -7.13507803e-04 3.44865219e-02] [ 1.08739129e-03 7.20795960e-04 9.99999149e-01 5.51120612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89255784400007 meters 0.2890954944774022 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997806e-01 -2.08204773e-03 -2.28666824e-04 2.28597039e+00] [ 2.08204960e-03 9.99997833e-01 7.94367816e-06 3.79500267e-02] [ 2.28649789e-04 -8.41975641e-06 9.99999974e-01 5.51917281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92255784400004 meters 0.2906033489336533 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997620e-01 -2.15084547e-03 -3.67206658e-04 2.28653339e+00] [ 2.15077720e-03 9.99997670e-01 -1.86203919e-04 3.87618532e-02] [ 3.67606298e-04 1.85413696e-04 9.99999915e-01 5.51380166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95255784400007 meters 0.28914195786830754 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997505e-01 -2.19593045e-03 -4.09521935e-04 2.28665869e+00] [ 2.19580497e-03 9.99997542e-01 -3.06595789e-04 3.92592089e-02] [ 4.10194191e-04 3.05695794e-04 9.99999869e-01 5.51349807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98255784400004 meters 0.28902757904193616 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997317e-01 -2.28552767e-03 -3.77232301e-04 2.28653878e+00] [ 2.28532436e-03 9.99997244e-01 -5.38507235e-04 4.02163136e-02] [ 3.78462035e-04 5.37643692e-04 9.99999784e-01 5.51448341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01255784400007 meters 0.2884535574548496 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997117e-01 -2.38106296e-03 -3.11131423e-04 2.28625059e+00] [ 2.38081826e-03 9.99996858e-01 -7.84513945e-04 4.12211516e-02] [ 3.12998423e-04 7.83770936e-04 9.99999644e-01 5.51724953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04255784400004 meters 0.28795544795991596 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:0.55 [[ 9.99976333e-01 6.81719632e-03 -9.26538040e-04 2.26478679e+00] [-6.81859619e-03 9.99975604e-01 -1.51618610e-03 4.06861529e-02] [ 9.16179298e-04 1.52246791e-03 9.99998421e-01 5.51474367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0725578440001 meters 0.2898863043498483 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997085e-01 5.92228796e-04 2.34098704e-03 2.28598875e+00] [-5.95256127e-04 9.99998987e-01 1.29270060e-03 4.02414006e-02] [-2.34021910e-03 -1.29409032e-03 9.99996424e-01 5.50284658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10255784400005 meters 0.2889057052867943 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997021e-01 5.24782787e-04 2.38361826e-03 2.28575495e+00] [-5.27446762e-04 9.99999237e-01 1.11712681e-03 4.09602923e-02] [-2.38303019e-03 -1.11838071e-03 9.99996535e-01 5.50580275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.132557844 meters 0.2876588107589852 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997000e-01 4.62118220e-04 2.40557955e-03 2.28563510e+00] [-4.64411163e-04 9.99999438e-01 9.52705568e-04 4.16342466e-02] [-2.40513793e-03 -9.53819887e-04 9.99996653e-01 5.50737432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16255784400005 meters 0.2868686861975507 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99997028e-01 4.21659662e-04 2.40133336e-03 2.28565977e+00] [-4.23692114e-04 9.99999552e-01 8.45939219e-04 4.20765360e-02] [-2.40097559e-03 -8.46954131e-04 9.99996759e-01 5.50713623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192557844 meters 0.2880560057555027 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99996912e-01 4.16234253e-04 2.44997918e-03 2.28554874e+00] [-4.18278908e-04 9.99999565e-01 8.34106869e-04 4.21250792e-02] [-2.44963093e-03 -8.35129068e-04 9.99996651e-01 5.50684825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22255784400005 meters 0.2892422994700919 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99996740e-01 4.29257262e-04 2.51720132e-03 2.28531653e+00] [-4.31451952e-04 9.99999527e-01 8.71398822e-04 4.19628196e-02] [-2.51682608e-03 -8.72482032e-04 9.99996452e-01 5.50827238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252557844 meters 0.2894088650839006 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99996542e-01 4.55675873e-04 2.59012941e-03 2.28509702e+00] [-4.58124458e-04 9.99999449e-01 9.44837879e-04 4.16539929e-02] [-2.58969744e-03 -9.46021214e-04 9.99996199e-01 5.50901969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28255784400005 meters 0.28814342779537283 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99996823e-01 5.87027491e-04 2.45151653e-03 2.28554516e+00] [-5.90262457e-04 9.99998956e-01 1.31906248e-03 4.01419729e-02] [-2.45073964e-03 -1.32050533e-03 9.99996125e-01 5.50618482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312557844 meters 0.28940830388911126 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99999780e-01 1.02812943e-04 6.55269524e-04 2.32603031e+00] [-1.04092239e-04 9.99998088e-01 1.95258568e-03 3.59465119e-02] [-6.55067520e-04 -1.95265346e-03 9.99997879e-01 5.53465433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34255784400005 meters 0.28818737316728826 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99999776e-01 1.42352139e-04 6.53383008e-04 2.32599912e+00] [-1.43695007e-04 9.99997877e-01 2.05566759e-03 3.55199196e-02] [-6.53088993e-04 -2.05576102e-03 9.99997674e-01 5.53536784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372557844 meters 0.28935858865250463 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99999724e-01 1.71315988e-04 7.22335344e-04 2.32568972e+00] [-1.72858010e-04 9.99997705e-01 2.13525083e-03 3.51669988e-02] [-7.21967884e-04 -2.13537510e-03 9.99997459e-01 5.53835322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40255784400006 meters 0.28918719721752806 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99999620e-01 2.26739079e-04 8.42121745e-04 2.32521503e+00] [-2.28665621e-04 9.99997356e-01 2.28833351e-03 3.44970421e-02] [-8.41600664e-04 -2.28852520e-03 9.99997027e-01 5.54198762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43255784400003 meters 0.2880928733409841 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99999672e-01 3.49894309e-04 7.30594893e-04 2.32557467e+00] [-3.51802024e-04 9.99996525e-01 2.61268671e-03 3.31549712e-02] [-7.29678190e-04 -2.61294288e-03 9.99996320e-01 5.54030340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46255784400006 meters 0.2888372885009737 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99999752e-01 3.81312445e-04 5.92192243e-04 2.32602499e+00] [-3.82904916e-04 9.99996305e-01 2.69133122e-03 3.28436146e-02] [-5.91163817e-04 -2.69155730e-03 9.99996203e-01 5.53791811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49255784400003 meters 0.2903985612316596 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99999782e-01 4.23550260e-04 5.05827067e-04 2.32637933e+00] [-4.24966727e-04 9.99995980e-01 2.80348103e-03 3.24028970e-02] [-5.04637618e-04 -2.80369538e-03 9.99995942e-01 5.53458988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52255784400006 meters 0.2893734041799563 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99999778e-01 4.83981710e-04 4.57348392e-04 2.32659527e+00] [-4.85337549e-04 9.99995474e-01 2.96911852e-03 3.17338179e-02] [-4.55909323e-04 -2.96933983e-03 9.99995488e-01 5.53225486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55255784400003 meters 0.28820556953887816 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.56 [[ 9.99985353e-01 4.25001540e-03 -3.35137469e-03 2.30448885e+00] [-4.25656639e-03 9.99989039e-01 -1.95001145e-03 3.48972947e-02] [ 3.34305038e-03 1.96424824e-03 9.99992483e-01 5.55599486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58255784400006 meters 0.2881119585987218 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.56 [[ 9.99984930e-01 4.37792330e-03 -3.31268615e-03 2.30445267e+00] [-4.38319763e-03 9.99989135e-01 -1.58657959e-03 3.34223225e-02] [ 3.30570424e-03 1.60107584e-03 9.99993254e-01 5.55415028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61255784400004 meters 0.28853548323059924 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.56 [[ 9.99984376e-01 4.63791056e-03 -3.12042690e-03 2.30394977e+00] [-4.64028650e-03 9.99988949e-01 -7.54605329e-04 3.00464436e-02] [ 3.11689262e-03 7.69073214e-04 9.99994847e-01 5.55387941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64255784400007 meters 0.2898337860216619 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.56 [[ 9.99989091e-01 -4.28275353e-03 -1.86445451e-03 2.32504165e+00] [ 4.28333335e-03 9.99990779e-01 3.07104444e-04 2.82376563e-02] [ 1.86312206e-03 -3.15087174e-04 9.99998215e-01 5.55901956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67255784400004 meters 0.289211154226092 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:0.56 [[ 9.99989881e-01 -4.11034771e-03 -1.82830558e-03 2.32496591e+00] [ 4.11174619e-03 9.99991257e-01 7.61808364e-04 2.63643447e-02] [ 1.82515830e-03 -7.69318184e-04 9.99998038e-01 5.55815845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70255784400007 meters 0.2903679269248385 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.56 [[ 9.99990842e-01 -3.90856944e-03 -1.74344856e-03 2.32482156e+00] [ 3.91081265e-03 9.99991527e-01 1.28510283e-03 2.41997699e-02] [ 1.73841088e-03 -1.29190937e-03 9.99997654e-01 5.55595677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73255784400004 meters 0.2886786545163329 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99987710e-01 4.24666668e-03 -2.55832833e-03 2.30605644e+00] [-4.24650324e-03 9.99990981e-01 6.93133410e-05 1.85880016e-02] [ 2.55859960e-03 -5.84485396e-05 9.99996725e-01 5.53197641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76255784400007 meters 0.2891718771718399 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99986855e-01 4.48000304e-03 -2.49379124e-03 2.30598423e+00] [-4.47829885e-03 9.99989735e-01 6.88537663e-04 1.60655316e-02] [ 2.49685029e-03 -6.77360670e-04 9.99996653e-01 5.52915090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79255784400004 meters 0.2905583261889127 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99996360e-01 5.33779338e-04 -2.64471096e-03 2.30619329e+00] [-5.40794152e-04 9.99996336e-01 -2.65238864e-03 1.19025959e-02] [ 2.64328548e-03 2.65380924e-03 9.99992985e-01 5.53046089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8225578440001 meters 0.29090941178802293 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99996115e-01 8.00072191e-04 -2.67013319e-03 2.30619146e+00] [-8.05297466e-04 9.99997762e-01 -1.95643310e-03 9.01993013e-03] [ 2.66856192e-03 1.95857575e-03 9.99994521e-01 5.53115435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85255784400005 meters 0.28759727464894175 Centerline is valid? [False, False] Translation: X:2.27, Y:0.01, Z:0.55 [[ 9.99998796e-01 1.18881364e-03 -9.97063738e-04 2.26604671e+00] [-1.19007047e-03 9.99998497e-01 -1.26088117e-03 8.27734333e-03] [ 9.95563287e-04 1.26206623e-03 9.99998708e-01 5.50081898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters 0.2912069056535104 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.55 [[ 9.99997276e-01 6.16409308e-04 -2.25106040e-03 2.30565331e+00] [-6.18091655e-04 9.99999530e-01 -7.46738640e-04 1.70743010e-04] [ 2.25059904e-03 7.48127968e-04 9.99997188e-01 5.53017000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91255784400005 meters 0.2903554670908124 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99997137e-01 9.38482607e-04 -2.20104772e-03 2.30577650e+00] [-9.38499728e-04 9.99999560e-01 -6.74588803e-06 -2.90286867e-03] [ 2.20104042e-03 8.81155141e-06 9.99997578e-01 5.52394628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942557844 meters 0.2893782201236426 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99997059e-01 1.04058249e-03 -2.19071260e-03 2.30573578e+00] [-1.04000592e-03 9.99999424e-01 2.64309231e-04 -4.02325697e-03] [ 2.19098638e-03 -2.62030100e-04 9.99997565e-01 5.52391088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97255784400005 meters 0.28996765272625913 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99996871e-01 1.11295257e-03 -2.24042261e-03 2.30576620e+00] [-1.11193610e-03 9.99999278e-01 4.54888389e-04 -4.81537253e-03] [ 2.24092726e-03 -4.52395759e-04 9.99997387e-01 5.52588562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002557844 meters 0.28932518187978107 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99996734e-01 1.16954586e-03 -2.27227424e-03 2.30568888e+00] [-1.16817304e-03 9.99999134e-01 6.05394630e-04 -5.44499516e-03] [ 2.27298031e-03 -6.02738243e-04 9.99997235e-01 5.52934792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03255784400005 meters 0.2903361570404666 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99996571e-01 1.19909744e-03 -2.32802840e-03 2.30571502e+00] [-1.19750811e-03 9.99999049e-01 6.83968902e-04 -5.77439698e-03] [ 2.32884633e-03 -6.81178723e-04 9.99997056e-01 5.53193336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062557844 meters 0.2885590117468408 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99996715e-01 1.26161344e-03 -2.23104109e-03 2.30544421e+00] [-1.25969855e-03 9.99998837e-01 8.59492765e-04 -6.49950568e-03] [ 2.23212285e-03 -8.56679502e-04 9.99997142e-01 5.53240225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09255784400005 meters 0.28993561989925215 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99996886e-01 1.28729222e-03 -2.13794130e-03 2.30527512e+00] [-1.28530386e-03 9.99998740e-01 9.31144749e-04 -6.79376783e-03] [ 2.13913726e-03 -9.28393945e-04 9.99997281e-01 5.53073696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122557844 meters 0.2885166862634689 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.00, Z:0.55 [[ 9.99969616e-01 -7.09587318e-03 -3.22718542e-03 2.28544122e+00] [ 7.10266513e-03 9.99972575e-01 2.09803562e-03 -3.46759512e-03] [ 3.21220951e-03 -2.12089349e-03 9.99992592e-01 5.52257293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15255784400006 meters 0.2887339041354743 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.55 [[ 9.99995345e-01 1.32107686e-03 -2.75028113e-03 2.30480182e+00] [-1.31800584e-03 9.99998506e-01 1.11813404e-03 -9.04498727e-03] [ 2.75175416e-03 -1.11450395e-03 9.99995593e-01 5.53433474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18255784400003 meters 0.2897688924562494 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99995055e-01 1.37074218e-03 -2.83020999e-03 2.30502065e+00] [-1.36722341e-03 9.99998291e-01 1.24484854e-03 -9.56018785e-03] [ 2.83191152e-03 -1.24097285e-03 9.99995220e-01 5.53385852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21255784400006 meters 0.2892104566027378 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99995001e-01 1.41349932e-03 -2.82831762e-03 2.30506139e+00] [-1.40966953e-03 9.99998088e-01 1.35562323e-03 -1.00113129e-02] [ 2.83022838e-03 -1.35162946e-03 9.99995081e-01 5.53273840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters 0.2932672662567789 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.55 [[ 9.99995337e-01 1.36404351e-03 -2.73225341e-03 2.30483463e+00] [-1.36068502e-03 9.99998317e-01 1.23068083e-03 -9.49614497e-03] [ 2.73392751e-03 -1.22695736e-03 9.99995510e-01 5.53244212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27255784400006 meters 0.2887286687687132 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.55 [[ 9.99995384e-01 1.27867666e-03 -2.75609022e-03 2.30491783e+00] [-1.27592974e-03 9.99998688e-01 9.98199197e-04 -8.53917820e-03] [ 2.75736298e-03 -9.94678013e-04 9.99995704e-01 5.53211445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters 0.28854274943633607 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.01, Z:0.55 [[ 9.99995202e-01 1.18734704e-03 -2.86117222e-03 2.30523942e+00] [-1.18523536e-03 9.99999024e-01 7.39629738e-04 -7.47986722e-03] [ 2.86204763e-03 -7.36235026e-04 9.99995633e-01 5.53098461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33255784400006 meters 0.29167618753790375 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.55 [[ 9.99989944e-01 -4.43610512e-03 -6.58322765e-04 2.32883980e+00] [ 4.43869560e-03 9.99982200e-01 3.98710220e-03 -8.44668530e-03] [ 6.40623843e-04 -3.98998420e-03 9.99991835e-01 5.51002486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36255784400004 meters 0.28820549075542684 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99991343e-01 1.80013367e-03 -3.75136940e-03 2.30682236e+00] [-1.79673982e-03 9.99997974e-01 9.07870307e-04 -3.91877240e-03] [ 3.75299608e-03 -9.01122213e-04 9.99992551e-01 5.52913677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39255784400007 meters 0.2882124268058283 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99991495e-01 1.68783114e-03 -3.76317389e-03 2.30678624e+00] [-1.68558936e-03 9.99998400e-01 5.98806919e-04 -2.66031950e-03] [ 3.76417856e-03 -5.92458660e-04 9.99992740e-01 5.53108546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters 0.2882148222417038 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.55 [[ 9.99991784e-01 1.51031802e-03 -3.76178532e-03 2.30674381e+00] [-1.51009080e-03 9.99998858e-01 6.32418792e-05 -5.23809864e-04] [ 3.76187654e-03 -5.75607222e-05 9.99992922e-01 5.53251277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45255784400007 meters 0.2881496779625875 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.55 [[ 9.99991793e-01 1.40111106e-03 -3.80138164e-03 2.30693769e+00] [-1.40199136e-03 9.99998991e-01 -2.28918202e-04 6.82022915e-04] [ 3.80105706e-03 2.34245828e-04 9.99992749e-01 5.53071007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48255784400004 meters 0.2899842410984082 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.55 [[ 9.99991620e-01 1.30888395e-03 -3.87894006e-03 2.30724798e+00] [-1.31072486e-03 9.99999030e-01 -4.72086442e-04 1.69995793e-03] [ 3.87831839e-03 4.77166710e-04 9.99992365e-01 5.52849944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51255784400007 meters 0.2880271131498388 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.55 [[ 9.99991627e-01 1.21204959e-03 -3.90866363e-03 2.30741005e+00] [-1.21488347e-03 9.99999001e-01 -7.22733100e-04 2.74898044e-03] [ 3.90778373e-03 7.27475619e-04 9.99992100e-01 5.52682862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54255784400004 meters 0.2896984874736477 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.55 [[ 9.99991591e-01 1.11314376e-03 -3.94702402e-03 2.30756585e+00] [-1.11702203e-03 9.99998895e-01 -9.80510659e-04 3.81943027e-03] [ 3.94592821e-03 9.84911327e-04 9.99991730e-01 5.52585553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5725578440001 meters 0.2890427625883938 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99991926e-01 9.35715885e-04 -3.90807199e-03 2.30753637e+00] [-9.41403510e-04 9.99998500e-01 -1.45376726e-03 5.75727329e-03] [ 3.90670582e-03 1.45743460e-03 9.99991307e-01 5.52445746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60255784400005 meters 0.28894845899121363 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99992368e-01 8.75871201e-04 -3.80757760e-03 2.30729503e+00] [-8.81996412e-04 9.99998319e-01 -1.60730853e-03 6.39317157e-03] [ 3.80616340e-03 1.61065453e-03 9.99991459e-01 5.52423135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6325578440001 meters 0.29030855858359145 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99992746e-01 7.70471053e-04 -3.73019997e-03 2.30704887e+00] [-7.77486899e-04 9.99997931e-01 -1.87973826e-03 7.51575381e-03] [ 3.72874397e-03 1.88262480e-03 9.99991276e-01 5.52554758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66255784400005 meters 0.29030855858359145 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99992746e-01 7.70471053e-04 -3.73019997e-03 2.30704887e+00] [-7.77486899e-04 9.99997931e-01 -1.87973826e-03 7.51575381e-03] [ 3.72874397e-03 1.88262480e-03 9.99991276e-01 5.52554758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692557844 meters 0.28868553811008435 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99993081e-01 6.52209353e-04 -3.66237459e-03 2.30682915e+00] [-6.60226030e-04 9.99997388e-01 -2.18814652e-03 8.78043846e-03] [ 3.66093790e-03 2.19054938e-03 9.99990899e-01 5.52682034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72255784400005 meters 0.28799004947624113 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99993039e-01 5.23826484e-04 -3.69419891e-03 2.30693590e+00] [-5.33159376e-04 9.99996668e-01 -2.52583221e-03 1.01646718e-02] [ 3.69286350e-03 2.52778422e-03 9.99989986e-01 5.52655809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752557844 meters 0.28667693940408445 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99982015e-01 4.78653882e-03 -3.61379016e-03 2.30694784e+00] [-4.78098338e-03 9.99987378e-01 1.54436683e-03 1.12312071e-02] [ 3.62113672e-03 -1.52706158e-03 9.99992278e-01 5.52245063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78255784400005 meters 0.28829761975295803 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.55 [[ 9.99990588e-01 -3.86527600e-03 -1.97051245e-03 2.32745782e+00] [ 3.86956190e-03 9.99990146e-01 2.17586823e-03 1.42017626e-02] [ 1.96208270e-03 -2.18347277e-03 9.99995691e-01 5.52744871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812557844 meters 0.2871572865779225 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99985425e-01 4.94002433e-03 -2.17838468e-03 2.30619292e+00] [-4.93737667e-03 9.99987068e-01 1.21913063e-03 1.23711530e-02] [ 2.18437904e-03 -1.20835735e-03 9.99996884e-01 5.52081984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84255784400005 meters 0.2882497582110086 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99985945e-01 4.87620013e-03 -2.08137123e-03 2.30586227e+00] [-4.87402416e-03 9.99987571e-01 1.04924707e-03 1.30570004e-02] [ 2.08646170e-03 -1.03908767e-03 9.99997283e-01 5.52300746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872557844 meters 0.2878961644458217 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.55 [[ 9.99986388e-01 4.79310598e-03 -2.06136577e-03 2.30573330e+00] [-4.79140466e-03 9.99988177e-01 8.29483076e-04 1.39567355e-02] [ 2.06531720e-03 -8.19594948e-04 9.99997531e-01 5.52502063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90255784400006 meters 0.2887380860346627 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.55 [[ 9.99998456e-01 -1.69945091e-03 -4.48056195e-04 2.32899274e+00] [ 1.70098478e-03 9.99992617e-01 3.44554281e-03 1.57770702e-02] [ 4.42197356e-04 -3.44629963e-03 9.99993964e-01 5.50836632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93255784400003 meters 0.28764153275405085 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99983578e-01 3.94285250e-03 -4.15905554e-03 2.30802473e+00] [-3.94323703e-03 9.99992222e-01 -8.42611795e-05 2.09029179e-02] [ 4.15869096e-03 1.00659938e-04 9.99991348e-01 5.52215552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96255784400006 meters 0.288835380485441 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99984047e-01 3.79684411e-03 -4.18204993e-03 2.30813357e+00] [-3.79878739e-03 9.99992680e-01 -4.56825003e-04 2.24452816e-02] [ 4.18028482e-03 4.72704434e-04 9.99991151e-01 5.52141192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99255784400003 meters 0.28869895201779705 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.55 [[ 9.99984954e-01 3.63156614e-03 -4.11143868e-03 2.30801967e+00] [-3.63520459e-03 9.99993007e-01 -8.77832321e-04 2.41814898e-02] [ 4.10822203e-03 8.92765034e-04 9.99991163e-01 5.52026638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02255784400006 meters 0.28720411159134074 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99978186e-01 -4.63766632e-03 -4.70317279e-03 2.28868674e+00] [ 4.63699089e-03 9.99989237e-01 -1.54507674e-04 3.14968715e-02] [ 4.70383872e-03 1.32695734e-04 9.99988928e-01 5.50636063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05255784400003 meters 0.28951192108575424 Centerline is valid? [False, False] Translation: X:2.31, Y:0.03, Z:0.55 [[ 9.99986249e-01 3.71320823e-03 -3.70310975e-03 2.30897322e+00] [-3.71827452e-03 9.99992159e-01 -1.36217389e-03 2.92274099e-02] [ 3.69802268e-03 1.37592434e-03 9.99992216e-01 5.51170030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08255784400006 meters 0.28938103233650264 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99978947e-01 -1.74478587e-03 -6.24994284e-03 2.28725407e+00] [ 1.75487255e-03 9.99997166e-01 1.60876336e-03 3.33798513e-02] [ 6.24711818e-03 -1.61969734e-03 9.99979175e-01 5.51929129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11255784400004 meters 0.2874047147977936 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.55 [[ 9.99978103e-01 -1.89947102e-03 -6.33921812e-03 2.28760579e+00] [ 1.90709341e-03 9.99997466e-01 1.19658997e-03 3.50914833e-02] [ 6.33692916e-03 -1.20865325e-03 9.99979191e-01 5.51668897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14255784400007 meters 0.288966337722592 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99977263e-01 -1.54050337e-03 -6.56510663e-03 2.32871947e+00] [ 1.55135469e-03 9.99997439e-01 1.64810680e-03 3.48680316e-02] [ 6.56255090e-03 -1.65825413e-03 9.99977091e-01 5.53510662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17255784400004 meters 0.28891997393234936 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99976862e-01 -1.75022115e-03 -6.57355129e-03 2.32884479e+00] [ 1.75761103e-03 9.99997830e-01 1.11857579e-03 3.70623135e-02] [ 6.57157927e-03 -1.13010366e-03 9.99977768e-01 5.53321452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20255784400007 meters 0.29024129668875853 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99976512e-01 -1.97699234e-03 -6.56254855e-03 2.32886101e+00] [ 1.98058733e-03 9.99997892e-01 5.41349622e-04 3.94351340e-02] [ 6.56146447e-03 -5.54334607e-04 9.99978320e-01 5.53261136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23255784400004 meters 0.28924625705926266 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99976696e-01 -2.49724889e-03 -6.35389443e-03 2.32799972e+00] [ 2.49244876e-03 9.99996603e-01 -7.63269711e-04 4.49130628e-02] [ 6.35577892e-03 7.47415167e-04 9.99979523e-01 5.53835908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26255784400007 meters 0.28863789872328816 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99976685e-01 -2.72741848e-03 -6.26017458e-03 2.32757815e+00] [ 2.71902513e-03 9.99995394e-01 -1.34887227e-03 4.73118890e-02] [ 6.26382468e-03 1.33181925e-03 9.99979495e-01 5.54258813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29255784400004 meters 0.2883578521576566 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99976951e-01 -2.89079830e-03 -6.14329790e-03 2.32722284e+00] [ 2.88006273e-03 9.99994311e-01 -1.75565370e-03 4.89895163e-02] [ 6.14833819e-03 1.73792015e-03 9.99979589e-01 5.54409630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3225578440001 meters 0.2870771494710795 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99976837e-01 -3.03334582e-03 -6.09292487e-03 2.32710544e+00] [ 3.02050976e-03 9.99993202e-01 -2.11481370e-03 5.04701981e-02] [ 6.09929841e-03 2.09636097e-03 9.99979202e-01 5.54410901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35255784400005 meters 0.28759790364266385 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99976381e-01 -3.12048732e-03 -6.12377808e-03 2.32733394e+00] [ 3.10619946e-03 9.99992435e-01 -2.34130289e-03 5.14161037e-02] [ 6.13103776e-03 2.32222592e-03 9.99978509e-01 5.54096840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3825578440001 meters 0.2867032851438401 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 0.99997583 -0.00318439 -0.00618026 2.32757614] [ 0.00316894 0.99999184 -0.00250728 0.05210734] [ 0.00618819 0.00248763 0.99997776 0.55389678] [ 0. 0. 0. 1. ]] SLAMing on 304.41255784400005 meters 0.28891993291406604 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 0.99997496 -0.00329167 -0.0062643 2.32799729] [ 0.00327431 0.99999078 -0.00277931 0.05324344] [ 0.00627339 0.00275873 0.99997652 0.55346356] [ 0. 0. 0. 1. ]] SLAMing on 304.442557844 meters 0.2865761857088985 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 0.9999747 -0.00329146 -0.00630552 2.32820469] [ 0.00327397 0.99999077 -0.00278245 0.05327432] [ 0.00631462 0.00276173 0.99997625 0.55323127] [ 0. 0. 0. 1. ]] SLAMing on 304.47255784400005 meters 0.28860819703532525 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:0.55 [[ 0.99997261 0.00524047 -0.005226 2.34895797] [-0.00525776 0.99998073 -0.00329982 0.04872079] [ 0.0052086 0.00332721 0.9999809 0.5531808 ] [ 0. 0. 0. 1. ]] SLAMing on 304.502557844 meters 0.28906902733687473 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:0.55 [[ 0.99997266 0.00523573 -0.0052211 2.34901522] [-0.00525307 0.99998072 -0.00331147 0.04877849] [ 0.00520366 0.0033388 0.99998089 0.55303148] [ 0. 0. 0. 1. ]] SLAMing on 304.53255784400005 meters 0.288708358404519 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:0.55 [[ 0.99997282 0.00527765 -0.00514797 2.34882497] [-0.00529417 0.99998087 -0.00319987 0.04831268] [ 0.00513098 0.00322704 0.99998163 0.55301788] [ 0. 0. 0. 1. ]] SLAMing on 304.562557844 meters 0.28655791285694204 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 0.99997889 -0.00315332 -0.00568152 2.32856914] [ 0.00313966 0.99999216 -0.00241157 0.0530001 ] [ 0.00568908 0.00239368 0.99998095 0.55244632] [ 0. 0. 0. 1. ]] SLAMing on 304.59255784400005 meters 0.2872658960488158 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979365e-01 -3.09449102e-03 -5.62973590e-03 2.32831060e+00] [ 3.08182791e-03 9.99992705e-01 -2.25661111e-03 5.23360510e-02] [ 5.63667789e-03 2.23921467e-03 9.99981607e-01 5.52713992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters 0.2860962665762279 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979662e-01 -3.04051455e-03 -5.60628778e-03 2.32818852e+00] [ 3.02870808e-03 9.99993181e-01 -2.11322291e-03 5.17372871e-02] [ 5.61267484e-03 2.09620012e-03 9.99982052e-01 5.52842964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65255784400006 meters 0.2868526337090342 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979612e-01 -3.01664491e-03 -5.62807858e-03 2.32821873e+00] [ 3.00514476e-03 9.99993382e-01 -2.05069154e-03 5.14814898e-02] [ 5.63422754e-03 2.03373654e-03 9.99982060e-01 5.52894848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters 0.28862020571130076 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979389e-01 -2.96493996e-03 -5.69479985e-03 2.32845880e+00] [ 2.95405596e-03 9.99993796e-01 -1.91867824e-03 5.09538873e-02] [ 5.70045329e-03 1.90181594e-03 9.99981944e-01 5.52729755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71255784400006 meters 0.2875095593844505 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979115e-01 -2.78832810e-03 -5.83043418e-03 2.32900025e+00] [ 2.77981964e-03 9.99995060e-01 -1.46691384e-03 4.91028194e-02] [ 5.83449562e-03 1.45067565e-03 9.99981927e-01 5.52220143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters 0.28703327034841597 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979315e-01 -2.68147386e-03 -5.84635638e-03 2.32912224e+00] [ 2.67450514e-03 9.99995704e-01 -1.19946778e-03 4.80051407e-02] [ 5.84954761e-03 1.18380685e-03 9.99982191e-01 5.52024143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77255784400006 meters 0.287376508024001 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99979754e-01 -2.59711522e-03 -5.80920521e-03 2.32895665e+00] [ 2.59145647e-03 9.99996161e-01 -9.81415667e-04 4.70867996e-02] [ 5.81173176e-03 9.66341495e-04 9.99982645e-01 5.52159299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters 0.28574475659752596 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99980458e-01 -2.52457560e-03 -5.71922540e-03 2.32862337e+00] [ 2.52013281e-03 9.99996517e-01 -7.83889885e-04 4.62487262e-02] [ 5.72118447e-03 7.69461359e-04 9.99983338e-01 5.52389906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83255784400006 meters 0.28625288929333415 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99980898e-01 -2.51120937e-03 -5.64780360e-03 2.32828614e+00] [ 2.50704480e-03 9.99996580e-01 -7.44336900e-04 4.60630101e-02] [ 5.64965347e-03 7.30163385e-04 9.99983774e-01 5.52750667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters 0.2869903489193311 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:0.55 [[ 9.99981298e-01 -2.46475117e-03 -5.59721743e-03 2.32806904e+00] [ 2.46131483e-03 9.99996778e-01 -6.20742334e-04 4.55386644e-02] [ 5.59872938e-03 6.06954211e-04 9.99984143e-01 5.52938465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89255784400007 meters 0.2863162311478406 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99981236e-01 -2.40427091e-03 -5.63444991e-03 2.32835373e+00] [ 2.40169221e-03 9.99997008e-01 -4.64388411e-04 4.49060831e-02] [ 5.63554957e-03 4.50847482e-04 9.99984019e-01 5.52500310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters 0.2878468421240043 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99981156e-01 -2.32761605e-03 -5.68061689e-03 2.32864245e+00] [ 2.32613244e-03 9.99997259e-01 -2.67764024e-04 4.41070179e-02] [ 5.68122457e-03 2.54545111e-04 9.99983829e-01 5.52106753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95255784400007 meters 0.2858301597315549 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.55 [[ 9.99981278e-01 -2.26852859e-03 -5.68300010e-03 2.32867582e+00] [ 2.26793017e-03 9.99997422e-01 -1.11742261e-04 4.34713787e-02] [ 5.68323894e-03 9.88515216e-05 9.99983845e-01 5.52030545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98255784400004 meters 0.288900922917715 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:0.55 [[ 0.99998998 0.00319864 -0.00313059 2.3516412 ] [-0.00320852 0.99998988 -0.00315334 0.04243746] [ 0.00312047 0.00316335 0.99999013 0.55005988] [ 0. 0. 0. 1. ]] SLAMing on 305.01255784400007 meters 0.2866925085489001 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:0.55 [[ 0.99998994 0.00326035 -0.0030807 2.35149841] [-0.00326957 0.99999018 -0.00299197 0.0417719 ] [ 0.00307091 0.00300202 0.99999078 0.55006702] [ 0. 0. 0. 1. ]] SLAMing on 305.04255784400004 meters 0.2870416064155004 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:0.55 [[ 0.99998951 0.00338683 -0.00308355 2.35161105] [-0.00339498 0.99999074 -0.00264347 0.04035996] [ 0.00307457 0.00265391 0.99999175 0.54978638] [ 0. 0. 0. 1. ]] SLAMing on 305.0725578440001 meters 0.28598023006442963 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:0.55 [[ 0.99998926 0.00346338 -0.00308075 2.35167547] [-0.00347092 0.99999099 -0.002445 0.03954986] [ 0.00307225 0.00245567 0.99999227 0.54959847] [ 0. 0. 0. 1. ]] SLAMing on 305.10255784400005 meters 0.2869646200152695 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.55 [[ 9.99982536e-01 -5.61039170e-03 -1.85770988e-03 2.37258231e+00] [ 5.60708846e-03 9.99982698e-01 -1.77858101e-03 4.08172132e-02] [ 1.86765627e-03 1.76813361e-03 9.99996693e-01 5.50002587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1325578440001 meters 0.28902787001636676 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.55 [[ 9.99982232e-01 -5.63623504e-03 -1.94117927e-03 2.37282418e+00] [ 5.63264326e-03 9.99982424e-01 -1.85083553e-03 4.11210382e-02] [ 1.95157690e-03 1.83986867e-03 9.99996403e-01 5.49945287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16255784400005 meters 0.2857471890049643 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:0.55 [[ 0.99998717 0.00342973 -0.00372909 2.35221573] [-0.00343925 0.99999083 -0.00255191 0.04109196] [ 0.0037203 0.0025647 0.99998979 0.54958711] [ 0. 0. 0. 1. ]] SLAMing on 305.192557844 meters 0.2863888276028187 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:0.55 [[ 9.99990514e-01 -3.00013936e-03 -3.15778256e-03 2.37523320e+00] [ 3.00235759e-03 9.99995249e-01 6.97958228e-04 4.22470011e-02] [ 3.15567359e-03 -7.07432399e-04 9.99994771e-01 5.48615012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22255784400005 meters 0.2864350724090525 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:0.55 [[ 9.99989030e-01 -3.15677522e-03 -3.46034863e-03 2.37602766e+00] [ 3.15727423e-03 9.99995006e-01 1.38753966e-04 4.44732838e-02] [ 3.45989334e-03 -1.49677713e-04 9.99994003e-01 5.48507636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252557844 meters 0.2873359641741075 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:0.55 [[ 9.99988680e-01 -3.29050556e-03 -3.43679695e-03 2.37583267e+00] [ 3.28969317e-03 9.99994560e-01 -2.42004340e-04 4.60071786e-02] [ 3.43757457e-03 2.30695594e-04 9.99994065e-01 5.48853672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28255784400005 meters 0.2862250243102999 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:0.55 [[ 9.99988470e-01 -3.43711744e-03 -3.35350329e-03 2.37543895e+00] [ 3.43490079e-03 9.99993879e-01 -6.66530696e-04 4.77042292e-02] [ 3.35577370e-03 6.55004060e-04 9.99994155e-01 5.49345435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312557844 meters 0.28678768230769985 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:0.55 [[ 9.99987864e-01 -3.60089031e-03 -3.36230566e-03 2.37528441e+00] [ 3.59702489e-03 9.99992864e-01 -1.15497122e-03 4.96592992e-02] [ 3.36644059e-03 1.14286290e-03 9.99993680e-01 5.49795552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34255784400005 meters 0.28602825189336184 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.55 [[ 9.99986855e-01 -3.92184111e-03 -3.30299172e-03 2.37477033e+00] [ 3.91438110e-03 9.99989780e-01 -2.26200787e-03 5.39720922e-02] [ 3.31182920e-03 2.24904897e-03 9.99991987e-01 5.50727933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372557844 meters 0.28425925113494555 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:0.55 [[ 0.99997407 0.00543763 -0.0047223 2.35295729] [-0.00545193 0.99998058 -0.0030203 0.05648498] [ 0.00470579 0.00304597 0.99998429 0.551295 ] [ 0. 0. 0. 1. ]] SLAMing on 305.40255784400006 meters 0.2836968073899461 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:0.55 [[ 0.9999751 0.0052182 -0.00475016 2.35298308] [-0.00523552 0.99997967 -0.00363983 0.05899458] [ 0.00473107 0.00366461 0.99998209 0.55146732] [ 0. 0. 0. 1. ]] SLAMing on 305.43255784400003 meters 0.28518064294942497 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.55 [[ 9.99997072e-01 -6.01359340e-04 -2.34400380e-03 2.37569377e+00] [ 6.00302027e-04 9.99999718e-01 -4.51748753e-04 5.99485116e-02] [ 2.34427480e-03 4.50340320e-04 9.99997151e-01 5.49849185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46255784400006 meters 0.2851327667550774 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.55 [[ 9.99997081e-01 -8.06042251e-04 -2.27766809e-03 2.37540561e+00] [ 8.03765679e-04 9.99999177e-01 -1.00025743e-03 6.21857809e-02] [ 2.27847246e-03 9.98423801e-04 9.99996906e-01 5.50150189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49255784400003 meters 0.2860704814805531 Centerline is valid? [False, False] Translation: X:2.38, Y:0.06, Z:0.55 [[ 9.99997064e-01 -1.02226610e-03 -2.19723505e-03 2.37503672e+00] [ 1.01885073e-03 9.99998272e-01 -1.55495117e-03 6.44769428e-02] [ 2.19882083e-03 1.55270795e-03 9.99996377e-01 5.50536833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52255784400006 meters 0.2842910092867064 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:0.55 [[ 9.99999759e-01 5.36130149e-04 -4.41644961e-04 2.33441038e+00] [-5.37021383e-04 9.99997815e-01 -2.02034539e-03 7.35304193e-02] [ 4.40560828e-04 2.02058207e-03 9.99997862e-01 5.48460894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55255784400003 meters 0.2850720379462041 Centerline is valid? [False, False] Translation: X:2.33, Y:0.08, Z:0.55 [[ 9.99999772e-01 3.78898802e-04 -5.58227150e-04 2.33473525e+00] [-3.80254108e-04 9.99996976e-01 -2.42977236e-03 7.52282300e-02] [ 5.57304824e-04 2.42998407e-03 9.99996892e-01 5.48437575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58255784400006 meters 0.2850720379462041 Centerline is valid? [False, False] Translation: X:2.33, Y:0.08, Z:0.55 [[ 9.99999772e-01 3.78898802e-04 -5.58227150e-04 2.33473525e+00] [-3.80254108e-04 9.99996976e-01 -2.42977236e-03 7.52282300e-02] [ 5.57304824e-04 2.42998407e-03 9.99996892e-01 5.48437575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61255784400004 meters 0.2856623265557356 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.55 [[ 9.99999733e-01 2.23198895e-04 -6.95136872e-04 2.33517525e+00] [-2.25170846e-04 9.99995948e-01 -2.83799699e-03 7.69337096e-02] [ 6.94500618e-04 2.83815275e-03 9.99995731e-01 5.48272812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64255784400007 meters 0.2861595983868645 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.55 [[ 9.99999637e-01 6.77988605e-05 -8.49493514e-04 2.33563820e+00] [-7.05627953e-05 9.99994703e-01 -3.25401934e-03 7.86644402e-02] [ 8.49268396e-04 3.25407810e-03 9.99994345e-01 5.48157658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67255784400004 meters 0.28611714238369473 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.55 [[ 9.99999606e-01 -6.65794853e-05 -8.84733076e-04 2.33570005e+00] [ 6.33790962e-05 9.99993457e-01 -3.61688567e-03 8.01422145e-02] [ 8.84968098e-04 3.61682818e-03 9.99993068e-01 5.48240838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70255784400007 meters 0.28623741721483825 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.55 [[ 9.99999598e-01 -2.17178817e-04 -8.70032233e-04 2.33560775e+00] [ 2.13673121e-04 9.99991867e-01 -4.02745440e-03 8.18181783e-02] [ 8.70899835e-04 4.02726688e-03 9.99991511e-01 5.48387392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73255784400004 meters 0.2848846469926426 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:0.55 [[ 9.99999604e-01 -4.62332476e-04 -7.60901056e-04 2.33519565e+00] [ 4.58654899e-04 9.99988248e-01 -4.82628517e-03 8.49584580e-02] [ 7.63123462e-04 4.82593426e-03 9.99988064e-01 5.48737848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76255784400007 meters 0.2855670917208658 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.55 [[ 9.99999432e-01 -6.03925054e-04 -8.78279984e-04 2.33546276e+00] [ 5.99306526e-04 9.99986042e-01 -5.24939622e-03 8.66554893e-02] [ 8.81437967e-04 5.24886688e-03 9.99985836e-01 5.48824319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79255784400004 meters 0.28489266570347727 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.55 [[ 9.99999217e-01 -7.53136454e-04 -9.98939349e-04 2.33570371e+00] [ 7.47442592e-04 9.99983543e-01 -5.68808625e-03 8.84224508e-02] [ 1.00320681e-03 5.68733515e-03 9.99983324e-01 5.49001726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8225578440001 meters 0.28687405067476596 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:0.55 [[ 9.99998913e-01 -9.06224950e-04 -1.16282516e-03 2.33605319e+00] [ 8.99053641e-04 9.99980666e-01 -6.15291652e-03 9.02804277e-02] [ 1.16837860e-03 6.15186439e-03 9.99980395e-01 5.49170954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85255784400005 meters 0.2850881220091098 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:0.55 [[ 0.99997834 -0.00549709 -0.00362063 2.31513039] [ 0.00548695 0.99998101 -0.00280454 0.09745235] [ 0.00363598 0.00278461 0.99998951 0.55012181] [ 0. 0. 0. 1. ]] SLAMing on 305.8825578440001 meters 0.2860694543888683 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.55 [[ 0.99999237 0.00289617 -0.00262208 2.33689547] [-0.00290573 0.99998911 -0.00365065 0.09666644] [ 0.00261148 0.00365824 0.9999899 0.55018427] [ 0. 0. 0. 1. ]] SLAMing on 305.91255784400005 meters 0.2864619577161515 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.55 [[ 0.9999925 0.00280236 -0.00267345 2.33706885] [-0.00281281 0.99998838 -0.00391401 0.0977432 ] [ 0.00266245 0.0039215 0.99998877 0.5501038 ] [ 0. 0. 0. 1. ]] SLAMing on 305.942557844 meters 0.2866439145510154 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.55 [[ 0.9999925 0.00274814 -0.00272811 2.33723552] [-0.0027592 0.99998795 -0.00406031 0.09834889] [ 0.00271692 0.00406781 0.99998804 0.55004964] [ 0. 0. 0. 1. ]] SLAMing on 305.97255784400005 meters 0.286347755968467 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:0.55 [[ 0.99999238 0.00270538 -0.00281354 2.33742759] [-0.00271711 0.99998759 -0.0041754 0.0988236 ] [ 0.0028022 0.00418302 0.99998732 0.55012258] [ 0. 0. 0. 1. ]] SLAMing on 306.002557844 meters 0.28537861160331623 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.55 [[ 9.99983577e-01 -1.97565338e-03 -5.37987160e-03 2.31499579e+00] [ 1.97351063e-03 9.99997971e-01 -4.03568862e-04 9.89312841e-02] [ 5.38065800e-03 3.92945000e-04 9.99985447e-01 5.51627039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03255784400005 meters 0.2859271733430538 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:0.55 [[ 9.99982954e-01 -1.96045292e-03 -5.49978826e-03 2.31526685e+00] [ 1.95846731e-03 9.99998015e-01 -3.66395995e-04 9.87804577e-02] [ 5.50049564e-03 3.55618594e-04 9.99984809e-01 5.51706179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters 0.2859447017732863 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:0.55 [[ 9.99983426e-01 -1.89672965e-03 -5.43600540e-03 2.31507107e+00] [ 1.89565764e-03 9.99998183e-01 -2.02351441e-04 9.81001979e-02] [ 5.43637933e-03 1.92043282e-04 9.99985204e-01 5.51773297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09255784400005 meters 0.28544398778766567 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.55 [[ 9.99983935e-01 -1.81786187e-03 -5.36882792e-03 2.31470648e+00] [ 1.81789367e-03 9.99998348e-01 1.04303763e-06 9.72346342e-02] [ 5.36881715e-03 -1.08029792e-05 9.99985588e-01 5.52209149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122557844 meters 0.285301769467146 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:0.55 [[ 9.99984603e-01 -1.73845013e-03 -5.26980451e-03 2.31433342e+00] [ 1.73959383e-03 9.99998464e-01 2.12453313e-04 9.63488311e-02] [ 5.26942708e-03 -2.21617362e-04 9.99986092e-01 5.52505454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15255784400006 meters 0.28588734139538347 Centerline is valid? [False, False] Translation: X:2.31, Y:0.09, Z:0.55 [[ 9.99984345e-01 -1.51614085e-03 -5.38615938e-03 2.31475776e+00] [ 1.52039703e-03 9.99998535e-01 7.86200341e-04 9.40027620e-02] [ 5.38495950e-03 -7.94377134e-04 9.99985185e-01 5.52193818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18255784400003 meters 0.286432126265761 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.55 [[ 9.99984132e-01 -1.35835118e-03 -5.46718910e-03 2.31511177e+00] [ 1.36486477e-03 9.99998363e-01 1.18784208e-03 9.23501743e-02] [ 5.46556664e-03 -1.19528520e-03 9.99984349e-01 5.51881191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21255784400006 meters 0.2866295786823132 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.55 [[ 9.99984191e-01 -1.17756265e-03 -5.49834868e-03 2.31530430e+00] [ 1.18656094e-03 9.99997962e-01 1.63356956e-03 9.05094545e-02] [ 5.49641384e-03 -1.64006786e-03 9.99983550e-01 5.51662907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24255784400003 meters 0.28630139928656984 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:0.55 [[ 9.99984315e-01 -9.95227116e-04 -5.51180529e-03 2.31534622e+00] [ 1.00678174e-03 9.99997301e-01 2.09396373e-03 8.86092724e-02] [ 5.50970644e-03 -2.09948007e-03 9.99982618e-01 5.51661002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27255784400006 meters 0.28704974569185493 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.55 [[ 9.99985203e-01 -6.13702766e-04 -5.40526093e-03 2.31487879e+00] [ 6.30287034e-04 9.99995098e-01 3.06700278e-03 8.45724364e-02] [ 5.40335221e-03 -3.07036427e-03 9.99980688e-01 5.52089412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30255784400003 meters 0.2868056859298937 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.55 [[ 9.99985520e-01 -4.00328746e-04 -5.36647560e-03 2.31474534e+00] [ 4.19741929e-04 9.99993371e-01 3.61685409e-03 8.23152508e-02] [ 5.36499210e-03 -3.61905425e-03 9.99979059e-01 5.52178267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33255784400006 meters 0.28628294111691877 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.55 [[ 9.99985606e-01 -1.55111140e-04 -5.36318736e-03 2.31472142e+00] [ 1.77739844e-04 9.99991084e-01 4.21904490e-03 7.98471568e-02] [ 5.36248512e-03 -4.21993742e-03 9.99976718e-01 5.52222513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters 0.2853280713817414 Centerline is valid? [False, False] Translation: X:2.31, Y:0.08, Z:0.55 [[ 9.99985315e-01 7.54144068e-05 -5.41879060e-03 2.31490207e+00] [-4.95304024e-05 9.99988590e-01 4.77668785e-03 7.75595455e-02] [ 5.41908900e-03 -4.77634932e-03 9.99973910e-01 5.52166687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39255784400007 meters 0.2872755757312363 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:0.55 [[ 9.99984906e-01 2.71826934e-04 -5.48761970e-03 2.31510447e+00] [-2.42951992e-04 9.99986127e-01 5.26181463e-03 7.55695512e-02] [ 5.48897388e-03 -5.26040198e-03 9.99971099e-01 5.52139532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42255784400004 meters 0.2862285900408875 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.55 [[ 9.99984931e-01 4.11956806e-04 -5.47438856e-03 2.31503978e+00] [-3.81240381e-04 9.99984187e-01 5.61079208e-03 7.41366745e-02] [ 5.47661340e-03 -5.60862047e-03 9.99969275e-01 5.52219921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45255784400007 meters 0.2866823930570659 Centerline is valid? [False, False] Translation: X:2.31, Y:0.07, Z:0.55 [[ 9.99985312e-01 6.48248905e-04 -5.38102806e-03 2.31463184e+00] [-6.14824964e-04 9.99980524e-01 6.21077354e-03 7.17116169e-02] [ 5.38494938e-03 -6.20737393e-03 9.99966235e-01 5.52641792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48255784400004 meters 0.2861858804311869 Centerline is valid? [False, False] Translation: X:2.31, Y:0.07, Z:0.55 [[ 9.99985171e-01 7.22915539e-04 -5.39761571e-03 2.31470581e+00] [-6.88356850e-04 9.99979272e-01 6.40169914e-03 7.09361260e-02] [ 5.40213172e-03 -6.39788873e-03 9.99964941e-01 5.52580741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51255784400007 meters 0.2877709337009625 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.55 [[ 9.99984629e-01 7.87464868e-04 -5.48836994e-03 2.31500425e+00] [-7.51397366e-04 9.99978131e-01 6.57059056e-03 7.02588495e-02] [ 5.49342403e-03 -6.56636561e-03 9.99963352e-01 5.52438137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54255784400004 meters 0.2857227610964682 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.55 [[ 9.99984365e-01 8.67586058e-04 -5.52419194e-03 2.31512768e+00] [-8.30121716e-04 9.99976667e-01 6.78055320e-03 6.94010515e-02] [ 5.52994575e-03 -6.77586144e-03 9.99961753e-01 5.52378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5725578440001 meters 0.28608238416990234 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.55 [[ 9.99984293e-01 9.80016526e-04 -5.51852296e-03 2.31510609e+00] [-9.41000267e-04 9.99974577e-01 7.06821817e-03 6.82248347e-02] [ 5.52530963e-03 -7.06291422e-03 9.99959792e-01 5.52408085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60255784400005 meters 0.2859727539642822 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.55 [[ 0.99997907 -0.00329455 -0.0055689 2.31520301] [ 0.00331138 0.99998997 0.00301421 0.06720894] [ 0.00555892 -0.00303259 0.99997995 0.5524822 ] [ 0. 0. 0. 1. ]] SLAMing on 306.6325578440001 meters 0.2866404832159421 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.55 [[ 0.99997957 -0.00298821 -0.00565143 2.31561891] [ 0.00300932 0.99998851 0.00373025 0.06421536] [ 0.00564021 -0.00374718 0.99997707 0.5521348 ] [ 0. 0. 0. 1. ]] SLAMing on 306.66255784400005 meters 0.28635428756644754 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 0.99996161 0.00579547 -0.00657267 2.29532097] [-0.00577517 0.99997851 0.00310292 0.05968962] [ 0.00659052 -0.00306484 0.99997359 0.55129332] [ 0. 0. 0. 1. ]] SLAMing on 306.692557844 meters 0.2857090724929617 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 0.99996086 0.00583116 -0.0066543 2.29560613] [-0.00580996 0.999978 0.00320114 0.05929046] [ 0.00667282 -0.00316235 0.99997274 0.5511148 ] [ 0. 0. 0. 1. ]] SLAMing on 306.72255784400005 meters 0.2871481655976129 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 0.99996022 0.00584905 -0.00673402 2.29590385] [-0.00582726 0.99997774 0.00325048 0.05909555] [ 0.00675289 -0.00321111 0.99997204 0.55090245] [ 0. 0. 0. 1. ]] SLAMing on 306.752557844 meters 0.2879683659923127 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.55 [[ 0.99996592 -0.00434517 -0.00701949 2.31844467] [ 0.00436379 0.99998699 0.00263987 0.06346459] [ 0.00700793 -0.00267041 0.99997188 0.55010511] [ 0. 0. 0. 1. ]] SLAMing on 306.78255784400005 meters 0.2872090943873027 Centerline is valid? [False, False] Translation: X:2.28, Y:0.06, Z:0.55 [[ 0.99997772 -0.00337704 -0.0057577 2.27874741] [ 0.00339455 0.99998964 0.00303369 0.06320747] [ 0.0057474 -0.00305316 0.99997882 0.54694027] [ 0. 0. 0. 1. ]] SLAMing on 306.812557844 meters 0.2873607557374496 Centerline is valid? [False, False] Translation: X:2.28, Y:0.06, Z:0.55 [[ 0.99997758 -0.00347607 -0.00572326 2.27867231] [ 0.00349182 0.99999014 0.00274339 0.06437847] [ 0.00571367 -0.00276332 0.99997986 0.54687894] [ 0. 0. 0. 1. ]] SLAMing on 306.84255784400005 meters 0.28773529327448777 Centerline is valid? [False, False] Translation: X:2.28, Y:0.07, Z:0.55 [[ 0.99997748 -0.0035881 -0.00567092 2.27855155] [ 0.00360186 0.99999059 0.00241813 0.06569071] [ 0.00566219 -0.0024385 0.999981 0.54682416] [ 0. 0. 0. 1. ]] SLAMing on 306.872557844 meters 0.28805029222920375 Centerline is valid? [False, False] Translation: X:2.28, Y:0.07, Z:0.55 [[ 9.99976968e-01 -3.71113660e-03 -5.68247945e-03 2.27857801e+00] [ 3.72300755e-03 9.99990907e-01 2.07989231e-03 6.70670121e-02] [ 5.67470901e-03 -2.10100032e-03 9.99981692e-01 5.46799390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90255784400006 meters 0.2873420504592314 Centerline is valid? [False, False] Translation: X:2.28, Y:0.07, Z:0.55 [[ 9.99976702e-01 -3.85858406e-03 -5.63085090e-03 2.27834766e+00] [ 3.86815716e-03 9.99991090e-01 1.69021718e-03 6.86702159e-02] [ 5.62427888e-03 -1.71195882e-03 9.99982718e-01 5.46977495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93255784400003 meters 0.2870759666068765 Centerline is valid? [False, False] Translation: X:2.28, Y:0.07, Z:0.55 [[ 9.99977304e-01 -3.86996773e-03 -5.51498977e-03 2.27794987e+00] [ 3.87918503e-03 9.99991095e-01 1.66160196e-03 6.88022761e-02] [ 5.50851032e-03 -1.68295791e-03 9.99983412e-01 5.47190463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96255784400006 meters 0.2874124553476448 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.55 [[ 9.99984760e-01 4.50663667e-03 -3.18919019e-03 2.29748624e+00] [-4.50378104e-03 9.99989451e-01 9.02025908e-04 6.65841235e-02] [ 3.19322165e-03 -8.87648746e-04 9.99994508e-01 5.47863373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99255784400003 meters 0.2876873754560157 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.55 [[ 9.99984442e-01 4.53746288e-03 -3.24455728e-03 2.29750602e+00] [-4.53429470e-03 9.99989237e-01 9.83148804e-04 6.62491248e-02] [ 3.24898335e-03 -9.68421729e-04 9.99994253e-01 5.48146937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02255784400006 meters 0.2875393545330917 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.55 [[ 9.99983834e-01 4.60511708e-03 -3.33542894e-03 2.29773867e+00] [-4.60125479e-03 9.99988736e-01 1.16470898e-03 6.55018216e-02] [ 3.34075499e-03 -1.14934299e-03 9.99993759e-01 5.48159811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05255784400003 meters 0.28749669682930923 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99982974e-01 4.68806516e-03 -3.47459268e-03 2.29814358e+00] [-4.68325613e-03 9.99988066e-01 1.39090393e-03 6.45699611e-02] [ 3.48107187e-03 -1.37460784e-03 9.99992996e-01 5.48058973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08255784400006 meters 0.28822449442681947 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99982074e-01 4.85516685e-03 -3.50408352e-03 2.29811382e+00] [-4.84875069e-03 9.99986557e-01 1.83723118e-03 6.27304887e-02] [ 3.51295647e-03 -1.82020782e-03 9.99992173e-01 5.48311867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11255784400004 meters 0.28772297703398736 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99982149e-01 4.93376995e-03 -3.37040471e-03 2.29760700e+00] [-4.92690686e-03 9.99985779e-01 2.04155800e-03 6.18858178e-02] [ 3.38042935e-03 -2.02491589e-03 9.99992236e-01 5.48712567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14255784400007 meters 0.28623182494975474 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99981881e-01 5.03807654e-03 -3.29485645e-03 2.29723462e+00] [-5.03047126e-03 9.99984673e-01 2.31245608e-03 6.07693190e-02] [ 3.30645628e-03 -2.29583950e-03 9.99991898e-01 5.49131081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17255784400004 meters 0.28622373647025395 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 0.99998119 0.00514226 -0.00334186 2.2973318 ] [-0.00513366 0.99998351 0.00257581 0.05967969] [ 0.00335505 -0.0025586 0.9999911 0.54920141] [ 0. 0. 0. 1. ]] SLAMing on 307.20255784400007 meters 0.28682822895386484 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 0.99997999 0.00523797 -0.00354749 2.29800485] [-0.00522799 0.99998237 0.00281574 0.05866385] [ 0.00356218 -0.00279714 0.99998974 0.54887135] [ 0. 0. 0. 1. ]] SLAMing on 307.23255784400004 meters 0.28732920827966596 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99993371e-01 8.43427053e-04 -3.54213216e-03 2.29797861e+00] [-8.49202515e-04 9.99998312e-01 -1.62931703e-03 5.95713522e-02] [ 3.54075198e-03 1.63231422e-03 9.99992399e-01 5.48826447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26255784400007 meters 0.2859416822180713 Centerline is valid? [False, False] Translation: X:2.30, Y:0.06, Z:0.55 [[ 9.99993561e-01 9.10849879e-04 -3.47120242e-03 2.29778258e+00] [-9.15908768e-04 9.99998520e-01 -1.45607702e-03 5.88528763e-02] [ 3.46987101e-03 1.45924695e-03 9.99992915e-01 5.48864813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29255784400004 meters 0.2879933842434324 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.55 [[ 9.99985820e-01 -5.29624796e-03 -5.56855101e-04 2.31825499e+00] [ 5.29721273e-03 9.99984446e-01 1.74556491e-03 5.81771748e-02] [ 5.47601495e-04 -1.74848994e-03 9.99998321e-01 5.47739578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3225578440001 meters 0.2869385924840081 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.55 [[ 9.99986356e-01 -5.19631625e-03 -5.34457415e-04 2.31814420e+00] [ 5.19737843e-03 9.99984482e-01 2.00559038e-03 5.70994559e-02] [ 5.24027439e-04 -2.00834080e-03 9.99997846e-01 5.47881070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35255784400005 meters 0.2868735864276885 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.55 [[ 9.99986627e-01 -5.14147848e-03 -5.58218211e-04 2.31822501e+00] [ 5.14266677e-03 9.99984468e-01 2.14858523e-03 5.65089657e-02] [ 5.47162636e-04 -2.15142723e-03 9.99997536e-01 5.47851043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3825578440001 meters 0.28672076363063975 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.55 [[ 9.99992902e-01 2.91351930e-03 -2.38885666e-03 2.30038815e+00] [-2.91141369e-03 9.99995371e-01 8.84434953e-04 5.10325406e-02] [ 2.39142242e-03 -8.77473726e-04 9.99996756e-01 5.46022456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41255784400005 meters 0.28774271124303685 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.55 [[ 9.99992551e-01 2.93875952e-03 -2.50227239e-03 2.30084814e+00] [-2.93638677e-03 9.99995236e-01 9.51386685e-04 5.07461438e-02] [ 2.50505637e-03 -9.44031959e-04 9.99996417e-01 5.45635694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442557844 meters 0.2870376850247748 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.55 [[ 9.99992366e-01 2.97585022e-03 -2.53214989e-03 2.30095769e+00] [-2.97320606e-03 9.99995032e-01 1.04736060e-03 5.03478834e-02] [ 2.53525410e-03 -1.03982400e-03 9.99996246e-01 5.45568634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47255784400005 meters 0.2870376850247748 Centerline is valid? [False, False] Translation: X:2.30, Y:0.05, Z:0.55 [[ 9.99992366e-01 2.97585022e-03 -2.53214989e-03 2.30095769e+00] [-2.97320606e-03 9.99995032e-01 1.04736060e-03 5.03478834e-02] [ 2.53525410e-03 -1.03982400e-03 9.99996246e-01 5.45568634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502557844 meters 0.28797982527483845 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:0.55 [[ 9.99994615e-01 2.06859385e-03 -2.54758370e-03 2.34162642e+00] [-2.06805726e-03 9.99997839e-01 2.13244641e-04 5.28237537e-02] [ 2.54801931e-03 -2.07974944e-04 9.99996732e-01 5.47354423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53255784400005 meters 0.28722346308788993 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.55 [[ 9.99971505e-01 -6.33794412e-03 -4.10109829e-03 2.32158904e+00] [ 6.34331702e-03 9.99979038e-01 1.29843315e-03 5.41218729e-02] [ 4.09278292e-03 -1.32441072e-03 9.99990747e-01 5.46672814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562557844 meters 0.2885519577709021 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:0.55 [[ 9.99991813e-01 2.29578371e-03 -3.33210215e-03 2.34183032e+00] [-2.29349094e-03 9.99997131e-01 6.91742306e-04 4.89430847e-02] [ 3.33368068e-03 -6.84094497e-04 9.99994209e-01 5.47481342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59255784400005 meters 0.28787298274513773 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:0.55 [[ 9.99991460e-01 2.39790411e-03 -3.36589265e-03 2.34187844e+00] [-2.39470096e-03 9.99996676e-01 9.55356480e-04 4.78512100e-02] [ 3.36817232e-03 -9.47288015e-04 9.99993879e-01 5.47582437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters 0.2871773213581782 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:0.55 [[ 9.99991143e-01 2.49502942e-03 -3.38941311e-03 2.34191394e+00] [-2.49094261e-03 9.99996166e-01 1.20944329e-03 4.68043701e-02] [ 3.39241771e-03 -1.20098975e-03 9.99993525e-01 5.47654017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65255784400006 meters 0.2885578651604771 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99990536e-01 2.66187521e-03 -3.44132996e-03 2.34209505e+00] [-2.65621354e-03 9.99995113e-01 1.64872290e-03 4.49901379e-02] [ 3.44570184e-03 -1.63956638e-03 9.99992719e-01 5.47575456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters 0.288182898842057 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99990387e-01 2.75135989e-03 -3.41418449e-03 2.34196000e+00] [-2.74495692e-03 9.99994468e-01 1.87867535e-03 4.40328489e-02] [ 3.41933452e-03 -1.86928550e-03 9.99992407e-01 5.47733371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71255784400006 meters 0.28782883101241385 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99990161e-01 2.85395595e-03 -3.39598182e-03 2.34177740e+00] [-2.84668659e-03 9.99993651e-01 2.14348753e-03 4.29337970e-02] [ 3.40207768e-03 -2.13379914e-03 9.99991936e-01 5.48061624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters 0.2865975796790902 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 0.99998985 0.0029586 -0.00339704 2.34168499] [-0.00295041 0.99999274 0.00241128 0.04182205] [ 0.00340415 -0.00240124 0.99999132 0.5482898 ] [ 0. 0. 0. 1. ]] SLAMing on 307.77255784400006 meters 0.28783335546520783 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 0.99998937 0.00307523 -0.00343675 2.34178692] [-0.00306594 0.99999164 0.00270601 0.0405995 ] [ 0.00344504 -0.00269545 0.99999043 0.54831708] [ 0. 0. 0. 1. ]] SLAMing on 307.80255784400003 meters 0.2876274034198209 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 0.99998894 0.00317871 -0.00346551 2.34186405] [-0.00316845 0.9999906 0.00296121 0.03953822] [ 0.00347489 -0.0029502 0.99998961 0.54833663] [ 0. 0. 0. 1. ]] SLAMing on 307.83255784400006 meters 0.28743912444618164 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.55 [[ 9.99996124e-01 1.83665732e-04 -2.77831935e-03 2.33869938e+00] [-1.81057840e-04 9.99999543e-01 9.38880752e-04 3.37243623e-02] [ 2.77849052e-03 -9.38374076e-04 9.99995700e-01 5.50303564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters 0.2891060238109332 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:0.55 [[ 9.99978169e-01 6.55030447e-03 8.68849632e-04 2.35970261e+00] [-6.54886912e-03 9.99977203e-01 -1.64469087e-03 3.54727166e-02] [-8.79603051e-04 1.63896499e-03 9.99998270e-01 5.48687552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89255784400007 meters 0.287717532056194 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:0.55 [[ 9.99977880e-01 6.58162580e-03 9.59567315e-04 2.35938008e+00] [-6.58012184e-03 9.99977131e-01 -1.56214845e-03 3.51370217e-02] [-9.69826847e-04 1.55579983e-03 9.99998319e-01 5.48893358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92255784400004 meters 0.288230487296749 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:0.55 [[ 9.99977676e-01 6.60793034e-03 9.91136209e-04 2.35925163e+00] [-6.60644446e-03 9.99977060e-01 -1.49502441e-03 3.48580529e-02] [-1.00099249e-03 1.48844315e-03 9.99998391e-01 5.49002401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95255784400007 meters 0.2888607419540063 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:0.55 [[ 9.99977359e-01 6.65838773e-03 9.73789750e-04 2.35922423e+00] [-6.65705314e-03 9.99976907e-01 -1.36739265e-03 3.43263451e-02] [-9.82871892e-04 1.36087912e-03 9.99998591e-01 5.49168456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98255784400004 meters 0.28847626267284715 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:0.55 [[ 9.99977015e-01 6.70371747e-03 1.01481488e-03 2.35909914e+00] [-6.70244465e-03 9.99976754e-01 -1.25247964e-03 3.38454440e-02] [-1.02318756e-03 1.24564911e-03 9.99998701e-01 5.49214078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01255784400007 meters 0.28830309095928724 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:0.55 [[ 9.99977310e-01 6.65368178e-03 1.05221301e-03 2.35895809e+00] [-6.65222610e-03 9.99976920e-01 -1.38094532e-03 3.43842194e-02] [-1.06137709e-03 1.37391443e-03 9.99998493e-01 5.49303038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04255784400004 meters 0.2875314561517489 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99997903e-01 -2.00435437e-03 4.20586416e-04 2.33836402e+00] [ 2.00455091e-03 9.99997882e-01 -4.67395767e-04 3.77848645e-02] [-4.19648698e-04 4.68237874e-04 9.99999802e-01 5.48808616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0725578440001 meters 0.2878513970950989 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99997797e-01 -2.05238607e-03 4.40617088e-04 2.33821127e+00] [ 2.05264632e-03 9.99997719e-01 -5.91023263e-04 3.83119677e-02] [-4.39403075e-04 5.91926392e-04 9.99999728e-01 5.49025738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10255784400005 meters 0.2874846372384082 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99997618e-01 -2.11951174e-03 5.20385087e-04 2.33789711e+00] [ 2.11991052e-03 9.99997459e-01 -7.66970883e-04 3.90516518e-02] [-5.18758161e-04 7.68072226e-04 9.99999570e-01 5.49255529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1325578440001 meters 0.28793925075234755 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99997324e-01 -2.23886234e-03 5.82282327e-04 2.33779310e+00] [ 2.23948773e-03 9.99996914e-01 -1.07560495e-03 4.03370650e-02] [-5.79872399e-04 1.07690608e-03 9.99999252e-01 5.49103036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16255784400005 meters 0.2885787535864854 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:0.55 [[ 9.99976639e-01 6.81575871e-03 5.16494249e-04 2.35979079e+00] [-6.81480802e-03 9.99975122e-01 -1.82058986e-03 3.92654845e-02] [-5.28890100e-04 1.81702752e-03 9.99998209e-01 5.49054740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192557844 meters 0.28917274157524897 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:0.55 [[ 9.99977013e-01 6.76714585e-03 4.24092943e-04 2.36015448e+00] [-6.76630892e-03 9.99975217e-01 -1.94476617e-03 3.97843859e-02] [-4.37242949e-04 1.94185193e-03 9.99998019e-01 5.48764319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22255784400005 meters 0.28833308492146764 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:0.55 [[ 9.99977262e-01 6.73643957e-03 3.09901639e-04 2.36048086e+00] [-6.73579963e-03 9.99975271e-01 -2.02166400e-03 4.00982037e-02] [-3.23512793e-04 2.01953060e-03 9.99997908e-01 5.48685902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252557844 meters 0.28779166464376404 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.55 [[ 9.99997681e-01 -1.97583265e-03 -8.56454668e-04 2.33941484e+00] [ 1.97485397e-03 9.99997398e-01 -1.14205178e-03 4.10629937e-02] [ 8.58708943e-04 1.14035776e-03 9.99998981e-01 5.48442779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28255784400005 meters 0.286625967304138 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:0.55 [[ 9.99990985e-01 4.05775964e-03 -1.25053071e-03 2.31618177e+00] [-4.06314251e-03 9.99982360e-01 -4.33242183e-03 3.79430012e-02] [ 1.23292872e-03 4.33746386e-03 9.99989833e-01 5.49871670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312557844 meters 0.28768260892216624 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.55 [[ 9.99995841e-01 -2.30467631e-03 1.73393219e-03 2.33845059e+00] [ 2.30704149e-03 9.99996409e-01 -1.36329343e-03 3.38826683e-02] [-1.73078401e-03 1.36728802e-03 9.99997567e-01 5.48098978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34255784400005 meters 0.28550198124138054 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:0.55 [[ 9.99998059e-01 -1.42320120e-03 -1.36220601e-03 2.29360639e+00] [ 1.42268394e-03 9.99998916e-01 -3.80619018e-04 2.81515145e-02] [ 1.36274623e-03 3.78680291e-04 9.99999000e-01 5.50545996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372557844 meters 0.2873715916539463 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99995847e-01 -8.44688026e-04 -2.75548522e-03 2.33389791e+00] [ 8.45382267e-04 9.99999611e-01 2.50793679e-04 2.78317871e-02] [ 2.75527231e-03 -2.53122076e-04 9.99996172e-01 5.53214679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40255784400006 meters 0.2872323925092055 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99995756e-01 -7.45626539e-04 -2.81626258e-03 2.33415789e+00] [ 7.47054174e-04 9.99999593e-01 5.05907537e-04 2.67618918e-02] [ 2.81588421e-03 -5.08009291e-04 9.99995906e-01 5.52996798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43255784400003 meters 0.2875484765550716 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.55 [[ 9.99995810e-01 -6.53191830e-04 -2.82005145e-03 2.33416345e+00] [ 6.55297292e-04 9.99999507e-01 7.45744752e-04 2.57674862e-02] [ 2.81956294e-03 -7.47589599e-04 9.99995746e-01 5.53028587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46255784400006 meters 0.2881269284603405 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.55 [[ 9.99995714e-01 -4.98323703e-04 -2.88492338e-03 2.33410360e+00] [ 5.01573509e-04 9.99999240e-01 1.12586550e-03 2.41779210e-02] [ 2.88436015e-03 -1.12730767e-03 9.99995205e-01 5.53566851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49255784400003 meters 0.2884117804723504 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.55 [[ 9.99995569e-01 -3.92282394e-04 -2.95097328e-03 2.33433713e+00] [ 3.96395246e-04 9.99998951e-01 1.39327143e-03 2.30635033e-02] [ 2.95042363e-03 -1.39443500e-03 9.99994675e-01 5.53450528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52255784400006 meters 0.28835109474703996 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.55 [[ 9.99995252e-01 -2.54949995e-04 -3.07113777e-03 2.33477476e+00] [ 2.60296644e-04 9.99998451e-01 1.74066022e-03 2.15939849e-02] [ 3.07068923e-03 -1.74145136e-03 9.99993769e-01 5.53218641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55255784400003 meters 0.28724018460380885 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.55 [[ 9.99994872e-01 -9.96679737e-05 -3.20104820e-03 2.33519038e+00] [ 1.06516992e-04 9.99997706e-01 2.13951806e-03 1.99169350e-02] [ 3.20082762e-03 -2.13984806e-03 9.99992588e-01 5.53088361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58255784400006 meters 0.28724342752477927 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.55 [[ 9.99986208e-01 -4.18038992e-03 -3.17938371e-03 2.33512062e+00] [ 4.17563552e-03 9.99990156e-01 -1.50055725e-03 1.69965261e-02] [ 3.18562533e-03 1.48726061e-03 9.99993820e-01 5.53220076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61255784400004 meters 0.28818392246526886 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.55 [[ 9.99987131e-01 -3.95528432e-03 -3.17709980e-03 2.33497579e+00] [ 3.95250667e-03 9.99991802e-01 -8.80074644e-04 1.44165787e-02] [ 3.18055470e-03 8.67505810e-04 9.99994566e-01 5.53593157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64255784400007 meters 0.2904645656154042 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.55 [[ 9.99988028e-01 -3.73240488e-03 -3.16441781e-03 2.33476083e+00] [ 3.73155466e-03 9.99993000e-01 -2.74540410e-04 1.19093086e-02] [ 3.16542036e-03 2.62728925e-04 9.99994956e-01 5.54081041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67255784400004 meters 0.2875021162259716 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.55 [[ 9.99988662e-01 -3.53104366e-03 -3.19506733e-03 2.33475982e+00] [ 3.53191879e-03 9.99993727e-01 2.68299612e-04 9.66115901e-03] [ 3.19409990e-03 -2.79581288e-04 9.99994860e-01 5.54302906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70255784400007 meters 0.2880556426022737 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:0.55 [[ 9.99995299e-01 2.89446186e-03 -1.01225448e-03 2.35778769e+00] [-2.89681285e-03 9.99993092e-01 -2.32882595e-03 9.12122298e-03] [ 1.00550679e-03 2.33174731e-03 9.99996776e-01 5.52430376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73255784400004 meters 0.28711324213064543 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:0.55 [[ 9.99978429e-01 -5.74944528e-03 -3.17587816e-03 2.33781112e+00] [ 5.74549135e-03 9.99982710e-01 -1.25271132e-03 8.67370144e-03] [ 3.18302564e-03 1.23443731e-03 9.99994172e-01 5.52343933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76255784400007 meters 0.2877526811492524 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:0.55 [[ 9.99979469e-01 -5.52404199e-03 -3.24763264e-03 2.33799856e+00] [ 5.52179039e-03 9.99984508e-01 -7.01864129e-04 6.36204808e-03] [ 3.25145946e-03 6.83916973e-04 9.99994480e-01 5.52404470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79255784400004 meters 0.2900382430089058 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.55 [[ 9.99994294e-01 3.06843719e-03 -1.41280268e-03 2.35803454e+00] [-3.07044141e-03 9.99994280e-01 -1.41863525e-03 3.01749563e-03] [ 1.40844160e-03 1.42296508e-03 9.99997996e-01 5.53130724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8225578440001 meters 0.28762698871740183 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.55 [[ 9.99994035e-01 3.16821457e-03 -1.37538646e-03 2.35792789e+00] [-3.16981260e-03 9.99994302e-01 -1.16125172e-03 1.94761331e-03] [ 1.37169953e-03 1.16560451e-03 9.99998380e-01 5.53165479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85255784400005 meters 0.28819517425790686 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:0.55 [[ 9.99993710e-01 3.27447316e-03 -1.36265904e-03 2.35785561e+00] [-3.27567406e-03 9.99994248e-01 -8.79993101e-04 7.83627981e-04] [ 1.35976969e-03 8.84451193e-04 9.99998684e-01 5.53266334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8825578440001 meters 0.28732889562416153 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.55 [[ 9.99993223e-01 3.39203621e-03 -1.43116768e-03 2.35802843e+00] [-3.39285127e-03 9.99994083e-01 -5.67466757e-04 -5.11021859e-04] [ 1.42923435e-03 5.72318650e-04 9.99998815e-01 5.53286914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91255784400005 meters 0.288484555863661 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.55 [[ 9.99992612e-01 3.53402424e-03 -1.51232236e-03 2.35829778e+00] [-3.53431239e-03 9.99993737e-01 -1.87907041e-04 -2.09305132e-03] [ 1.51164882e-03 1.93250672e-04 9.99998839e-01 5.53166692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters 0.2874575740807002 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.55 [[ 9.99991126e-01 3.87062804e-03 -1.66323639e-03 2.35867549e+00] [-3.86929651e-03 9.99992192e-01 8.03040857e-04 -6.13624402e-03] [ 1.66633168e-03 -7.96598176e-04 9.99998294e-01 5.53215500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97255784400005 meters 0.2881048758556216 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.55 [[ 9.99990453e-01 4.04335146e-03 -1.65676548e-03 2.35858209e+00] [-4.04126233e-03 9.99991037e-01 1.26238189e-03 -8.04048767e-03] [ 1.66185489e-03 -1.25567441e-03 9.99997831e-01 5.53419718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters 0.28916303066622534 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.55 [[ 9.99989954e-01 4.18181084e-03 -1.61407799e-03 2.35836288e+00] [-4.17920117e-03 9.99989960e-01 1.61682018e-03 -9.51951829e-03] [ 1.62082302e-03 -1.61005838e-03 9.99997390e-01 5.53689719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03255784400005 meters 0.2876002502434568 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:0.56 [[ 9.99997692e-01 2.01886632e-03 -7.34745095e-04 2.35292234e+00] [-2.01906466e-03 9.99997925e-01 -2.69294596e-04 -1.11008388e-02] [ 7.34199901e-04 2.70777472e-04 9.99999694e-01 5.57890429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters 0.28922559019115923 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:0.56 [[ 9.99997485e-01 2.13292534e-03 -6.92995805e-04 2.35277396e+00] [-2.13291066e-03 9.99997725e-01 2.19215319e-05 -1.23089758e-02] [ 6.93040986e-04 -2.04433786e-05 9.99999760e-01 5.57997797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09255784400005 meters 0.28882180799864227 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.56 [[ 9.99976472e-01 -6.61709242e-03 -1.80798522e-03 2.33280702e+00] [ 6.61952537e-03 9.99977189e-01 1.34301576e-03 -1.17465157e-02] [ 1.79905712e-03 -1.35495217e-03 9.99997464e-01 5.57335316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters 0.2878186818927467 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.56 [[ 9.99998222e-01 1.84055421e-03 -4.10201726e-04 2.35217830e+00] [-1.84042092e-03 9.99998254e-01 3.25066436e-04 -1.58694957e-02] [ 4.10799312e-04 -3.24310914e-04 9.99999863e-01 5.58702007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15255784400006 meters 0.2886171843413106 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.56 [[ 9.99997994e-01 1.96665919e-03 -3.80162519e-04 2.35199727e+00] [-1.96641598e-03 9.99997862e-01 6.39066154e-04 -1.71707511e-02] [ 3.81418532e-04 -6.38317314e-04 9.99999724e-01 5.58946869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters 0.2880851344212827 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.56 [[ 9.99997562e-01 -2.17935586e-03 -3.54214462e-04 2.35181747e+00] [ 2.17824855e-03 9.99992832e-01 -3.09698260e-03 -1.94053999e-02] [ 3.60961350e-04 3.09620349e-03 9.99995142e-01 5.59165152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21255784400006 meters 0.2894867448614971 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.56 [[ 9.99997759e-01 -2.07421578e-03 -4.24567537e-04 2.35209795e+00] [ 2.07300620e-03 9.99993847e-01 -2.82984156e-03 -2.05300286e-02] [ 4.30434626e-04 2.82895509e-03 9.99995906e-01 5.58958822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters 0.28848563836032715 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.56 [[ 9.99997590e-01 -2.19091430e-03 1.40812673e-04 2.31431305e+00] [ 2.19118156e-03 9.99995743e-01 -1.92667657e-03 -2.63104809e-02] [-1.36590891e-04 1.92698047e-03 9.99998134e-01 5.55280101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27255784400006 meters 0.28872084165914813 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99998903e-01 -8.42128213e-04 -1.21855245e-03 2.35456372e+00] [ 8.40619383e-04 9.99998880e-01 -1.23819811e-03 -2.64507629e-02] [ 1.21959381e-03 1.23717242e-03 9.99998491e-01 5.57801599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30255784400003 meters 0.28937925093242073 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99998940e-01 -7.29960710e-04 -1.25967066e-03 2.35471256e+00] [ 7.28766026e-04 9.99999285e-01 -9.48608532e-04 -2.76660894e-02] [ 1.26036221e-03 9.47689521e-04 9.99998757e-01 5.57724759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33255784400006 meters 0.2892664390421235 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99998983e-01 -5.98548560e-04 -1.29488720e-03 2.35481670e+00] [ 5.97755385e-04 9.99999634e-01 -6.12844349e-04 -2.90758918e-02] [ 1.29525354e-03 6.12069700e-04 9.99998974e-01 5.57711008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters 0.29048111850777825 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99998991e-01 -4.61343072e-04 -1.34369193e-03 2.35488389e+00] [ 4.60992341e-04 9.99999860e-01 -2.61318814e-04 -3.05524115e-02] [ 1.34381230e-03 2.60699119e-04 9.99999063e-01 5.57864275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39255784400007 meters 0.29048111850777825 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99998991e-01 -4.61343072e-04 -1.34369193e-03 2.35488389e+00] [ 4.60992341e-04 9.99999860e-01 -2.61318814e-04 -3.05524115e-02] [ 1.34381230e-03 2.60699119e-04 9.99999063e-01 5.57864275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters 0.28864857823983603 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999049e-01 -2.53885116e-04 -1.35574298e-03 2.35467424e+00] [ 2.54219500e-04 9.99999937e-01 2.46476004e-04 -3.26942903e-02] [ 1.35568032e-03 -2.46820426e-04 9.99999051e-01 5.58428713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45255784400007 meters 0.2889231014897697 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999140e-01 -2.22684516e-04 -1.29265335e-03 2.35448885e+00] [ 2.23106940e-04 9.99999922e-01 3.26653382e-04 -3.30253431e-02] [ 1.29258051e-03 -3.26941501e-04 9.99999111e-01 5.58496569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48255784400004 meters 0.2900712249541814 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999219e-01 -2.06018518e-04 -1.23237075e-03 2.35434037e+00] [ 2.06474780e-04 9.99999910e-01 3.70115672e-04 -3.32040426e-02] [ 1.23229439e-03 -3.70369837e-04 9.99999172e-01 5.58492844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51255784400007 meters 0.289813250065988 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999277e-01 -2.55357232e-04 -1.17469794e-03 2.35433113e+00] [ 2.55622753e-04 9.99999942e-01 2.25888509e-04 -3.26320562e-02] [ 1.17464019e-03 -2.26188625e-04 9.99999285e-01 5.58145720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54255784400004 meters 0.2907004566653807 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999222e-01 -3.37554185e-04 -1.20114451e-03 2.35452317e+00] [ 3.37547397e-04 9.99999943e-01 -5.85325057e-06 -3.16947560e-02] [ 1.20114641e-03 5.44780281e-06 9.99999279e-01 5.57808907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5725578440001 meters 0.2895234293556906 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999156e-01 -4.14927409e-04 -1.23134973e-03 2.35471124e+00] [ 4.14654418e-04 9.99999889e-01 -2.21947983e-04 -3.08280692e-02] [ 1.23144168e-03 2.21437211e-04 9.99999217e-01 5.57513687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60255784400005 meters 0.2904039633930408 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999092e-01 -4.96084640e-04 -1.25323211e-03 2.35482120e+00] [ 4.95530490e-04 9.99999779e-01 -4.42448948e-04 -2.99256051e-02] [ 1.25345133e-03 4.41827531e-04 9.99999117e-01 5.57371240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6325578440001 meters 0.2916720808723867 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99999042e-01 -5.68210987e-04 -1.26187564e-03 2.35493242e+00] [ 5.67417000e-04 9.99999641e-01 -6.29480345e-04 -2.91538532e-02] [ 1.26223286e-03 6.28763733e-04 9.99999006e-01 5.57157682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66255784400005 meters 0.29315113939317855 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.56 [[ 9.99998981e-01 -6.05957874e-04 -1.29253089e-03 2.35504524e+00] [ 6.05020759e-04 9.99999554e-01 -7.25290934e-04 -2.87561860e-02] [ 1.29296981e-03 7.24508187e-04 9.99998902e-01 5.57076335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692557844 meters 0.2911905859740165 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:0.56 [[ 0.99998649 0.00452284 -0.00256162 2.33159415] [-0.00453346 0.99998109 -0.00415487 -0.03089943] [ 0.00254278 0.00416642 0.99998809 0.558663 ] [ 0. 0. 0. 1. ]] SLAMing on 309.72255784400005 meters 0.2913430844570444 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99990177e-01 -3.78970275e-03 -2.29849771e-03 2.35309229e+00] [ 3.78185907e-03 9.99987044e-01 -3.40732318e-03 -2.82911683e-02] [ 2.31138068e-03 3.39859712e-03 9.99991553e-01 5.59447327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752557844 meters 0.2912027019334866 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 0.99999025 -0.00369386 -0.00241956 2.35334459] [ 0.00368627 0.99998829 -0.00313628 -0.02940365] [ 0.00243112 0.00312733 0.99999215 0.5595818 ] [ 0. 0. 0. 1. ]] SLAMing on 309.78255784400005 meters 0.2905942208300952 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 0.99999065 -0.00359624 -0.00240137 2.35327322] [ 0.00358932 0.99998942 -0.00287738 -0.03047465] [ 0.00241169 0.00286873 0.99999298 0.55966175] [ 0. 0. 0. 1. ]] SLAMing on 309.812557844 meters 0.28924433990031445 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:0.56 [[ 9.99985077e-01 5.07720168e-03 -2.01687434e-03 2.33166000e+00] [-5.08331617e-03 9.99982464e-01 -3.03819771e-03 -3.66002998e-02] [ 2.00141343e-03 3.04840478e-03 9.99993351e-01 5.59656503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84255784400005 meters 0.28939598543354533 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:0.56 [[ 9.99984806e-01 5.14777537e-03 -1.97170143e-03 2.33139545e+00] [-5.15339455e-03 9.99982644e-01 -2.85551928e-03 -3.73485685e-02] [ 1.95696764e-03 2.86563685e-03 9.99993979e-01 5.60009846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872557844 meters 0.29011465794980595 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:0.56 [[ 9.99984434e-01 5.23470464e-03 -1.93104548e-03 2.33127329e+00] [-5.23979413e-03 9.99982787e-01 -2.64004025e-03 -3.82513237e-02] [ 1.91719241e-03 2.65011743e-03 9.99994651e-01 5.60059459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90255784400006 meters 0.28948816363653834 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99996153e-01 -2.60041865e-03 -9.64945847e-04 2.35065760e+00] [ 2.59908621e-03 9.99995671e-01 -1.37954178e-03 -3.38340293e-02] [ 9.68529056e-04 1.37702850e-03 9.99998583e-01 5.60714755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93255784400003 meters 0.2912992612631117 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99996140e-01 -2.58614046e-03 -1.01579929e-03 2.35094826e+00] [ 2.58477846e-03 9.99995762e-01 -1.33984964e-03 -3.40185285e-02] [ 1.01926003e-03 1.33721885e-03 9.99998586e-01 5.60343222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96255784400006 meters 0.2908451282467145 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99996117e-01 -2.60516152e-03 -9.89702458e-04 2.35101880e+00] [ 2.60378551e-03 9.99995645e-01 -1.38907939e-03 -3.38220361e-02] [ 9.93316924e-04 1.38649703e-03 9.99998545e-01 5.60019686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99255784400003 meters 0.29151804106517193 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99996154e-01 -2.60566177e-03 -9.49542883e-04 2.35086670e+00] [ 2.60433972e-03 9.99995641e-01 -1.39089684e-03 -3.38066631e-02] [ 9.53162951e-04 1.38841856e-03 9.99998582e-01 5.60128627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02255784400006 meters 0.29013495074179263 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99996169e-01 -2.60589209e-03 -9.33585252e-04 2.35077969e+00] [ 2.60459003e-03 9.99995638e-01 -1.39319233e-03 -3.37965492e-02] [ 9.37211688e-04 1.39075538e-03 9.99998594e-01 5.60229924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05255784400003 meters 0.29182562600722445 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:0.56 [[ 0.99998887 0.00363855 -0.0030037 2.32913159] [-0.00365079 0.99998502 -0.00407931 -0.03528108] [ 0.00298881 0.00409024 0.99998717 0.56144315] [ 0. 0. 0. 1. ]] SLAMing on 310.08255784400006 meters 0.2919314084793202 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.56 [[ 9.99988674e-01 -4.17364516e-03 -2.28753058e-03 2.34801381e+00] [ 4.16682119e-03 9.99986879e-01 -2.97980746e-03 -2.91083634e-02] [ 2.29993723e-03 2.97024198e-03 9.99992944e-01 5.62681668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11255784400004 meters 0.29084303941145356 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:0.56 [[ 0.99998953 0.00365063 -0.00275822 2.32845225] [-0.00366234 0.99998425 -0.00425181 -0.03301205] [ 0.00274266 0.00426186 0.99998716 0.56115966] [ 0. 0. 0. 1. ]] SLAMing on 310.14255784400007 meters 0.28834217886054686 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:0.56 [[ 0.99998992 0.00360509 -0.00267618 2.32813528] [-0.00361676 0.99998392 -0.00436892 -0.03249948] [ 0.00266039 0.00437855 0.99998688 0.56138957] [ 0. 0. 0. 1. ]] SLAMing on 310.17255784400004 meters 0.2905259608046583 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:0.56 [[ 0.99998977 0.00361581 -0.00271747 2.32817919] [-0.00362758 0.999984 -0.00434011 -0.03261539] [ 0.00270174 0.00434993 0.99998689 0.56153177] [ 0. 0. 0. 1. ]] SLAMing on 310.20255784400007 meters 0.2904585871398596 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.56 [[ 0.99997709 -0.00516192 -0.00437839 2.30831046] [ 0.00514797 0.99998166 -0.00319154 -0.03194497] [ 0.00439478 0.00316893 0.99998532 0.56093706] [ 0. 0. 0. 1. ]] SLAMing on 310.23255784400004 meters 0.2907424349402287 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.56 [[ 0.9999772 -0.00507864 -0.00445068 2.30848792] [ 0.00506544 0.99998276 -0.00297008 -0.03286486] [ 0.00446569 0.00294747 0.99998568 0.56097258] [ 0. 0. 0. 1. ]] SLAMing on 310.26255784400007 meters 0.28923845496833717 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.56 [[ 0.99997759 -0.00494292 -0.00451419 2.30860595] [ 0.00493133 0.99998453 -0.00257477 -0.03448002] [ 0.00452685 0.00255245 0.9999865 0.56108602] [ 0. 0. 0. 1. ]] SLAMing on 310.29255784400004 meters 0.2897139229488097 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:0.56 [[ 0.99998902 0.00387556 -0.00263395 2.32851072] [-0.00388457 0.99998659 -0.00342385 -0.03724028] [ 0.00262064 0.00343404 0.99999067 0.56152923] [ 0. 0. 0. 1. ]] SLAMing on 310.3225578440001 meters 0.2909287772508022 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.56 [[ 9.99981161e-01 -4.99694641e-03 -3.56489532e-03 2.30858662e+00] [ 4.98913934e-03 9.99985144e-01 -2.19553017e-03 -3.57618823e-02] [ 3.57581330e-03 2.17770305e-03 9.99991236e-01 5.60520582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35255784400005 meters 0.29058384206123916 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.56 [[ 9.99981280e-01 -4.99514967e-03 -3.53375653e-03 2.30850657e+00] [ 4.98742539e-03 9.99985162e-01 -2.19130193e-03 -3.57771672e-02] [ 3.54464998e-03 2.17363657e-03 9.99991355e-01 5.60520854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3825578440001 meters 0.289526177978333 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99998575 0.00322576 -0.00425481 2.28798416] [-0.00323839 0.99999036 -0.00296499 -0.03937372] [ 0.00424521 0.00297872 0.99998655 0.55963234] [ 0. 0. 0. 1. ]] SLAMing on 310.41255784400005 meters 0.29238552628848463 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.56 [[ 9.99993438e-01 -1.80819628e-03 -3.13908414e-03 2.31203622e+00] [ 1.81009302e-03 9.99998181e-01 6.01496619e-04 -3.79513522e-02] [ 3.13799081e-03 -6.07174706e-04 9.99994892e-01 5.58053149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442557844 meters 0.2914164094114964 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99997738 0.00395203 -0.00544296 2.28964027] [-0.0039658 0.99998896 -0.00252048 -0.0376071 ] [ 0.00543294 0.00254201 0.99998201 0.55958583] [ 0. 0. 0. 1. ]] SLAMing on 310.47255784400005 meters 0.29216796147699414 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99997777 0.0039261 -0.00538897 2.28949382] [-0.00394008 0.99998889 -0.00258721 -0.03731951] [ 0.00537875 0.00260838 0.99998213 0.55960044] [ 0. 0. 0. 1. ]] SLAMing on 310.502557844 meters 0.2935757030557063 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99997813 0.00391532 -0.0053292 2.28932237] [-0.00392931 0.99998886 -0.00261596 -0.03719282] [ 0.0053189 0.00263684 0.99998238 0.5596324 ] [ 0. 0. 0. 1. ]] SLAMing on 310.53255784400005 meters 0.2906845965803055 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.9999786 0.00389781 -0.0052544 2.28913731] [-0.00391184 0.9999888 -0.0026625 -0.03699756] [ 0.00524396 0.002683 0.99998265 0.55961448] [ 0. 0. 0. 1. ]] SLAMing on 310.562557844 meters 0.29132231188435864 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99997876 0.00390823 -0.00521589 2.28909669] [-0.00392203 0.99998883 -0.00263813 -0.03710394] [ 0.00520552 0.00265853 0.99998292 0.55948675] [ 0. 0. 0. 1. ]] SLAMing on 310.59255784400005 meters 0.2915026737431267 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.56 [[ 0.99997896 0.00391108 -0.00517539 2.28889475] [-0.00392474 0.99998883 -0.00263252 -0.03711189] [ 0.00516504 0.00265277 0.99998314 0.55970669] [ 0. 0. 0. 1. ]] SLAMing on 310.622557844 meters 0.29017779772506525 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.56 [[ 9.99965016e-01 -3.07973490e-03 -7.77707275e-03 2.26829071e+00] [ 3.08026884e-03 9.99995254e-01 5.66782487e-05 -3.77303709e-02] [ 7.77686129e-03 -8.06317407e-05 9.99969757e-01 5.60591277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65255784400006 meters 0.2893033540936724 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.56 [[ 9.99964823e-01 -3.11374647e-03 -7.78821900e-03 2.26832544e+00] [ 3.11360383e-03 9.99995152e-01 -3.04397287e-05 -3.73707528e-02] [ 7.78827603e-03 6.18922940e-06 9.99969671e-01 5.60570189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters 0.2920997058355811 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.56 [[ 9.99964307e-01 -3.20312807e-03 -7.81827689e-03 2.26846991e+00] [ 3.20118880e-03 9.99994842e-01 -2.60544756e-04 -3.64247858e-02] [ 7.81907112e-03 2.35507676e-04 9.99969403e-01 5.60401557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71255784400006 meters 0.2891998909873626 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.56 [[ 9.99949404e-01 4.61387821e-03 -8.93873930e-03 2.24831122e+00] [-4.62796733e-03 9.99988080e-01 -1.55614340e-03 -3.90432947e-02] [ 8.93145289e-03 1.59743286e-03 9.99958838e-01 5.59253840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters 0.2932509821764385 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.56 [[ 9.99950717e-01 4.43994291e-03 -8.87976410e-03 2.24826150e+00] [-4.45809687e-03 9.99988011e-01 -2.02567164e-03 -3.71114949e-02] [ 8.87066377e-03 2.06515866e-03 9.99958522e-01 5.59007568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77255784400006 meters 0.29040381293019396 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:0.56 [[ 0.99995364 0.00411793 -0.00870397 2.24797011] [-0.00414378 0.99998705 -0.00295327 -0.03333948] [ 0.00869169 0.0029892 0.99995776 0.55863496] [ 0. 0. 0. 1. ]] SLAMing on 310.80255784400003 meters 0.2934842207680848 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.03, Z:0.56 [[ 9.99966101e-01 -3.49356943e-03 -7.45593247e-03 2.26654495e+00] [ 3.48037313e-03 9.99992355e-01 -1.78214765e-03 -2.60493930e-02] [ 7.46210153e-03 1.75613781e-03 9.99970616e-01 5.59901199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83255784400006 meters 0.2881017947484211 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.03, Z:0.56 [[ 9.99966000e-01 -3.58776799e-03 -7.42468943e-03 2.26643115e+00] [ 3.57287436e-03 9.99991581e-01 -2.01825340e-03 -2.50646720e-02] [ 7.43186794e-03 1.99165730e-03 9.99970400e-01 5.59952359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters 0.293552754910468 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99965866e-01 -3.63475650e-03 -7.41987270e-03 2.26631689e+00] [ 3.61897181e-03 9.99991162e-01 -2.13967317e-03 -2.45438736e-02] [ 7.42758432e-03 2.11274783e-03 9.99970183e-01 5.60165550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89255784400007 meters 0.2902100253684385 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99965680e-01 -3.66689063e-03 -7.42919616e-03 2.26618008e+00] [ 3.65043222e-03 9.99990856e-01 -2.22771977e-03 -2.41685732e-02] [ 7.43729704e-03 2.20052353e-03 9.99969922e-01 5.60525662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters 0.29147822343298896 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99965280e-01 -3.65762110e-03 -7.48730018e-03 2.26619552e+00] [ 3.64120450e-03 9.99990940e-01 -2.20505231e-03 -2.42561610e-02] [ 7.49529759e-03 2.17771296e-03 9.99969539e-01 5.60825667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95255784400007 meters 0.2891434478448135 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 0.99996495 -0.00371747 -0.0075013 2.26623135] [ 0.00369981 0.99999036 -0.00236643 -0.02360553] [ 0.00751003 0.00233859 0.99996906 0.56080908] [ 0. 0. 0. 1. ]] SLAMing on 310.98255784400004 meters 0.2895635878308553 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 0.99996471 -0.00376794 -0.00750915 2.26627278] [ 0.00374931 0.99998986 -0.00249325 -0.02307937] [ 0.00751846 0.002465 0.9999687 0.56075142] [ 0. 0. 0. 1. ]] SLAMing on 311.01255784400007 meters 0.2887383912413555 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 0.99996494 -0.00387129 -0.00742528 2.2660537 ] [ 0.0038509 0.99998878 -0.00275825 -0.02197215] [ 0.00743587 0.00272956 0.99996863 0.56073857] [ 0. 0. 0. 1. ]] SLAMing on 311.04255784400004 meters 0.2892910762607814 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 0.99996486 -0.0040233 -0.00735538 2.26578262] [ 0.00400017 0.99998702 -0.00315701 -0.02029735] [ 0.00736798 0.00312747 0.99996797 0.56090625] [ 0. 0. 0. 1. ]] SLAMing on 311.0725578440001 meters 0.2874331671114973 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:0.56 [[ 0.99996114 0.00476163 -0.00741908 2.24349259] [-0.00478914 0.99998171 -0.00369405 -0.02222935] [ 0.00740136 0.00372944 0.99996566 0.5609328 ] [ 0. 0. 0. 1. ]] SLAMing on 311.10255784400005 meters 0.2902779384275376 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99982555e-01 -3.10063254e-04 -5.89853636e-03 2.26700492e+00] [ 3.07929441e-04 9.99999887e-01 -3.62657769e-04 -1.93201504e-02] [ 5.89864814e-03 3.60835110e-04 9.99982538e-01 5.59666887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1325578440001 meters 0.2893002182032842 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99982172e-01 -5.01182414e-04 -5.95024656e-03 2.26716779e+00] [ 4.96142118e-04 9.99999517e-01 -8.48519411e-04 -1.72979116e-02] [ 5.95066894e-03 8.45552115e-04 9.99981937e-01 5.59554622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16255784400005 meters 0.2885640487434695 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.56 [[ 9.99988239e-01 -9.70278037e-04 -4.75192027e-03 2.22821729e+00] [ 9.66987595e-04 9.99999291e-01 -6.94693143e-04 -1.91376504e-02] [ 4.75259095e-03 6.90089925e-04 9.99988468e-01 5.56100819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192557844 meters 0.28926289565120594 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:0.56 [[ 9.99976565e-01 -6.50275573e-03 -2.14086262e-03 2.24928252e+00] [ 6.50827473e-03 9.99975490e-01 2.58113828e-03 -1.76534179e-02] [ 2.12402564e-03 -2.59501111e-03 9.99994377e-01 5.55215727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22255784400005 meters 0.28826818632390167 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:0.56 [[ 9.99976475e-01 -6.54803486e-03 -2.04295323e-03 2.24890415e+00] [ 6.55306799e-03 9.99975486e-01 2.46676470e-03 -1.71537986e-02] [ 2.02675068e-03 -2.48009428e-03 9.99994871e-01 5.55482111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252557844 meters 0.2880537943493995 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:0.56 [[ 9.99976272e-01 -6.59271581e-03 -1.99765123e-03 2.24867880e+00] [ 6.59740460e-03 9.99975476e-01 2.34972812e-03 -1.66524816e-02] [ 1.98211115e-03 -2.36285168e-03 9.99995244e-01 5.55720908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28255784400005 meters 0.2880537943493995 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:0.56 [[ 9.99976272e-01 -6.59271581e-03 -1.99765123e-03 2.24867880e+00] [ 6.59740460e-03 9.99975476e-01 2.34972812e-03 -1.66524816e-02] [ 1.98211115e-03 -2.36285168e-03 9.99995244e-01 5.55720908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312557844 meters 0.2895042553176238 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99997748e-01 1.97756414e-03 -7.70709117e-04 2.26801230e+00] [-1.97678775e-03 9.99997539e-01 1.00683009e-03 -1.83078405e-02] [ 7.72698292e-04 -1.00530429e-03 9.99999196e-01 5.56983519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34255784400005 meters 0.28909029762229604 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99997776e-01 1.94352228e-03 -8.19409867e-04 2.26814157e+00] [-1.94276883e-03 9.99997690e-01 9.19301198e-04 -1.79425719e-02] [ 8.21194656e-04 -9.17707230e-04 9.99999242e-01 5.56970186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372557844 meters 0.28864001526828603 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99997950e-01 1.87726426e-03 -7.59496698e-04 2.26800029e+00] [-1.87669405e-03 9.99997957e-01 7.50790057e-04 -1.72352576e-02] [ 7.60904578e-04 -7.49363175e-04 9.99999430e-01 5.56925306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40255784400006 meters 0.28683859696338937 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.55 [[ 9.99999033e-01 1.22164818e-03 6.64149825e-04 2.22889366e+00] [-1.22217885e-03 9.99998934e-01 7.99190021e-04 -1.94576250e-02] [-6.63172788e-04 -8.00000958e-04 9.99999460e-01 5.53503396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43255784400003 meters 0.2896913024096734 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99999419e-01 8.82865312e-04 -6.18971126e-04 2.26868924e+00] [-8.83010115e-04 9.99999583e-01 -2.33707439e-04 -1.63725409e-02] [ 6.18764536e-04 2.34253861e-04 9.99999781e-01 5.56379300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46255784400006 meters 0.29088102356103995 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99999328e-01 9.21979841e-04 -7.02907112e-04 2.26894645e+00] [-9.22073016e-04 9.99999566e-01 -1.32243712e-04 -1.68023996e-02] [ 7.02784881e-04 1.32891754e-04 9.99999744e-01 5.56302753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49255784400003 meters 0.288359766592201 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.55 [[ 9.99999986e-01 9.92057916e-05 1.35684864e-04 2.23029963e+00] [-9.91986873e-05 9.99999994e-01 -5.23647807e-05 -2.02215269e-02] [-1.35690058e-04 5.23513202e-05 9.99999989e-01 5.52827761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52255784400006 meters 0.2889882994520433 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.55 [[ 9.99999975e-01 2.20479356e-04 -4.03217196e-05 2.23084804e+00] [-2.20467624e-04 9.99999933e-01 2.90754845e-04 -2.16628659e-02] [ 4.03858224e-05 -2.90745948e-04 9.99999957e-01 5.52590652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55255784400003 meters 0.28947199012209457 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.55 [[ 9.99999946e-01 3.26450838e-04 -3.58822567e-05 2.23078530e+00] [-3.26430210e-04 9.99999782e-01 5.73382977e-04 -2.28294419e-02] [ 3.60694302e-05 -5.73371233e-04 9.99999835e-01 5.52724984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58255784400006 meters 0.2896010354450687 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:0.55 [[ 9.99999901e-01 4.45165500e-04 -2.60564743e-05 2.23064949e+00] [-4.45142130e-04 9.99999505e-01 8.90152685e-04 -2.41381294e-02] [ 2.64527266e-05 -8.90140998e-04 9.99999603e-01 5.53002535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61255784400004 meters 0.28861139637999395 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.55 [[ 9.99999848e-01 5.50660933e-04 1.55655685e-05 2.23050852e+00] [-5.50678777e-04 9.99999163e-01 1.17062648e-03 -2.52976973e-02] [-1.49209372e-05 -1.17063488e-03 9.99999315e-01 5.53105380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64255784400007 meters 0.29054653662185476 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.56 [[ 9.99999027e-01 6.19947547e-04 -1.24954806e-03 2.26944943e+00] [-6.18867264e-04 9.99999435e-01 8.64740332e-04 -2.42612879e-02] [ 1.25008344e-03 -8.63966186e-04 9.99998845e-01 5.56814360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67255784400004 meters 0.2874992625333547 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:0.56 [[ 9.99999582e-01 -5.03728417e-04 -7.62491993e-04 2.22813734e+00] [ 5.04343080e-04 9.99999548e-01 8.06146681e-04 -2.77872211e-02] [ 7.62085570e-04 -8.06530902e-04 9.99999384e-01 5.55178564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70255784400007 meters 0.29023420931439453 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.03, Z:0.55 [[ 9.99998999e-01 -9.13643683e-04 1.08077423e-03 2.27302416e+00] [ 9.13398231e-04 9.99999557e-01 2.27579661e-04 -3.02990938e-02] [-1.08098168e-03 -2.26592256e-04 9.99999390e-01 5.53744903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73255784400004 meters 0.2883621277734679 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.04, Z:0.55 [[ 9.99997123e-01 -1.49662364e-03 1.87482211e-03 2.23498701e+00] [ 1.49521421e-03 9.99998599e-01 7.52944142e-04 -3.61288528e-02] [-1.87594636e-03 -7.50138715e-04 9.99997959e-01 5.50229171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76255784400007 meters 0.28962855346501065 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 0.99998237 0.00471262 0.00361145 2.25783329] [-0.00470396 0.99998605 -0.00240326 -0.03707416] [-0.00362272 0.00238623 0.99999059 0.54870623] [ 0. 0. 0. 1. ]] SLAMing on 311.79255784400004 meters 0.289279649961744 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99981643e-01 4.83567699e-03 3.65109330e-03 2.25768614e+00] [-4.82807041e-03 9.99986162e-01 -2.08931897e-03 -3.83803690e-02] [-3.66114605e-03 2.07165288e-03 9.99991152e-01 5.48811948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8225578440001 meters 0.2897109531675089 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99980919e-01 4.95614276e-03 3.68749533e-03 2.25755906e+00] [-4.94959913e-03 9.99986164e-01 -1.78155947e-03 -3.96656012e-02] [-3.69627398e-03 1.76327385e-03 9.99991614e-01 5.48889202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85255784400005 meters 0.28927578709996776 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99980618e-01 5.00790298e-03 3.69925798e-03 2.25749204e+00] [-5.00182968e-03 9.99986131e-01 -1.64919247e-03 -4.02136749e-02] [-3.70746567e-03 1.63065745e-03 9.99991798e-01 5.48974436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8825578440001 meters 0.289895766142475 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99979908e-01 5.17926840e-03 3.65484386e-03 2.25755352e+00] [-5.17476627e-03 9.99985842e-01 -1.24020893e-03 -4.19149045e-02] [-3.66121549e-03 1.22127105e-03 9.99992552e-01 5.49101640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91255784400005 meters 0.28844173483981234 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:0.55 [[ 9.99979286e-01 5.29872532e-03 3.65380105e-03 2.25755132e+00] [-5.29532422e-03 9.99985538e-01 -9.39886624e-04 -4.31606401e-02] [-3.65872841e-03 9.20519095e-04 9.99992883e-01 5.49122004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters 0.29220590146814696 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.55 [[ 9.99984666e-01 -2.70532549e-03 4.83213992e-03 2.27741161e+00] [ 2.70352703e-03 9.99996274e-01 3.78680102e-04 -4.10890214e-02] [-4.83314637e-03 -3.65610475e-04 9.99988253e-01 5.49781248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97255784400005 meters 0.28823327787403796 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 0.99999304 0.00254512 0.00272701 2.25420185] [-0.00253757 0.99999294 -0.00277067 -0.04292066] [-0.00273404 0.00276373 0.99999244 0.55180611] [ 0. 0. 0. 1. ]] SLAMing on 312.002557844 meters 0.2889576717787602 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:0.55 [[ 0.99999264 0.00269792 0.00272966 2.25422724] [-0.00269144 0.99999356 -0.00237506 -0.04457869] [-0.00273605 0.00236769 0.99999345 0.55175423] [ 0. 0. 0. 1. ]] SLAMing on 312.03255784400005 meters 0.2890647280183447 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.05, Z:0.55 [[ 9.99992197e-01 3.00607933e-03 2.56297912e-03 2.25477489e+00] [-3.00207244e-03 9.99994268e-01 -1.56578972e-03 -4.79750278e-02] [-2.56767132e-03 1.55808325e-03 9.99995490e-01 5.51543531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters 0.29123260138755425 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.55 [[ 9.99991984e-01 3.15518880e-03 2.46495019e-03 2.25501769e+00] [-3.15230066e-03 9.99994342e-01 -1.17469088e-03 -4.96086261e-02] [-2.46864262e-03 1.16691120e-03 9.99996272e-01 5.51583687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09255784400005 meters 0.28859027367183093 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:0.55 [[ 9.99991667e-01 3.29837595e-03 2.40561747e-03 2.25514160e+00] [-3.29646023e-03 9.99994247e-01 -7.99881960e-04 -5.11651220e-02] [-2.40824194e-03 7.91945272e-04 9.99996787e-01 5.51656279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122557844 meters 0.29027729007013525 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99983178e-01 -4.35342602e-03 3.83289960e-03 2.27457935e+00] [ 4.35053593e-03 9.99990246e-01 7.62035527e-04 -4.91828229e-02] [-3.83617968e-03 -7.45347540e-04 9.99992364e-01 5.52796719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15255784400006 meters 0.29041420930027834 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99983665e-01 -4.21083788e-03 3.86500617e-03 2.27444411e+00] [ 4.20650071e-03 9.99990515e-01 1.12960936e-03 -5.07139854e-02] [-3.86972611e-03 -1.11333276e-03 9.99991893e-01 5.52941525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters 0.2901574745044441 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984065e-01 -4.09441069e-03 3.88661918e-03 2.27437555e+00] [ 4.08888168e-03 9.99990619e-01 1.42945649e-03 -5.19663839e-02] [-3.89243550e-03 -1.41354179e-03 9.99991425e-01 5.52992825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21255784400006 meters 0.2906749497501454 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984655e-01 -3.94906867e-03 3.88525517e-03 2.27453249e+00] [ 3.94213113e-03 9.99990625e-01 1.79164819e-03 -5.35131611e-02] [-3.89229409e-03 -1.77630451e-03 9.99990847e-01 5.52699829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters 0.2903056716869646 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984971e-01 -3.90398179e-03 3.84918631e-03 2.27482116e+00] [ 3.89664184e-03 9.99990579e-01 1.91254073e-03 -5.40448186e-02] [-3.85661657e-03 -1.89751308e-03 9.99990763e-01 5.52256203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27255784400006 meters 0.292256744014049 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99985291e-01 -3.89973855e-03 3.76950449e-03 2.27514124e+00] [ 3.89249774e-03 9.99990569e-01 1.92632394e-03 -5.41224101e-02] [-3.77698110e-03 -1.91162282e-03 9.99991040e-01 5.51998019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters 0.29207902755320025 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99985475e-01 -3.90015730e-03 3.71999890e-03 2.27532586e+00] [ 3.89300913e-03 9.99990566e-01 1.92686157e-03 -5.41389742e-02] [-3.72747886e-03 -1.91235160e-03 9.99991224e-01 5.51868831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33255784400006 meters 0.2902125573476076 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99985418e-01 -3.90802408e-03 3.72701446e-03 2.27528064e+00] [ 3.90093981e-03 9.99990575e-01 1.90616851e-03 -5.40491694e-02] [-3.73442868e-03 -1.89160186e-03 9.99991238e-01 5.51928564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters 0.2906590858457782 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99985317e-01 -3.91309383e-03 3.74878642e-03 2.27520226e+00] [ 3.90602657e-03 9.99990584e-01 1.89068234e-03 -5.39844963e-02] [-3.75614954e-03 -1.87601172e-03 9.99991186e-01 5.51978616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39255784400007 meters 0.2900499232774558 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984951e-01 -3.92406661e-03 3.83403830e-03 2.27479375e+00] [ 3.91697501e-03 9.99990607e-01 1.85540450e-03 -5.38052081e-02] [-3.84128302e-03 -1.84035874e-03 9.99990929e-01 5.52441808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters 0.29177453315334184 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984857e-01 -3.96003385e-03 3.82149658e-03 2.27478531e+00] [ 3.95332283e-03 9.99990633e-01 1.76208175e-03 -5.34083018e-02] [-3.82843869e-03 -1.74694746e-03 9.99991146e-01 5.52527587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45255784400007 meters 0.29183899484419856 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.55 [[ 9.99984871e-01 -3.97950521e-03 3.79766433e-03 2.27487401e+00] [ 3.97302407e-03 9.99990641e-01 1.71263357e-03 -5.32064945e-02] [-3.80444423e-03 -1.69751944e-03 9.99991322e-01 5.52459076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48255784400004 meters 0.29194683840415797 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99984985e-01 -3.99094711e-03 3.75519170e-03 2.27506260e+00] [ 3.98464875e-03 9.99990645e-01 1.68322975e-03 -5.31009129e-02] [-3.76187425e-03 -1.66824136e-03 9.99991533e-01 5.52271715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51255784400007 meters 0.29111861777298953 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.55 [[ 9.99985063e-01 -3.97745001e-03 3.74871680e-03 2.27516064e+00] [ 3.97103718e-03 9.99990642e-01 1.71656798e-03 -5.32650123e-02] [-3.75550928e-03 -1.70165604e-03 9.99991500e-01 5.52080723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54255784400004 meters 0.29133479351809155 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:0.55 [[ 9.99967170e-01 4.61343571e-03 6.66153219e-03 2.29306192e+00] [-4.61716489e-03 9.99989193e-01 5.44538175e-04 -5.50883337e-02] [-6.65894800e-03 -5.75277691e-04 9.99977663e-01 5.52845134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5725578440001 meters 0.2902233911177214 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:0.55 [[ 9.99966678e-01 4.59972493e-03 6.74431072e-03 2.29271222e+00] [-4.60322230e-03 9.99989279e-01 5.03135243e-04 -5.48895098e-02] [-6.74192413e-03 -5.34164039e-04 9.99977130e-01 5.53191978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60255784400005 meters 0.28987429827115446 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.55 [[ 9.99966067e-01 -2.95481923e-03 7.68989650e-03 2.31201310e+00] [ 2.94019151e-03 9.99993848e-01 1.91281093e-03 -5.08895402e-02] [-7.69550120e-03 -1.89013625e-03 9.99968603e-01 5.54964391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6325578440001 meters 0.2898256844017681 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.55 [[ 9.99966761e-01 -2.93683668e-03 7.60602309e-03 2.31227750e+00] [ 2.92199180e-03 9.99993806e-01 1.96210477e-03 -5.11134735e-02] [-7.61173836e-03 -1.93981481e-03 9.99969149e-01 5.54844507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66255784400005 meters 0.29114677078334283 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.55 [[ 9.99968176e-01 -2.92412532e-03 7.42267003e-03 2.31287251e+00] [ 2.90932555e-03 9.99993760e-01 2.00387581e-03 -5.13264158e-02] [-7.42848330e-03 -1.98221707e-03 9.99970444e-01 5.54499218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692557844 meters 0.2900318592993086 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.55 [[ 9.99969255e-01 -2.89973345e-03 7.28560626e-03 2.31337720e+00] [ 2.88468902e-03 9.99993687e-01 2.07461302e-03 -5.16621305e-02] [-7.29157609e-03 -2.05353253e-03 9.99971308e-01 5.54101088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72255784400005 meters 0.28976838712745673 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.55 [[ 9.99977380e-01 4.90162508e-03 4.60577691e-03 2.29569793e+00] [-4.90677709e-03 9.99987348e-01 1.10796256e-03 -5.67634523e-02] [-4.60028782e-03 -1.13053701e-03 9.99988780e-01 5.53192238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752557844 meters 0.2910053030127367 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.55 [[ 9.99979775e-01 -3.17017059e-03 5.51363570e-03 2.31634686e+00] [ 3.15868323e-03 9.99992825e-01 2.09090805e-03 -5.43653251e-02] [-5.52022467e-03 -2.07344993e-03 9.99982614e-01 5.54021859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78255784400005 meters 0.2904733934115995 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.55 [[ 0.99997983 -0.00305385 0.0055691 2.3160395 ] [ 0.0030405 0.99999249 0.00240411 -0.05566129] [-0.0055764 -0.00238713 0.9999816 0.55441993] [ 0. 0. 0. 1. ]] SLAMing on 312.812557844 meters 0.28945505854620796 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.55 [[ 0.99997995 -0.0029285 0.00561407 2.31576117] [ 0.00291311 0.99999198 0.00274778 -0.05708041] [-0.00562208 -0.00273137 0.99998047 0.55481998] [ 0. 0. 0. 1. ]] SLAMing on 312.84255784400005 meters 0.28987400798333385 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.56 [[ 0.9999804 -0.00281777 0.00559182 2.31570268] [ 0.00280074 0.99999142 0.00305132 -0.05832936] [-0.00560037 -0.0030356 0.99997971 0.5551066 ] [ 0. 0. 0. 1. ]] SLAMing on 312.872557844 meters 0.2892840629100805 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.56 [[ 0.9999808 -0.00268381 0.00558588 2.31572364] [ 0.00266479 0.99999064 0.00340938 -0.0598238 ] [-0.00559498 -0.00339443 0.99997859 0.5551044 ] [ 0. 0. 0. 1. ]] SLAMing on 312.90255784400006 meters 0.29006278201659347 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:0.55 [[ 9.99967259e-01 4.60525129e-03 6.65383170e-03 2.33792650e+00] [-4.61378515e-03 9.99988553e-01 1.26776818e-03 -6.44594001e-02] [-6.64791714e-03 -1.29842603e-03 9.99977059e-01 5.53734645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93255784400003 meters 0.2901893242947762 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:0.55 [[ 9.99966703e-01 4.73960288e-03 6.64293080e-03 2.33798806e+00] [-4.75039421e-03 9.99987421e-01 1.60964743e-03 -6.58833434e-02] [-6.63521815e-03 -1.64115037e-03 9.99976640e-01 5.53678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96255784400006 meters 0.29079500771595407 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:0.55 [[ 9.99966225e-01 4.86255441e-03 6.62599176e-03 2.33803837e+00] [-4.87539986e-03 9.99986264e-01 1.92387469e-03 -6.71891167e-02] [-6.61654581e-03 -1.95611407e-03 9.99976197e-01 5.53675277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99255784400003 meters 0.29218115043771226 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:0.55 [[ 9.99965410e-01 4.97235392e-03 6.66740844e-03 2.33789584e+00] [-4.98713429e-03 9.99985140e-01 2.20201783e-03 -6.83420368e-02] [-6.65636015e-03 -2.23519292e-03 9.99975348e-01 5.53764052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02255784400006 meters 0.291371040289706 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.55 [[ 0.9999764 -0.00420052 0.00543715 2.31738652] [ 0.00418287 0.99998596 0.00325288 -0.06799446] [-0.00545074 -0.00323006 0.99997993 0.55374625] [ 0. 0. 0. 1. ]] SLAMing on 313.05255784400003 meters 0.2904857981486328 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.55 [[ 0.99997678 -0.00406391 0.00547041 2.31720497] [ 0.00404423 0.99998533 0.00360382 -0.06945731] [-0.00548498 -0.00358161 0.99997854 0.55399199] [ 0. 0. 0. 1. ]] SLAMing on 313.08255784400006 meters 0.28967227970362464 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99992192e-01 1.75378250e-03 3.54108672e-03 2.29584958e+00] [-1.75711762e-03 9.99998015e-01 9.38945570e-04 -7.41862725e-02] [-3.53943299e-03 -9.45160345e-04 9.99993290e-01 5.55085206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11255784400004 meters 0.2901001166223802 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99992265e-01 1.88165576e-03 3.45389173e-03 2.29612569e+00] [-1.88603662e-03 9.99997421e-01 1.26556567e-03 -7.55581856e-02] [-3.45150146e-03 -1.27207004e-03 9.99993234e-01 5.54976464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14255784400007 meters 0.29172136899255624 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99992117e-01 2.03576615e-03 3.40902056e-03 2.29634233e+00] [-2.04141790e-03 9.99996546e-01 1.65522113e-03 -7.71953665e-02] [-3.40563914e-03 -1.66216732e-03 9.99992819e-01 5.54770302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17255784400004 meters 0.2916617280899842 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99992122e-01 2.17446693e-03 3.32071475e-03 2.29669066e+00] [-2.18112945e-03 9.99995613e-01 2.00404934e-03 -7.86758058e-02] [-3.31634244e-03 -2.01127646e-03 9.99992478e-01 5.54518747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20255784400007 meters 0.2916617280899842 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99992122e-01 2.17446693e-03 3.32071475e-03 2.29669066e+00] [-2.18112945e-03 9.99995613e-01 2.00404934e-03 -7.86758058e-02] [-3.31634244e-03 -2.01127646e-03 9.99992478e-01 5.54518747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23255784400004 meters 0.29152394027189305 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 0.99999213 0.00230455 0.003228 2.29700729] [-0.00231209 0.99999461 0.00233295 -0.08006186] [-0.0032226 -0.0023404 0.99999207 0.55436686] [ 0. 0. 0. 1. ]] SLAMing on 313.26255784400007 meters 0.291956013106475 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 0.99999214 0.00242956 0.00313468 2.29735615] [-0.00243786 0.99999353 0.00264681 -0.0813999 ] [-0.00312823 -0.00265443 0.99999158 0.55414709] [ 0. 0. 0. 1. ]] SLAMing on 313.29255784400004 meters 0.29155890605107626 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 0.99999187 0.00259105 0.00309004 2.2977197 ] [-0.00260042 0.99999202 0.00303359 -0.08304722] [-0.00308215 -0.0030416 0.99999062 0.55365905] [ 0. 0. 0. 1. ]] SLAMing on 313.3225578440001 meters 0.2915964392919353 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 0.99999195 0.0026094 0.00304767 2.29789329] [-0.00261881 0.9999918 0.00308788 -0.08327773] [-0.00303959 -0.00309584 0.99999059 0.55351215] [ 0. 0. 0. 1. ]] SLAMing on 313.35255784400005 meters 0.2921145123022468 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 0.99999196 0.00257545 0.00307275 2.2979206 ] [-0.00258466 0.99999217 0.00299698 -0.08290854] [-0.00306501 -0.0030049 0.99999079 0.55329206] [ 0. 0. 0. 1. ]] SLAMing on 313.3825578440001 meters 0.29305462263958976 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.55 [[ 0.99997963 -0.00524523 0.00363707 2.31703813] [ 0.00523041 0.99997803 0.00407302 -0.07758121] [-0.00365835 -0.00405392 0.99998509 0.55418944] [ 0. 0. 0. 1. ]] SLAMing on 313.41255784400005 meters 0.29179308413539634 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99999711e-01 3.94135904e-04 6.49973663e-04 2.29682412e+00] [-3.94756497e-04 9.99999466e-01 9.54945998e-04 -7.74418975e-02] [-6.49596937e-04 -9.55202303e-04 9.99999333e-01 5.54911952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442557844 meters 0.2922183473082185 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99999705e-01 3.24941443e-04 6.96252095e-04 2.29677077e+00] [-3.25479660e-04 9.99999648e-01 7.73046212e-04 -7.66884196e-02] [-6.96000656e-04 -7.73272599e-04 9.99999459e-01 5.54756046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47255784400005 meters 0.2913100342310895 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.55 [[ 9.99999687e-01 1.99084971e-04 7.65119022e-04 2.29659255e+00] [-1.99427067e-04 9.99999880e-01 4.47064501e-04 -7.53148749e-02] [-7.65029927e-04 -4.47216947e-04 9.99999607e-01 5.54741201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502557844 meters 0.29133728161975525 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.55 [[ 9.99999700e-01 1.67445721e-04 7.55942004e-04 2.29653029e+00] [-1.67719025e-04 9.99999921e-01 3.61492467e-04 -7.49432381e-02] [-7.55881413e-04 -3.61619145e-04 9.99999649e-01 5.54934526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53255784400005 meters 0.29255092067281696 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999656e-01 1.43838994e-04 8.17446531e-04 2.29623365e+00] [-1.44077288e-04 9.99999947e-01 2.91459807e-04 -7.46299865e-02] [-8.17404564e-04 -2.91577482e-04 9.99999623e-01 5.55273887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562557844 meters 0.2921580864110688 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999679e-01 1.26550326e-04 7.91701471e-04 2.29619215e+00] [-1.26741907e-04 9.99999963e-01 2.41940533e-04 -7.44145250e-02] [-7.91670824e-04 -2.42040797e-04 9.99999657e-01 5.55524318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59255784400005 meters 0.2918957602118519 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999783e-01 1.02632803e-04 6.50053585e-04 2.29656732e+00] [-1.02749378e-04 9.99999979e-01 1.79300065e-04 -7.41739986e-02] [-6.50035169e-04 -1.79366819e-04 9.99999773e-01 5.55463825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters 0.29208999128416235 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999847e-01 8.62037399e-05 5.46479052e-04 2.29689440e+00] [-8.62791901e-05 9.99999987e-01 1.38044052e-04 -7.40204522e-02] [-5.46467145e-04 -1.38091181e-04 9.99999841e-01 5.55306019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65255784400006 meters 0.29079100168354355 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999835e-01 9.47332427e-05 5.66982091e-04 2.29689459e+00] [-9.48233900e-05 9.99999983e-01 1.58970157e-04 -7.41105902e-02] [-5.66967021e-04 -1.59023894e-04 9.99999827e-01 5.55187486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters 0.2918669816378507 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999848e-01 9.35690842e-05 5.43227114e-04 2.29697245e+00] [-9.36544695e-05 9.99999983e-01 1.57158210e-04 -7.41054426e-02] [-5.43212400e-04 -1.57209061e-04 9.99999840e-01 5.55146965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71255784400006 meters 0.29157663245390036 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999877e-01 9.86781569e-05 4.86471352e-04 2.29713246e+00] [-9.87620024e-05 9.99999980e-01 1.72333581e-04 -7.41757435e-02] [-4.86454337e-04 -1.72381605e-04 9.99999867e-01 5.55113679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters 0.2917656563438362 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999862e-01 1.15118608e-04 5.12599856e-04 2.29706939e+00] [-1.15227589e-04 9.99999971e-01 2.12579864e-04 -7.43464289e-02] [-5.12575369e-04 -2.12638901e-04 9.99999846e-01 5.55106752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77255784400006 meters 0.2910895637213855 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.56 [[ 9.99999834e-01 1.55597306e-04 5.54391902e-04 2.29691246e+00] [-1.55773450e-04 9.99999937e-01 3.17695505e-04 -7.47822619e-02] [-5.54342435e-04 -3.17781812e-04 9.99999796e-01 5.55228853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters 0.2917616892785781 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999795e-01 2.03773244e-04 6.07164426e-04 2.29665744e+00] [-2.04041513e-04 9.99999882e-01 4.41809958e-04 -7.52845828e-02] [-6.07074325e-04 -4.41933754e-04 9.99999718e-01 5.55513063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83255784400006 meters 0.2921620077342204 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999701e-01 3.23358566e-04 7.02064425e-04 2.29629087e+00] [-3.23885080e-04 9.99999666e-01 7.49966292e-04 -7.65595712e-02] [-7.01821683e-04 -7.50193457e-04 9.99999472e-01 5.55824342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters 0.2912716619625039 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999669e-01 4.26497088e-04 6.92986917e-04 2.29625553e+00] [-4.27200425e-04 9.99999394e-01 1.01510440e-03 -7.76577605e-02] [-6.92553557e-04 -1.01540011e-03 9.99999245e-01 5.55962265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89255784400007 meters 0.29270560366259063 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999661e-01 5.16246111e-04 6.41627945e-04 2.29640894e+00] [-5.17045059e-04 9.99999091e-01 1.24564794e-03 -7.86277344e-02] [-6.40984300e-04 -1.24597927e-03 9.99999018e-01 5.55925019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters 0.2908197278388683 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.56 [[ 9.99984714e-01 5.14282313e-03 -2.03045759e-03 2.27386971e+00] [-5.14754722e-03 9.99984041e-01 -2.32828425e-03 -7.85931084e-02] [ 2.01845123e-03 2.33870054e-03 9.99995228e-01 5.57442888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95255784400007 meters 0.2908501069816448 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.56 [[ 9.99984364e-01 5.18071875e-03 -2.10506962e-03 2.27413674e+00] [-5.18540202e-03 9.99984079e-01 -2.22542497e-03 -7.90347504e-02] [ 2.09350681e-03 2.23630580e-03 9.99995308e-01 5.57261579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98255784400004 meters 0.29294035999329643 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.56 [[ 9.99994767e-01 -3.11999106e-03 -8.55776543e-04 2.29469247e+00] [ 3.11866877e-03 9.99993948e-01 -1.54214483e-03 -7.63624021e-02] [ 8.60582841e-04 1.53946787e-03 9.99998445e-01 5.57364430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01255784400007 meters 0.2926756791364187 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.56 [[ 9.99994906e-01 -3.05772135e-03 -9.15224806e-04 2.29481913e+00] [ 3.05644753e-03 9.99994363e-01 -1.38998756e-03 -7.70048233e-02] [ 9.19469841e-04 1.38718315e-03 9.99998615e-01 5.57438250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04255784400004 meters 0.2917429519023889 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.08, Z:0.56 [[ 9.99987445e-01 4.74153039e-03 -1.62077028e-03 2.27487623e+00] [-4.74508832e-03 9.99986325e-01 -2.19845991e-03 -8.20347878e-02] [ 1.61032405e-03 2.20612301e-03 9.99996270e-01 5.56469355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0725578440001 meters 0.293398102082411 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999612e-01 -5.48767750e-04 6.89697886e-04 2.29695910e+00] [ 5.47965590e-04 9.99999174e-01 1.16271104e-03 -8.28454680e-02] [-6.90335375e-04 -1.16233266e-03 9.99999086e-01 5.55167766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10255784400005 meters 0.2930360690453968 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.56 [[ 9.99999651e-01 -4.49799247e-04 7.04470281e-04 2.29683728e+00] [ 4.48800169e-04 9.99998894e-01 1.41771496e-03 -8.38964216e-02] [-7.05107189e-04 -1.41739830e-03 9.99998747e-01 5.55371150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1325578440001 meters 0.2919633850144685 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.56 [[ 9.99999713e-01 -3.28818927e-04 6.83198532e-04 2.29687428e+00] [ 3.27629574e-04 9.99998432e-01 1.74024302e-03 -8.52270542e-02] [-6.83769685e-04 -1.74001869e-03 9.99998252e-01 5.55429825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16255784400005 meters 0.29094829878354866 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.56 [[ 9.99999878e-01 -6.82632499e-05 4.88419166e-04 2.29725362e+00] [ 6.69901111e-05 9.99996602e-01 2.60619373e-03 -8.86763247e-02] [-4.88595413e-04 -2.60616069e-03 9.99996485e-01 5.55679121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192557844 meters 0.2935341727408526 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.56 [[ 9.99999930e-01 1.02934492e-04 3.59438138e-04 2.29753106e+00] [-1.04048224e-04 9.99995190e-01 3.09989515e-03 -9.06943394e-02] [-3.59117323e-04 -3.09993233e-03 9.99995131e-01 5.55811429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22255784400005 meters 0.29297947299143307 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:0.56 [[ 9.99999903e-01 2.79100364e-04 3.39438711e-04 2.29756562e+00] [-2.80320535e-04 9.99993481e-01 3.59995306e-03 -9.27353430e-02] [-3.38431750e-04 -3.60004786e-03 9.99993463e-01 5.55856600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252557844 meters 0.29211864720098457 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:0.56 [[ 9.99999826e-01 4.80122589e-04 3.41319998e-04 2.29741269e+00] [-4.81538452e-04 9.99991230e-01 4.16029044e-03 -9.50186522e-02] [-3.39319555e-04 -4.16045407e-03 9.99991288e-01 5.56199613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28255784400005 meters 0.2927185774004153 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.10, Z:0.56 [[ 9.99975246e-01 6.67928201e-03 2.21216414e-03 2.31858537e+00] [-6.68077041e-03 9.99977462e-01 6.66119905e-04 -9.80054190e-02] [-2.20766508e-03 -6.80882376e-04 9.99997331e-01 5.55692877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312557844 meters 0.2902631975508373 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:0.56 [[ 9.99994469e-01 -3.16829407e-03 1.01214276e-03 2.29724956e+00] [ 3.16686816e-03 9.99993995e-01 1.40730661e-03 -9.96502060e-02] [-1.01659545e-03 -1.40409351e-03 9.99998498e-01 5.56164523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34255784400005 meters 0.2921873706906024 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99995845e-01 -1.71332842e-03 -2.31808970e-03 2.34107246e+00] [ 1.71902095e-03 9.99995507e-01 2.45594277e-03 -1.05528124e-01] [ 2.31387144e-03 -2.45991742e-03 9.99994297e-01 5.57265670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372557844 meters 0.29167630681323364 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99995851e-01 -1.52000180e-03 -2.44690292e-03 2.34165044e+00] [ 1.52723964e-03 9.99994456e-01 2.95881248e-03 -1.07702837e-01] [ 2.44239196e-03 -2.96253721e-03 9.99992629e-01 5.56701573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40255784400006 meters 0.29180630466796265 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99995894e-01 -1.33449017e-03 -2.53608292e-03 2.34206334e+00] [ 1.34315740e-03 9.99993253e-01 3.41893959e-03 -1.09658331e-01] [ 2.53150327e-03 -3.42233190e-03 9.99990940e-01 5.56326126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43255784400003 meters 0.2923360332586517 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996093e-01 -1.15066750e-03 -2.54770861e-03 2.34208563e+00] [ 1.16050236e-03 9.99991868e-01 3.86216749e-03 -1.11509415e-01] [ 2.54324382e-03 -3.86510902e-03 9.99989296e-01 5.56373042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46255784400006 meters 0.2922565150687964 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996299e-01 -1.00397950e-03 -2.52858268e-03 2.34186103e+00] [ 1.01467019e-03 9.99990538e-01 4.23020814e-03 -1.13012039e-01] [ 2.52431171e-03 -4.23275817e-03 9.99987856e-01 5.56792969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49255784400003 meters 0.29226989734287506 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996399e-01 -8.42560032e-04 -2.54797549e-03 2.34183503e+00] [ 8.54447104e-04 9.99988741e-01 4.66781606e-03 -1.14759469e-01] [ 2.54401388e-03 -4.66997637e-03 9.99985860e-01 5.57015541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52255784400006 meters 0.29320261604071707 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996091e-01 -8.40899648e-04 -2.66661504e-03 2.34235984e+00] [ 8.53367533e-04 9.99988695e-01 4.67786151e-03 -1.14838036e-01] [ 2.66265128e-03 -4.68011882e-03 9.99985503e-01 5.56466052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55255784400003 meters 0.29399185779063103 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996060e-01 -8.69450212e-04 -2.66925272e-03 2.34263436e+00] [ 8.81737864e-04 9.99989005e-01 4.60568481e-03 -1.14572940e-01] [ 2.66521896e-03 -4.60802025e-03 9.99985831e-01 5.55821390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58255784400006 meters 0.29351117325471204 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996356e-01 -8.88484070e-04 -2.54911508e-03 2.34247616e+00] [ 9.00086398e-04 9.99989225e-01 4.55398095e-03 -1.14372112e-01] [ 2.54504148e-03 -4.55625878e-03 9.99986382e-01 5.55483489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61255784400004 meters 0.2942007395455959 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996705e-01 -9.10326663e-04 -2.40020621e-03 2.34207244e+00] [ 9.21098718e-04 9.99989493e-01 4.49069126e-03 -1.14086908e-01] [ 2.39609299e-03 -4.49288729e-03 9.99987036e-01 5.55551910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64255784400007 meters 0.2920384484534712 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996921e-01 -9.44669781e-04 -2.29448948e-03 2.34170406e+00] [ 9.54749073e-04 9.99989883e-01 4.39570983e-03 -1.13656547e-01] [ 2.29031377e-03 -4.39788696e-03 9.99987706e-01 5.55787560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67255784400004 meters 0.293224742129131 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996922e-01 -1.07272281e-03 -2.23719066e-03 2.34146091e+00] [ 1.08179925e-03 9.99991174e-01 4.05981468e-03 -1.12216900e-01] [ 2.23281586e-03 -4.06222237e-03 9.99989256e-01 5.55986871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70255784400007 meters 0.29407145526591366 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996613e-01 -1.13575678e-03 -2.34169877e-03 2.34180624e+00] [ 1.14488670e-03 9.99991735e-01 3.90119851e-03 -1.11583113e-01] [ 2.33724860e-03 -3.90386628e-03 9.99989648e-01 5.55785175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73255784400004 meters 0.2932379267262324 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996466e-01 -1.16937123e-03 -2.38752178e-03 2.34195721e+00] [ 1.17846571e-03 9.99992042e-01 3.81132635e-03 -1.11222458e-01] [ 2.38304593e-03 -3.81412650e-03 9.99989887e-01 5.55692051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76255784400007 meters 0.2943222042738322 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996350e-01 -1.18915726e-03 -2.42590630e-03 2.34203713e+00] [ 1.19827332e-03 9.99992214e-01 3.75980913e-03 -1.11003895e-01] [ 2.42141640e-03 -3.76270231e-03 9.99989989e-01 5.55722425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79255784400004 meters 0.2925461998182569 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996515e-01 -1.17389915e-03 -2.36457213e-03 2.34171754e+00] [ 1.18287717e-03 9.99992084e-01 3.79907718e-03 -1.11121786e-01] [ 2.36009368e-03 -3.80186094e-03 9.99989988e-01 5.56127793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8225578440001 meters 0.29338312177450615 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996747e-01 -1.14864322e-03 -2.27725823e-03 2.34133963e+00] [ 1.15744169e-03 9.99991857e-01 3.86607556e-03 -1.11354342e-01] [ 2.27279895e-03 -3.86869878e-03 9.99989934e-01 5.56534432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85255784400005 meters 0.29248522505886504 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996965e-01 -1.10794566e-03 -2.20064157e-03 2.34097363e+00] [ 1.11670925e-03 9.99991436e-01 3.98505740e-03 -1.11810601e-01] [ 2.19620750e-03 -3.98750278e-03 9.99989638e-01 5.56989180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8825578440001 meters 0.2907510957963703 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.56 [[ 9.99996719e-01 -1.11589742e-03 -2.30589640e-03 2.34134126e+00] [ 1.12503793e-03 9.99991501e-01 3.96648851e-03 -1.11761313e-01] [ 2.30145060e-03 -3.96906972e-03 9.99989475e-01 5.56743025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91255784400005 meters 0.2925402109688921 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.11, Z:0.55 [[ 9.99980750e-01 6.19106878e-03 -4.11665902e-04 2.36366839e+00] [-6.19056212e-03 9.99980093e-01 1.22084723e-03 -1.10962384e-01] [ 4.19216056e-04 -1.21827528e-03 9.99999170e-01 5.54814361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters 0.2912559543287052 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.11, Z:0.55 [[ 9.99980382e-01 6.24314536e-03 -5.07836647e-04 2.36390316e+00] [-6.24244654e-03 9.99979582e-01 1.36621917e-03 -1.11567864e-01] [ 5.16355783e-04 -1.36302222e-03 9.99998938e-01 5.54841007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97255784400005 meters 0.2907092097688904 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.11, Z:0.55 [[ 9.99998121e-01 1.86186304e-03 -5.40312118e-04 2.36399996e+00] [-1.86350365e-03 9.99993606e-01 -3.05195339e-03 -1.11163507e-01] [ 5.34626344e-04 3.05295453e-03 9.99995197e-01 5.54714588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters 0.2913351597098084 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:0.55 [[ 9.99989517e-01 -3.86129731e-03 2.46083673e-03 2.38443634e+00] [ 3.86189510e-03 9.99992514e-01 -2.38218859e-04 -1.11248637e-01] [-2.45989848e-03 2.47719855e-04 9.99996944e-01 5.53549980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03255784400005 meters 0.2909707049947786 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.11, Z:0.55 [[ 9.99992311e-01 3.79439199e-03 9.90365634e-04 2.36440947e+00] [-3.79326921e-03 9.99992164e-01 -1.13312920e-03 -1.14389163e-01] [-9.94657410e-04 1.12936377e-03 9.99998868e-01 5.53001375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters 0.29269447572856033 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:0.55 [[ 9.99990250e-01 -3.59668394e-03 2.56191091e-03 2.38302293e+00] [ 3.59664287e-03 9.99993532e-01 2.06374861e-05 -1.09340844e-01] [-2.56196857e-03 -1.14230063e-05 9.99996718e-01 5.53980927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09255784400005 meters 0.29269447572856033 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:0.55 [[ 9.99990250e-01 -3.59668394e-03 2.56191091e-03 2.38302293e+00] [ 3.59664287e-03 9.99993532e-01 2.06374861e-05 -1.09340844e-01] [-2.56196857e-03 -1.14230063e-05 9.99996718e-01 5.53980927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters 0.29182595319620064 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:0.55 [[ 9.99988942e-01 -3.50857453e-03 3.13145647e-03 2.34390717e+00] [ 3.50346243e-03 9.99992524e-01 1.63649418e-03 -1.11206060e-01] [-3.13717482e-03 -1.62550514e-03 9.99993758e-01 5.51588926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15255784400006 meters 0.29364350908408415 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99997059e-01 -3.78912143e-04 2.39532421e-03 2.38392840e+00] [ 3.74592627e-04 9.99998304e-01 1.80350320e-03 -1.03590247e-01] [-2.39600351e-03 -1.80260062e-03 9.99995505e-01 5.53118600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18255784400003 meters 0.2936065421615375 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99996930e-01 -5.30843318e-04 2.42029093e-03 2.38393592e+00] [ 5.27565339e-04 9.99998943e-01 1.35481120e-03 -1.01768550e-01] [-2.42100757e-03 -1.35353018e-03 9.99996153e-01 5.52932114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21255784400006 meters 0.29362142493573956 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99996630e-01 -6.69369737e-04 2.50840124e-03 2.38376054e+00] [ 6.66982959e-04 9.99999324e-01 9.52229618e-04 -1.00123808e-01] [-2.50903694e-03 -9.50553348e-04 9.99996401e-01 5.52817796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24255784400003 meters 0.29131324189626906 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.10, Z:0.56 [[ 9.99989700e-01 4.51648424e-03 -4.49131542e-04 2.36113467e+00] [-4.51749572e-03 9.99987203e-01 -2.27717519e-03 -9.70941542e-02] [ 4.38840969e-04 2.27918068e-03 9.99997306e-01 5.55192517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27255784400006 meters 0.29263519389381476 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.56 [[ 9.99995546e-01 -2.93906456e-03 5.20252674e-04 2.37976984e+00] [ 2.93971007e-03 9.99994905e-01 -1.24436858e-03 -9.09013909e-02] [-5.16592744e-04 1.24589243e-03 9.99999090e-01 5.56813899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30255784400003 meters 0.29291811626350134 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.56 [[ 9.99995396e-01 -2.99133293e-03 5.10309224e-04 2.37969558e+00] [ 2.99203472e-03 9.99994572e-01 -1.38004072e-03 -9.03121465e-02] [-5.06178292e-04 1.38156123e-03 9.99998918e-01 5.57031924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33255784400006 meters 0.2938821189425638 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.56 [[ 9.99995283e-01 -3.03051872e-03 4.99980933e-04 2.37964201e+00] [ 3.03125906e-03 9.99994301e-01 -1.48666595e-03 -8.98660062e-02] [-4.95472714e-04 1.48817451e-03 9.99998770e-01 5.57204638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters 0.2920996230102807 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.56 [[ 9.99995143e-01 -3.08151082e-03 4.68046669e-04 2.37975469e+00] [ 3.08226293e-03 9.99993946e-01 -1.61479071e-03 -8.93355681e-02] [-4.63067840e-04 1.61622551e-03 9.99998587e-01 5.57123886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39255784400007 meters 0.29302082649575173 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.56 [[ 9.99994895e-01 -3.16495311e-03 4.38433573e-04 2.37989593e+00] [ 3.16574754e-03 9.99993327e-01 -1.82327623e-03 -8.84742233e-02] [-4.32660064e-04 1.82465489e-03 9.99998242e-01 5.56968863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters 0.2928016042639819 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.56 [[ 9.99988932e-01 4.64313816e-03 -7.59330903e-04 2.35970171e+00] [-4.64525209e-03 9.99985273e-01 -2.80629010e-03 -9.09498493e-02] [ 7.46289728e-04 2.80978632e-03 9.99995774e-01 5.56266279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45255784400007 meters 0.29295825870048264 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999630e-01 -2.57635633e-04 8.20291997e-04 2.38314140e+00] [ 2.57378557e-04 9.99999918e-01 3.13485920e-04 -8.79067869e-02] [-8.20372695e-04 -3.13274679e-04 9.99999614e-01 5.54608331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48255784400004 meters 0.29250125966567253 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999560e-01 -3.35125307e-04 8.76511608e-04 2.38296649e+00] [ 3.35030097e-04 9.99999938e-01 1.08768520e-04 -8.70422246e-02] [-8.76548005e-04 -1.08474814e-04 9.99999610e-01 5.54660400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51255784400007 meters 0.29322850012647 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999467e-01 -4.30222119e-04 9.39084431e-04 2.38283276e+00] [ 4.30352017e-04 9.99999898e-01 -1.38126895e-04 -8.60110033e-02] [-9.39024910e-04 1.38530958e-04 9.99999550e-01 5.54577996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54255784400004 meters 0.29340969852992255 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999383e-01 -5.28722436e-04 9.77424315e-04 2.38277684e+00] [ 5.29110596e-04 9.99999781e-01 -3.96909725e-04 -8.49421612e-02] [-9.77214247e-04 3.97426646e-04 9.99999444e-01 5.54468060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5725578440001 meters 0.29145887845374785 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999285e-01 -6.34579870e-04 1.01400244e-03 2.38271924e+00] [ 6.35269731e-04 9.99999567e-01 -6.80157329e-04 -8.37804192e-02] [-1.01357039e-03 6.80801008e-04 9.99999255e-01 5.54365906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60255784400005 meters 0.2918443074766261 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999124e-01 -7.40835270e-04 1.09730277e-03 2.38250459e+00] [ 7.41892592e-04 9.99999261e-01 -9.63470391e-04 -8.25917835e-02] [-1.09658818e-03 9.64283627e-04 9.99998934e-01 5.54356513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6325578440001 meters 0.29240906521430005 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99998687e-01 -9.14628918e-04 1.33791772e-03 2.38165522e+00] [ 9.16587927e-04 9.99998508e-01 -1.46434323e-03 -8.03846634e-02] [-1.33657639e-03 1.46556762e-03 9.99998033e-01 5.54963620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66255784400005 meters 0.2931320870386943 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.56 [[ 9.99998522e-01 -9.73106980e-04 1.41733659e-03 2.38140018e+00] [ 9.75400553e-04 9.99998215e-01 -1.61843631e-03 -7.97217355e-02] [-1.41575915e-03 1.61981638e-03 9.99997686e-01 5.55068310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692557844 meters 0.291961243997487 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.56 [[ 9.99998517e-01 -1.01901021e-03 1.38824022e-03 2.38144311e+00] [ 1.02141847e-03 9.99997973e-01 -1.73515461e-03 -7.92314709e-02] [-1.38646927e-03 1.73657001e-03 9.99997531e-01 5.55130078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72255784400005 meters 0.29199839944429146 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99998631e-01 -1.08160479e-03 1.25261125e-03 2.38189058e+00] [ 1.08397898e-03 9.99997615e-01 -1.89626700e-03 -7.85884801e-02] [-1.25055725e-03 1.89762221e-03 9.99997418e-01 5.54870888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752557844 meters 0.29193977957389394 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99998797e-01 -1.10160791e-03 1.09182540e-03 2.38244529e+00] [ 1.10373020e-03 9.99997499e-01 -1.94510822e-03 -7.84302755e-02] [-1.08967993e-03 1.94631096e-03 9.99997512e-01 5.54499852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78255784400005 meters 0.29073016133106705 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999002e-01 -1.08091739e-03 9.10023021e-04 2.38301871e+00] [ 1.08263159e-03 9.99997637e-01 -1.88531092e-03 -7.87199119e-02] [-9.07983005e-04 1.88629426e-03 9.99997809e-01 5.54205714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812557844 meters 0.29246765559437704 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999146e-01 -1.02869637e-03 8.05559065e-04 2.38334681e+00] [ 1.03009606e-03 9.99997957e-01 -1.73905622e-03 -7.93490698e-02] [-8.03768459e-04 1.73988454e-03 9.99998163e-01 5.54055141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84255784400005 meters 0.2919348751007688 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999260e-01 -9.62865547e-04 7.43744795e-04 2.38350847e+00] [ 9.64023250e-04 9.99998322e-01 -1.55779973e-03 -8.01016442e-02] [-7.42243595e-04 1.55851556e-03 9.99998510e-01 5.54043873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872557844 meters 0.29166977062599386 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999440e-01 -7.96326380e-04 6.96646294e-04 2.38355050e+00] [ 7.97055521e-04 9.99999134e-01 -1.04699365e-03 -8.21495000e-02] [-6.95811943e-04 1.04754833e-03 9.99999209e-01 5.54232413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90255784400006 meters 0.2912932987423053 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.08, Z:0.55 [[ 9.99999619e-01 -6.72233213e-04 5.56519472e-04 2.38385107e+00] [ 6.72621647e-04 9.99999530e-01 -6.98077837e-04 -8.35806248e-02] [-5.56049940e-04 6.98451898e-04 9.99999601e-01 5.54364949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93255784400003 meters 0.29113543529289665 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999770e-01 -5.26889562e-04 4.26098898e-04 2.38421646e+00] [ 5.27014378e-04 9.99999818e-01 -2.92867891e-04 -8.52597490e-02] [-4.25944512e-04 2.93092384e-04 9.99999866e-01 5.54293108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96255784400006 meters 0.29130383326209325 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999933e-01 -2.46809816e-04 2.69637410e-04 2.38471502e+00] [ 2.46665182e-04 9.99999826e-01 5.36305079e-04 -8.86877011e-02] [-2.69769728e-04 -5.36238533e-04 9.99999820e-01 5.54026174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99255784400003 meters 0.2895484286713261 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999968e-01 -9.75420013e-05 2.35352563e-04 2.38476928e+00] [ 9.73209155e-05 9.99999554e-01 9.39209829e-04 -9.03479148e-02] [-2.35444070e-04 -9.39186894e-04 9.99999531e-01 5.54096207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02255784400006 meters 0.29006881307046833 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999979e-01 6.64157110e-05 1.93350665e-04 2.38479739e+00] [-6.66798486e-05 9.99999064e-01 1.36642033e-03 -9.21148558e-02] [-1.93259733e-04 -1.36643320e-03 9.99999048e-01 5.54268906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05255784400003 meters 0.29002204119106023 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.55 [[ 9.99999952e-01 2.30083502e-04 2.06659951e-04 2.38468411e+00] [-2.30451156e-04 9.99998388e-01 1.78076863e-03 -9.38372888e-02] [-2.06249892e-04 -1.78081617e-03 9.99998393e-01 5.54445714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08255784400006 meters 0.29035016655494217 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99999908e-01 3.99764814e-04 1.54572610e-04 2.38468525e+00] [-4.00105029e-04 9.99997484e-01 2.20727319e-03 -9.56019522e-02] [-1.53689831e-04 -2.20733483e-03 9.99997552e-01 5.54741032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11255784400004 meters 0.2900651562993397 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99999820e-01 5.69144999e-04 1.91922572e-04 2.38453865e+00] [-5.69648491e-04 9.99996370e-01 2.63364100e-03 -9.73697113e-02] [-1.90422952e-04 -2.63374985e-03 9.99996514e-01 5.54866382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14255784400007 meters 0.2897496690896994 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.55 [[ 9.99999606e-01 8.72768404e-04 1.61334971e-04 2.38466411e+00] [-8.73306814e-04 9.99993948e-01 3.36782610e-03 -1.00422110e-01] [-1.58394663e-04 -3.36796567e-03 9.99994316e-01 5.54808866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17255784400004 meters 0.2909089035722418 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99961370e-01 8.47655635e-03 2.32514226e-03 2.40623619e+00] [-8.47906284e-03 9.99963479e-01 1.07026303e-03 -1.01313868e-01] [-2.31598520e-03 -1.08993671e-03 9.99996724e-01 5.53187906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20255784400007 meters 0.29000247469743784 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99999663e-01 -7.24110170e-04 3.88024717e-04 2.38822434e+00] [ 7.23174646e-04 9.99996845e-01 2.40573364e-03 -9.97677796e-02] [-3.89765509e-04 -2.40545222e-03 9.99997031e-01 5.52071370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23255784400004 meters 0.29183876852942203 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99974065e-01 6.74412390e-03 2.52724944e-03 2.40875967e+00] [-6.74344306e-03 9.99977224e-01 -2.77822564e-04 -1.00315940e-01] [-2.52906555e-03 2.60772996e-04 9.99996768e-01 5.51219665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26255784400007 meters 0.2912785551923438 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99995252e-01 -2.84413618e-03 1.18616174e-03 2.38979694e+00] [ 2.84332764e-03 9.99995725e-01 6.82770581e-04 -9.82558252e-02] [-1.18809856e-03 -6.79394693e-04 9.99999063e-01 5.50675739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29255784400004 meters 0.29141929462883154 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99995315e-01 -2.80729723e-03 1.22024094e-03 2.38968698e+00] [ 2.80634488e-03 9.99995757e-01 7.81473521e-04 -9.86582839e-02] [-1.22242959e-03 -7.78045443e-04 9.99998950e-01 5.50737669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3225578440001 meters 0.29114857766913893 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99995124e-01 -2.77012977e-03 1.44149390e-03 2.38908158e+00] [ 2.76886740e-03 9.99995782e-01 8.77003466e-04 -9.90145966e-02] [-1.44391723e-03 -8.73007885e-04 9.99998576e-01 5.50890508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35255784400005 meters 0.29197584901151236 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99974781e-01 6.47138956e-03 2.92553500e-03 2.40830692e+00] [-6.47046604e-03 9.99979013e-01 -3.25032847e-04 -1.00012332e-01] [-2.92757702e-03 3.06095075e-04 9.99995668e-01 5.51685145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3825578440001 meters 0.28954801841367156 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99994998e-01 -2.71828876e-03 1.61727584e-03 2.38911845e+00] [ 2.71689373e-03 9.99995936e-01 8.64149039e-04 -9.76794694e-02] [-1.61961828e-03 -8.59750749e-04 9.99998319e-01 5.50960434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41255784400005 meters 0.2916000985505408 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99980721e-01 4.54487281e-03 4.23109858e-03 2.40996039e+00] [-4.53666961e-03 9.99987815e-01 -1.94637066e-03 -9.67273569e-02] [-4.23989303e-03 1.92713804e-03 9.99989155e-01 5.49602922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442557844 meters 0.29106415940111185 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99992630e-01 -3.28386369e-03 1.98895661e-03 2.38951946e+00] [ 3.28299347e-03 9.99994514e-01 4.40632237e-04 -9.68795805e-02] [-1.99039267e-03 -4.34099258e-04 9.99997925e-01 5.50638274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47255784400005 meters 0.2895657608155689 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99992615e-01 -3.22709846e-03 2.08701109e-03 2.38904551e+00] [ 3.22587621e-03 9.99994624e-01 5.88749345e-04 -9.74652708e-02] [-2.08889982e-03 -5.82012558e-04 9.99997649e-01 5.51194646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters 0.2896452932842867 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99992945e-01 -3.17107995e-03 2.01375301e-03 2.38920431e+00] [ 3.16959163e-03 9.99994702e-01 7.41840013e-04 -9.80978210e-02] [-2.01609477e-03 -7.35452005e-04 9.99997697e-01 5.51263478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53255784400005 meters 0.2899992977087188 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99978972e-01 5.98633883e-03 2.49367586e-03 2.40894750e+00] [-5.98509819e-03 9.99981962e-01 -5.04681860e-04 -1.01399476e-01] [-2.49665208e-03 4.89746353e-04 9.99996763e-01 5.51910797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters 0.29022292166044616 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99995521e-01 -2.89273496e-03 7.67921230e-04 2.39045689e+00] [ 2.89190892e-03 9.99995241e-01 1.07462239e-03 -1.00319175e-01] [-7.71026174e-04 -1.07239682e-03 9.99999128e-01 5.50418845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59255784400005 meters 0.2906143239071527 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.55 [[ 9.99995635e-01 -2.84887062e-03 7.83616147e-04 2.39041295e+00] [ 2.84793813e-03 9.99995238e-01 1.18853825e-03 -1.00790943e-01] [-7.86998407e-04 -1.18630137e-03 9.99998987e-01 5.50432994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters 0.2901666573761859 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99977687e-01 5.98609779e-03 2.96526559e-03 2.40884745e+00] [-5.98518519e-03 9.99982039e-01 -3.16543372e-04 -1.01434456e-01] [-2.96710718e-03 2.98788645e-04 9.99995553e-01 5.51880421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65255784400006 meters 0.2902582974394655 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99978190e-01 5.92650251e-03 2.91476966e-03 2.40901941e+00] [-5.92513763e-03 9.99982333e-01 -4.76676217e-04 -1.00786227e-01] [-2.91754319e-03 4.59395410e-04 9.99995638e-01 5.51775031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68255784400003 meters 0.2915209071301697 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99979059e-01 5.80589506e-03 2.85874300e-03 2.40936462e+00] [-5.80360736e-03 9.99982833e-01 -8.07895968e-04 -9.94552531e-02] [-2.86338448e-03 7.91288028e-04 9.99995587e-01 5.51276435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71255784400006 meters 0.28951720983557416 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99979989e-01 5.67054743e-03 2.80470667e-03 2.40974871e+00] [-5.66719732e-03 9.99983220e-01 -1.20097080e-03 -9.78813604e-02] [-2.81146977e-03 1.18505195e-03 9.99995346e-01 5.50649304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters 0.2917903022504848 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:0.55 [[ 9.99980717e-01 5.53007557e-03 2.82559596e-03 2.40992862e+00] [-5.52551904e-03 9.99983425e-01 -1.61786082e-03 -9.62182566e-02] [-2.83449602e-03 1.60221674e-03 9.99994699e-01 5.50069305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77255784400006 meters 0.2920867176128734 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99990690e-01 -2.18347287e-03 3.72176563e-03 2.42864382e+00] [ 2.18679419e-03 9.99997214e-01 -8.88568623e-04 -8.90957426e-02] [-3.71981509e-03 8.96699086e-04 9.99992679e-01 5.50798190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80255784400003 meters 0.29057278422090405 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99988231e-01 -2.36300147e-03 4.23731515e-03 2.42728843e+00] [ 2.36955579e-03 9.99996003e-01 -1.54245874e-03 -8.63767608e-02] [-4.23365338e-03 1.55248114e-03 9.99989833e-01 5.51029471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83255784400006 meters 0.291628682501087 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99987467e-01 -2.48071807e-03 4.34885010e-03 2.42701016e+00] [ 2.48888804e-03 9.99995146e-01 -1.87424715e-03 -8.50079087e-02] [-4.34417952e-03 1.88504746e-03 9.99988787e-01 5.51005548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters 0.29015462104643636 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99987202e-01 -2.59522582e-03 4.34298511e-03 2.42709034e+00] [ 2.60471536e-03 9.99994230e-01 -2.18080102e-03 -8.37565232e-02] [-4.33730038e-03 2.19208535e-03 9.99988191e-01 5.50840156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89255784400007 meters 0.2914640008738108 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99994759e-01 -7.81662282e-04 3.14179851e-03 2.43264610e+00] [ 7.83110140e-04 9.99999588e-01 -4.59633556e-04 -8.45181059e-02] [-3.14143794e-03 4.62091521e-04 9.99994959e-01 5.47147243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters 0.2914750682421709 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99995101e-01 -8.37242634e-04 3.01610851e-03 2.43302645e+00] [ 8.39049209e-04 9.99999469e-01 -5.97760042e-04 -8.39612294e-02] [-3.01560644e-03 6.00287777e-04 9.99995273e-01 5.47013641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95255784400007 meters 0.2915159243256951 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99995386e-01 -8.55493684e-04 2.91465764e-03 2.43319847e+00] [ 8.57366724e-04 9.99999427e-01 -6.41438982e-04 -8.37705487e-02] [-2.91410722e-03 6.43934953e-04 9.99995547e-01 5.47210708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98255784400004 meters 0.2895352592447548 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99995455e-01 -8.14947204e-04 2.90257432e-03 2.43309815e+00] [ 8.16492060e-04 9.99999526e-01 -5.31091066e-04 -8.42034783e-02] [-2.90214014e-03 5.33458581e-04 9.99995646e-01 5.47526369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01255784400007 meters 0.2895352592447548 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99995455e-01 -8.14947204e-04 2.90257432e-03 2.43309815e+00] [ 8.16492060e-04 9.99999526e-01 -5.31091066e-04 -8.42034783e-02] [-2.90214014e-03 5.33458581e-04 9.99995646e-01 5.47526369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04255784400004 meters 0.28996567899540177 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:0.55 [[ 9.99995591e-01 -7.81817345e-04 2.86475335e-03 2.43302617e+00] [ 7.83078687e-04 9.99999597e-01 -4.39201663e-04 -8.45558777e-02] [-2.86440882e-03 4.41443054e-04 9.99995800e-01 5.47933959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0725578440001 meters 0.28863990574309656 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996242e-01 -7.27628783e-04 2.64315674e-03 2.43362093e+00] [ 7.28335778e-04 9.99999699e-01 -2.66528402e-04 -8.52692222e-02] [-2.64296201e-03 2.68452507e-04 9.99996471e-01 5.47759079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10255784400005 meters 0.2886657598513176 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996580e-01 -6.83265027e-04 2.52456266e-03 2.43397533e+00] [ 6.83606669e-04 9.99999757e-01 -1.34466853e-04 -8.58344635e-02] [-2.52447018e-03 1.36192201e-04 9.99996804e-01 5.47615652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1325578440001 meters 0.2897734169683467 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996879e-01 -6.19859666e-04 2.42019539e-03 2.43428485e+00] [ 6.19741852e-04 9.99999807e-01 4.94292415e-05 -8.66055142e-02] [-2.42022557e-03 -4.79291909e-05 9.99997070e-01 5.47501047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16255784400005 meters 0.289915696587279 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99997032e-01 -5.13163244e-04 2.38186785e-03 2.43432029e+00] [ 5.12350598e-04 9.99999810e-01 3.41778002e-04 -8.78066796e-02] [-2.38204279e-03 -3.40556636e-04 9.99997105e-01 5.47647532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192557844 meters 0.288916632138039 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99997043e-01 -4.19060656e-04 2.39551034e-03 2.43415864e+00] [ 4.17648903e-04 9.99999739e-01 5.89802502e-04 -8.88174574e-02] [-2.39575687e-03 -5.88800276e-04 9.99996957e-01 5.47947019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22255784400005 meters 0.28991399191532746 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996879e-01 -3.59919613e-04 2.47218827e-03 2.43392294e+00] [ 3.58080642e-04 9.99999659e-01 7.44266081e-04 -8.94523800e-02] [-2.47245530e-03 -7.43378516e-04 9.99996667e-01 5.48046064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252557844 meters 0.2891170977696625 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996605e-01 -3.60025477e-04 2.58057600e-03 2.43365091e+00] [ 3.58115511e-04 9.99999662e-01 7.40555597e-04 -8.94289959e-02] [-2.58084174e-03 -7.39628938e-04 9.99996396e-01 5.48043911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28255784400005 meters 0.29061780866191367 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996668e-01 -3.66209602e-04 2.55555121e-03 2.43377760e+00] [ 3.64352877e-04 9.99999669e-01 7.26973396e-04 -8.93823171e-02] [-2.55581659e-03 -7.26039851e-04 9.99996470e-01 5.47896489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312557844 meters 0.29213982330180943 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996791e-01 -3.72635146e-04 2.50590237e-03 2.43391743e+00] [ 3.70850497e-04 9.99999677e-01 7.12604966e-04 -8.93277705e-02] [-2.50616710e-03 -7.11673364e-04 9.99996606e-01 5.47866130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34255784400005 meters 0.29136683557168264 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996637e-01 -3.77159976e-04 2.56602137e-03 2.43369765e+00] [ 3.75363637e-04 9.99999684e-01 7.00494188e-04 -8.92627530e-02] [-2.56628476e-03 -6.99528641e-04 9.99996462e-01 5.48011484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372557844 meters 0.29054746269017045 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996384e-01 -3.77103657e-04 2.66274313e-03 2.43339245e+00] [ 3.75249662e-04 9.99999687e-01 6.96737813e-04 -8.92259868e-02] [-2.66300504e-03 -6.95736100e-04 9.99996212e-01 5.48142566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40255784400006 meters 0.29024854833311114 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99996157e-01 -4.05566577e-04 2.74240630e-03 2.43316933e+00] [ 4.03869644e-04 9.99999727e-01 6.19300935e-04 -8.88875674e-02] [-2.74265672e-03 -6.18190981e-04 9.99996048e-01 5.48180556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43255784400003 meters 0.2918281053017211 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.55 [[ 9.99995941e-01 -3.80968188e-04 2.82368082e-03 2.43304141e+00] [ 3.79045772e-04 9.99999696e-01 6.81323209e-04 -8.91544182e-02] [-2.82393953e-03 -6.80250139e-04 9.99995781e-01 5.48001531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46255784400006 meters 0.29003073457099826 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.55 [[ 9.99989334e-01 4.61480339e-03 -1.87604991e-04 2.41241166e+00] [-4.61530280e-03 9.99985554e-01 -2.75495851e-03 -8.94756744e-02] [ 1.74888690e-04 2.75579498e-03 9.99996187e-01 5.48913866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49255784400003 meters 0.2898832373457931 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.55 [[ 9.99989355e-01 4.60483116e-03 -2.93809071e-04 2.41271516e+00] [-4.60562908e-03 9.99985542e-01 -2.77550851e-03 -8.93998489e-02] [ 2.81024075e-04 2.77683214e-03 9.99996105e-01 5.48837225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52255784400006 meters 0.29005308899201904 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.55 [[ 9.99989457e-01 4.58458865e-03 -2.57897895e-04 2.41267473e+00] [-4.58530014e-03 9.99985485e-01 -2.82941269e-03 -8.91800654e-02] [ 2.44922458e-04 2.83056540e-03 9.99995964e-01 5.48718979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55255784400003 meters 0.2907348672450543 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.55 [[ 9.99998716e-01 -7.03845600e-04 1.43975894e-03 2.43503148e+00] [ 7.03289301e-04 9.99999678e-01 3.86853225e-04 -8.80758074e-02] [-1.44003076e-03 -3.85840162e-04 9.99998889e-01 5.47429046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58255784400006 meters 0.29008408109219824 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.55 [[ 9.99998775e-01 -7.07103596e-04 1.39646282e-03 2.43524871e+00] [ 7.06572323e-04 9.99999678e-01 3.80899049e-04 -8.80780226e-02] [-1.39673171e-03 -3.79911880e-04 9.99998952e-01 5.47186245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61255784400004 meters 0.2918847388752237 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.55 [[ 9.99998881e-01 -7.24982190e-04 1.30892947e-03 2.43569723e+00] [ 7.24542468e-04 9.99999681e-01 3.36382980e-04 -8.79492675e-02] [-1.30917292e-03 -3.35434228e-04 9.99999087e-01 5.46667902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64255784400007 meters 0.29054344220924255 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.55 [[ 9.99998858e-01 -7.41609295e-04 1.31701012e-03 2.43569505e+00] [ 7.41222226e-04 9.99999682e-01 2.94363700e-04 -8.77726491e-02] [-1.31722800e-03 -2.93387167e-04 9.99999089e-01 5.46623573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67255784400004 meters 0.2906884328011032 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.55 [[ 9.99998809e-01 -7.28223426e-04 1.36089366e-03 2.43552450e+00] [ 7.27779020e-04 9.99999682e-01 3.27021218e-04 -8.78965195e-02] [-1.36113137e-03 -3.26030399e-04 9.99999021e-01 5.46762152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70255784400007 meters 0.29103459136502974 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.55 [[ 9.99999747e-01 4.13300652e-04 5.79218805e-04 2.47290618e+00] [-4.13025131e-04 9.99999802e-01 -4.75716215e-04 -8.46201493e-02] [-5.79415304e-04 4.75476863e-04 9.99999719e-01 5.50797825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73255784400004 meters 0.2911654940212116 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.55 [[ 9.99999707e-01 4.20671797e-04 6.40233757e-04 2.47270999e+00] [-4.20377344e-04 9.99999806e-01 -4.59981164e-04 -8.46728979e-02] [-6.40427133e-04 4.59711890e-04 9.99999689e-01 5.50883841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76255784400007 meters 0.2910734166746288 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.55 [[ 9.99999668e-01 4.21454665e-04 6.97543902e-04 2.47257027e+00] [-4.21132407e-04 9.99999805e-01 -4.62072903e-04 -8.46633641e-02] [-6.97738509e-04 4.61778991e-04 9.99999650e-01 5.50871969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79255784400004 meters 0.29059049380541563 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.55 [[ 0.99998556 -0.0045952 0.00278614 2.49465098] [ 0.00458688 0.99998502 0.00298514 -0.08317678] [-0.00279981 -0.00297231 0.99999166 0.54955373] [ 0. 0. 0. 1. ]] SLAMing on 317.8225578440001 meters 0.29082538069828234 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.55 [[ 0.99998537 -0.00465619 0.0027542 2.49469008] [ 0.0046484 0.9999852 0.00282744 -0.08251385] [-0.00276733 -0.0028146 0.99999221 0.54963914] [ 0. 0. 0. 1. ]] SLAMing on 317.85255784400005 meters 0.28949326573194817 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.55 [[ 9.99995348e-01 2.79753067e-03 1.21544744e-03 2.47526474e+00] [-2.79950513e-03 9.99994760e-01 1.62581763e-03 -8.61518805e-02] [-1.21089279e-03 -1.62921272e-03 9.99997940e-01 5.48904812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8825578440001 meters 0.2906187201765374 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:0.55 [[ 9.99995942e-01 2.66594775e-03 1.00462269e-03 2.47597162e+00] [-2.66723400e-03 9.99995622e-01 1.28117753e-03 -8.47446183e-02] [-1.00120274e-03 -1.28385189e-03 9.99998675e-01 5.48419558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91255784400005 meters 0.2905662018157168 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.08, Z:0.55 [[ 9.99980943e-01 -5.89729681e-03 -1.82629962e-03 2.45790244e+00] [ 5.90200637e-03 9.99979244e-01 2.58418648e-03 -8.22513602e-02] [ 1.81102200e-03 -2.59491606e-03 9.99994993e-01 5.47342924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters 0.2898422442443191 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:0.55 [[ 9.99992495e-01 3.76704422e-03 -9.05268104e-04 2.47887173e+00] [-3.76546436e-03 9.99991396e-01 1.74060237e-03 -8.25919881e-02] [ 9.11817241e-04 -1.73718055e-03 9.99998075e-01 5.47226562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97255784400005 meters 0.2910192914572568 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:0.55 [[ 9.99992873e-01 3.67432440e-03 -8.67520315e-04 2.47877239e+00] [-3.67302042e-03 9.99992130e-01 1.49994558e-03 -8.15825973e-02] [ 8.73024774e-04 -1.49674847e-03 9.99998499e-01 5.47219200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters 0.2903784880273831 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:0.55 [[ 9.99993136e-01 3.61041937e-03 -8.32827337e-04 2.47855728e+00] [-3.60931062e-03 9.99992603e-01 1.32899668e-03 -8.08449647e-02] [ 8.37619413e-04 -1.32598162e-03 9.99998770e-01 5.47504229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03255784400005 meters 0.2929529418594517 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:0.55 [[ 9.99992639e-01 -3.81343978e-03 4.24517256e-04 2.49794641e+00] [ 3.81240094e-03 9.99989801e-01 2.42158675e-03 -7.66244860e-02] [-4.33747502e-04 -2.41995049e-03 9.99996978e-01 5.49157697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters 0.28966060694303714 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:0.55 [[ 9.99992354e-01 -3.87289646e-03 5.41835072e-04 2.49748686e+00] [ 3.87166843e-03 9.99989975e-01 2.24942046e-03 -7.58938985e-02] [-5.50541412e-04 -2.24730546e-03 9.99997323e-01 5.49545167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09255784400005 meters 0.2885852589766136 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.07, Z:0.55 [[ 9.99998524e-01 8.79642572e-04 -1.47599439e-03 2.47367432e+00] [-8.81481518e-04 9.99998836e-01 -1.24571554e-03 -7.46431593e-02] [ 1.47489688e-03 1.24701476e-03 9.99998135e-01 5.51557318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters 0.2889671522222196 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:0.55 [[ 9.99989775e-01 -4.40132176e-03 1.03829673e-03 2.49548389e+00] [ 4.39928089e-03 9.99988403e-01 1.95975058e-03 -7.43217920e-02] [-1.04691018e-03 -1.95516279e-03 9.99997541e-01 5.50239114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15255784400006 meters 0.2884848689003128 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:0.55 [[ 9.99989723e-01 -4.41080935e-03 1.04858234e-03 2.49544135e+00] [ 4.40877775e-03 9.99988415e-01 1.93195160e-03 -7.42057281e-02] [-1.05709166e-03 -1.92730878e-03 9.99997584e-01 5.50273604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters 0.2892535862992867 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:0.55 [[ 9.99989706e-01 -4.44614032e-03 9.05145939e-04 2.49580488e+00] [ 4.44446918e-03 9.99988431e-01 1.83998190e-03 -7.38378387e-02] [-9.13316284e-04 -1.83594006e-03 9.99997898e-01 5.50252088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21255784400006 meters 0.28821281809810423 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:0.55 [[ 9.99989753e-01 -4.44877406e-03 8.38521782e-04 2.49601344e+00] [ 4.44722985e-03 9.99988428e-01 1.83453947e-03 -7.38276444e-02] [-8.46673531e-04 -1.83079157e-03 9.99997966e-01 5.50158921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters 0.28941424044052216 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.55 [[ 9.99986930e-01 4.64959948e-03 2.12646715e-03 2.51541816e+00] [-4.65113046e-03 9.99988927e-01 7.15582950e-04 -7.67725763e-02] [-2.12311643e-03 -7.25464073e-04 9.99997483e-01 5.50833756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27255784400006 meters 0.29036534228132654 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.55 [[ 9.99986681e-01 4.69771749e-03 2.13762705e-03 2.51531941e+00] [-4.69952517e-03 9.99988603e-01 8.41414416e-04 -7.72868915e-02] [-2.13364996e-03 -8.51449041e-04 9.99997361e-01 5.50990418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters 0.2891971778192384 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99986151e-01 4.78109061e-03 2.19957739e-03 2.51497500e+00] [-4.78343855e-03 9.99987994e-01 1.06342753e-03 -7.81781274e-02] [-2.19446664e-03 -1.07393435e-03 9.99997015e-01 5.51425794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33255784400006 meters 0.28843750045629607 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.55 [[ 9.99986243e-01 -4.92427283e-03 1.80692778e-03 2.49363382e+00] [ 4.92087263e-03 9.99986123e-01 1.88140360e-03 -7.70586794e-02] [-1.81616725e-03 -1.87248606e-03 9.99996598e-01 5.51518290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters 0.28819287647358655 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99986216e-01 3.82545168e-03 3.59629550e-03 2.51234293e+00] [-3.82802795e-03 9.99992421e-01 7.09757199e-04 -8.13009230e-02] [-3.59355310e-03 -7.23514135e-04 9.99993281e-01 5.52961326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39255784400007 meters 0.28836052941057827 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99986038e-01 3.85853491e-03 3.61047439e-03 2.51238366e+00] [-3.86143593e-03 9.99992227e-01 7.96875473e-04 -8.16721932e-02] [-3.60737155e-03 -8.10805962e-04 9.99993165e-01 5.52788821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42255784400004 meters 0.289161307398036 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99985793e-01 3.89418995e-03 3.63993135e-03 2.51242455e+00] [-3.89745977e-03 9.99992007e-01 8.91658398e-04 -8.20804091e-02] [-3.63642997e-03 -9.05832216e-04 9.99992978e-01 5.52520868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45255784400007 meters 0.28873038292378334 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99985345e-01 3.95527763e-03 3.69682008e-03 2.51237286e+00] [-3.95917265e-03 9.99991614e-01 1.04688994e-03 -8.27368272e-02] [-3.69264834e-03 -1.06151095e-03 9.99992619e-01 5.52309863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48255784400004 meters 0.2876113647041394 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.55 [[ 9.99985017e-01 4.05986490e-03 3.67190109e-03 2.51247856e+00] [-4.06471184e-03 9.99990876e-01 1.31351117e-03 -8.38472446e-02] [-3.66653492e-03 -1.32841671e-03 9.99992396e-01 5.52219586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51255784400007 meters 0.2884847442562926 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.09, Z:0.55 [[ 9.99984760e-01 4.23253512e-03 3.54465271e-03 2.51284349e+00] [-4.23876758e-03 9.99989481e-01 1.75260865e-03 -8.56895904e-02] [-3.53719745e-03 -1.76760690e-03 9.99992182e-01 5.52148295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54255784400004 meters 0.28842316801710655 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.55 [[ 9.99995662e-01 2.18238194e-03 1.97824295e-03 2.51872929e+00] [-2.18318862e-03 9.99997535e-01 4.05708116e-04 -9.23720771e-02] [-1.97735267e-03 -4.10025234e-04 9.99997961e-01 5.49004175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5725578440001 meters 0.2919719387349312 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.10, Z:0.55 [[ 0.99998855 -0.00316523 0.0035888 2.54249024] [ 0.00315146 0.99998767 0.00383645 -0.09522899] [-0.0036009 -0.0038251 0.9999862 0.54682165] [ 0. 0. 0. 1. ]] SLAMing on 318.60255784400005 meters 0.2888645897869648 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.10, Z:0.55 [[ 9.99998249e-01 1.40880756e-03 1.23137865e-03 2.51974625e+00] [-1.40953384e-03 9.99998833e-01 5.89143843e-04 -9.80450005e-02] [-1.23054722e-03 -5.90878481e-04 9.99999068e-01 5.48296367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6325578440001 meters 0.2909485917319502 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.10, Z:0.55 [[ 0.99998465 -0.0037345 0.00409218 2.54236392] [ 0.00371833 0.99998528 0.00395154 -0.10184289] [-0.00410688 -0.00393626 0.99998382 0.54604308] [ 0. 0. 0. 1. ]] SLAMing on 318.66255784400005 meters 0.2920145833474419 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.10, Z:0.55 [[ 0.99998536 -0.00354925 0.00408372 2.54231344] [ 0.00353118 0.99998398 0.00442305 -0.10379155] [-0.00409935 -0.00440857 0.99998188 0.54623758] [ 0. 0. 0. 1. ]] SLAMing on 318.692557844 meters 0.2895577528212933 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 0.99998442 0.00384252 0.00405013 2.52304734] [-0.0038582 0.99998507 0.00387084 -0.11330791] [-0.00403519 -0.00388641 0.99998431 0.54440251] [ 0. 0. 0. 1. ]] SLAMing on 318.72255784400005 meters 0.2909140746847114 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:0.54 [[ 0.99998281 -0.00432445 0.00395973 2.54400719] [ 0.00430664 0.99998062 0.00449538 -0.10996916] [-0.00397909 -0.00447825 0.99998206 0.54455124] [ 0. 0. 0. 1. ]] SLAMing on 318.752557844 meters 0.29136794866225196 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.55 [[ 9.99998946e-01 9.21412797e-04 1.12205057e-03 2.52329319e+00] [-9.22962891e-04 9.99998619e-01 1.38174997e-03 -1.11173504e-01] [-1.12077586e-03 -1.38278412e-03 9.99998416e-01 5.45341602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78255784400005 meters 0.29316307375270234 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.55 [[ 9.99998834e-01 9.72571793e-04 1.17746881e-03 2.52317346e+00] [-9.74355639e-04 9.99998377e-01 1.51535905e-03 -1.11727028e-01] [-1.17599310e-03 -1.51650456e-03 9.99998159e-01 5.45301479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812557844 meters 0.29198654029960025 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:0.55 [[ 9.99995771e-01 2.38981178e-03 1.65720112e-03 2.55875294e+00] [-2.39178609e-03 9.99996431e-01 1.19039443e-03 -1.10682366e-01] [-1.65435039e-03 -1.19435306e-03 9.99997918e-01 5.49800211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84255784400005 meters 0.2903399337098236 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:0.55 [[ 9.99974852e-01 -7.08941870e-03 1.89170755e-04 2.53902528e+00] [ 7.08896878e-03 9.99972270e-01 2.28155413e-03 -1.10086452e-01] [-2.05340401e-04 -2.28015573e-03 9.99997379e-01 5.49439470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872557844 meters 0.29089389904333596 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:0.55 [[ 9.99974959e-01 -7.07560246e-03 1.27817872e-04 2.53923679e+00] [ 7.07528694e-03 9.99972279e-01 2.32002591e-03 -1.10261373e-01] [-1.44229909e-04 -2.31906347e-03 9.99997301e-01 5.49314443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90255784400006 meters 0.29089389904333596 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:0.55 [[ 9.99974959e-01 -7.07560246e-03 1.27817872e-04 2.53923679e+00] [ 7.07528694e-03 9.99972279e-01 2.32002591e-03 -1.10261373e-01] [-1.44229909e-04 -2.31906347e-03 9.99997301e-01 5.49314443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93255784400003 meters 0.2923593735523016 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:0.55 [[ 9.99974785e-01 -7.10126323e-03 4.35012541e-05 2.53958132e+00] [ 7.10114685e-03 9.99972235e-01 2.25901533e-03 -1.10036912e-01] [-5.95419088e-05 -2.25864946e-03 9.99997447e-01 5.49024581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96255784400006 meters 0.2913374019521029 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99995954e-01 -1.25885781e-03 2.55103662e-03 2.52352971e+00] [ 1.25811967e-03 9.99999166e-01 2.90935150e-04 -1.11229541e-01] [-2.55140074e-03 -2.87724463e-04 9.99996704e-01 5.43759268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99255784400003 meters 0.2897360806342769 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99995692e-01 -1.31304017e-03 2.62536018e-03 2.52327308e+00] [ 1.31265828e-03 9.99999128e-01 1.47180151e-04 -1.10606738e-01] [-2.62555114e-03 -1.43733316e-04 9.99996543e-01 5.43899139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02255784400006 meters 0.2907198732882715 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99995610e-01 -1.30516038e-03 2.66034958e-03 2.52308040e+00] [ 1.30472757e-03 9.99999135e-01 1.64417099e-04 -1.10663588e-01] [-2.66056187e-03 -1.60945346e-04 9.99996448e-01 5.44144168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05255784400003 meters 0.28949170939073915 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.11, Z:0.55 [[ 9.99992897e-01 3.60342668e-03 1.10497839e-03 2.49977784e+00] [-3.59976988e-03 9.99988096e-01 -3.29370895e-03 -1.11009360e-01] [-1.11683387e-03 3.28970789e-03 9.99993965e-01 5.45905706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08255784400006 meters 0.2906546248109053 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992486e-01 -1.14257287e-03 3.70448994e-03 2.52176873e+00] [ 1.14203583e-03 9.99999337e-01 1.47082494e-04 -1.10536907e-01] [-3.70465554e-03 -1.42850729e-04 9.99993128e-01 5.44590043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11255784400004 meters 0.29000012123308405 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992576e-01 -1.16970609e-03 3.67141523e-03 2.52183687e+00] [ 1.16942907e-03 9.99999313e-01 7.75972073e-05 -1.10249710e-01] [-3.67150347e-03 -7.33031715e-05 9.99993257e-01 5.44622510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14255784400007 meters 0.290265364713659 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992852e-01 -1.21794816e-03 3.57955177e-03 2.52220537e+00] [ 1.21811794e-03 9.99999257e-01 -4.52517827e-05 -1.09774318e-01] [-3.57949399e-03 4.96117755e-05 9.99993592e-01 5.44301789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17255784400004 meters 0.2900801301285592 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99993129e-01 -1.27103941e-03 3.48221666e-03 2.52261856e+00] [ 1.27169540e-03 9.99999174e-01 -1.86176510e-04 -1.09231964e-01] [-3.48197715e-03 1.90603550e-04 9.99993920e-01 5.43892868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20255784400007 meters 0.2894859363006891 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99993165e-01 -1.27893568e-03 3.46893114e-03 2.52254389e+00] [ 1.27965669e-03 9.99999160e-01 -2.05637468e-04 -1.09124948e-01] [-3.46866523e-03 2.10075103e-04 9.99993962e-01 5.44145062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23255784400004 meters 0.2890154629403505 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992886e-01 -1.29638423e-03 3.54231092e-03 2.52214268e+00] [ 1.29730588e-03 9.99999125e-01 -2.57897648e-04 -1.08837075e-01] [-3.54197349e-03 2.62491274e-04 9.99993693e-01 5.44675727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26255784400007 meters 0.28972088306805965 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.55 [[ 9.99992708e-01 -1.34877812e-03 3.57265645e-03 2.52192498e+00] [ 1.35022432e-03 9.99999007e-01 -4.02417865e-04 -1.08199231e-01] [-3.57211013e-03 4.07238819e-04 9.99993537e-01 5.45005327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29255784400004 meters 0.29029310732725105 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992586e-01 -1.42712133e-03 3.57649932e-03 2.52195765e+00] [ 1.42935301e-03 9.99998785e-01 -6.21505281e-04 -1.07307886e-01] [-3.57560801e-03 6.26612753e-04 9.99993411e-01 5.44888311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3225578440001 meters 0.2915740681187289 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.11, Z:0.54 [[ 9.99992692e-01 -1.54224337e-03 3.49820056e-03 2.52239902e+00] [ 1.54559608e-03 9.99998349e-01 -9.55910641e-04 -1.05995145e-01] [-3.49672054e-03 9.61310460e-04 9.99993424e-01 5.44245954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35255784400005 meters 0.2915979184040612 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.10, Z:0.54 [[ 9.99993207e-01 -1.79309491e-03 3.22034629e-03 2.52369497e+00] [ 1.79901031e-03 9.99996698e-01 -1.83492541e-03 -1.02618635e-01] [-3.21704546e-03 1.84070639e-03 9.99993131e-01 5.42497437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3825578440001 meters 0.2933841277480227 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.10, Z:0.54 [[ 9.99992659e-01 -1.95322764e-03 3.29634677e-03 2.52353930e+00] [ 1.96083284e-03 9.99995420e-01 -2.30550644e-03 -1.00715130e-01] [-3.29182849e-03 2.31195310e-03 9.99991909e-01 5.42384462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41255784400005 meters 0.2955841561163625 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.10, Z:0.54 [[ 9.99992111e-01 -2.11283360e-03 3.36364306e-03 2.52325936e+00] [ 2.12207786e-03 9.99993975e-01 -2.74709390e-03 -9.88625044e-02] [-3.35781865e-03 2.75421014e-03 9.99990570e-01 5.42608242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters 0.2911048895096595 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.10, Z:0.54 [[ 9.99987223e-01 -2.23675059e-03 4.53323162e-03 2.48269142e+00] [ 2.24183399e-03 9.99996864e-01 -1.11659239e-03 -1.01122745e-01] [-4.53071987e-03 1.12674088e-03 9.99989101e-01 5.40869933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47255784400005 meters 0.2906082943979819 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.10, Z:0.54 [[ 9.99986238e-01 -2.55568781e-03 4.58164407e-03 2.48264121e+00] [ 2.56461941e-03 9.99994821e-01 -1.94461629e-03 -9.77239330e-02] [-4.57665050e-03 1.95633970e-03 9.99987613e-01 5.40645566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters 0.2930122305070021 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.10, Z:0.54 [[ 9.99985709e-01 -2.68443934e-03 4.62335703e-03 2.48264682e+00] [ 2.69499614e-03 9.99993772e-01 -2.27864646e-03 -9.63499708e-02] [-4.61721135e-03 2.29107382e-03 9.99986716e-01 5.40367363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53255784400005 meters 0.2920444588152428 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.99998512 -0.00281293 0.00467421 2.48262814] [ 0.00282516 0.9999926 -0.00261186 -0.09498131] [-0.00466683 0.00262503 0.99998566 0.54008833] [ 0. 0. 0. 1. ]] SLAMing on 319.562557844 meters 0.2933547210390423 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.99998462 -0.002921 0.00471442 2.48258334] [ 0.00293465 0.99999151 -0.00289172 -0.0938319 ] [-0.00470594 0.00290551 0.99998471 0.53993232] [ 0. 0. 0. 1. ]] SLAMing on 319.59255784400005 meters 0.29249900518725325 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.99998407 -0.00304583 0.0047522 2.48252447] [ 0.00306111 0.99999016 -0.0032113 -0.09250671] [-0.00474237 0.0032258 0.99998355 0.5398242 ] [ 0. 0. 0. 1. ]] SLAMing on 319.622557844 meters 0.2916065017454829 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.999983 -0.00331913 0.00479315 2.48229844] [ 0.00333768 0.99998695 -0.00386852 -0.08974784] [-0.00478025 0.00388446 0.99998103 0.5400096 ] [ 0. 0. 0. 1. ]] SLAMing on 319.65255784400006 meters 0.2906360353631115 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.99998233 -0.00347174 0.00482507 2.48224865] [ 0.00349231 0.99998482 -0.00426161 -0.08812568] [-0.0048102 0.00427839 0.99997928 0.53991292] [ 0. 0. 0. 1. ]] SLAMing on 319.68255784400003 meters 0.29004791468518915 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 0.99998185 -0.00363793 0.00480336 2.4824002 ] [ 0.0036605 0.99998227 -0.00469735 -0.08635346] [-0.00478618 0.00471485 0.99997743 0.53967222] [ 0. 0. 0. 1. ]] SLAMing on 319.71255784400006 meters 0.29207902837722627 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99994463e-01 -9.51629874e-04 3.18868948e-03 2.52268258e+00] [ 9.65868818e-04 9.99989557e-01 -4.46689262e-03 -8.02563787e-02] [-3.18440535e-03 4.46994774e-03 9.99984939e-01 5.42021019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74255784400003 meters 0.29039615142964087 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99994151e-01 -1.22920154e-03 3.19180352e-03 2.52268791e+00] [ 1.24558140e-03 9.99986040e-01 -5.13494368e-03 -7.75014897e-02] [-3.18544709e-03 5.13888930e-03 9.99981722e-01 5.41952196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77255784400006 meters 0.29063655055521065 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99994152e-01 -1.34117489e-03 3.14590653e-03 2.52280901e+00] [ 1.35821945e-03 9.99984378e-01 -5.42214792e-03 -7.63219946e-02] [-3.13858533e-03 5.42638904e-03 9.99980352e-01 5.41922195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80255784400003 meters 0.28988448581249016 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99994315e-01 -1.43893938e-03 3.04955514e-03 2.52311227e+00] [ 1.45622837e-03 9.99982838e-01 -5.67472997e-03 -7.52999695e-02] [-3.04133721e-03 5.67913855e-03 9.99979249e-01 5.41768276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83255784400006 meters 0.2900928586005053 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994513e-01 -1.49478132e-03 2.95614406e-03 2.52332413e+00] [ 1.51197743e-03 9.99981901e-01 -5.82341844e-03 -7.46944978e-02] [-2.94738582e-03 5.82785611e-03 9.99978674e-01 5.41816160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters 0.2900257223851841 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994507e-01 -1.50319385e-03 2.95394575e-03 2.52315856e+00] [ 1.52045615e-03 9.99981731e-01 -5.85028203e-03 -7.45647596e-02] [-2.94509767e-03 5.85474125e-03 9.99978524e-01 5.42227452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89255784400007 meters 0.28962106585942193 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994297e-01 -1.51735227e-03 3.01708617e-03 2.52284029e+00] [ 1.53512185e-03 9.99981440e-01 -5.89608076e-03 -7.43596654e-02] [-3.00808374e-03 5.90067873e-03 9.99978066e-01 5.42625913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters 0.2915038914054918 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99993363e-01 2.47677033e-03 2.67200810e-03 2.52387988e+00] [-2.47067254e-03 9.99994342e-01 -2.28299292e-03 -7.24328189e-02] [-2.67764743e-03 2.27637611e-03 9.99993824e-01 5.42374522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95255784400007 meters 0.2887925919843456 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99993506e-01 2.43456527e-03 2.65715364e-03 2.52402741e+00] [-2.42820382e-03 9.99994185e-01 -2.39468959e-03 -7.19910857e-02] [-2.66296822e-03 2.38822193e-03 9.99993602e-01 5.42117914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98255784400004 meters 0.2895551061537263 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99993720e-01 2.37538720e-03 2.63019401e-03 2.52413051e+00] [-2.36868517e-03 9.99993948e-01 -2.54830261e-03 -7.13597210e-02] [-2.63623129e-03 2.54205651e-03 9.99993294e-01 5.42036667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01255784400007 meters 0.28903917601365 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99993913e-01 2.34386037e-03 2.58456464e-03 2.52426021e+00] [-2.33706370e-03 9.99993812e-01 -2.62960858e-03 -7.10289068e-02] [-2.59071208e-03 2.62355229e-03 9.99993203e-01 5.42003130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04255784400004 meters 0.2888513363163588 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994135e-01 2.37827918e-03 2.46465646e-03 2.52451289e+00] [-2.37202426e-03 9.99993967e-01 -2.53767104e-03 -7.14164700e-02] [-2.47067688e-03 2.53180993e-03 9.99993743e-01 5.42125759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0725578440001 meters 0.28960067934025496 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994169e-01 2.42444861e-03 2.40482390e-03 2.52462910e+00] [-2.41863315e-03 9.99994151e-01 -2.41821466e-03 -7.19111225e-02] [-2.41067267e-03 2.41238417e-03 9.99994185e-01 5.42216360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10255784400005 meters 0.2905855970666969 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.07, Z:0.54 [[ 9.99994191e-01 2.43481405e-03 2.38524995e-03 2.52474230e+00] [-2.42910952e-03 9.99994190e-01 -2.39156866e-03 -7.20321731e-02] [-2.39105912e-03 2.38576074e-03 9.99994295e-01 5.42076619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1325578440001 meters 0.28857667473342774 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:0.54 [[ 9.99989024e-01 -4.67328169e-03 -3.36521004e-04 2.50424090e+00] [ 4.67343167e-03 9.99988980e-01 4.46289304e-04 -7.27667091e-02] [ 3.34431660e-04 -4.47857113e-04 9.99999844e-01 5.43170772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16255784400005 meters 0.29049112040118147 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99989407e-01 4.53309640e-03 7.98243846e-04 2.52441573e+00] [-4.53268667e-03 9.99989595e-01 -5.14350152e-04 -7.51127139e-02] [-8.00567139e-04 5.10726514e-04 9.99999549e-01 5.43572065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192557844 meters 0.28928078559411435 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.54 [[ 9.99989774e-01 -4.41090213e-03 -9.97833449e-04 2.50521049e+00] [ 4.41168837e-03 9.99989959e-01 7.87115403e-04 -7.37156671e-02] [ 9.94351540e-04 -7.91509484e-04 9.99999192e-01 5.42873459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22255784400005 meters 0.2892273780201245 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:0.54 [[ 9.99990797e-01 -4.19700009e-03 -8.89300061e-04 2.50482665e+00] [ 4.19817724e-03 9.99990309e-01 1.32597073e-03 -7.59548351e-02] [ 8.83726343e-04 -1.32969196e-03 9.99998725e-01 5.43151673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252557844 meters 0.29100931319307377 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99988100e-01 4.84274088e-03 5.89041293e-04 2.52388221e+00] [-4.84293592e-03 9.99988218e-01 3.30128876e-04 -7.95187407e-02] [-5.87435624e-04 -3.32977637e-04 9.99999772e-01 5.44395212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28255784400005 meters 0.29026072785643625 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99987631e-01 4.94129699e-03 5.67440217e-04 2.52386671e+00] [-4.94163034e-03 9.99987617e-01 5.87572830e-04 -8.05719988e-02] [-5.64529819e-04 -5.90369642e-04 9.99999666e-01 5.44561630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312557844 meters 0.29105442400199455 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99987182e-01 5.04191826e-03 4.64238175e-04 2.52415069e+00] [-5.04231435e-03 9.99986921e-01 8.56027284e-04 -8.16940991e-02] [-4.59916084e-04 -8.58357146e-04 9.99999526e-01 5.44535543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34255784400005 meters 0.29015778746103016 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.54 [[ 9.99986666e-01 5.15007725e-03 3.79690490e-04 2.52447083e+00] [-5.15050887e-03 9.99986081e-01 1.14469006e-03 -8.29037183e-02] [-3.73789963e-04 -1.14663040e-03 9.99999273e-01 5.44312746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372557844 meters 0.2904483321467035 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.54 [[ 9.99985430e-01 5.38440221e-03 3.84649277e-04 2.52436850e+00] [-5.38508096e-03 9.99983906e-01 1.78590372e-03 -8.55159700e-02] [-3.75027062e-04 -1.78794907e-03 9.99998331e-01 5.44496462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40255784400006 meters 0.28976243315896577 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.54 [[ 9.99984847e-01 5.48519668e-03 4.68356673e-04 2.52401747e+00] [-5.48614396e-03 9.99982858e-01 2.04581587e-03 -8.65717018e-02] [-4.57126943e-04 -2.04835434e-03 9.99997798e-01 5.44816958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43255784400003 meters 0.28852669430659356 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.54 [[ 9.99984559e-01 5.53638730e-03 4.79811270e-04 2.52393521e+00] [-5.53741968e-03 9.99982297e-01 2.17771064e-03 -8.71085014e-02] [-4.67746127e-04 -2.18033393e-03 9.99997514e-01 5.44937299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46255784400006 meters 0.29024052315972937 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.54 [[ 9.99984448e-01 5.55708852e-03 4.71423400e-04 2.52407026e+00] [-5.55812767e-03 9.99982062e-01 2.23237231e-03 -8.73539664e-02] [-4.59009453e-04 -2.23495782e-03 9.99997397e-01 5.44682473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49255784400003 meters 0.2909260733612932 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.09, Z:0.54 [[ 9.99984827e-01 5.49580049e-03 3.75728410e-04 2.52459209e+00] [-5.49656767e-03 9.99982747e-01 2.07223485e-03 -8.67222203e-02] [-3.64333338e-04 -2.07426863e-03 9.99997782e-01 5.44008351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52255784400006 meters 0.2906305293422119 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.54 [[ 9.99993564e-01 -3.55647495e-03 -4.72249943e-04 2.50538937e+00] [ 3.55806498e-03 9.99987856e-01 3.40988793e-03 -8.38315837e-02] [ 4.60117027e-04 -3.41154628e-03 9.99994075e-01 5.42716987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55255784400003 meters 0.28866783780385613 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:0.54 [[ 9.99993455e-01 -3.59730117e-03 -3.85842389e-04 2.50507728e+00] [ 3.59855510e-03 9.99988080e-01 3.29993083e-03 -8.33503240e-02] [ 3.73966944e-04 -3.30129771e-03 9.99994481e-01 5.42920330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58255784400006 meters 0.28981716172358407 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:0.54 [[ 9.99993350e-01 -3.63454163e-03 -2.99329170e-04 2.50477224e+00] [ 3.63548090e-03 9.99988273e-01 3.19955067e-03 -8.29140420e-02] [ 2.87696760e-04 -3.20061760e-03 9.99994837e-01 5.43100169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61255784400004 meters 0.2898242678752586 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:0.54 [[ 9.99993258e-01 -3.65683492e-03 -3.32777841e-04 2.50483043e+00] [ 3.65786261e-03 9.99988374e-01 3.14187122e-03 -8.26741427e-02] [ 3.21284668e-04 -3.14306729e-03 9.99995009e-01 5.43157508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64255784400007 meters 0.289965159517535 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990915e-01 3.77229819e-03 -1.98492939e-03 2.48597967e+00] [-3.76862896e-03 9.99991189e-01 1.84905075e-03 -8.63545930e-02] [ 1.99188707e-03 -1.84155349e-03 9.99996321e-01 5.41928403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67255784400004 meters 0.2896819573776175 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990783e-01 3.71458856e-03 -2.15324109e-03 2.48662995e+00] [-3.71093981e-03 9.99991676e-01 1.69606176e-03 -8.57860403e-02] [ 2.15952334e-03 -1.68805558e-03 9.99996243e-01 5.41341617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70255784400007 meters 0.29062509502371286 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990706e-01 3.68919808e-03 -2.23099586e-03 2.48690493e+00] [-3.68556664e-03 9.99991880e-01 1.62965106e-03 -8.55301440e-02] [ 2.23698985e-03 -1.62141343e-03 9.99996183e-01 5.41158024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73255784400004 meters 0.2894870952952579 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990647e-01 3.71884136e-03 -2.20798744e-03 2.48676304e+00] [-3.71507550e-03 9.99991642e-01 1.70721922e-03 -8.58358771e-02] [ 2.21431786e-03 -1.69900041e-03 9.99996105e-01 5.41350895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76255784400007 meters 0.29021684482780835 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990668e-01 3.72424714e-03 -2.18955388e-03 2.48658897e+00] [-3.72048477e-03 9.99991600e-01 1.71989410e-03 -8.58663660e-02] [ 2.19594079e-03 -1.71173184e-03 9.99996124e-01 5.41647530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79255784400004 meters 0.2897201106146226 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990665e-01 3.70774642e-03 -2.21883310e-03 2.48658564e+00] [-3.70402715e-03 9.99991732e-01 1.67799366e-03 -8.56772439e-02] [ 2.22503633e-03 -1.66975937e-03 9.99996131e-01 5.41823383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8225578440001 meters 0.2897201106146226 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990665e-01 3.70774642e-03 -2.21883310e-03 2.48658564e+00] [-3.70402715e-03 9.99991732e-01 1.67799366e-03 -8.56772439e-02] [ 2.22503633e-03 -1.66975937e-03 9.99996131e-01 5.41823383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85255784400005 meters 0.2902414857496816 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990558e-01 3.71872293e-03 -2.24842774e-03 2.48657073e+00] [-3.71488922e-03 9.99991643e-01 1.70684160e-03 -8.57838052e-02] [ 2.25475622e-03 -1.69847282e-03 9.99996016e-01 5.42031354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8825578440001 meters 0.29027808110742254 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990437e-01 3.71765309e-03 -2.30338354e-03 2.48675935e+00] [-3.71372774e-03 9.99991649e-01 1.70610486e-03 -8.57879235e-02] [ 2.30970701e-03 -1.69753440e-03 9.99995892e-01 5.41921677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91255784400005 meters 0.2888109720344235 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990250e-01 3.72405842e-03 -2.37316263e-03 2.48698178e+00] [-3.71996974e-03 9.99991593e-01 1.72497040e-03 -8.58767646e-02] [ 2.37956657e-03 -1.71612548e-03 9.99995696e-01 5.41823736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters 0.2890569526643042 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.54 [[ 9.99990066e-01 3.74737651e-03 -2.41361603e-03 2.48711750e+00] [-3.74306886e-03 9.99991398e-01 1.78677944e-03 -8.61374714e-02] [ 2.42029100e-03 -1.77772736e-03 9.99995491e-01 5.41752882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97255784400005 meters 0.28747654695751035 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.09, Z:0.54 [[ 0.99998302 -0.00480454 -0.00329665 2.46441059] [ 0.00481696 0.99998129 0.0037711 -0.08801016] [ 0.00327847 -0.00378691 0.99998746 0.54297269] [ 0. 0. 0. 1. ]] SLAMing on 321.002557844 meters 0.2878084570462092 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.54 [[ 9.99990183e-01 3.98886160e-03 -1.92941086e-03 2.48279122e+00] [-3.98393926e-03 9.99988817e-01 2.54836087e-03 -9.33635594e-02] [ 1.93955434e-03 -2.54064920e-03 9.99994892e-01 5.44418156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03255784400005 meters 0.2887441027297921 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.09, Z:0.54 [[ 9.99989649e-01 -4.52886300e-03 -4.38053436e-04 2.50550831e+00] [ 4.53002106e-03 9.99986149e-01 2.67980897e-03 -9.35319523e-02] [ 4.25910880e-04 -2.68176562e-03 9.99996313e-01 5.43749373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters 0.28756747230125235 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994696e-01 3.13121088e-03 -8.96067867e-04 2.48642706e+00] [-3.12968706e-03 9.99993663e-01 1.69694438e-03 -9.94599460e-02] [ 9.01375679e-04 -1.69413096e-03 9.99998159e-01 5.42395823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09255784400005 meters 0.28713507399696325 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994560e-01 3.18700203e-03 -8.49988813e-04 2.48622721e+00] [-3.18543246e-03 9.99993231e-01 1.84157910e-03 -1.00046027e-01] [ 8.55852176e-04 -1.83886150e-03 9.99997943e-01 5.42583749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters 0.28803240454530454 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994572e-01 3.17184904e-03 -8.91430001e-04 2.48631407e+00] [-3.17023538e-03 9.99993344e-01 1.80581662e-03 -9.98951722e-02] [ 8.97151845e-04 -1.80298078e-03 9.99997972e-01 5.42624310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15255784400006 meters 0.28786831102696947 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994606e-01 3.13969732e-03 -9.64298001e-04 2.48661840e+00] [-3.13802896e-03 9.99993585e-01 1.72679142e-03 -9.95840650e-02] [ 9.69713418e-04 -1.72375611e-03 9.99998044e-01 5.42357171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters 0.2876745709089934 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994759e-01 3.10546510e-03 -9.15804660e-04 2.48654616e+00] [-3.10396060e-03 9.99993838e-01 1.63969817e-03 -9.92276279e-02] [ 9.20891042e-04 -1.63684695e-03 9.99998236e-01 5.42244196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21255784400006 meters 0.28826344177091584 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994828e-01 3.07677297e-03 -9.36282594e-04 2.48664301e+00] [-3.07530323e-03 9.99994043e-01 1.56717031e-03 -9.89316738e-02] [ 9.41098844e-04 -1.56428285e-03 9.99998334e-01 5.42146242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters 0.2882559237811263 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994738e-01 3.10062353e-03 -9.54110983e-04 2.48665683e+00] [-3.09906552e-03 9.99993869e-01 1.63011765e-03 -9.91904982e-02] [ 9.59159515e-04 -1.62715222e-03 9.99998216e-01 5.42220777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27255784400006 meters 0.28751764843694205 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994676e-01 3.12693919e-03 -9.33219154e-04 2.48661564e+00] [-3.12535072e-03 9.99993673e-01 1.69877210e-03 -9.94729104e-02] [ 9.38525206e-04 -1.69584642e-03 9.99998122e-01 5.42194667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters 0.28741474411208057 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994651e-01 3.13236696e-03 -9.41695068e-04 2.48659663e+00] [-3.13075159e-03 9.99993634e-01 1.71198679e-03 -9.95225035e-02] [ 9.47051643e-04 -1.70902941e-03 9.99998091e-01 5.42289724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33255784400006 meters 0.28812231673384525 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994597e-01 3.14185522e-03 -9.66948415e-04 2.48665755e+00] [-3.14017238e-03 9.99993561e-01 1.73698695e-03 -9.96257636e-02] [ 9.72399550e-04 -1.73394118e-03 9.99998024e-01 5.42293927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters 0.2887183092348295 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99994629e-01 3.11809238e-03 -1.00988023e-03 2.48681911e+00] [-3.11640778e-03 9.99993757e-01 1.66542000e-03 -9.93446074e-02] [ 1.01506686e-03 -1.66226386e-03 9.99998103e-01 5.42155167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39255784400007 meters 0.28674982510244684 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99979629e-01 -5.89852965e-03 -2.43919607e-03 2.46724205e+00] [ 5.90561198e-03 9.99978337e-01 2.90661799e-03 -9.77885906e-02] [ 2.42199846e-03 -2.92096372e-03 9.99992801e-01 5.41345479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters 0.2883478162378753 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99979905e-01 -5.87763168e-03 -2.37539198e-03 2.46699650e+00] [ 5.88466522e-03 9.99978290e-01 2.96493845e-03 -9.80139716e-02] [ 2.35791359e-03 -2.97885725e-03 9.99992783e-01 5.41569944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45255784400007 meters 0.28675809590466206 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99979934e-01 -5.84149477e-03 -2.45105702e-03 2.46705434e+00] [ 5.84900984e-03 9.99978181e-01 3.07016862e-03 -9.84194170e-02] [ 2.43306917e-03 -3.08444327e-03 9.99992283e-01 5.41883149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48255784400004 meters 0.2871011356216139 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99980070e-01 -5.83114710e-03 -2.42030586e-03 2.46700414e+00] [ 5.83862682e-03 9.99978166e-01 3.09492945e-03 -9.85284113e-02] [ 2.40220602e-03 -3.10899903e-03 9.99992282e-01 5.41821134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51255784400007 meters 0.2872036165082764 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99980864e-01 -5.79391251e-03 -2.16828398e-03 2.46646232e+00] [ 5.80087239e-03 9.99977999e-01 3.21745403e-03 -9.90122867e-02] [ 2.14959463e-03 -3.22997040e-03 9.99992473e-01 5.41670698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54255784400004 meters 0.2877195326830401 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99981007e-01 -5.75613905e-03 -2.20263978e-03 2.46658207e+00] [ 5.76345079e-03 9.99977854e-01 3.32771371e-03 -9.94669407e-02] [ 2.18343621e-03 -3.34034532e-03 9.99992037e-01 5.41572222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5725578440001 meters 0.2869361164120254 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99981048e-01 -5.70870174e-03 -2.30550280e-03 2.46687127e+00] [ 5.71667737e-03 9.99977647e-01 3.46774495e-03 -1.00039222e-01] [ 2.28565494e-03 -3.48085904e-03 9.99991330e-01 5.41473694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60255784400005 meters 0.2872492658107029 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99981212e-01 -5.64081462e-03 -2.39929764e-03 2.46712325e+00] [ 5.64958542e-03 9.99977326e-01 3.66463622e-03 -1.00835452e-01] [ 2.37857171e-03 -3.67812240e-03 9.99990407e-01 5.41408522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6325578440001 meters 0.28720173052136994 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99981301e-01 -5.60513351e-03 -2.44526505e-03 2.46730514e+00] [ 5.61431175e-03 9.99977160e-01 3.76289797e-03 -1.01246525e-01] [ 2.42411766e-03 -3.77655609e-03 9.99989931e-01 5.41243368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66255784400005 meters 0.2880144017100814 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99981951e-01 -5.52383451e-03 -2.36321560e-03 2.46696872e+00] [ 5.53325064e-03 9.99976705e-01 3.99664494e-03 -1.02188443e-01] [ 2.34108374e-03 -4.00964907e-03 9.99989221e-01 5.41561307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692557844 meters 0.2879935534178589 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99982212e-01 -5.50523155e-03 -2.29540332e-03 2.46672195e+00] [ 5.51448351e-03 9.99976618e-01 4.04398737e-03 -1.02381423e-01] [ 2.27308656e-03 -4.05657339e-03 9.99989189e-01 5.41730411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72255784400005 meters 0.28764947984732125 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99982236e-01 -5.50883015e-03 -2.27624518e-03 2.46663378e+00] [ 5.51798245e-03 9.99976638e-01 4.03426246e-03 -1.02339917e-01] [ 2.25396794e-03 -4.04675107e-03 9.99989272e-01 5.41817276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752557844 meters 0.28880347133203027 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99982193e-01 -5.52195859e-03 -2.26301472e-03 2.46672963e+00] [ 5.53098163e-03 9.99976702e-01 4.00050731e-03 -1.02214457e-01] [ 2.24087136e-03 -4.01295277e-03 9.99989437e-01 5.41529670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78255784400005 meters 0.28827853250042235 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.54 [[ 9.99998475e-01 1.67850888e-03 -4.82312819e-04 2.48796137e+00] [-1.67792401e-03 9.99997860e-01 1.21048572e-03 -1.03389614e-01] [ 4.84343597e-04 -1.20967459e-03 9.99999151e-01 5.40348535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812557844 meters 0.2888081148967746 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99970172e-01 -7.63897658e-03 -1.14043950e-03 2.46781839e+00] [ 7.64132223e-03 9.99968669e-01 2.06680637e-03 -9.95904532e-02] [ 1.12461548e-03 -2.07545919e-03 9.99997214e-01 5.40130248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84255784400005 meters 0.2868310668144898 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99970175e-01 -7.64535291e-03 -1.09416236e-03 2.46762113e+00] [ 7.64758503e-03 9.99968654e-01 2.05059404e-03 -9.95108505e-02] [ 1.07845055e-03 -2.05890059e-03 9.99997299e-01 5.40319613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872557844 meters 0.2864275386338678 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998835e-01 2.16875549e-04 -1.51089853e-03 2.44698222e+00] [-2.15356284e-04 9.99999471e-01 1.00562741e-03 -1.01579936e-01] [ 1.51111583e-03 -1.00530085e-03 9.99998353e-01 5.39101460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90255784400006 meters 0.2861984274693807 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998797e-01 1.74672359e-04 -1.54115640e-03 2.44723856e+00] [-1.73295107e-04 9.99999586e-01 8.93736270e-04 -1.01138858e-01] [ 1.54131187e-03 -8.93468120e-04 9.99998413e-01 5.38686124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93255784400003 meters 0.29035760120768045 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998632e-01 8.82832536e-05 -1.65176475e-03 2.44774035e+00] [-8.71803391e-05 9.99999773e-01 6.67778976e-04 -1.00216980e-01] [ 1.65182333e-03 -6.67634061e-04 9.99998413e-01 5.38184728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96255784400006 meters 0.2885956146019924 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998517e-01 -2.82428882e-05 -1.72196156e-03 2.44808802e+00] [ 2.88721014e-05 9.99999933e-01 3.65381162e-04 -9.89806629e-02] [ 1.72195113e-03 -3.65430337e-04 9.99998451e-01 5.37826594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99255784400003 meters 0.2864097752308518 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998489e-01 -2.59213906e-04 -1.71900142e-03 2.44794490e+00] [ 2.58720999e-04 9.99999925e-01 -2.86956845e-04 -9.63151398e-02] [ 1.71907568e-03 2.86511670e-04 9.99998481e-01 5.38199286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02255784400006 meters 0.2867385962051763 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99998586e-01 -3.56765278e-04 -1.64323275e-03 2.44764138e+00] [ 3.55865064e-04 9.99999786e-01 -5.48090638e-04 -9.52290582e-02] [ 1.64342794e-03 5.47505094e-04 9.99998500e-01 5.38477151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05255784400003 meters 0.2876927399570621 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.54 [[ 9.99986183e-01 -5.01301469e-03 1.58247067e-03 2.46955671e+00] [ 5.00843710e-03 9.99983300e-01 2.88351538e-03 -9.56534566e-02] [-1.59689934e-03 -2.87554984e-03 9.99994591e-01 5.36947482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08255784400006 meters 0.2882096202405625 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.54 [[ 9.99996088e-01 2.79561287e-03 -8.71726229e-05 2.44947897e+00] [-2.79546418e-03 9.99994712e-01 1.66157934e-03 -9.59366961e-02] [ 9.18172945e-05 -1.66132916e-03 9.99998616e-01 5.35991612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11255784400004 meters 0.2875716494388648 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.53 [[ 9.99997114e-01 2.39918152e-03 -1.29570350e-04 2.45019548e+00] [-2.39909076e-03 9.99996880e-01 6.96145004e-04 -9.18309280e-02] [ 1.31240124e-04 -6.95832144e-04 9.99999749e-01 5.34816225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14255784400007 meters 0.28900425740961827 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.53 [[ 9.99997500e-01 2.22620225e-03 -2.10374769e-04 2.45055337e+00] [-2.22614935e-03 9.99997491e-01 2.51351488e-04 -9.00018487e-02] [ 2.10933800e-04 -2.50882534e-04 9.99999946e-01 5.34507206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17255784400004 meters 0.2880302656147766 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.53 [[ 9.99997856e-01 2.05710487e-03 -2.39078795e-04 2.45061466e+00] [-2.05714736e-03 9.99997868e-01 -1.77618377e-04 -8.82243731e-02] [ 2.38712906e-04 1.78109816e-04 9.99999956e-01 5.34570519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20255784400007 meters 0.28909871714468954 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.54 [[ 9.99984109e-01 -5.48378833e-03 1.30744725e-03 2.46982553e+00] [ 5.48278844e-03 9.99984675e-01 7.67124679e-04 -8.25008872e-02] [-1.31163397e-03 -7.59944032e-04 9.99998851e-01 5.36037299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23255784400004 meters 0.2876675768639989 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:0.54 [[ 9.99994071e-01 3.43279412e-03 2.70161325e-04 2.44744367e+00] [-3.43293216e-03 9.99993976e-01 5.12160923e-04 -8.18697302e-02] [-2.68401555e-04 -5.13085332e-04 9.99999832e-01 5.36686710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26255784400007 meters 0.2891437131140361 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:0.54 [[ 9.99994811e-01 3.20761671e-03 2.97144189e-04 2.44781717e+00] [-3.20760515e-03 9.99994855e-01 -3.93835857e-05 -7.96326334e-02] [-2.97268987e-04 3.84302601e-05 9.99999955e-01 5.35770139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29255784400004 meters 0.2887728502872979 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:0.54 [[ 9.99995145e-01 3.10848099e-03 2.17322571e-04 2.44817846e+00] [-3.10841316e-03 9.99995120e-01 -3.11788885e-04 -7.85456210e-02] [-2.18290700e-04 3.11111843e-04 9.99999928e-01 5.35405439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3225578440001 meters 0.2868304427407834 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:0.53 [[ 9.99984004e-01 -5.58161830e-03 -9.14832166e-04 2.42887741e+00] [ 5.58232512e-03 9.99984121e-01 7.71888744e-04 -7.36230534e-02] [ 9.10509251e-04 -7.76983288e-04 9.99999284e-01 5.34014237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35255784400005 meters 0.28871888461834777 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:0.53 [[ 9.99983631e-01 -5.65260119e-03 -8.86914313e-04 2.42883262e+00] [ 5.65312738e-03 9.99983846e-01 5.91906593e-04 -7.28853819e-02] [ 8.83554173e-04 -5.96910743e-04 9.99999432e-01 5.33971104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3825578440001 meters 0.2880279084689921 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:0.53 [[ 9.99982755e-01 -5.81659615e-03 -8.10300880e-04 2.42871540e+00] [ 5.81675868e-03 9.99983063e-01 1.98360762e-04 -7.12728845e-02] [ 8.09133371e-04 -2.03070666e-04 9.99999652e-01 5.33834494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41255784400005 meters 0.28808845432214825 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:0.53 [[ 9.99997977e-01 1.75785553e-03 9.78014926e-04 2.45025267e+00] [-1.75582957e-03 9.99996319e-01 -2.06852340e-03 -7.25331146e-02] [-9.81647491e-04 2.06680199e-03 9.99997382e-01 5.32288999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442557844 meters 0.28730225969784307 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:0.53 [[ 9.99986279e-01 -5.04393474e-03 -1.41472364e-03 2.42953613e+00] [ 5.04488511e-03 9.99987051e-01 6.69008746e-04 -7.03902664e-02] [ 1.41133089e-03 -6.76136684e-04 9.99998775e-01 5.33262768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47255784400005 meters 0.2891225488239129 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:0.53 [[ 9.99992692e-01 3.82303179e-03 -3.08636382e-05 2.44950003e+00] [-3.82304595e-03 9.99992580e-01 -4.72671091e-04 -7.25698902e-02] [ 2.90563726e-05 4.72785629e-04 9.99999888e-01 5.33381908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters 0.28806934217717856 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:0.53 [[ 9.99986954e-01 -4.98610102e-03 -1.10911563e-03 2.43036274e+00] [ 4.98653377e-03 9.99987492e-01 3.87752676e-04 -6.62462382e-02] [ 1.10716838e-03 -3.93278260e-04 9.99999310e-01 5.32536261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53255784400005 meters 0.28774395549119086 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:0.53 [[ 9.99986321e-01 -5.11151094e-03 -1.10938574e-03 2.43033393e+00] [ 5.11157541e-03 9.99986934e-01 5.52870369e-05 -6.48802279e-02] [ 1.10908864e-03 -6.09569895e-05 9.99999383e-01 5.32632169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters 0.28742108014082823 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.06, Z:0.53 [[ 9.99993666e-01 3.41873051e-03 9.90087127e-04 2.44921433e+00] [-3.41693708e-03 9.99992529e-01 -1.80744532e-03 -6.33021025e-02] [-9.96258898e-04 1.80405080e-03 9.99997876e-01 5.33484714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59255784400005 meters 0.287612514048761 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:0.53 [[ 9.99985522e-01 -5.31499151e-03 8.41060952e-04 2.42984297e+00] [ 5.31575315e-03 9.99985461e-01 -9.05943321e-04 -5.63825109e-02] [-8.36233642e-04 9.10401077e-04 9.99999236e-01 5.32350205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622557844 meters 0.2876338230997066 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.06, Z:0.53 [[ 9.99991129e-01 3.60464206e-03 2.17891134e-03 2.44978951e+00] [-3.60014030e-03 9.99991384e-01 -2.06646392e-03 -5.81124629e-02] [-2.18634143e-03 2.05860120e-03 9.99995491e-01 5.32700122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65255784400006 meters 0.2872776903592564 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99986678e-01 -5.00004348e-03 1.28198568e-03 2.43124308e+00] [ 5.00172367e-03 9.99986632e-01 -1.31077784e-03 -4.96653043e-02] [-1.27541459e-03 1.31717252e-03 9.99998319e-01 5.31067516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68255784400003 meters 0.2873628478375451 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99986223e-01 -5.09175458e-03 1.27559147e-03 2.43129551e+00] [ 5.09372828e-03 9.99985827e-01 -1.54883691e-03 -4.86832658e-02] [-1.26768710e-03 1.55531309e-03 9.99997987e-01 5.31007482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71255784400006 meters 0.2873628478375451 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99986223e-01 -5.09175458e-03 1.27559147e-03 2.43129551e+00] [ 5.09372828e-03 9.99985827e-01 -1.54883691e-03 -4.86832658e-02] [-1.26768710e-03 1.55531309e-03 9.99997987e-01 5.31007482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74255784400003 meters 0.28872317115673446 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99985927e-01 -5.14481627e-03 1.29524224e-03 2.43123630e+00] [ 5.14699715e-03 9.99985333e-01 -1.68609793e-03 -4.81140607e-02] [-1.28654858e-03 1.69274080e-03 9.99997740e-01 5.31039321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77255784400006 meters 0.28720322760924194 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.05, Z:0.53 [[ 9.99993587e-01 3.54190583e-03 5.29434470e-04 2.40963598e+00] [-3.54065674e-03 9.99990990e-01 -2.34189293e-03 -4.87286641e-02] [-5.37724464e-04 2.34000337e-03 9.99997118e-01 5.31014618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80255784400003 meters 0.2881503795560587 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99994872e-01 -2.26300777e-03 2.26619541e-03 2.43180450e+00] [ 2.26160782e-03 9.99997250e-01 6.20125815e-04 -4.64971323e-02] [-2.26759253e-03 -6.14997390e-04 9.99997240e-01 5.30009574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83255784400006 meters 0.28999456727293954 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99994898e-01 -2.34181202e-03 2.17232134e-03 2.43217663e+00] [ 2.34092137e-03 9.99997175e-01 4.12451467e-04 -4.56363621e-02] [-2.17328108e-03 -4.07364130e-04 9.99997555e-01 5.29730641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86255784400004 meters 0.2883561671113238 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99994916e-01 -2.37135767e-03 2.13194228e-03 2.43237858e+00] [ 2.37065180e-03 9.99997134e-01 3.33561119e-04 -4.53154874e-02] [-2.13272716e-03 -3.28505330e-04 9.99997672e-01 5.29510530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89255784400007 meters 0.28935668849878926 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:0.53 [[ 9.99994862e-01 -2.38680315e-03 2.13994770e-03 2.43240905e+00] [ 2.38618438e-03 9.99997111e-01 2.91657184e-04 -4.51457018e-02] [-2.14063765e-03 -2.86549375e-04 9.99997668e-01 5.29396867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92255784400004 meters 0.2882584704916986 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994632e-01 -2.40493524e-03 2.22524631e-03 2.43223972e+00] [ 2.40439669e-03 9.99997080e-01 2.44661211e-04 -4.49567015e-02] [-2.22582821e-03 -2.39309523e-04 9.99997494e-01 5.29292572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95255784400007 meters 0.2889560047828145 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994421e-01 -2.42824918e-03 2.29362263e-03 2.43206319e+00] [ 2.42782979e-03 9.99997036e-01 1.85618104e-04 -4.47109671e-02] [-2.29406656e-03 -1.80048543e-04 9.99997352e-01 5.29303200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98255784400004 meters 0.28673166064483047 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994186e-01 -2.49469716e-03 2.32457864e-03 2.43191878e+00] [ 2.49467378e-03 9.99996888e-01 1.29579069e-05 -4.39914370e-02] [-2.32460373e-03 -7.15876615e-06 9.99997298e-01 5.29468898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01255784400007 meters 0.28705727846347695 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994201e-01 -2.52760907e-03 2.28257380e-03 2.43207785e+00] [ 2.52778495e-03 9.99996802e-01 -7.41726968e-05 -4.36317914e-02] [-2.28237902e-03 7.99421223e-05 9.99997392e-01 5.29359150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04255784400004 meters 0.28772818957395324 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994309e-01 -2.57279000e-03 2.18254632e-03 2.43237589e+00] [ 2.57322003e-03 9.99996670e-01 -1.94247001e-04 -4.31314169e-02] [-2.18203929e-03 1.99862068e-04 9.99997599e-01 5.29273630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0725578440001 meters 0.2889076113989338 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994338e-01 -2.65094806e-03 2.07262231e-03 2.43266964e+00] [ 2.65178693e-03 9.99996403e-01 -4.02094783e-04 -4.22681461e-02] [-2.07154893e-03 4.07588659e-04 9.99997771e-01 5.29269511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10255784400005 meters 0.2898377304137294 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99994168e-01 -2.74651544e-03 2.03002383e-03 2.43285142e+00] [ 2.74784517e-03 9.99996012e-01 -6.52531975e-04 -4.12354256e-02] [-2.02822355e-03 6.58106360e-04 9.99997727e-01 5.29132446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1325578440001 meters 0.2888304442494797 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99993127e-01 -2.99072345e-03 2.19132662e-03 2.43230746e+00] [ 2.99370348e-03 9.99994597e-01 -1.35790111e-03 -3.83173284e-02] [-2.18725367e-03 1.36445196e-03 9.99996677e-01 5.29494652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16255784400005 meters 0.2883976555142362 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:0.53 [[ 9.99992526e-01 -3.15340359e-03 2.23691199e-03 2.43210822e+00] [ 3.15742302e-03 9.99993403e-01 -1.79561412e-03 -3.65139494e-02] [-2.23123494e-03 1.80266358e-03 9.99995886e-01 5.29720468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192557844 meters 0.28843343612430555 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.53 [[ 9.99992149e-01 -3.32200408e-03 2.15992112e-03 2.43235529e+00] [ 3.32688231e-03 9.99991915e-01 -2.25886156e-03 -3.46146243e-02] [-2.15239971e-03 2.26602963e-03 9.99995116e-01 5.29652273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22255784400005 meters 0.2903736420398435 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.53 [[ 9.99991859e-01 -3.50559307e-03 1.99803186e-03 2.43287057e+00] [ 3.51110448e-03 9.99990023e-01 -2.76161836e-03 -3.25385898e-02] [-1.98833082e-03 2.76861118e-03 9.99994191e-01 5.29464838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252557844 meters 0.28746695569884 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.53 [[ 9.99994842e-01 -1.25776651e-03 2.95531631e-03 2.42850032e+00] [ 1.26186338e-03 9.99998245e-01 -1.38481672e-03 -2.59932327e-02] [-2.95356935e-03 1.38853878e-03 9.99994674e-01 5.32075822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28255784400005 meters 0.28742705459628515 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:0.53 [[ 9.99994543e-01 -1.45123596e-03 2.96789533e-03 2.42851560e+00] [ 1.45684420e-03 9.99997156e-01 -1.88834808e-03 -2.39135683e-02] [-2.96514645e-03 1.89266154e-03 9.99993813e-01 5.32025369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312557844 meters 0.28780954519387353 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:0.53 [[ 9.99994234e-01 -1.65507251e-03 2.96541381e-03 2.42860131e+00] [ 1.66217791e-03 9.99995750e-01 -2.39523107e-03 -2.18179483e-02] [-2.96143692e-03 2.40014630e-03 9.99992735e-01 5.31901887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34255784400005 meters 0.28946673892001396 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:0.53 [[ 9.99993736e-01 -2.06556972e-03 2.87412540e-03 2.42916004e+00] [ 2.07513476e-03 9.99992306e-01 -3.32898745e-03 -1.78322383e-02] [-2.86722703e-03 3.33493080e-03 9.99990329e-01 5.31356843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372557844 meters 0.28817315795305987 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:0.53 [[ 9.99993566e-01 -2.18862558e-03 2.84220739e-03 2.42938945e+00] [ 2.19899395e-03 9.99990921e-01 -3.65001135e-03 -1.65095277e-02] [-2.83419308e-03 3.65623786e-03 9.99989300e-01 5.31053535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40255784400006 meters 0.288745810089564 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:0.53 [[ 9.99993183e-01 -2.28952727e-03 2.89696307e-03 2.42927499e+00] [ 2.30086945e-03 9.99989678e-01 -3.91793963e-03 -1.54075696e-02] [-2.88796293e-03 3.92457845e-03 9.99988129e-01 5.31032770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43255784400003 meters 0.2868905723854907 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99992696e-01 -2.40264658e-03 2.97243717e-03 2.42909262e+00] [ 2.41515752e-03 9.99988211e-01 -4.21257693e-03 -1.41918277e-02] [-2.96228079e-03 4.21972506e-03 9.99986709e-01 5.31055647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46255784400006 meters 0.2871749961872458 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 0.99999232 -0.00250624 0.00301253 2.4290384 ] [ 0.00251971 0.99998681 -0.00447648 -0.01310114] [-0.00300127 0.00448403 0.99998544 0.53097697] [ 0. 0. 0. 1. ]] SLAMing on 323.49255784400003 meters 0.288514517575434 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 0.99999219 -0.00259696 0.00297964 2.42925257] [ 0.00261098 0.99998551 -0.0047082 -0.01213373] [-0.00296737 0.00471595 0.99998448 0.53071766] [ 0. 0. 0. 1. ]] SLAMing on 323.52255784400006 meters 0.2884449093955027 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 0.9999923 -0.00267796 0.00286839 2.42982815] [ 0.00269209 0.99998419 -0.00493648 -0.0111842 ] [-0.00285513 0.00494417 0.9999837 0.52996915] [ 0. 0. 0. 1. ]] SLAMing on 323.55255784400003 meters 0.28775394530939796 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 0.99999247 -0.00269163 0.00279446 2.43010271] [ 0.00270551 0.99998396 -0.00497626 -0.01101554] [-0.00278102 0.00498378 0.99998371 0.52977147] [ 0. 0. 0. 1. ]] SLAMing on 323.58255784400006 meters 0.29099798504020585 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99997800e-01 -1.43261241e-03 1.53196030e-03 2.46954868e+00] [ 1.43876800e-03 9.99990866e-01 -4.02458938e-03 -1.29966990e-02] [-1.52618063e-03 4.02678467e-03 9.99990728e-01 5.33072161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61255784400004 meters 0.2881269252728316 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99997619e-01 -1.52111009e-03 1.56477692e-03 2.46938193e+00] [ 1.52775414e-03 9.99989786e-01 -4.25360476e-03 -1.20439659e-02] [-1.55829073e-03 4.25598522e-03 9.99989729e-01 5.33281760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64255784400007 meters 0.2894112213711643 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99997206e-01 -1.73558614e-03 1.60474739e-03 2.46916788e+00] [ 1.74337128e-03 9.99986657e-01 -4.86271196e-03 -9.56561110e-03] [-1.59628632e-03 4.86549604e-03 9.99986889e-01 5.33588865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67255784400004 meters 0.2888870071947578 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99997066e-01 -1.85159191e-03 1.56168727e-03 2.46928736e+00] [ 1.85964571e-03 9.99984898e-01 -5.17152474e-03 -8.28802171e-03] [-1.55208813e-03 5.17441375e-03 9.99985408e-01 5.33603011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70255784400007 meters 0.28802839332790603 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99996827e-01 -1.96863808e-03 1.57196101e-03 2.46930576e+00] [ 1.97722854e-03 9.99983019e-01 -5.48207880e-03 -7.00232969e-03] [-1.56114209e-03 5.48516953e-03 9.99983738e-01 5.33535831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73255784400004 meters 0.2875190309922471 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:0.53 [[ 9.99995773e-01 2.37859330e-03 1.67227638e-03 2.46891637e+00] [-2.37670844e-03 9.99996539e-01 -1.12820963e-03 -7.28857554e-03] [-1.67495414e-03 1.12423034e-03 9.99997965e-01 5.33775977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76255784400007 meters 0.2879195902736356 Centerline is valid? [False, False] Translation: X:2.49, Y:0.00, Z:0.54 [[ 9.99977074e-01 -5.38251155e-03 4.10841929e-03 2.48620752e+00] [ 5.38342821e-03 9.99985487e-01 -2.12092438e-04 9.17154038e-05] [-4.10721807e-03 2.34204956e-04 9.99991538e-01 5.36141033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79255784400004 meters 0.2875677499628582 Centerline is valid? [False, False] Translation: X:2.49, Y:0.00, Z:0.54 [[ 9.99975970e-01 -5.53480859e-03 4.17428949e-03 2.48587897e+00] [ 5.53742295e-03 9.99984479e-01 -6.15002636e-04 1.78147984e-03] [-4.17082078e-03 6.38102664e-04 9.99991098e-01 5.36532737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8225578440001 meters 0.28828582002191977 Centerline is valid? [False, False] Translation: X:2.49, Y:0.00, Z:0.54 [[ 9.99974952e-01 -5.70733251e-03 4.18595423e-03 2.48577918e+00] [ 5.71183793e-03 9.99983120e-01 -1.06515423e-03 3.65185186e-03] [-4.17980438e-03 1.08903704e-03 9.99990672e-01 5.36726009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85255784400005 meters 0.2860513502690698 Centerline is valid? [False, False] Translation: X:2.46, Y:0.01, Z:0.54 [[ 9.99990841e-01 3.05909075e-03 2.99325566e-03 2.46484232e+00] [-3.05282465e-03 9.99993144e-01 -2.09574281e-03 5.05925505e-03] [-2.99964621e-03 2.08658573e-03 9.99993324e-01 5.36511964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8825578440001 meters 0.2865359413618466 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:0.54 [[ 0.99999161 0.00286067 0.00293043 2.46510164] [-0.002853 0.9999925 -0.00261967 0.00723208] [-0.0029379 0.00261129 0.99999227 0.53636304] [ 0. 0. 0. 1. ]] SLAMing on 323.91255784400005 meters 0.2886994718248934 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:0.54 [[ 9.99993029e-01 2.46443505e-03 2.80505483e-03 2.46564412e+00] [-2.45432047e-03 9.99990495e-01 -3.60358667e-03 1.13330229e-02] [-2.81390898e-03 3.59667704e-03 9.99989573e-01 5.36029246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942557844 meters 0.2870588871971285 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:0.54 [[ 9.99993703e-01 2.27692490e-03 2.72206486e-03 2.46589375e+00] [-2.26580584e-03 9.99989106e-01 -4.08091596e-03 1.33182151e-02] [-2.73132715e-03 4.07472259e-03 9.99987968e-01 5.36018887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97255784400005 meters 0.28667032932641745 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:0.54 [[ 9.99993469e-01 -3.50726086e-03 8.72780042e-04 2.44394911e+00] [ 3.50804429e-03 9.99993444e-01 -8.97720716e-04 1.68522148e-02] [-8.69625779e-04 9.00776604e-04 9.99999216e-01 5.37202597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters 0.28582371920728844 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:0.54 [[ 9.99992745e-01 -3.73512241e-03 7.48014714e-04 2.44431011e+00] [ 3.73621760e-03 9.99991943e-01 -1.46812162e-03 1.92006460e-02] [-7.42525073e-04 1.47090571e-03 9.99998643e-01 5.37124849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03255784400005 meters 0.2873614809742505 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:0.54 [[ 9.99987374e-01 4.70241230e-03 1.77204292e-03 2.46374665e+00] [-4.69760287e-03 9.99985298e-01 -2.70851711e-03 1.57668638e-02] [-1.78475343e-03 2.70015856e-03 9.99994762e-01 5.37367480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters 0.2887414717804674 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:0.54 [[ 9.99987644e-01 4.64566308e-03 1.76897791e-03 2.46387456e+00] [-4.64058142e-03 9.99985125e-01 -2.86600330e-03 1.64096567e-02] [-1.78226608e-03 2.85775880e-03 9.99994328e-01 5.37101427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09255784400005 meters 0.28770356329051117 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:0.54 [[ 9.99987585e-01 4.60665094e-03 1.89962449e-03 2.46362254e+00] [-4.60098726e-03 9.99984990e-01 -2.97514097e-03 1.68476547e-02] [-1.91330141e-03 2.96636388e-03 9.99993770e-01 5.36935168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters 0.2872717738829511 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:0.54 [[ 9.99987656e-01 4.58490537e-03 1.91460993e-03 2.46349463e+00] [-4.57908084e-03 9.99984909e-01 -3.03553208e-03 1.70904202e-02] [-1.92849866e-03 3.02672746e-03 9.99993560e-01 5.37154726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15255784400006 meters 0.2882235275295384 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:0.54 [[ 9.99992979e-01 -3.45533720e-03 1.45015674e-03 2.44381146e+00] [ 3.45795334e-03 9.99992391e-01 -1.80543019e-03 2.22703087e-02] [-1.44390733e-03 1.81043209e-03 9.99997319e-01 5.35853390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters 0.28687106895895664 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:0.54 [[ 9.99992944e-01 -3.51947524e-03 1.31330118e-03 2.44421856e+00] [ 3.52207403e-03 9.99991834e-01 -1.98178079e-03 2.30100585e-02] [-1.30631562e-03 1.98639235e-03 9.99997174e-01 5.35724215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21255784400006 meters 0.2882983420846536 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:0.54 [[ 9.99986835e-01 4.81104370e-03 1.78445939e-03 2.46438765e+00] [-4.80560152e-03 9.99983827e-01 -3.04161555e-03 1.87102072e-02] [-1.79906387e-03 3.03300011e-03 9.99993782e-01 5.36263814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters 0.2895581843069674 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.54 [[ 9.99993808e-01 -3.48461018e-03 4.90436848e-04 2.44556890e+00] [ 3.48561726e-03 9.99991787e-01 -2.06778375e-03 2.40986823e-02] [-4.83227400e-04 2.06948042e-03 9.99997742e-01 5.35126767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27255784400006 meters 0.2875918577623079 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.54 [[ 9.99993733e-01 -3.51724123e-03 4.04070099e-04 2.44580315e+00] [ 3.51810512e-03 9.99991484e-01 -2.15752418e-03 2.44784000e-02] [-3.96478125e-04 2.15893222e-03 9.99997591e-01 5.35103998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters 0.2887281015080676 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:0.54 [[ 9.99993470e-01 -3.60609001e-03 2.37730369e-04 2.44622175e+00] [ 3.60665264e-03 9.99990591e-01 -2.41031493e-03 2.55269222e-02] [-2.29036320e-04 2.41115660e-03 9.99997067e-01 5.35138572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33255784400006 meters 0.2868627933310189 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:0.54 [[ 9.99993348e-01 -3.64302564e-03 1.77517719e-04 2.44632899e+00] [ 3.64345961e-03 9.99990215e-01 -2.50891985e-03 2.59379128e-02] [-1.68375923e-04 2.50954994e-03 9.99996837e-01 5.35257865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters 0.2897051189000598 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99986619e-01 4.95615278e-03 1.48257716e-03 2.46709683e+00] [-4.95142073e-03 9.99982690e-01 -3.17858840e-03 2.23232435e-02] [-1.49830506e-03 3.17120500e-03 9.99993849e-01 5.35492698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39255784400007 meters 0.28783047479404267 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99986702e-01 4.93094423e-03 1.51046665e-03 2.46695248e+00] [-4.92602637e-03 9.99982610e-01 -3.24245651e-03 2.25839856e-02] [-1.52642876e-03 3.23497279e-03 9.99993602e-01 5.35660616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42255784400004 meters 0.28791964603631154 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99986624e-01 4.93878465e-03 1.53641246e-03 2.46681024e+00] [-4.93381447e-03 9.99982638e-01 -3.22206579e-03 2.24930284e-02] [-1.55229887e-03 3.21444231e-03 9.99993629e-01 5.35824785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45255784400007 meters 0.28879825004259746 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99986456e-01 4.94705142e-03 1.61665152e-03 2.46659792e+00] [-4.94186246e-03 9.99982675e-01 -3.19808265e-03 2.23875601e-02] [-1.63244459e-03 3.19005007e-03 9.99993579e-01 5.35834547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48255784400004 meters 0.2886932651143329 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99985654e-01 5.06823698e-03 1.73335663e-03 2.46642086e+00] [-5.06332457e-03 9.99983186e-01 -2.82679022e-03 2.08870484e-02] [-1.74765433e-03 2.81797312e-03 9.99994502e-01 5.35496358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51255784400007 meters 0.2874102547629884 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99985263e-01 5.16179250e-03 1.68240143e-03 2.46658746e+00] [-5.15745461e-03 9.99983391e-01 -2.57260815e-03 1.98472590e-02] [-1.69565276e-03 2.56389333e-03 9.99995276e-01 5.35367286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54255784400004 meters 0.2874444152348955 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:0.54 [[ 9.99984702e-01 5.28089743e-03 1.64556937e-03 2.46676290e+00] [-5.27720254e-03 9.99983563e-01 -2.24166536e-03 1.84958288e-02] [-1.65738033e-03 2.23294707e-03 9.99996134e-01 5.35130173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5725578440001 meters 0.28686769520299993 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99995326e-01 -3.03319515e-03 3.85474914e-04 2.44699241e+00] [ 3.03359783e-03 9.99994849e-01 -1.04838176e-03 2.09961171e-02] [-3.82292982e-04 1.04954623e-03 9.99999376e-01 5.34352733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60255784400005 meters 0.29217927198238935 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99995767e-01 -2.87930900e-03 4.18509356e-04 2.44679712e+00] [ 2.87957617e-03 9.99995650e-01 -6.39174869e-04 1.92706247e-02] [-4.16667153e-04 6.40377293e-04 9.99999708e-01 5.34563772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6325578440001 meters 0.29217927198238935 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99995767e-01 -2.87930900e-03 4.18509356e-04 2.44679712e+00] [ 2.87957617e-03 9.99995650e-01 -6.39174869e-04 1.92706247e-02] [-4.16667153e-04 6.40377293e-04 9.99999708e-01 5.34563772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66255784400005 meters 0.289446027163114 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99995869e-01 -2.83937623e-03 4.46370969e-04 2.44665213e+00] [ 2.83961295e-03 9.99995828e-01 -5.30605235e-04 1.88139010e-02] [-4.44862518e-04 5.31870565e-04 9.99999760e-01 5.34728716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692557844 meters 0.28898639105204116 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99995961e-01 -2.79551954e-03 5.12855872e-04 2.44652173e+00] [ 2.79573059e-03 9.99996007e-01 -4.11269992e-04 1.83170069e-02] [-5.11704111e-04 4.12702138e-04 9.99999784e-01 5.34629805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72255784400005 meters 0.2876047509812183 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99996053e-01 -2.75023405e-03 5.74769250e-04 2.44639593e+00] [ 2.75040119e-03 9.99996176e-01 -2.90210747e-04 1.78113538e-02] [-5.73968904e-04 2.91790447e-04 9.99999793e-01 5.34542890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752557844 meters 0.2926700455955589 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.53 [[ 9.99996230e-01 -2.68440031e-03 5.78723879e-04 2.44648088e+00] [ 2.68446933e-03 9.99996390e-01 -1.18507046e-04 1.71001436e-02] [-5.78403669e-04 1.20060166e-04 9.99999826e-01 5.34310040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78255784400005 meters 0.2892149095433898 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:0.53 [[ 9.99991530e-01 3.54260068e-03 -2.09512382e-03 2.42603164e+00] [-3.54896841e-03 9.99989071e-01 -3.04344259e-03 1.61986277e-02] [ 2.08431922e-03 3.05085234e-03 9.99993174e-01 5.34587140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812557844 meters 0.2878689749130779 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.54 [[ 9.99987087e-01 -5.02994259e-03 -7.24682504e-04 2.44646817e+00] [ 5.02855383e-03 9.99985541e-01 -1.90560839e-03 1.61505481e-02] [ 7.34257127e-04 1.90193968e-03 9.99997922e-01 5.35570105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84255784400005 meters 0.28819502482736586 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:0.54 [[ 9.99987538e-01 -4.94851636e-03 -6.60189233e-04 2.44612910e+00] [ 4.94739749e-03 9.99986341e-01 -1.68577618e-03 1.52189191e-02] [ 6.68522306e-04 1.68248896e-03 9.99998361e-01 5.35961919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872557844 meters 0.2889490135605566 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99988595e-01 -4.74203756e-03 -5.68988880e-04 2.44579773e+00] [ 4.74139256e-03 9.99988122e-01 -1.12962461e-03 1.28989564e-02] [ 5.74338843e-04 1.12691393e-03 9.99999200e-01 5.36121900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90255784400006 meters 0.2877608778672817 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99989203e-01 -4.61506188e-03 -5.43447605e-04 2.44581140e+00] [ 4.61462556e-03 9.99989031e-01 -8.01408087e-04 1.15305456e-02] [ 5.47140192e-04 7.98891627e-04 9.99999531e-01 5.35912569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93255784400003 meters 0.2871788918284877 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99989736e-01 -4.50358503e-03 -4.95532240e-04 2.44574173e+00] [ 4.50333434e-03 9.99989732e-01 -5.05858896e-04 1.03048976e-02] [ 4.97805331e-04 5.03622156e-04 9.99999749e-01 5.35762615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96255784400006 meters 0.28951373453697293 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99990257e-01 -4.39278180e-03 -4.35916182e-04 2.44554721e+00] [ 4.39269080e-03 9.99990330e-01 -2.09509413e-04 9.06688621e-03] [ 4.36832296e-04 2.07592527e-04 9.99999883e-01 5.35828724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99255784400003 meters 0.2883753407942983 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99990669e-01 -4.30140137e-03 -4.00586037e-04 2.44536267e+00] [ 4.30141450e-03 9.99990748e-01 3.19201211e-05 8.05011518e-03] [ 4.00445030e-04 -3.36429098e-05 9.99999919e-01 5.36020997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02255784400006 meters 0.2883059998888046 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:0.54 [[ 9.99991709e-01 -4.05257486e-03 -3.97624165e-04 2.44541894e+00] [ 4.05283024e-03 9.99991580e-01 6.43582146e-04 5.47744411e-03] [ 3.95012652e-04 -6.45188313e-04 9.99999714e-01 5.35826481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05255784400003 meters 0.2882559522134143 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99990643e-01 3.96340855e-03 -1.73331646e-03 2.42633508e+00] [-3.96467516e-03 9.99991876e-01 -7.27914960e-04 2.21550796e-03] [ 1.73041736e-03 7.34780186e-04 9.99998233e-01 5.34044591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08255784400006 meters 0.28993892990267994 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99990270e-01 4.06391129e-03 -1.71591720e-03 2.42631967e+00] [-4.06471856e-03 9.99991630e-01 -4.67229472e-04 1.13195112e-03] [ 1.71400406e-03 4.74199646e-04 9.99998419e-01 5.33943576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11255784400004 meters 0.2890318501180064 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.53 [[ 9.99987078e-01 -3.82417005e-03 -3.34961629e-03 2.40764528e+00] [ 3.82889615e-03 9.99991682e-01 1.40566316e-03 3.49551981e-03] [ 3.34421293e-03 -1.41847033e-03 9.99993402e-01 5.32718642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14255784400007 meters 0.28879233414491734 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99995388e-01 2.12663419e-03 -2.16816892e-03 2.43137982e+00] [-2.13009417e-03 9.99996460e-01 -1.59474749e-03 4.10066424e-04] [ 2.16476980e-03 1.59935854e-03 9.99996378e-01 5.30962242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17255784400004 meters 0.28837948903368305 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99995217e-01 2.23429094e-03 -2.13870883e-03 2.43131296e+00] [-2.23712231e-03 9.99996623e-01 -1.32239542e-03 -7.23801374e-04] [ 2.13574700e-03 1.32717364e-03 9.99996839e-01 5.30917159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20255784400007 meters 0.29045762133921327 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99995133e-01 2.27726513e-03 -2.13252025e-03 2.43127028e+00] [-2.27985533e-03 9.99996665e-01 -1.21297459e-03 -1.18070643e-03] [ 2.12975087e-03 1.21783053e-03 9.99996991e-01 5.30963294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23255784400004 meters 0.28802347632809444 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99994901e-01 2.32487196e-03 -2.18950474e-03 2.43140503e+00] [-2.32726720e-03 9.99996696e-01 -1.09205258e-03 -1.67955309e-03] [ 2.18695862e-03 1.09714257e-03 9.99997007e-01 5.30973125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26255784400007 meters 0.2889107675731179 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99994612e-01 2.35444868e-03 -2.28760167e-03 2.43169940e+00] [-2.35677441e-03 9.99996708e-01 -1.01450289e-03 -1.99005263e-03] [ 2.28520554e-03 1.01988878e-03 9.99996869e-01 5.30851539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29255784400004 meters 0.2878493579154159 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.00, Z:0.53 [[ 9.99977876e-01 -6.46357742e-03 -1.57171600e-03 2.45272630e+00] [ 6.46320132e-03 9.99979083e-01 -2.44252189e-04 -3.07761566e-04] [ 1.57326186e-03 2.34088468e-04 9.99998735e-01 5.31423818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3225578440001 meters 0.2880892683523596 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99991603e-01 2.10899288e-04 -4.09259063e-03 2.43071655e+00] [-2.22050277e-04 9.99996264e-01 -2.72441408e-03 7.61157193e-04] [ 4.09200076e-03 2.72529997e-03 9.99987914e-01 5.32906737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35255784400005 meters 0.28905542100591197 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99991880e-01 2.86977927e-04 -4.01956099e-03 2.43050769e+00] [-2.97123853e-04 9.99996771e-01 -2.52376801e-03 -8.34308058e-05] [ 4.01882374e-03 2.52494183e-03 9.99988737e-01 5.32934130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3825578440001 meters 0.29204391887112546 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.00, Z:0.53 [[ 9.99984441e-01 -5.57423684e-03 -2.15365721e-04 2.45135107e+00] [ 5.57438842e-03 9.99984211e-01 7.09782783e-04 -4.70139450e-03] [ 2.11405823e-04 -7.10972271e-04 9.99999725e-01 5.31290433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41255784400005 meters 0.29157697090320284 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99993752e-01 2.95931993e-03 -1.93362509e-03 2.43112047e+00] [-2.95936499e-03 9.99995621e-01 -2.04450917e-05 -6.81247972e-03] [ 1.93355612e-03 2.61672663e-05 9.99998130e-01 5.30585776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters 0.2882849159454059 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:0.53 [[ 9.99983260e-01 -5.67648881e-03 -1.12096600e-03 2.45224297e+00] [ 5.67752739e-03 9.99983454e-01 9.25498925e-04 -5.79699764e-03] [ 1.11569387e-03 -9.31847747e-04 9.99998943e-01 5.31136832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47255784400005 meters 0.28871680252840864 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:0.53 [[ 9.99983510e-01 -5.61941426e-03 -1.18397194e-03 2.45250328e+00] [ 5.62068283e-03 9.99983630e-01 1.07086980e-03 -6.39670585e-03] [ 1.17793490e-03 -1.07750687e-03 9.99998726e-01 5.30900517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters 0.29021997471726213 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:0.53 [[ 9.99983837e-01 -5.55317767e-03 -1.21994958e-03 2.45270734e+00] [ 5.55469057e-03 9.99983803e-01 1.24026143e-03 -7.09882903e-03] [ 1.21304243e-03 -1.24701783e-03 9.99998487e-01 5.30637603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53255784400005 meters 0.2878206805671462 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991511e-01 1.28457674e-03 -3.91498355e-03 2.43110482e+00] [-1.28869287e-03 9.99998619e-01 -1.04903855e-03 -6.18168011e-03] [ 3.91363058e-03 1.05407486e-03 9.99991786e-01 5.31962576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters 0.28727949706763406 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991791e-01 1.39670848e-03 -3.80347133e-03 2.43063716e+00] [-1.39959419e-03 9.99998735e-01 -7.56150636e-04 -7.43161900e-03] [ 3.80241039e-03 7.61467746e-04 9.99992481e-01 5.32347058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59255784400005 meters 0.2877063362953532 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99992072e-01 1.45780381e-03 -3.70555770e-03 2.43030279e+00] [-1.46001752e-03 9.99998757e-01 -5.94769114e-04 -8.11885516e-03] [ 3.70468604e-03 6.00174578e-04 9.99992958e-01 5.32515813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters 0.2882224584714638 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99992144e-01 1.54360332e-03 -3.65093429e-03 2.43011915e+00] [-1.54498373e-03 9.99998736e-01 -3.75309002e-04 -9.04289762e-03] [ 3.65035034e-03 3.80946688e-04 9.99993265e-01 5.32584122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65255784400006 meters 0.28989477110149625 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99992068e-01 1.61219438e-03 -3.64219918e-03 2.43009496e+00] [-1.61292903e-03 9.99998679e-01 -1.98777922e-04 -9.78093811e-03] [ 3.64187390e-03 2.04650954e-04 9.99993347e-01 5.32567931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters 0.2874449529218809 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991584e-01 1.83900621e-03 -3.66754921e-03 2.43027645e+00] [-1.83764316e-03 9.99998241e-01 3.74988191e-04 -1.21942654e-02] [ 3.66823237e-03 -3.68245388e-04 9.99993204e-01 5.32258414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71255784400006 meters 0.2885504524323849 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991304e-01 1.93747300e-03 -3.69304227e-03 2.43033955e+00] [-1.93518818e-03 9.99997934e-01 6.22154193e-04 -1.32262758e-02] [ 3.69424004e-03 -6.15002051e-04 9.99992987e-01 5.32233173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters 0.2879919446467198 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991175e-01 1.97778212e-03 -3.70648593e-03 2.43033835e+00] [-1.97510533e-03 9.99997786e-01 7.25712738e-04 -1.36544995e-02] [ 3.70791303e-03 -7.18385634e-04 9.99992868e-01 5.32300089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77255784400006 meters 0.28852792021279045 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991404e-01 1.99208972e-03 -3.63651182e-03 2.43007623e+00] [-1.98931937e-03 9.99997728e-01 7.65273927e-04 -1.38250517e-02] [ 3.63802806e-03 -7.58033165e-04 9.99993095e-01 5.32481028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters 0.288287393206172 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99992041e-01 1.96646207e-03 -3.47141215e-03 2.42949170e+00] [-1.96405082e-03 9.99997828e-01 6.97873386e-04 -1.35404779e-02] [ 3.47277695e-03 -6.91049802e-04 9.99993731e-01 5.32921080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83255784400006 meters 0.28942642374825145 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991805e-01 1.94156345e-03 -3.55236872e-03 2.42976141e+00] [-1.93932124e-03 9.99997918e-01 6.34520989e-04 -1.32644344e-02] [ 3.55359329e-03 -6.27626605e-04 9.99993489e-01 5.32789867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters 0.2901687576749219 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991506e-01 1.91801751e-03 -3.64819943e-03 2.43021139e+00] [-1.91594541e-03 9.99998001e-01 5.71387817e-04 -1.29839534e-02] [ 3.64928807e-03 -5.64393213e-04 9.99993182e-01 5.32327343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89255784400007 meters 0.290718832137864 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991239e-01 1.93124043e-03 -3.71384642e-03 2.43052979e+00] [-1.92900519e-03 9.99997956e-01 6.05352098e-04 -1.31153382e-02] [ 3.71500791e-03 -5.98182765e-04 9.99992920e-01 5.31979579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters 0.2912988523460078 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991158e-01 1.95387106e-03 -3.72372133e-03 2.43061174e+00] [-1.95141373e-03 9.99997876e-01 6.63431957e-04 -1.33557526e-02] [ 3.72500968e-03 -6.56159570e-04 9.99992847e-01 5.31844195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95255784400007 meters 0.2881925697873511 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99991044e-01 2.00707156e-03 -3.72615508e-03 2.43074184e+00] [-2.00407855e-03 9.99997666e-01 8.06805705e-04 -1.39440997e-02] [ 3.72776570e-03 -7.99330972e-04 9.99992732e-01 5.31533135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98255784400004 meters 0.2890130139847033 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99990781e-01 1.96724160e-03 -3.81682327e-03 2.43119316e+00] [-1.96456998e-03 9.99997823e-01 7.03581791e-04 -1.34930317e-02] [ 3.81819908e-03 -6.96076888e-04 9.99992468e-01 5.31050848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01255784400007 meters 0.2882278499714381 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99990718e-01 1.89363127e-03 -3.87008746e-03 2.43154517e+00] [-1.89164795e-03 9.99998078e-01 5.16072037e-04 -1.26916439e-02] [ 3.87105727e-03 -5.08746403e-04 9.99992378e-01 5.30598485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04255784400004 meters 0.28851990478247486 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99990515e-01 1.81895939e-03 -3.95752309e-03 2.43180569e+00] [-1.81770102e-03 9.99998296e-01 3.21543654e-04 -1.18731106e-02] [ 3.95810122e-03 -3.14347010e-04 9.99992117e-01 5.30541624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0725578440001 meters 0.28820930979222026 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99990723e-01 1.78401246e-03 -3.92072609e-03 2.43164040e+00] [-1.78310948e-03 9.99998383e-01 2.33791809e-04 -1.15085873e-02] [ 3.92113684e-03 -2.26798556e-04 9.99992287e-01 5.30707475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10255784400005 meters 0.28737002491388897 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.01, Z:0.53 [[ 0.99997631 -0.00475781 -0.00497394 2.40901936] [ 0.004773 0.99998397 0.00304579 -0.00896989] [ 0.00495936 -0.00306946 0.99998299 0.53224058] [ 0. 0. 0. 1. ]] SLAMing on 326.1325578440001 meters 0.2885021575024299 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99988714e-01 3.81484955e-03 -2.83165995e-03 2.42865850e+00] [-3.80843982e-03 9.99990181e-01 2.26554627e-03 -1.22381506e-02] [ 2.84027486e-03 -2.25473649e-03 9.99993424e-01 5.32454553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16255784400005 meters 0.2889750087684678 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99989205e-01 3.75435034e-03 -2.73760015e-03 2.42835484e+00] [-3.74856877e-03 9.99990740e-01 2.11399303e-03 -1.16054285e-02] [ 2.74551147e-03 -2.10370813e-03 9.99994018e-01 5.32609073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192557844 meters 0.28872737459677644 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.01, Z:0.53 [[ 0.99998095 -0.00497616 -0.00365089 2.40803475] [ 0.00498611 0.99998387 0.00272136 -0.00615754] [ 0.00363729 -0.00273951 0.99998963 0.53225104] [ 0. 0. 0. 1. ]] SLAMing on 326.22255784400005 meters 0.2892020219909203 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99996520e-01 1.52988881e-03 -2.14927965e-03 2.42931526e+00] [-1.53102421e-03 9.99998689e-01 -5.26722610e-04 -6.51470972e-03] [ 2.14847101e-03 5.30011376e-04 9.99997552e-01 5.31495992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252557844 meters 0.2877366655308001 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99996640e-01 1.39569083e-03 -2.18463870e-03 2.42953785e+00] [-1.39758852e-03 9.99998647e-01 -8.67368521e-04 -5.07148382e-03] [ 2.18342517e-03 8.70418833e-04 9.99997238e-01 5.31244140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28255784400005 meters 0.2886970939201299 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99996773e-01 1.21227616e-03 -2.23238332e-03 2.42964508e+00] [-1.21523349e-03 9.99998385e-01 -1.32386323e-03 -3.14415905e-03] [ 2.23077483e-03 1.32657183e-03 9.99996632e-01 5.31333606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312557844 meters 0.2875288351583172 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.53 [[ 9.99985354e-01 -4.73158061e-03 -2.62745617e-03 2.40680704e+00] [ 4.73654398e-03 9.99987004e-01 1.88604407e-03 1.42278308e-03] [ 2.61849805e-03 -1.89846151e-03 9.99994770e-01 5.32353751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34255784400005 meters 0.286760694403874 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.53 [[ 9.99984064e-01 -5.00469578e-03 -2.61239990e-03 2.40662732e+00] [ 5.00776825e-03 9.99986776e-01 1.17089573e-03 4.41092619e-03] [ 2.60650538e-03 -1.18395936e-03 9.99995902e-01 5.32723826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372557844 meters 0.28947639866965086 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983757e-01 -5.09842681e-03 -2.54790194e-03 2.40642853e+00] [ 5.10082044e-03 9.99986555e-01 9.33836633e-04 5.40063218e-03] [ 2.54310659e-03 -9.46817855e-04 9.99996318e-01 5.32822329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40255784400006 meters 0.28807309816434434 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983507e-01 -5.18083678e-03 -2.47874273e-03 2.40622620e+00] [ 5.18264869e-03 9.99986307e-01 7.25116949e-04 6.27172910e-03] [ 2.47495207e-03 -7.37951443e-04 9.99996665e-01 5.32903646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43255784400003 meters 0.2897168433894983 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99994221e-01 3.24667891e-03 -1.00890118e-03 2.42517774e+00] [-3.24709366e-03 9.99994644e-01 -4.09724707e-04 2.41120499e-03] [ 1.00756553e-03 4.12998336e-04 9.99999407e-01 5.33805328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46255784400006 meters 0.28762417392305034 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:0.53 [[ 9.99994305e-01 3.24554495e-03 -9.25922470e-04 2.42496247e+00] [-3.24592833e-03 9.99994647e-01 -4.12849841e-04 2.42098217e-03] [ 9.24577591e-04 4.15852968e-04 9.99999486e-01 5.33809580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49255784400003 meters 0.2881377009180443 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99993923e-01 3.33711296e-03 -1.00875769e-03 2.42535422e+00] [-3.33724538e-03 9.99994423e-01 -1.29619754e-04 1.27197365e-03] [ 1.00831950e-03 1.32985438e-04 9.99999483e-01 5.33280772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52255784400006 meters 0.2881377009180443 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:0.53 [[ 9.99993923e-01 3.33711296e-03 -1.00875769e-03 2.42535422e+00] [-3.33724538e-03 9.99994423e-01 -1.29619754e-04 1.27197365e-03] [ 1.00831950e-03 1.32985438e-04 9.99999483e-01 5.33280772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55255784400003 meters 0.28821225085302865 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99993413e-01 3.45350991e-03 -1.11703512e-03 2.42574951e+00] [-3.45329168e-03 9.99994018e-01 1.97237728e-04 -7.20927723e-05] [ 1.11770960e-03 -1.93378980e-04 9.99999357e-01 5.32942807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58255784400006 meters 0.28836307277292006 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99992917e-01 3.57513864e-03 -1.17637525e-03 2.42598657e+00] [-3.57452367e-03 9.99993474e-01 5.24455764e-04 -1.41731806e-03] [ 1.17824258e-03 -5.20247068e-04 9.99999171e-01 5.32692778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61255784400004 meters 0.288091433287457 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99992488e-01 3.71259685e-03 -1.11414810e-03 2.42578945e+00] [-3.71161218e-03 9.99992721e-01 8.84554291e-04 -2.92416536e-03] [ 1.11742398e-03 -8.80412360e-04 9.99998988e-01 5.32726053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64255784400007 meters 0.29033443483008503 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:0.53 [[ 9.99988889e-01 -4.26388787e-03 2.01012256e-03 2.44502361e+00] [ 4.25911926e-03 9.99988120e-01 2.37064032e-03 -5.97821128e-03] [-2.02020682e-03 -2.36205263e-03 9.99995170e-01 5.33346590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67255784400004 meters 0.29178467466168106 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99989250e-01 -4.17505971e-03 2.01722967e-03 2.44490533e+00] [ 4.16982691e-03 9.99987949e-01 2.59133256e-03 -6.91648899e-03] [-2.02802433e-03 -2.58289320e-03 9.99994608e-01 5.33543478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70255784400007 meters 0.2897437276778418 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.01, Z:0.53 [[ 9.99989765e-01 4.00246547e-03 2.10957297e-03 2.46499151e+00] [-4.00542609e-03 9.99990997e-01 1.40106979e-03 -1.22749662e-02] [-2.10394625e-03 -1.40950519e-03 9.99996793e-01 5.34830399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73255784400004 meters 0.2880583745947636 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:0.53 [[ 9.99990850e-01 -4.26216154e-03 -3.67158311e-04 2.44779926e+00] [ 4.26310527e-03 9.99987509e-01 2.60912610e-03 -6.89997348e-03] [ 3.56033208e-04 -2.61066746e-03 9.99996529e-01 5.33725982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76255784400007 meters 0.28896805299762013 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 0.99997788 0.00536545 -0.00393102 2.42879098] [-0.00535452 0.99998178 0.00278604 -0.00302625] [ 0.00394589 -0.00276493 0.99998839 0.53336575] [ 0. 0. 0. 1. ]] SLAMing on 326.79255784400004 meters 0.2878015475808481 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99978229e-01 5.24879620e-03 -3.99895777e-03 2.42894610e+00] [-5.23891785e-03 9.99983210e-01 2.47671544e-03 -1.73684247e-03] [ 4.01189040e-03 -2.45571131e-03 9.99988937e-01 5.33452369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8225578440001 meters 0.29254891361935825 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.53 [[ 9.99978809e-01 5.14017672e-03 -3.99509397e-03 2.42887755e+00] [-5.13139752e-03 9.99984404e-01 2.20464917e-03 -5.95391044e-04] [ 4.00636395e-03 -2.18410204e-03 9.99989589e-01 5.33619855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85255784400005 meters 0.28805057090531233 Centerline is valid? [False, False] Translation: X:2.39, Y:0.00, Z:0.53 [[ 9.99986878e-01 4.19284251e-03 -2.94347497e-03 2.38832086e+00] [-4.18993114e-03 9.99990728e-01 9.94563148e-04 4.85209848e-03] [ 2.94761773e-03 -9.82217140e-04 9.99995173e-01 5.31486375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8825578440001 meters 0.2867463467092955 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:0.53 [[ 9.99987400e-01 4.07866471e-03 -2.92663838e-03 2.38830459e+00] [-4.07661965e-03 9.99991442e-01 7.04401249e-04 6.07665853e-03] [ 2.92948635e-03 -6.92461582e-04 9.99995469e-01 5.31463342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91255784400005 meters 0.2898968663140252 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:0.53 [[ 9.99987864e-01 3.96333962e-03 -2.92650407e-03 2.38835142e+00] [-3.96214440e-03 9.99992065e-01 4.14096957e-04 7.30428122e-03] [ 2.92812205e-03 -4.02496700e-04 9.99995632e-01 5.31391412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters 0.2890015728140895 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99995097e-01 -3.11949331e-03 -2.72032170e-04 2.41062023e+00] [ 3.12013209e-03 9.99992300e-01 2.38024824e-03 6.66261208e-03] [ 2.64604907e-04 -2.38108535e-03 9.99997130e-01 5.29205499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97255784400005 meters 0.2879281225249498 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99995038e-01 -3.14299680e-03 -2.13724972e-04 2.41053517e+00] [ 3.14348449e-03 9.99992365e-01 2.32114414e-03 6.91426150e-03] [ 2.06427992e-04 -2.32180446e-03 9.99997283e-01 5.29064465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters 0.28771189434526234 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:0.53 [[ 9.99992053e-01 3.02830536e-03 -2.59280235e-03 2.38827113e+00] [-3.03031542e-03 9.99995111e-01 -7.71669249e-04 9.28569259e-03] [ 2.59045283e-03 7.79520126e-04 9.99996341e-01 5.30765947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03255784400005 meters 0.28807837019106075 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983641e-01 -5.32016623e-03 -2.10066391e-03 2.40937919e+00] [ 5.32082022e-03 9.99985798e-01 3.05861850e-04 1.16244143e-02] [ 2.09900684e-03 -3.17034101e-04 9.99997747e-01 5.31973607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters 0.2878652849458259 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983760e-01 -5.31701388e-03 -2.05182764e-03 2.40923194e+00] [ 5.31767265e-03 9.99985811e-01 3.15742060e-04 1.15800289e-02] [ 2.05011972e-03 -3.26647880e-04 9.99997845e-01 5.32017902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09255784400005 meters 0.2883151010974202 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983797e-01 -5.34385933e-03 -1.96210660e-03 2.40888059e+00] [ 5.34436088e-03 9.99985687e-01 2.50466257e-04 1.18418583e-02] [ 1.96074007e-03 -2.60948404e-04 9.99998044e-01 5.32299535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters 0.2865699231228193 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99983612e-01 -5.41004953e-03 -1.87260070e-03 2.40853215e+00] [ 5.41020378e-03 9.99985362e-01 7.73195947e-05 1.25641574e-02] [ 1.87215498e-03 -8.74494790e-05 9.99998244e-01 5.32594303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15255784400006 meters 0.28637282839115286 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99982856e-01 -5.54725382e-03 -1.87497063e-03 2.40841218e+00] [ 5.54672405e-03 9.99984575e-01 -2.87632227e-04 1.40811755e-02] [ 1.87653727e-03 2.77227352e-04 9.99998201e-01 5.32910252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters 0.2885737749838636 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:0.53 [[ 9.99996267e-01 2.64853343e-03 -6.71945432e-04 2.42801404e+00] [-2.64960717e-03 9.99995206e-01 -1.60213238e-03 1.03573711e-02] [ 6.67698910e-04 1.60390679e-03 9.99998491e-01 5.33617654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21255784400006 meters 0.2890088064644388 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:0.53 [[ 9.99996487e-01 2.55570278e-03 -7.03390090e-04 2.42817633e+00] [-2.55698918e-03 9.99995049e-01 -1.83407621e-03 1.13442070e-02] [ 6.98699254e-04 1.83586832e-03 9.99998071e-01 5.33470185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters 0.28839370442749707 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:0.53 [[ 9.99996724e-01 2.44034919e-03 -7.71846936e-04 2.42847741e+00] [-2.44198959e-03 9.99994747e-01 -2.13154231e-03 1.26037235e-02] [ 7.66641173e-04 2.13342017e-03 9.99997430e-01 5.33230458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27255784400006 meters 0.28789180683177445 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:0.53 [[ 9.99996928e-01 2.30098615e-03 -9.21188769e-04 2.42895240e+00] [-2.30327802e-03 9.99994236e-01 -2.49465825e-03 1.41435769e-02] [ 9.15443285e-04 2.49677234e-03 9.99996464e-01 5.33084341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters 0.28864863630035154 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99992887e-01 -2.94495844e-03 -2.35649310e-03 2.40619330e+00] [ 2.94728708e-03 9.99995171e-01 9.85320372e-04 1.87717467e-02] [ 2.35357999e-03 -9.92258625e-04 9.99996738e-01 5.34220297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33255784400006 meters 0.28843637002746647 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:0.53 [[ 9.99996255e-01 2.73662080e-03 4.23376491e-05 2.42779702e+00] [-2.73650339e-03 9.99992975e-01 -2.56138651e-03 1.85820083e-02] [-4.93468953e-05 2.56126106e-03 9.99996719e-01 5.33159034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36255784400004 meters 0.28859247327029186 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99983495e-01 -5.74279598e-03 -1.75995488e-04 2.40750692e+00] [ 5.74247642e-03 9.99981954e-01 -1.76539778e-03 2.41886062e-02] [ 1.86130632e-04 1.76435799e-03 9.99998426e-01 5.32326841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39255784400007 meters 0.2898554752832156 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99999071e-01 -1.36236970e-03 5.21395466e-05 2.40703382e+00] [ 1.36222388e-03 9.99995423e-01 2.70135629e-03 2.33361701e-02] [-5.58195539e-05 -2.70128275e-03 9.99996350e-01 5.32049872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42255784400004 meters 0.288693978290272 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99999009e-01 -1.40362988e-03 -1.10568869e-04 2.40775467e+00] [ 1.40391072e-03 9.99995681e-01 2.58221687e-03 2.38680700e-02] [ 1.06943915e-04 -2.58236954e-03 9.99996660e-01 5.31202478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45255784400007 meters 0.2887069537012939 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99999023e-01 -1.38490576e-03 -1.88270531e-04 2.40812519e+00] [ 1.38539563e-03 9.99995589e-01 2.62720985e-03 2.36846323e-02] [ 1.84631262e-04 -2.62746812e-03 9.99996531e-01 5.30792246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48255784400004 meters 0.2890516353283479 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99999003e-01 -1.39534195e-03 -2.15757403e-04 2.40827803e+00] [ 1.39589782e-03 9.99995651e-01 2.59806454e-03 2.38161801e-02] [ 2.12131276e-04 -2.59836312e-03 9.99996602e-01 5.30609117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51255784400007 meters 0.28963380698670327 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:0.53 [[ 9.99998942e-01 -1.42678385e-03 -2.84275779e-04 2.40836846e+00] [ 1.42749504e-03 9.99995812e-01 2.51749116e-03 2.41595364e-02] [ 2.80682672e-04 -2.51789430e-03 9.99996791e-01 5.30810213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54255784400004 meters 0.28742110841514945 Centerline is valid? [False, False] Translation: X:2.39, Y:0.02, Z:0.53 [[ 9.99970778e-01 7.62444922e-03 -5.57962023e-04 2.38635941e+00] [-7.62343650e-03 9.99969330e-01 1.79519180e-03 2.40071267e-02] [ 5.71632259e-04 -1.79088576e-03 9.99998233e-01 5.30508651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5725578440001 meters 0.28838581115785195 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.53 [[ 9.99998249e-01 -1.34997364e-03 1.29607080e-03 2.40525058e+00] [ 1.34718464e-03 9.99996781e-01 2.15035443e-03 2.82527799e-02] [-1.29896955e-03 -2.14860462e-03 9.99996848e-01 5.31533750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60255784400005 meters 0.2872147545651623 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.53 [[ 9.99998169e-01 -1.40632239e-03 1.29751213e-03 2.40522321e+00] [ 1.40374290e-03 9.99997041e-01 1.98680249e-03 2.89179166e-02] [-1.30030238e-03 -1.98497748e-03 9.99997185e-01 5.31605069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6325578440001 meters 0.2873822500939001 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.53 [[ 9.99998130e-01 -1.49578931e-03 1.22605601e-03 2.40539321e+00] [ 1.49369384e-03 9.99997425e-01 1.70825330e-03 3.00427181e-02] [-1.22860804e-03 -1.70641875e-03 9.99997789e-01 5.31638386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66255784400005 meters 0.2875888072590308 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.53 [[ 9.99998118e-01 -1.60417423e-03 1.09070705e-03 2.40568709e+00] [ 1.60270733e-03 9.99997812e-01 1.34445390e-03 3.15126936e-02] [-1.09286140e-03 -1.34270329e-03 9.99998501e-01 5.31744753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692557844 meters 0.2878619732170058 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.53 [[ 9.99998100e-01 -1.74328906e-03 8.72420701e-04 2.40594806e+00] [ 1.74263160e-03 9.99998198e-01 7.53804825e-04 3.38256304e-02] [-8.73733229e-04 -7.52283085e-04 9.99999335e-01 5.32409840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72255784400005 meters 0.287598438328807 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:0.53 [[ 9.99997857e-01 -1.88405642e-03 8.58016434e-04 2.40586581e+00] [ 1.88378273e-03 9.99998175e-01 3.19682431e-04 3.55624540e-02] [-8.58617167e-04 -3.18065429e-04 9.99999581e-01 5.32744020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752557844 meters 0.2867807331525798 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:0.53 [[ 9.99997578e-01 -2.01211945e-03 8.91862698e-04 2.40570882e+00] [ 2.01216958e-03 9.99997974e-01 -5.53200095e-05 3.70918062e-02] [-8.91749581e-04 5.71144545e-05 9.99999601e-01 5.32952866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78255784400005 meters 0.2867265136637219 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:0.53 [[ 9.99997194e-01 -2.15441018e-03 9.85188517e-04 2.40545390e+00] [ 2.15486690e-03 9.99997571e-01 -4.62758162e-04 3.87540282e-02] [-9.84189153e-04 4.64879814e-04 9.99999408e-01 5.33034284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812557844 meters 0.2855748143074719 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:0.53 [[ 9.99996782e-01 -2.29514851e-03 1.08128757e-03 2.40517558e+00] [ 2.29607975e-03 9.99996994e-01 -8.60778182e-04 4.03891825e-02] [-1.07930871e-03 8.63258135e-04 9.99999045e-01 5.33139610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84255784400005 meters 0.28589352504984583 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:0.53 [[ 9.99996120e-01 -2.57036045e-03 1.07412752e-03 2.40519571e+00] [ 2.57220424e-03 9.99995215e-01 -1.71870326e-03 4.38718265e-02] [-1.06970469e-03 1.72145947e-03 9.99997946e-01 5.33159939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872557844 meters 0.2872082905927953 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.53 [[ 9.99995811e-01 -2.73137013e-03 9.58026167e-04 2.40556864e+00] [ 2.73343484e-03 9.99993930e-01 -2.16052906e-03 4.57048536e-02] [-9.52119147e-04 2.16313871e-03 9.99997207e-01 5.32995064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90255784400006 meters 0.2879480113741669 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.53 [[ 9.99995421e-01 -2.89917547e-03 8.67447587e-04 2.40586987e+00] [ 2.90144577e-03 9.99992339e-01 -2.62751108e-03 4.76366635e-02] [-8.59823326e-04 2.63001590e-03 9.99996172e-01 5.32849357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93255784400003 meters 0.2870854047240412 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.53 [[ 9.99995024e-01 -3.05748716e-03 7.76994996e-04 2.40611720e+00] [ 3.05986028e-03 9.99990601e-01 -3.07161288e-03 4.94608572e-02] [-7.67596276e-04 3.07397509e-03 9.99994981e-01 5.32819410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96255784400006 meters 0.28589500346870095 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.53 [[ 9.99994492e-01 -3.21868559e-03 8.09611721e-04 2.40597066e+00] [ 3.22152072e-03 9.99988597e-01 -3.52525862e-03 5.13268687e-02] [-7.98255789e-04 3.52784738e-03 9.99993459e-01 5.32993608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99255784400003 meters 0.28685411147732165 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.53 [[ 9.99993589e-01 -3.44487457e-03 9.77189291e-04 2.40551209e+00] [ 3.44900405e-03 9.99984995e-01 -4.25615184e-03 5.42679052e-02] [-9.62512719e-04 4.25949488e-03 9.99990465e-01 5.33135320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02255784400006 meters 0.2855180689457135 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99993307e-01 -3.52735058e-03 9.71478867e-04 2.40562090e+00] [ 3.53166897e-03 9.99983729e-01 -4.47991211e-03 5.51968978e-02] [-9.55660840e-04 4.48331307e-03 9.99989493e-01 5.32923711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05255784400003 meters 0.2861868716407799 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99993165e-01 -3.58336038e-03 9.10499796e-04 2.40582079e+00] [ 3.58754260e-03 9.99982828e-01 -4.63397150e-03 5.58402943e-02] [-8.93878971e-04 4.63720629e-03 9.99988849e-01 5.32819611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08255784400006 meters 0.28751149144938376 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99992835e-01 -3.69247168e-03 8.33435782e-04 2.40599987e+00] [ 3.69655108e-03 9.99980929e-01 -4.94739512e-03 5.71209370e-02] [-8.15151772e-04 4.95044052e-03 9.99987414e-01 5.32843406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11255784400004 meters 0.28664403375707964 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99992534e-01 -3.77510069e-03 8.24753904e-04 2.40602411e+00] [ 3.77932291e-03 9.99979446e-01 -5.17924552e-03 5.80672151e-02] [-8.05184778e-04 5.18232387e-03 9.99986248e-01 5.32840565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14255784400007 meters 0.2858421754589904 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99992084e-01 -3.89442307e-03 8.16329337e-04 2.40606958e+00] [ 3.89887457e-03 9.99977140e-01 -5.52430838e-03 5.94772169e-02] [-7.94796682e-04 5.52744742e-03 9.99984408e-01 5.32784672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17255784400004 meters 0.2866572159801228 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99991750e-01 -3.97646320e-03 8.29760551e-04 2.40603975e+00] [ 3.98117738e-03 9.99975490e-01 -5.75925093e-03 6.04411958e-02] [-8.06838764e-04 5.76250684e-03 9.99983071e-01 5.32782820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20255784400007 meters 0.2868617270911812 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99991437e-01 -4.05134106e-03 8.44002256e-04 2.40604264e+00] [ 4.05630928e-03 9.99973950e-01 -5.97039087e-03 6.13060264e-02] [-8.19792180e-04 5.97376328e-03 9.99981821e-01 5.32686700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23255784400004 meters 0.2858950429704754 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99999555e-01 2.77560898e-04 9.01483098e-04 2.40615104e+00] [-2.76055091e-04 9.99998567e-01 -1.67006138e-03 6.12960253e-02] [-9.01945350e-04 1.66981177e-03 9.99998199e-01 5.32178791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26255784400007 meters 0.2889629691658917 Centerline is valid? [False, False] Translation: X:2.43, Y:0.06, Z:0.53 [[ 9.99984033e-01 -5.37724396e-03 1.73745312e-03 2.42952315e+00] [ 5.37378284e-03 9.99983580e-01 1.99063511e-03 6.24987780e-02] [-1.74812872e-03 -1.98126663e-03 9.99996509e-01 5.30690373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29255784400004 meters 0.28584610024319607 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99998882e-01 1.10027755e-03 -1.01232196e-03 2.40753749e+00] [-1.10112228e-03 9.99999046e-01 -8.34271416e-04 6.42132050e-02] [ 1.01140306e-03 8.35385174e-04 9.99999140e-01 5.32380408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3225578440001 meters 0.28727132238356257 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999283e-01 1.15657035e-03 -3.10969363e-04 2.44871777e+00] [-1.15678393e-03 9.99999095e-01 -6.87498299e-04 6.47296759e-02] [ 3.10173942e-04 6.87857530e-04 9.99999715e-01 5.33614160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35255784400005 meters 0.28725947538881547 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999277e-01 1.18589331e-03 -2.00309364e-04 2.44828235e+00] [-1.18601513e-03 9.99999111e-01 -6.09141242e-04 6.44111504e-02] [ 1.99586810e-04 6.09378372e-04 9.99999794e-01 5.33977568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3825578440001 meters 0.2864620611656318 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999262e-01 1.19960784e-03 -1.91002248e-04 2.44825607e+00] [-1.19971707e-03 9.99999116e-01 -5.72783401e-04 6.42578055e-02] [ 1.90314964e-04 5.73012127e-04 9.99999818e-01 5.33984316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41255784400005 meters 0.2865794212468406 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999234e-01 1.22116011e-03 -2.03774355e-04 2.44834812e+00] [-1.22126491e-03 9.99999122e-01 -5.14942628e-04 6.40195602e-02] [ 2.03145349e-04 5.15191096e-04 9.99999847e-01 5.33849353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442557844 meters 0.2865794212468406 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999234e-01 1.22116011e-03 -2.03774355e-04 2.44834812e+00] [-1.22126491e-03 9.99999122e-01 -5.14942628e-04 6.40195602e-02] [ 2.03145349e-04 5.15191096e-04 9.99999847e-01 5.33849353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47255784400005 meters 0.2867074692960881 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999159e-01 1.27118506e-03 -2.58294555e-04 2.44863256e+00] [-1.27128415e-03 9.99999118e-01 -3.83811462e-04 6.34719065e-02] [ 2.57806432e-04 3.84139505e-04 9.99999893e-01 5.33518392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502557844 meters 0.28596909202757975 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999075e-01 1.32762430e-03 -2.94868395e-04 2.44885317e+00] [-1.32769356e-03 9.99999091e-01 -2.34819879e-04 6.28634543e-02] [ 2.94556374e-04 2.35211157e-04 9.99999929e-01 5.33229331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53255784400005 meters 0.2871491381393752 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99999020e-01 1.36589633e-03 -3.07712997e-04 2.44890359e+00] [-1.36593712e-03 9.99999058e-01 -1.32405256e-04 6.24378097e-02] [ 3.07531856e-04 1.32825443e-04 9.99999944e-01 5.33191153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562557844 meters 0.2874080602691353 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.53 [[ 9.99989175e-01 -4.45322248e-03 1.34876135e-03 2.47115296e+00] [ 4.44840624e-03 9.99983794e-01 3.55305609e-03 6.15886962e-02] [-1.36456204e-03 -3.54701779e-03 9.99992778e-01 5.32044257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59255784400005 meters 0.28630622137095857 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99998585e-01 1.22852811e-03 -1.14887730e-03 2.44931340e+00] [-1.22842409e-03 9.99999241e-01 9.12373542e-05 6.14538704e-02] [ 1.14898852e-03 -8.98259166e-05 9.99999336e-01 5.33415315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters 0.28798868134566785 Centerline is valid? [False, False] Translation: X:2.49, Y:0.06, Z:0.54 [[ 9.99995941e-01 7.39558375e-04 -2.75143967e-03 2.48957497e+00] [-7.40846022e-04 9.99999617e-01 -4.67000385e-04 6.03771703e-02] [ 2.75109324e-03 4.69036882e-04 9.99996106e-01 5.36116139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65255784400006 meters 0.2874874988520965 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.54 [[ 9.99959350e-01 -7.88526192e-03 -4.37273999e-03 2.46950605e+00] [ 7.88667541e-03 9.99968853e-01 3.06103212e-04 6.36270538e-02] [ 4.37019009e-03 -3.40577150e-04 9.99990393e-01 5.35973757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters 0.28571030916694923 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.54 [[ 9.99990025e-01 1.22959317e-03 -4.29385445e-03 2.44714909e+00] [-1.23000702e-03 9.99999239e-01 -9.37406816e-05 6.10937208e-02] [ 4.29373592e-03 9.90212176e-05 9.99990777e-01 5.36004090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71255784400006 meters 0.2874502277865419 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.54 [[ 9.99990927e-01 -3.81133126e-03 -1.90229334e-03 2.46885125e+00] [ 3.81848671e-03 9.99985595e-01 3.77213335e-03 6.22201407e-02] [ 1.88788909e-03 -3.77936301e-03 9.99991076e-01 5.35294030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74255784400003 meters 0.28694672277791267 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.54 [[ 9.99990812e-01 -3.91265894e-03 -1.75113136e-03 2.46839966e+00] [ 3.91873823e-03 9.99986260e-01 3.48177396e-03 6.34205484e-02] [ 1.73748430e-03 -3.48860420e-03 9.99992405e-01 5.35449403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77255784400006 meters 0.2872445891614173 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.54 [[ 9.99990402e-01 -4.03236189e-03 -1.71318936e-03 2.46835231e+00] [ 4.03775574e-03 9.99986866e-01 3.15672291e-03 6.47643785e-02] [ 1.70043781e-03 -3.16361005e-03 9.99993550e-01 5.35317541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters 0.28682028978993734 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.54 [[ 9.99989803e-01 -4.21006730e-03 -1.63388189e-03 2.46823449e+00] [ 4.21438992e-03 9.99987605e-01 2.65125201e-03 6.68371242e-02] [ 1.62269969e-03 -2.65811079e-03 9.99995151e-01 5.35087269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83255784400006 meters 0.28664910717735453 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.54 [[ 9.99989491e-01 -4.30461288e-03 -1.57712717e-03 2.46801997e+00] [ 4.30840376e-03 9.99987819e-01 2.40820229e-03 6.78597784e-02] [ 1.56674158e-03 -2.41497189e-03 9.99995857e-01 5.35215273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters 0.2876520028935602 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.54 [[ 9.99988766e-01 -4.44627777e-03 -1.64300339e-03 2.46813228e+00] [ 4.44966198e-03 9.99987974e-01 2.06188667e-03 6.93039704e-02] [ 1.63381591e-03 -2.06917432e-03 9.99996525e-01 5.35304208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89255784400007 meters 0.28835851953143515 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99988448e-01 -4.46833800e-03 -1.77163904e-03 2.46862921e+00] [ 4.47188415e-03 9.99987996e-01 2.00273808e-03 6.95314733e-02] [ 1.76266886e-03 -2.01063751e-03 9.99996425e-01 5.34896209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters 0.2871179013643733 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99988183e-01 -4.48748313e-03 -1.86971820e-03 2.46903270e+00] [ 4.49113107e-03 9.99988011e-01 1.95145414e-03 6.97329424e-02] [ 1.86093867e-03 -1.95982823e-03 9.99996348e-01 5.34518178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95255784400007 meters 0.28740185030651344 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99987983e-01 -4.49553789e-03 -1.95547096e-03 2.46927691e+00] [ 4.49931175e-03 9.99988016e-01 1.92979879e-03 6.98188722e-02] [ 1.94677205e-03 -1.93857387e-03 9.99996226e-01 5.34455647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98255784400004 meters 0.28754566632879375 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99987903e-01 -4.50229562e-03 -1.98080462e-03 2.46929156e+00] [ 4.50608124e-03 9.99988022e-01 1.91086107e-03 6.98958726e-02] [ 1.97217763e-03 -1.91976362e-03 9.99996213e-01 5.34566536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01255784400007 meters 0.28727554949230527 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99987832e-01 -4.49190817e-03 -2.03917642e-03 2.46938861e+00] [ 4.49586081e-03 9.99988016e-01 1.93792575e-03 6.97819096e-02] [ 2.03044700e-03 -1.94707003e-03 9.99996043e-01 5.34688633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04255784400004 meters 0.2882638123113353 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.53 [[ 9.99987788e-01 -4.47900283e-03 -2.08867334e-03 2.46944403e+00] [ 4.48311912e-03 9.99988010e-01 1.97026710e-03 6.96440490e-02] [ 2.07982347e-03 -1.97960681e-03 9.99995878e-01 5.34852840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0725578440001 meters 0.28773362202653574 Centerline is valid? [False, False] Translation: X:2.45, Y:0.07, Z:0.53 [[ 9.99989572e-01 3.72253712e-03 -2.64552781e-03 2.44999673e+00] [-3.72097810e-03 9.99992901e-01 5.93982494e-04 6.56692495e-02] [ 2.64772015e-03 -5.84132348e-04 9.99996324e-01 5.33450908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10255784400005 meters 0.28559373617464023 Centerline is valid? [False, False] Translation: X:2.43, Y:0.07, Z:0.54 [[ 0.99998274 -0.00295701 -0.0050778 2.42758809] [ 0.00297214 0.99999116 0.00297446 0.06516687] [ 0.00506896 -0.0029895 0.99998268 0.53500575] [ 0. 0. 0. 1. ]] SLAMing on 329.1325578440001 meters 0.28670140649369097 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.54 [[ 9.99979201e-01 5.39640181e-03 -3.53232273e-03 2.44785568e+00] [-5.38940386e-03 9.99983502e-01 1.98764760e-03 6.29467848e-02] [ 3.54299060e-03 -1.96856915e-03 9.99991786e-01 5.35602333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16255784400005 meters 0.2869344366555135 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.54 [[ 9.99978969e-01 5.40498440e-03 -3.58432438e-03 2.44801957e+00] [-5.39779723e-03 9.99983408e-01 2.01181968e-03 6.28456353e-02] [ 3.59513876e-03 -1.99242991e-03 9.99991553e-01 5.35527643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192557844 meters 0.2887663659764888 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:0.54 [[ 0.99999035 -0.00347056 -0.00269173 2.46907782] [ 0.00347774 0.9999904 0.00266605 0.06576308] [ 0.00268246 -0.00267538 0.99999282 0.53569144] [ 0. 0. 0. 1. ]] SLAMing on 329.22255784400005 meters 0.2868972436125949 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99984140e-01 4.54265898e-03 -3.32911518e-03 2.45006610e+00] [-4.53864984e-03 9.99988967e-01 1.21083349e-03 6.09109327e-02] [ 3.33457886e-03 -1.19570460e-03 9.99993725e-01 5.34153359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252557844 meters 0.2877954879169514 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:0.53 [[ 9.99990979e-01 -3.71705605e-03 -2.05576696e-03 2.46959306e+00] [ 3.72227151e-03 9.99989849e-01 2.53900764e-03 6.42356785e-02] [ 2.04630846e-03 -2.54663686e-03 9.99994664e-01 5.34988392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28255784400005 meters 0.2869805088916395 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99985191e-01 4.63184941e-03 -2.85733735e-03 2.44999144e+00] [-4.62773781e-03 9.99988250e-01 1.44389735e-03 6.02022166e-02] [ 2.86399169e-03 -1.43065296e-03 9.99994875e-01 5.33682188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312557844 meters 0.28812201315293706 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:0.53 [[ 9.99984868e-01 4.73267989e-03 -2.80439915e-03 2.44976435e+00] [-4.72791479e-03 9.99987373e-01 1.70335228e-03 5.91396625e-02] [ 2.81242516e-03 -1.69006754e-03 9.99994617e-01 5.33909028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34255784400005 meters 0.2850196910747179 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:0.53 [[ 9.99993323e-01 3.25791677e-03 -1.65546292e-03 2.40951551e+00] [-3.25691244e-03 9.99994511e-01 6.09011739e-04 5.62432137e-02] [ 1.65743794e-03 -6.03615975e-04 9.99998444e-01 5.31562314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372557844 meters 0.28661517097276273 Centerline is valid? [False, False] Translation: X:2.43, Y:0.05, Z:0.53 [[ 9.99994807e-01 -2.91332335e-03 1.37800264e-03 2.43128098e+00] [ 2.90817907e-03 9.99988850e-01 3.72052926e-03 5.35394227e-02] [-1.38882638e-03 -3.71650246e-03 9.99992129e-01 5.29715600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40255784400006 meters 0.28602107320079695 Centerline is valid? [False, False] Translation: X:2.43, Y:0.05, Z:0.53 [[ 9.99995227e-01 -2.73901122e-03 1.42942451e-03 2.43112171e+00] [ 2.73302794e-03 9.99987566e-01 4.17109681e-03 5.16597250e-02] [-1.44083141e-03 -4.16717024e-03 9.99990279e-01 5.29822980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43255784400003 meters 0.28638371276867264 Centerline is valid? [False, False] Translation: X:2.43, Y:0.05, Z:0.53 [[ 9.99995585e-01 -2.56827827e-03 1.49486998e-03 2.43093586e+00] [ 2.56135784e-03 9.99986079e-01 4.61309947e-03 4.98262508e-02] [-1.50669690e-03 -4.60925020e-03 9.99988242e-01 5.29895605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46255784400006 meters 0.28660808511997476 Centerline is valid? [False, False] Translation: X:2.43, Y:0.05, Z:0.53 [[ 9.99996682e-01 -2.17137718e-03 1.38631427e-03 2.43157743e+00] [ 2.16364447e-03 9.99982229e-01 5.55523565e-03 4.58891051e-02] [-1.39835214e-03 -5.55221773e-03 9.99983609e-01 5.29324847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49255784400003 meters 0.28797160156571433 Centerline is valid? [False, False] Translation: X:2.43, Y:0.04, Z:0.53 [[ 9.99997251e-01 -1.98103469e-03 1.25414802e-03 2.43211428e+00] [ 1.97338832e-03 9.99979636e-01 6.06902274e-03 4.37289698e-02] [-1.26614543e-03 -6.06653113e-03 9.99980797e-01 5.28910983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52255784400006 meters 0.2870408956299734 Centerline is valid? [False, False] Translation: X:2.43, Y:0.04, Z:0.53 [[ 9.99997714e-01 -1.78698534e-03 1.17404725e-03 2.43247179e+00] [ 1.77921443e-03 9.99976723e-01 6.58694317e-03 4.15698261e-02] [-1.18579070e-03 -6.58483923e-03 9.99977617e-01 5.28604483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55255784400003 meters 0.28796464712619885 Centerline is valid? [False, False] Translation: X:2.43, Y:0.04, Z:0.53 [[ 9.99998398e-01 -1.31794166e-03 1.21133257e-03 2.43225322e+00] [ 1.30835998e-03 9.99968119e-01 7.87707696e-03 3.63509600e-02] [-1.22167548e-03 -7.87547948e-03 9.99968242e-01 5.28979084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58255784400006 meters 0.286529470703462 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:0.53 [[ 9.99998685e-01 -1.05613586e-03 1.23063834e-03 2.43204881e+00] [ 1.04554838e-03 9.99962710e-01 8.57236031e-03 3.34923575e-02] [-1.23964603e-03 -8.57106234e-03 9.99962499e-01 5.29367583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61255784400004 meters 0.28630597863725954 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:0.53 [[ 9.99998945e-01 -7.93370568e-04 1.21716470e-03 2.43196424e+00] [ 7.82055417e-04 9.99956738e-01 9.26879801e-03 3.06412174e-02] [-1.22446563e-03 -9.26783633e-03 9.99956303e-01 5.29701527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64255784400007 meters 0.28640512871548357 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:0.53 [[ 9.99999146e-01 -5.77012870e-04 1.17305185e-03 2.43203153e+00] [ 5.65445584e-04 9.99951452e-01 9.83737905e-03 2.83149158e-02] [-1.17867120e-03 -9.83670735e-03 9.99950924e-01 5.29870566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67255784400004 meters 0.28735174066187924 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:0.53 [[ 9.99999299e-01 -3.85920560e-04 1.11947466e-03 2.43224785e+00] [ 3.74327562e-04 9.99946496e-01 1.03375387e-02 2.62456781e-02] [-1.12340423e-03 -1.03371124e-02 9.99945940e-01 5.29749945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70255784400007 meters 0.2868419692371635 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:0.53 [[ 9.99989642e-01 -4.40144095e-03 1.15927418e-03 2.43245318e+00] [ 4.39332468e-03 9.99966454e-01 6.91305988e-03 2.26370268e-02] [-1.18966272e-03 -6.90789520e-03 9.99975433e-01 5.29270565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73255784400004 meters 0.2865590652525147 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99994232e-01 3.36449878e-03 4.65925841e-04 2.41427888e+00] [-3.36712428e-03 9.99977778e-01 5.75378131e-03 1.48657961e-02] [-4.46556897e-04 -5.75531695e-03 9.99983338e-01 5.27153258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76255784400007 meters 0.2876868220384956 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999637e-01 -7.67936830e-04 3.69464698e-04 2.41462186e+00] [ 7.67181529e-04 9.99997625e-01 2.04012855e-03 1.24917064e-02] [-3.71030510e-04 -2.03984436e-03 9.99997851e-01 5.26879693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79255784400004 meters 0.28716919752446474 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999717e-01 -6.76490669e-04 3.29099942e-04 2.41478464e+00] [ 6.75738219e-04 9.99997170e-01 2.28115057e-03 1.14914946e-02] [-3.30642187e-04 -2.28092754e-03 9.99997344e-01 5.26767395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8225578440001 meters 0.28785537110701565 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.53 [[ 9.99999790e-01 -5.99948337e-04 2.44211547e-04 2.41504772e+00] [ 5.99341286e-04 9.99996749e-01 2.47828913e-03 1.06717374e-02] [-2.45697598e-04 -2.47814224e-03 9.99996899e-01 5.26683237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85255784400005 meters 0.28962698438457984 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.53 [[ 9.99999823e-01 -5.59814824e-04 2.01109212e-04 2.41521371e+00] [ 5.59293717e-04 9.99996510e-01 2.58194264e-03 1.02399866e-02] [-2.02553920e-04 -2.58182970e-03 9.99996647e-01 5.26574750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8825578440001 meters 0.28835761220203354 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.53 [[ 9.99999816e-01 -5.52856284e-04 2.49643463e-04 2.41516434e+00] [ 5.52205074e-04 9.99996465e-01 2.60113529e-03 1.01592711e-02] [-2.51080634e-04 -2.60099695e-03 9.99996586e-01 5.26405076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91255784400005 meters 0.28856388853195813 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999693e-01 -5.67379059e-04 5.40318732e-04 2.41432154e+00] [ 5.65999175e-04 9.99996587e-01 2.55057045e-03 1.04381405e-02] [-5.41764028e-04 -2.55026385e-03 9.99996601e-01 5.26726224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters 0.28819141701045226 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999636e-01 -5.96463404e-04 6.10127190e-04 2.41412310e+00] [ 5.94952978e-04 9.99996766e-01 2.47278536e-03 1.07663834e-02] [-6.11600142e-04 -2.47242146e-03 9.99996757e-01 5.26767585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97255784400005 meters 0.2871239539372651 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999640e-01 -6.14242338e-04 5.85090549e-04 2.41420269e+00] [ 6.12820269e-04 9.99996866e-01 2.42759868e-03 1.09534498e-02] [-5.86579849e-04 -2.42723925e-03 9.99996882e-01 5.26725684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters 0.2870219078174443 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999675e-01 -6.23363558e-04 5.11951871e-04 2.41442456e+00] [ 6.22130486e-04 9.99996914e-01 2.40520880e-03 1.10364086e-02] [-5.13449610e-04 -2.40488952e-03 9.99996976e-01 5.26639824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03255784400005 meters 0.2888016311956278 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999697e-01 -6.27150640e-04 4.60111658e-04 2.41451631e+00] [ 6.26046573e-04 9.99996934e-01 2.39579551e-03 1.10748878e-02] [-4.61612772e-04 -2.39550673e-03 9.99997024e-01 5.26732361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062557844 meters 0.2880665578745933 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999688e-01 -6.16583348e-04 4.94478549e-04 2.41423359e+00] [ 6.15383855e-04 9.99996877e-01 2.42226942e-03 1.09835210e-02] [-4.95970536e-04 -2.42196437e-03 9.99996944e-01 5.27180060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09255784400005 meters 0.2880693413317684 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999652e-01 -6.22355448e-04 5.54738728e-04 2.41402111e+00] [ 6.21019532e-04 9.99996915e-01 2.40511624e-03 1.10599401e-02] [-5.56233854e-04 -2.40477090e-03 9.99996954e-01 5.27314357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122557844 meters 0.286986301436146 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.53 [[ 9.99999611e-01 -6.60541806e-04 5.83897054e-04 2.41392228e+00] [ 6.59195126e-04 9.99997130e-01 2.30355656e-03 1.14815699e-02] [-5.85416973e-04 -2.30317077e-03 9.99997176e-01 5.27360071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15255784400006 meters 0.2885444654692554 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:0.53 [[ 9.99975504e-01 5.93460322e-03 3.71109590e-03 2.43533083e+00] [-5.93270883e-03 9.99982265e-01 -5.21267825e-04 1.42542746e-02] [-3.71412360e-03 4.99238204e-04 9.99992978e-01 5.25548958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters 0.28842916445316297 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:0.52 [[ 9.99996366e-01 -2.33081029e-03 1.35459281e-03 2.41666407e+00] [ 2.33006845e-03 9.99997135e-01 5.48969197e-04 1.84780933e-02] [-1.35586847e-03 -5.45810909e-04 9.99998932e-01 5.24502952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21255784400006 meters 0.2877813913569504 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:0.52 [[ 9.99996450e-01 -2.32627413e-03 1.29923271e-03 2.41676529e+00] [ 2.32554440e-03 9.99997137e-01 5.62886537e-04 1.84222099e-02] [-1.30053842e-03 -5.59863115e-04 9.99998998e-01 5.24596717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters 0.2880907835373913 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:0.52 [[ 9.99996648e-01 -2.25633696e-03 1.26970382e-03 2.41681680e+00] [ 2.25539139e-03 9.99997179e-01 7.45655741e-04 1.76652360e-02] [-1.27138269e-03 -7.42789562e-04 9.99998916e-01 5.24671566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27255784400006 meters 0.28709506333140866 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:0.52 [[ 9.99997017e-01 -2.09849703e-03 1.24969603e-03 2.41677975e+00] [ 2.09699477e-03 9.99997079e-01 1.20220192e-03 1.58075824e-02] [-1.25221520e-03 -1.19957773e-03 9.99998496e-01 5.24900961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30255784400003 meters 0.2867349421297938 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.53 [[ 9.99997170e-01 -2.01138927e-03 1.27023793e-03 2.41669105e+00] [ 2.00956780e-03 9.99996953e-01 1.43360860e-03 1.48478807e-02] [-1.27311760e-03 -1.43105191e-03 9.99998166e-01 5.25007316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33255784400006 meters 0.2867349421297938 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.53 [[ 9.99997170e-01 -2.01138927e-03 1.27023793e-03 2.41669105e+00] [ 2.00956780e-03 9.99996953e-01 1.43360860e-03 1.48478807e-02] [-1.27311760e-03 -1.43105191e-03 9.99998166e-01 5.25007316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36255784400004 meters 0.28921116196864305 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:0.52 [[ 9.99983271e-01 4.02778070e-03 4.15149096e-03 2.43933596e+00] [-4.02142727e-03 9.99990732e-01 -1.53761123e-03 1.59564886e-02] [-4.15764565e-03 1.52089059e-03 9.99990200e-01 5.22965798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39255784400007 meters 0.2869933347089244 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99996081e-01 -2.66089599e-03 8.70067687e-04 2.41871292e+00] [ 2.65980854e-03 9.99995683e-01 1.24861675e-03 1.33776166e-02] [-8.73386370e-04 -1.24629765e-03 9.99998842e-01 5.24311759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42255784400004 meters 0.2889584329196713 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:0.52 [[ 9.99988070e-01 4.03265272e-03 2.75624496e-03 2.44071791e+00] [-4.02828291e-03 9.99990624e-01 -1.58913612e-03 1.30951334e-02] [-2.76262755e-03 1.57801423e-03 9.99994939e-01 5.22934989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45255784400007 meters 0.2890213052225127 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:0.52 [[ 9.99987807e-01 4.10387352e-03 2.74673762e-03 2.44088174e+00] [-4.10001657e-03 9.99990603e-01 -1.40835715e-03 1.23294680e-02] [-2.75249152e-03 1.39707831e-03 9.99995236e-01 5.22641513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48255784400004 meters 0.28737366569921036 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99985299e-01 -5.28521058e-03 1.21196046e-03 2.42029151e+00] [ 5.28622258e-03 9.99985681e-01 -8.33334913e-04 1.30055425e-02] [-1.20753875e-03 8.39729355e-04 9.99998918e-01 5.22917661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51255784400007 meters 0.2887232950116978 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:0.52 [[ 9.99992089e-01 3.52098642e-03 1.85079119e-03 2.44103794e+00] [-3.51764380e-03 9.99992182e-01 -1.80620955e-03 1.07690895e-02] [-1.85713636e-03 1.79968484e-03 9.99996656e-01 5.23954673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54255784400004 meters 0.2875173260558461 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99986695e-01 -5.10773376e-03 -7.22040579e-04 2.42205028e+00] [ 5.10710595e-03 9.99986581e-01 -8.68672354e-04 1.29211359e-02] [ 7.26467837e-04 8.64973259e-04 9.99999362e-01 5.23738688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5725578440001 meters 0.28848960476571595 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99986661e-01 -5.09020785e-03 -8.76392267e-04 2.42265523e+00] [ 5.08949325e-03 9.99986716e-01 -8.15701264e-04 1.26830663e-02] [ 8.80532713e-04 8.11229991e-04 9.99999283e-01 5.23153167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60255784400005 meters 0.2883909057515565 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99986812e-01 -5.06872365e-03 -8.27307495e-04 2.42252144e+00] [ 5.06809599e-03 9.99986869e-01 -7.59027364e-04 1.24535726e-02] [ 8.31143931e-04 7.54824480e-04 9.99999370e-01 5.23179394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6325578440001 meters 0.28936575536790293 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99987149e-01 -5.01754369e-03 -7.25380146e-04 2.42219876e+00] [ 5.01709003e-03 9.99987218e-01 -6.25891453e-04 1.19096674e-02] [ 7.28511312e-04 6.22244112e-04 9.99999541e-01 5.23340221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66255784400005 meters 0.287810949665834 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:0.52 [[ 9.99994470e-01 3.07842119e-03 -1.25829676e-03 2.40242368e+00] [-3.08038045e-03 9.99994042e-01 -1.55811350e-03 6.28215919e-03] [ 1.25349273e-03 1.56198092e-03 9.99997994e-01 5.22457933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692557844 meters 0.28820997573575285 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:0.52 [[ 9.99994152e-01 3.15966730e-03 -1.30842227e-03 2.40245876e+00] [-3.16137592e-03 9.99994150e-01 -1.30586299e-03 5.27761744e-03] [ 1.30428852e-03 1.30999177e-03 9.99998291e-01 5.22705069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72255784400005 meters 0.2895833328808625 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99994764e-01 -3.09542867e-03 9.43595991e-04 2.42299353e+00] [ 3.09386827e-03 9.99993852e-01 1.65066767e-03 5.80032669e-03] [-9.48699714e-04 -1.64773967e-03 9.99998192e-01 5.22255904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752557844 meters 0.28747799468699925 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:0.52 [[ 9.99997007e-01 2.13943571e-03 -1.18715456e-03 2.39918963e+00] [-2.14134591e-03 9.99996411e-01 -1.61012750e-03 5.51290675e-03] [ 1.18370554e-03 1.61266479e-03 9.99997999e-01 5.24683731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78255784400005 meters 0.2889330470370507 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:0.52 [[ 9.99990446e-01 -4.16389671e-03 1.33072127e-03 2.41923153e+00] [ 4.16223276e-03 9.99990556e-01 1.25074709e-03 6.21350994e-03] [-1.33591669e-03 -1.24519637e-03 9.99998332e-01 5.24303897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812557844 meters 0.2888304508894534 Centerline is valid? [False, False] Translation: X:2.44, Y:0.00, Z:0.53 [[ 9.99985905e-01 3.99212187e-03 3.50027371e-03 2.43707571e+00] [-3.99155553e-03 9.99992019e-01 -1.68771792e-04 2.49670170e-03] [-3.50091954e-03 1.54797876e-04 9.99993860e-01 5.26473200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84255784400005 meters 0.2876729640317848 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:0.53 [[ 9.99985917e-01 -4.83786877e-03 2.18172512e-03 2.41689922e+00] [ 4.83598855e-03 9.99987931e-01 8.66256085e-04 4.24578042e-03] [-2.18588962e-03 -8.55693088e-04 9.99997245e-01 5.26281226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872557844 meters 0.28837043227941167 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:0.53 [[ 9.99986299e-01 -4.76700030e-03 2.16280419e-03 2.41690150e+00] [ 4.76473785e-03 9.99988097e-01 1.05002007e-03 3.48250989e-03] [-2.16778389e-03 -1.03970049e-03 9.99997110e-01 5.26405399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90255784400006 meters 0.28860736048499286 Centerline is valid? [False, False] Translation: X:2.44, Y:0.00, Z:0.53 [[ 9.99985053e-01 3.87857620e-03 3.85354789e-03 2.43671357e+00] [-3.87906577e-03 9.99992469e-01 1.19576308e-04 3.52490927e-04] [-3.85305509e-03 -1.34522686e-04 9.99992568e-01 5.26865128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93255784400003 meters 0.2884540766989136 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.00, Z:0.53 [[ 9.99976758e-01 -5.57861457e-03 3.91939425e-03 2.41403177e+00] [ 5.57523771e-03 9.99984078e-01 8.71976695e-04 -8.76157180e-04] [-3.92419627e-03 -8.50104874e-04 9.99991939e-01 5.26771900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96255784400006 meters 0.2878148449098969 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.00, Z:0.53 [[ 9.99977417e-01 -5.44853756e-03 3.93438004e-03 2.41383330e+00] [ 5.44376662e-03 9.99984436e-01 1.22232134e-03 -2.32906599e-03] [-3.94097867e-03 -1.20087589e-03 9.99991513e-01 5.27172109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99255784400003 meters 0.2873563400915187 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:0.53 [[ 9.99992604e-01 2.63295110e-03 2.80361413e-03 2.39445312e+00] [-2.63425224e-03 9.99996424e-01 4.60502733e-04 -9.02036436e-03] [-2.80239162e-03 -4.67884754e-04 9.99995964e-01 5.26713225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02255784400006 meters 0.28871487110528427 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.53 [[ 9.99996171e-01 2.53434137e-03 1.11138950e-03 2.43447815e+00] [-2.53427743e-03 9.99996787e-01 -5.89383421e-05 -8.66924615e-03] [-1.11153530e-03 5.61215471e-05 9.99999381e-01 5.29971057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05255784400003 meters 0.29075822568085213 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99998310e-01 -1.60985131e-03 8.88356844e-04 2.43535525e+00] [ 1.61325472e-03 9.99991311e-01 -3.84381091e-03 -1.09084186e-02] [-8.82161161e-04 3.84523756e-03 9.99992218e-01 5.29005631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08255784400006 meters 0.2894273382528247 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99998616e-01 -1.44457879e-03 8.25527116e-04 2.43564822e+00] [ 1.44739026e-03 9.99993120e-01 -3.41527653e-03 -1.27089160e-02] [-8.20587801e-04 3.41646667e-03 9.99993827e-01 5.28738739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11255784400004 meters 0.28845220700158114 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99998746e-01 -1.31255483e-03 8.86438993e-04 2.43555114e+00] [ 1.31527417e-03 9.99994410e-01 -3.07412822e-03 -1.41251749e-02] [-8.82399075e-04 3.07529028e-03 9.99994882e-01 5.28627115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14255784400007 meters 0.28970455027929504 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99998858e-01 -1.19391878e-03 9.27066821e-04 2.43546982e+00] [ 1.19647817e-03 9.99995461e-01 -2.76510358e-03 -1.54056398e-02] [-9.23761304e-04 2.76620963e-03 9.99995747e-01 5.28595208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17255784400004 meters 0.2892894332363621 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99998971e-01 -1.07512006e-03 9.50124036e-04 2.43539424e+00] [ 1.07744993e-03 9.99996406e-01 -2.45507533e-03 -1.66841157e-02] [-9.47481121e-04 2.45609652e-03 9.99996535e-01 5.28651095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20255784400007 meters 0.2901815626899318 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999250e-01 -9.46895082e-04 7.77333718e-04 2.43591505e+00] [ 9.48554855e-04 9.99997265e-01 -2.13762900e-03 -1.80065412e-02] [-7.75307482e-04 2.13836474e-03 9.99997413e-01 5.28499538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23255784400004 meters 0.28920139193809663 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999386e-01 -9.10850834e-04 6.31338781e-04 2.43637313e+00] [ 9.12135211e-04 9.99997509e-01 -2.03707603e-03 -1.84326904e-02] [-6.29481736e-04 2.03765065e-03 9.99997726e-01 5.28281174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26255784400007 meters 0.2897411525243194 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999485e-01 -8.68079207e-04 5.26365587e-04 2.43670987e+00] [ 8.69085812e-04 9.99997788e-01 -1.91516598e-03 -1.89357052e-02] [-5.24701907e-04 1.91562245e-03 9.99998028e-01 5.28104023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29255784400004 meters 0.2931483698539866 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.02, Z:0.53 [[ 9.99980298e-01 -5.95676029e-03 1.98026783e-03 2.46078446e+00] [ 5.95351089e-03 9.99980928e-01 1.64275155e-03 -1.79958965e-02] [-1.99001554e-03 -1.63092963e-03 9.99996690e-01 5.25942642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3225578440001 meters 0.2925514560867714 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.02, Z:0.53 [[ 9.99980220e-01 -5.93115630e-03 2.09306939e-03 2.46044235e+00] [ 5.92757905e-03 9.99980968e-01 1.71117607e-03 -1.82652975e-02] [-2.10317881e-03 -1.69873538e-03 9.99996345e-01 5.26073860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35255784400005 meters 0.29312393382281404 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.02, Z:0.53 [[ 9.99980080e-01 -5.90627711e-03 2.22597649e-03 2.46002916e+00] [ 5.90233104e-03 9.99981005e-01 1.77515671e-03 -1.85126280e-02] [-2.23641878e-03 -1.76198290e-03 9.99995947e-01 5.26253277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3825578440001 meters 0.2936877320177253 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.02, Z:0.53 [[ 9.99979875e-01 -5.91285074e-03 2.29937528e-03 2.45979792e+00] [ 5.90881749e-03 9.99980999e-01 1.75691864e-03 -1.84277179e-02] [-2.30971999e-03 -1.74329669e-03 9.99995813e-01 5.26349272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41255784400005 meters 0.29208627405053134 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999967e-01 8.96212093e-05 2.39896161e-04 2.43740562e+00] [-8.93688586e-05 9.99999443e-01 -1.05172036e-03 -1.99566520e-02] [-2.39990283e-04 1.05169889e-03 9.99999418e-01 5.28122915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters 0.29182520043941906 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999984e-01 8.84681958e-05 1.53332337e-04 2.43764265e+00] [-8.83068253e-05 9.99999443e-01 -1.05210999e-03 -1.99596958e-02] [-1.53425330e-04 1.05209643e-03 9.99999435e-01 5.28085551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47255784400005 meters 0.29314021837249454 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999982e-01 8.27351242e-05 1.71356557e-04 2.43752918e+00] [-8.25520736e-05 9.99999426e-01 -1.06797558e-03 -1.98835119e-02] [-1.71444818e-04 1.06796142e-03 9.99999415e-01 5.28239171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters 0.29201988979906157 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999975e-01 4.47866828e-05 2.17472394e-04 2.43740228e+00] [-4.45322936e-05 9.99999315e-01 -1.16961766e-03 -1.94610211e-02] [-2.17524628e-04 1.16960795e-03 9.99999292e-01 5.28252182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53255784400005 meters 0.29228483368650626 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999972e-01 4.07175427e-06 2.35439665e-04 2.43730645e+00] [-3.77122621e-06 9.99999185e-01 -1.27644103e-03 -1.90133767e-02] [-2.35444671e-04 1.27644011e-03 9.99999158e-01 5.28352403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters 0.2907248401032227 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999922e-01 -1.65902261e-04 3.58857506e-04 2.43687201e+00] [ 1.66524434e-04 9.99998482e-01 -1.73442551e-03 -1.70986289e-02] [-3.58569217e-04 1.73448513e-03 9.99998431e-01 5.28568361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59255784400005 meters 0.2923505173859217 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:0.53 [[ 9.99999854e-01 -2.77414570e-04 4.62986486e-04 2.43655571e+00] [ 2.78355673e-04 9.99997893e-01 -2.03385503e-03 -1.58463038e-02] [-4.62421289e-04 2.03398361e-03 9.99997825e-01 5.28651216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters 0.29089011577335117 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99999743e-01 -4.11644945e-04 5.86669791e-04 2.43614573e+00] [ 4.13048087e-04 9.99997050e-01 -2.39359610e-03 -1.43474015e-02] [-5.85682749e-04 2.39383781e-03 9.99996963e-01 5.28827890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65255784400006 meters 0.2929706352875167 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99999581e-01 -5.78750693e-04 7.09210869e-04 2.43581609e+00] [ 5.80763982e-04 9.99995793e-01 -2.84186321e-03 -1.24889624e-02] [-7.07563155e-04 2.84227390e-03 9.99995710e-01 5.28828122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters 0.29212418513393396 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99999300e-01 -9.05151890e-04 7.62266479e-04 2.43571360e+00] [ 9.08005925e-04 9.99992548e-01 -3.75215820e-03 -8.79533485e-03] [-7.58864526e-04 3.75284771e-03 9.99992670e-01 5.28714105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71255784400006 meters 0.29371399046112684 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:0.53 [[ 9.99999223e-01 -1.06792259e-03 6.42768658e-04 2.43617260e+00] [ 1.07059913e-03 9.99990698e-01 -4.17823468e-03 -7.03683076e-03] [-6.38300648e-04 4.17891958e-03 9.99991065e-01 5.28323279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters 0.2913213912601353 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.53 [[ 9.99968880e-01 -7.24965223e-03 -3.11137597e-03 2.41544866e+00] [ 7.24544622e-03 9.99972825e-01 -1.36096818e-03 -7.99098198e-03] [ 3.12115796e-03 1.33838252e-03 9.99994234e-01 5.29540740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77255784400006 meters 0.2923350048500576 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:0.53 [[ 9.99991491e-01 1.39288107e-03 -3.88309226e-03 2.39437692e+00] [-1.40097911e-03 9.99996848e-01 -2.08352163e-03 -1.00611053e-02] [ 3.88017792e-03 2.08894403e-03 9.99990290e-01 5.29371159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters 0.29213397837884486 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:0.53 [[ 9.99991866e-01 1.38190526e-03 -3.78911909e-03 2.39403715e+00] [-1.38993409e-03 9.99996793e-01 -2.11710347e-03 -9.90118965e-03] [ 3.78618130e-03 2.12235288e-03 9.99990580e-01 5.29607211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83255784400006 meters 0.29386889483172945 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.53 [[ 9.99992038e-01 -3.88794094e-03 -8.99145644e-04 2.41562985e+00] [ 3.88912124e-03 9.99991573e-01 1.31468531e-03 -1.01615665e-02] [ 8.94026648e-04 -1.31817173e-03 9.99998732e-01 5.28408831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86255784400004 meters 0.2924364418105221 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.53 [[ 9.99992222e-01 -3.85298473e-03 -8.43428155e-04 2.41534271e+00] [ 3.85416567e-03 9.99991588e-01 1.40304673e-03 -1.05170606e-02] [ 8.38015143e-04 -1.40628653e-03 9.99998660e-01 5.28744414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89255784400007 meters 0.2922658874205058 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.53 [[ 9.99992380e-01 -3.80713930e-03 -8.63322427e-04 2.41532796e+00] [ 3.80844945e-03 9.99991591e-01 1.52102953e-03 -1.09992922e-02] [ 8.57524397e-04 -1.52430586e-03 9.99998471e-01 5.28902241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92255784400004 meters 0.2897938296028647 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.53 [[ 9.99990394e-01 -4.24272430e-03 -1.10050581e-03 2.37773059e+00] [ 4.24512090e-03 9.99988603e-01 2.18460943e-03 -1.61692796e-02] [ 1.09122457e-03 -2.18926023e-03 9.99997008e-01 5.25701774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95255784400007 meters 0.2929289791097504 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:0.52 [[ 9.99994911e-01 2.76370100e-03 -1.59343994e-03 2.40351803e+00] [-2.76410192e-03 9.99996149e-01 -2.49456206e-04 -1.90857075e-02] [ 1.59274438e-03 2.53859367e-04 9.99998699e-01 5.23673259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98255784400004 meters 0.2922029494503646 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.52 [[ 9.99974239e-01 -5.77313767e-03 -4.26515745e-03 2.38455959e+00] [ 5.77846324e-03 9.99982539e-01 1.23735588e-03 -2.12361237e-02] [ 4.25793955e-03 -1.26197006e-03 9.99990139e-01 5.22985802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01255784400007 meters 0.2933259371848275 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:0.52 [[ 9.99990430e-01 2.96473783e-03 -3.21731887e-03 2.40411281e+00] [-2.96347402e-03 9.99995530e-01 3.97510765e-04 -2.65630747e-02] [ 3.21848301e-03 -3.87972520e-04 9.99994745e-01 5.24053028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04255784400004 meters 0.29122870931123557 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:0.53 [[ 9.99989421e-01 3.34818881e-03 -3.15393702e-03 2.40355277e+00] [-3.34269311e-03 9.99992889e-01 1.74615239e-03 -3.17689917e-02] [ 3.15976104e-03 -1.73559128e-03 9.99993502e-01 5.25030729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0725578440001 meters 0.2903873069813878 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:0.53 [[ 9.99988427e-01 3.56828108e-03 -3.22692500e-03 2.40364901e+00] [-3.56051482e-03 9.99990759e-01 2.40925770e-03 -3.44299729e-02] [ 3.23549209e-03 -2.39774031e-03 9.99991891e-01 5.25258374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10255784400005 meters 0.2902879438163937 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:0.53 [[ 0.99998709 0.00378251 -0.00339347 2.40403159] [-0.00377217 0.99998825 0.00304628 -0.03700526] [ 0.00340495 -0.00303344 0.9999896 0.52533868] [ 0. 0. 0. 1. ]] SLAMing on 332.1325578440001 meters 0.2911020514428295 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:0.53 [[ 0.99998599 0.00398357 -0.00348474 2.40433622] [-0.00397104 0.99998565 0.00359494 -0.03926895] [ 0.00349902 -0.00358106 0.99998747 0.52518686] [ 0. 0. 0. 1. ]] SLAMing on 332.16255784400005 meters 0.2935255985521906 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:0.53 [[ 9.99994158e-01 -1.39139207e-04 -3.41532420e-03 2.40414830e+00] [ 1.38686714e-04 9.99999982e-01 -1.32725478e-04 -4.17567706e-02] [ 3.41534260e-03 1.32251043e-04 9.99994159e-01 5.25231674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192557844 meters 0.2891048836768357 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.52 [[ 9.99996883e-01 -9.00721512e-04 -2.32857707e-03 2.36551410e+00] [ 9.02191107e-04 9.99999394e-01 6.30139601e-04 -4.72968929e-02] [ 2.32800808e-03 -6.32238459e-04 9.99997090e-01 5.22013039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22255784400005 meters 0.29230767656224604 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995051e-01 2.59795491e-05 -3.14604844e-03 2.40378434e+00] [-2.43850852e-05 9.99999871e-01 5.06852091e-04 -4.57154670e-02] [ 3.14606120e-03 -5.06772866e-04 9.99994923e-01 5.25827452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252557844 meters 0.29230767656224604 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995051e-01 2.59795491e-05 -3.14604844e-03 2.40378434e+00] [-2.43850852e-05 9.99999871e-01 5.06852091e-04 -4.57154670e-02] [ 3.14606120e-03 -5.06772866e-04 9.99994923e-01 5.25827452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28255784400005 meters 0.29122367508015273 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995339e-01 8.54237350e-05 -3.05206665e-03 2.40354026e+00] [-8.34170802e-05 9.99999780e-01 6.57595334e-04 -4.63340655e-02] [ 3.05212215e-03 -6.57337675e-04 9.99995126e-01 5.25843415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312557844 meters 0.29079947895048125 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995630e-01 1.26318164e-04 -2.95356408e-03 2.40320497e+00] [-1.24071707e-04 9.99999703e-01 7.60762822e-04 -4.67513140e-02] [ 2.95365930e-03 -7.60393044e-04 9.99995349e-01 5.26034802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34255784400005 meters 0.2934719853120927 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:0.53 [[ 9.99976528e-01 6.85154263e-03 5.79046187e-07 2.42377228e+00] [-6.85152534e-03 9.99974187e-01 -2.16366901e-03 -4.62010850e-02] [-1.54035017e-05 2.16361426e-03 9.99997659e-01 5.25113758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372557844 meters 0.29049684139096527 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995292e-01 -3.03501318e-03 -4.52482119e-04 2.40177568e+00] [ 3.03421700e-03 9.99993865e-01 -1.75001447e-03 -4.63777257e-02] [ 4.57790660e-04 1.74863330e-03 9.99998366e-01 5.25669871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40255784400006 meters 0.29049857231991705 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99995524e-01 -2.96373053e-03 -4.09241869e-04 2.40160821e+00] [ 2.96308603e-03 9.99994383e-01 -1.56658881e-03 -4.71314154e-02] [ 4.13882517e-04 1.56536917e-03 9.99998689e-01 5.25807607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43255784400003 meters 0.29171364096416097 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:0.53 [[ 9.99978746e-01 6.35927563e-03 1.43748858e-03 2.42156923e+00] [-6.35634462e-03 9.99977729e-01 -2.03443900e-03 -5.01101420e-02] [-1.45039412e-03 2.02525858e-03 9.99996897e-01 5.25928261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46255784400006 meters 0.2901715154881514 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99997435e-01 -2.24560542e-03 -2.94501406e-04 2.40178743e+00] [ 2.24546371e-03 9.99997363e-01 -4.80648769e-04 -5.06786793e-02] [ 2.95579977e-04 4.79986244e-04 9.99999841e-01 5.25275052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49255784400003 meters 0.29091834440141473 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.53 [[ 9.99997871e-01 -1.97109964e-03 -6.11171066e-04 2.40256963e+00] [ 1.97132186e-03 9.99997991e-01 3.63206617e-04 -5.41285701e-02] [ 6.10453921e-04 -3.64410658e-04 9.99999747e-01 5.25370089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52255784400006 meters 0.28990562119210833 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99998131e-01 -1.78509669e-03 -7.43124950e-04 2.40289672e+00] [ 1.78573011e-03 9.99998042e-01 8.52580045e-04 -5.61703596e-02] [ 7.41601557e-04 -8.53905472e-04 9.99999360e-01 5.25426157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55255784400003 meters 0.29123134708784565 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99998298e-01 -1.65334050e-03 -8.18891376e-04 2.40305446e+00] [ 1.65431903e-03 9.99997917e-01 1.19570724e-03 -5.75910984e-02] [ 8.16912758e-04 -1.19705991e-03 9.99998950e-01 5.25516947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58255784400006 meters 0.2907730684167436 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99998477e-01 -1.51765587e-03 -8.61990155e-04 2.40314003e+00] [ 1.51898189e-03 9.99997661e-01 1.53975799e-03 -5.90292422e-02] [ 8.59651316e-04 -1.54106499e-03 9.99998443e-01 5.25589982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61255784400004 meters 0.29072372271838604 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99998690e-01 -1.40579468e-03 -8.02149804e-04 2.40299283e+00] [ 1.40725581e-03 9.99997347e-01 1.82386442e-03 -6.02074643e-02] [ 7.99583697e-04 -1.82499086e-03 9.99998015e-01 5.25590905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64255784400007 meters 0.2900231803578876 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:0.53 [[ 9.99986911e-01 4.61714137e-03 -2.20429777e-03 2.38146856e+00] [-4.61890520e-03 9.99989016e-01 -7.95758026e-04 -6.45814080e-02] [ 2.20059944e-03 8.05929053e-04 9.99997254e-01 5.25931512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67255784400004 meters 0.29267128317427055 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99994182e-01 -3.37036931e-03 -5.25808489e-04 2.40071262e+00] [ 3.37046923e-03 9.99994302e-01 1.89252818e-04 -6.09764741e-02] [ 5.25167641e-04 -1.91023938e-04 9.99999844e-01 5.26392262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70255784400007 meters 0.29130765788014296 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.53 [[ 9.99994380e-01 -3.31096089e-03 -5.27569801e-04 2.40070321e+00] [ 3.31114595e-03 9.99994457e-01 3.50288589e-04 -6.16322744e-02] [ 5.26407085e-04 -3.52033481e-04 9.99999799e-01 5.26441409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73255784400004 meters 0.2957148997636227 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:0.53 [[ 9.99988919e-01 4.20052465e-03 2.12536113e-03 2.42099473e+00] [-4.19635093e-03 9.99989266e-01 -1.96443479e-03 -6.12529725e-02] [-2.13358997e-03 1.95549426e-03 9.99995812e-01 5.25900033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76255784400007 meters 0.29093004866654804 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:0.53 [[ 9.99995138e-01 2.68065269e-03 -1.59296592e-03 2.37945385e+00] [-2.68403042e-03 9.99994146e-01 -2.12206665e-03 -6.75456256e-02] [ 1.58726807e-03 2.12633190e-03 9.99996480e-01 5.26477004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79255784400004 meters 0.291680176456724 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.07, Z:0.53 [[ 9.99982982e-01 -5.70536107e-03 -1.21859713e-03 2.40180360e+00] [ 5.70352080e-03 9.99982597e-01 -1.50832671e-03 -6.62143093e-02] [ 1.22718147e-03 1.50135074e-03 9.99998120e-01 5.26268012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8225578440001 meters 0.29267334000403195 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:0.53 [[ 9.99992229e-01 3.91832284e-03 -4.35460372e-04 2.42247008e+00] [-3.91907529e-03 9.99990805e-01 -1.74073511e-03 -7.16836802e-02] [ 4.28635606e-04 1.74242819e-03 9.99998390e-01 5.26341551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85255784400005 meters 0.2916168323640614 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:0.53 [[ 9.99991538e-01 4.08726316e-03 -4.66533077e-04 2.42247271e+00] [-4.08782709e-03 9.99990908e-01 -1.21428229e-03 -7.37805663e-02] [ 4.61565744e-04 1.21617912e-03 9.99999154e-01 5.26539482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8825578440001 meters 0.2909420589086367 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99990581e-01 4.30991509e-03 -5.12418553e-04 2.42230591e+00] [-4.31009665e-03 9.99990649e-01 -3.53749569e-04 -7.70131850e-02] [ 5.10889130e-04 3.55954810e-04 9.99999806e-01 5.27214788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91255784400005 meters 0.29081216433219614 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99989943e-01 4.44349560e-03 -6.08289511e-04 2.42241274e+00] [-4.44346025e-03 9.99990126e-01 5.94631599e-05 -7.86495238e-02] [ 6.08547729e-04 -5.67596516e-05 9.99999813e-01 5.27525270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9425578440001 meters 0.29061777015396756 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99989436e-01 4.55202930e-03 -6.37837865e-04 2.42238701e+00] [-4.55178809e-03 9.99989569e-01 3.79111000e-04 -7.99324518e-02] [ 6.39556936e-04 -3.76203693e-04 9.99999725e-01 5.27754962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97255784400005 meters 0.2895864794607838 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99988925e-01 4.65013091e-03 -7.25783221e-04 2.42257768e+00] [-4.64966203e-03 9.99988981e-01 6.46389954e-04 -8.10321878e-02] [ 7.28781022e-04 -6.43008149e-04 9.99999528e-01 5.27828914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters 0.2890964029165862 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.08, Z:0.53 [[ 9.99989420e-01 -4.21059318e-03 -1.85220718e-03 2.40329816e+00] [ 4.21459986e-03 9.99988776e-01 2.16463516e-03 -8.01628149e-02] [ 1.84307200e-03 -2.17241857e-03 9.99995942e-01 5.26527381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03255784400005 meters 0.2903320281095768 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99994260e-01 3.35374860e-03 4.82042037e-04 2.42342295e+00] [-3.35375220e-03 9.99994376e-01 6.65289103e-06 -8.29764272e-02] [-4.82017014e-04 -8.26950238e-06 9.99999884e-01 5.25882687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters 0.2894406927042251 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99994019e-01 3.41691236e-03 5.35631557e-04 2.42319547e+00] [-3.41700613e-03 9.99994147e-01 1.74247439e-04 -8.36627739e-02] [-5.35033034e-04 -1.76076653e-04 9.99999841e-01 5.26090244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09255784400005 meters 0.2892929193301798 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99993876e-01 3.45761976e-03 5.40633261e-04 2.42313910e+00] [-3.45777259e-03 9.99993982e-01 2.82001077e-04 -8.41036959e-02] [-5.39654955e-04 -2.83868737e-04 9.99999814e-01 5.26186923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters 0.2898878561581703 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:0.53 [[ 9.99993778e-01 3.49331211e-03 4.90363537e-04 2.42326264e+00] [-3.49349760e-03 9.99993826e-01 3.77930424e-04 -8.45022144e-02] [-4.89040280e-04 -3.79641157e-04 9.99999808e-01 5.26200700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15255784400006 meters 0.28813398862695316 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:0.53 [[ 9.99990090e-01 -3.83608719e-03 -2.25924055e-03 2.40257048e+00] [ 3.84273516e-03 9.99988278e-01 2.94561742e-03 -8.56077859e-02] [ 2.24791442e-03 -2.95426989e-03 9.99993110e-01 5.27222997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters 0.2883667078338731 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:0.53 [[ 9.99990125e-01 -3.82469719e-03 -2.26299885e-03 2.40265578e+00] [ 3.83142371e-03 9.99988233e-01 2.97556032e-03 -8.57429728e-02] [ 2.25159161e-03 -2.98420145e-03 9.99993012e-01 5.27046256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21255784400006 meters 0.2903874962356835 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.53 [[ 9.99994913e-01 3.01965816e-03 -1.02736345e-03 2.42573702e+00] [-3.01981237e-03 9.99995429e-01 -1.48582021e-04 -8.57400416e-02] [ 1.02691009e-03 1.51683710e-04 9.99999461e-01 5.25190098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters 0.2902133849931208 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.53 [[ 9.99994872e-01 3.00082997e-03 -1.11815081e-03 2.42602658e+00] [-3.00104789e-03 9.99995478e-01 -1.93269347e-04 -8.55623163e-02] [ 1.11756579e-03 1.96623980e-04 9.99999356e-01 5.25065962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27255784400006 meters 0.2901705140986875 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.52 [[ 9.99994905e-01 2.97279457e-03 -1.16303293e-03 2.42619500e+00] [-2.97310244e-03 9.99995546e-01 -2.63072957e-04 -8.52779660e-02] [ 1.16224569e-03 2.66529433e-04 9.99999289e-01 5.24949574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters 0.28884768981380315 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.52 [[ 9.99981259e-01 -5.69662305e-03 -2.24282911e-03 2.40659133e+00] [ 5.69927358e-03 9.99983066e-01 1.17717099e-03 -8.28254513e-02] [ 2.23608523e-03 -1.18993142e-03 9.99996792e-01 5.23820473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33255784400006 meters 0.2881178465954374 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.52 [[ 9.99981551e-01 -5.68139923e-03 -2.14929582e-03 2.40630217e+00] [ 5.68401595e-03 9.99983110e-01 1.21333345e-03 -8.29716307e-02] [ 2.14236608e-03 -1.22552770e-03 9.99996954e-01 5.23943886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters 0.2883183788891358 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.52 [[ 9.99982021e-01 -5.61780972e-03 -2.09703625e-03 2.40610919e+00] [ 5.62071201e-03 9.99983251e-01 1.38067802e-03 -8.36581572e-02] [ 2.08924474e-03 -1.39244003e-03 9.99996848e-01 5.24098650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39255784400007 meters 0.287676928622467 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.52 [[ 9.99982524e-01 -5.56469609e-03 -1.99667298e-03 2.40580984e+00] [ 5.56777405e-03 9.99983315e-01 1.53931358e-03 -8.42962541e-02] [ 1.98807385e-03 -1.55040370e-03 9.99996822e-01 5.24243118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters 0.287701752494044 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.52 [[ 9.99982862e-01 -5.51449594e-03 -1.96603870e-03 2.40578693e+00] [ 5.51778750e-03 9.99983378e-01 1.67273807e-03 -8.48525551e-02] [ 1.95678171e-03 -1.68355759e-03 9.99996668e-01 5.24117346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45255784400007 meters 0.2882703066615218 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.52 [[ 9.99992318e-01 3.78836579e-03 -1.00632080e-03 2.42507184e+00] [-3.78748448e-03 9.99992444e-01 8.76238719e-04 -8.89076072e-02] [ 1.00963271e-03 -8.72420563e-04 9.99999110e-01 5.24741692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48255784400004 meters 0.2880024721992802 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.52 [[ 9.99992115e-01 3.83836669e-03 -1.01869199e-03 2.42502403e+00] [-3.83733481e-03 9.99992124e-01 1.01296919e-03 -8.94621101e-02] [ 1.02257212e-03 -1.00905214e-03 9.99998968e-01 5.24925878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51255784400007 meters 0.2871073822015314 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:0.53 [[ 9.99992139e-01 3.88040861e-03 -8.15308163e-04 2.42429364e+00] [-3.87947307e-03 9.99991818e-01 1.14592949e-03 -8.99864468e-02] [ 8.19748167e-04 -1.14275752e-03 9.99999011e-01 5.25562511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54255784400004 meters 0.2875873384985471 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:0.53 [[ 9.99992114e-01 3.89885500e-03 -7.55869547e-04 2.42401158e+00] [-3.89795063e-03 9.99991690e-01 1.19426586e-03 -9.01669541e-02] [ 7.60519535e-04 -1.19131010e-03 9.99999001e-01 5.25884360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5725578440001 meters 0.2882783391746889 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.53 [[ 9.99992677e-01 -3.79175151e-03 5.18653369e-04 2.44391437e+00] [ 3.79053963e-03 9.99990129e-01 2.31795182e-03 -8.73677746e-02] [-5.27437347e-04 -2.31596887e-03 9.99997179e-01 5.27141684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60255784400005 meters 0.2895531159104164 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.53 [[ 9.99992713e-01 -3.77493246e-03 5.69639723e-04 2.44369708e+00] [ 3.77357743e-03 9.99990092e-01 2.36135777e-03 -8.75388631e-02] [-5.78548045e-04 -2.35919098e-03 9.99997050e-01 5.27340039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6325578440001 meters 0.28762289098879 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:0.53 [[ 9.99991850e-01 4.03655046e-03 7.72149483e-05 2.42434454e+00] [-4.03664158e-03 9.99991110e-01 1.21887122e-03 -9.17759389e-02] [-7.22942267e-05 -1.21917297e-03 9.99999254e-01 5.26112989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66255784400005 meters 0.2878099267438522 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:0.53 [[ 9.99991732e-01 4.06575847e-03 7.53958278e-05 2.42435711e+00] [-4.06585284e-03 9.99990894e-01 1.29674525e-03 -9.20979516e-02] [-7.01228882e-05 -1.29704108e-03 9.99999156e-01 5.26092612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6925578440001 meters 0.2873359491937251 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.53 [[ 9.99986477e-01 -4.87981173e-03 -1.79788021e-03 2.40504596e+00] [ 4.88456760e-03 9.99984558e-01 2.65044190e-03 -9.22584648e-02] [ 1.78491879e-03 -2.65918793e-03 9.99994871e-01 5.25252610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72255784400005 meters 0.2879711663984059 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.09, Z:0.52 [[ 9.99998083e-01 1.90801163e-03 -4.39198665e-04 2.42689785e+00] [-1.90815942e-03 9.99998123e-01 -3.36325142e-04 -9.46833814e-02] [ 4.38556129e-04 3.37162559e-04 9.99999847e-01 5.24114759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752557844 meters 0.28717346804931204 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99997815e-01 2.02674605e-03 -5.11345046e-04 2.42704507e+00] [-2.02674304e-03 9.99997946e-01 6.39012518e-06 -9.60803695e-02] [ 5.11356947e-04 -5.35374621e-06 9.99999869e-01 5.24171730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78255784400005 meters 0.289206527314977 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.52 [[ 9.99974889e-01 -7.03735283e-03 8.34915609e-04 2.44952650e+00] [ 7.03711526e-03 9.99975198e-01 2.87137963e-04 -9.97216645e-02] [-8.36915593e-04 -2.81255355e-04 9.99999610e-01 5.23497163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812557844 meters 0.288644724102686 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999647e-01 8.33888058e-04 -9.84210961e-05 2.43016488e+00] [-8.33936814e-04 9.99999529e-01 -4.96381101e-04 -1.04885150e-01] [ 9.80071235e-05 4.96463003e-04 9.99999872e-01 5.22119069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84255784400005 meters 0.2895666091859803 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999563e-01 9.12674363e-04 -2.00408576e-04 2.43043023e+00] [-9.12732785e-04 9.99999541e-01 -2.91616937e-04 -1.05738359e-01] [ 2.00142333e-04 2.91799729e-04 9.99999937e-01 5.22095581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872557844 meters 0.2878051237515475 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999516e-01 9.48768557e-04 -2.59795300e-04 2.43058850e+00] [-9.48819233e-04 9.99999531e-01 -1.95007386e-04 -1.06134751e-01] [ 2.59610161e-04 1.95253790e-04 9.99999947e-01 5.22071164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90255784400006 meters 0.28707012071922317 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999353e-01 9.50491493e-04 -6.24406202e-04 2.43155027e+00] [-9.50613116e-04 9.99999529e-01 -1.94514090e-04 -1.06183031e-01] [ 6.24221024e-04 1.95107532e-04 9.99999786e-01 5.21821718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93255784400003 meters 0.28864858157118667 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999281e-01 9.34386166e-04 -7.52028878e-04 2.43190040e+00] [-9.34568549e-04 9.99999534e-01 -2.42205974e-04 -1.05995777e-01] [ 7.51802214e-04 2.42908623e-04 9.99999688e-01 5.21711349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96255784400006 meters 0.2877571173791011 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999384e-01 8.81346887e-04 -6.74152553e-04 2.43172916e+00] [-8.81614964e-04 9.99999532e-01 -3.97457332e-04 -1.05366985e-01] [ 6.73801940e-04 3.98051431e-04 9.99999694e-01 5.21676671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99255784400003 meters 0.28897105413341007 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999450e-01 8.61303280e-04 -5.98280411e-04 2.43146638e+00] [-8.61575614e-04 9.99999525e-01 -4.55085648e-04 -1.05121161e-01] [ 5.97888160e-04 4.55600861e-04 9.99999717e-01 5.21882614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02255784400006 meters 0.2883110367042428 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999535e-01 8.14443161e-04 -5.15913260e-04 2.43118803e+00] [-8.14744479e-04 9.99999498e-01 -5.84108451e-04 -1.04584190e-01] [ 5.15437278e-04 5.84528517e-04 9.99999696e-01 5.22072837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05255784400003 meters 0.2883622195053626 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999463e-01 7.95767112e-04 -6.64059496e-04 2.43171584e+00] [-7.96190128e-04 9.99999480e-01 -6.36993689e-04 -1.04393180e-01] [ 6.63552253e-04 6.37522064e-04 9.99999577e-01 5.21677413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08255784400006 meters 0.2899368266523014 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999385e-01 7.82083095e-04 -7.86178392e-04 2.43226192e+00] [-7.82612035e-04 9.99999467e-01 -6.72717138e-04 -1.04264287e-01] [ 7.85651853e-04 6.73331997e-04 9.99999465e-01 5.21098839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11255784400004 meters 0.2887005875826706 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999320e-01 7.70000082e-04 -8.76076651e-04 2.43258827e+00] [-7.70615223e-04 9.99999457e-01 -7.02034092e-04 -1.04151275e-01] [ 8.75535609e-04 7.02708733e-04 9.99999370e-01 5.20863771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14255784400007 meters 0.2887005875826706 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999320e-01 7.70000082e-04 -8.76076651e-04 2.43258827e+00] [-7.70615223e-04 9.99999457e-01 -7.02034092e-04 -1.04151275e-01] [ 8.75535609e-04 7.02708733e-04 9.99999370e-01 5.20863771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17255784400004 meters 0.2887007025995047 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999242e-01 7.44353156e-04 -9.81181632e-04 2.43295905e+00] [-7.45105885e-04 9.99999428e-01 -7.67023062e-04 -1.03889976e-01] [ 9.80610135e-04 7.67753564e-04 9.99999224e-01 5.20622492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20255784400007 meters 0.28968012893222284 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999113e-01 6.68395325e-04 -1.15172830e-03 2.43353989e+00] [-6.69512977e-04 9.99999305e-01 -9.70300087e-04 -1.03065574e-01] [ 1.15107895e-03 9.71070324e-04 9.99998866e-01 5.20259083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23255784400004 meters 0.2903684353679609 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999229e-01 6.36945321e-04 -1.06575833e-03 2.43335407e+00] [-6.38068412e-04 9.99999241e-01 -1.05378672e-03 -1.02722474e-01] [ 1.06508632e-03 1.05446593e-03 9.99998877e-01 5.20182646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26255784400007 meters 0.2894741365131019 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999307e-01 6.24669102e-04 -9.98025426e-04 2.43311969e+00] [-6.25753494e-04 9.99999214e-01 -1.08659535e-03 -1.02576534e-01] [ 9.97345879e-04 1.08721912e-03 9.99998912e-01 5.20324223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29255784400004 meters 0.2891074967892811 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999394e-01 6.20595889e-04 -9.09006800e-04 2.43285994e+00] [-6.21595014e-04 9.99999203e-01 -1.09926910e-03 -1.02521485e-01] [ 9.08323873e-04 1.09983347e-03 9.99998983e-01 5.20398826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3225578440001 meters 0.2884916806497349 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999392e-01 6.09949333e-04 -9.18527637e-04 2.43296318e+00] [-6.10984858e-04 9.99999178e-01 -1.12751714e-03 -1.02417452e-01] [ 9.17839153e-04 1.12807766e-03 9.99998943e-01 5.20218925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35255784400005 meters 0.2890878543060575 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999363e-01 6.08677899e-04 -9.51040988e-04 2.43309834e+00] [-6.09753178e-04 9.99999175e-01 -1.13075269e-03 -1.02413475e-01] [ 9.50351939e-04 1.13133187e-03 9.99998908e-01 5.20097370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3825578440001 meters 0.29072394288683495 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999286e-01 6.03282278e-04 -1.03183745e-03 2.43329781e+00] [-6.04462328e-04 9.99999163e-01 -1.14371020e-03 -1.02362905e-01] [ 1.03114661e-03 1.14433309e-03 9.99998814e-01 5.20113240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41255784400005 meters 0.2898248390910825 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999329e-01 5.60099420e-04 -1.01407151e-03 2.43311969e+00] [-5.61370904e-04 9.99999056e-01 -1.25398974e-03 -1.01879848e-01] [ 1.01336819e-03 1.25455817e-03 9.99998700e-01 5.20405740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4425578440001 meters 0.2898666536066619 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999402e-01 5.34808087e-04 -9.54080897e-04 2.43286486e+00] [-5.36067246e-04 9.99998985e-01 -1.31999369e-03 -1.01586415e-01] [ 9.53373986e-04 1.32050435e-03 9.99998674e-01 5.20631168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47255784400005 meters 0.28951341632164623 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999473e-01 5.10273241e-04 -8.90868257e-04 2.43263408e+00] [-5.11506837e-04 9.99998910e-01 -1.38503373e-03 -1.01305150e-01] [ 8.90160540e-04 1.38548869e-03 9.99998644e-01 5.20787603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters 0.2887228142597478 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999549e-01 4.95846112e-04 -8.10268303e-04 2.43226907e+00] [-4.97000374e-04 9.99998861e-01 -1.42496340e-03 -1.01119686e-01] [ 8.09560818e-04 1.42536546e-03 9.99998656e-01 5.21164344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53255784400005 meters 0.2878366464507291 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999660e-01 4.55615133e-04 -6.87823270e-04 2.43182412e+00] [-4.56673274e-04 9.99998711e-01 -1.53901793e-03 -1.00618470e-01] [ 6.87121184e-04 1.53933152e-03 9.99998579e-01 5.21506277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562557844 meters 0.28900051318848824 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999829e-01 3.87358405e-04 -4.37391340e-04 2.43106330e+00] [-3.88124876e-04 9.99998387e-01 -1.75364711e-03 -9.96641317e-02] [ 4.36711345e-04 1.75381657e-03 9.99998367e-01 5.21882673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59255784400005 meters 0.28881357985667977 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999834e-01 3.90366157e-04 -4.24803986e-04 2.43102077e+00] [-3.91106562e-04 9.99998402e-01 -1.74424666e-03 -9.97021315e-02] [ 4.24122413e-04 1.74441252e-03 9.99998389e-01 5.21909508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622557844 meters 0.2899897859242933 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999823e-01 3.92322635e-04 -4.48130542e-04 2.43102295e+00] [-3.93100664e-04 9.99998413e-01 -1.73739887e-03 -9.97258186e-02] [ 4.47448210e-04 1.73757472e-03 9.99998390e-01 5.22036661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65255784400006 meters 0.28852426737527287 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999763e-01 4.08758009e-04 -5.54785135e-04 2.43130438e+00] [-4.09697512e-04 9.99998481e-01 -1.69439835e-03 -9.99120071e-02] [ 5.54091694e-04 1.69462525e-03 9.99998411e-01 5.22010019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68255784400003 meters 0.2884810170113581 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999660e-01 4.81611921e-04 -6.69714002e-04 2.43171896e+00] [-4.82612976e-04 9.99998765e-01 -1.49539344e-03 -1.00745144e-01] [ 6.68992976e-04 1.49571614e-03 9.99998658e-01 5.21697205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71255784400006 meters 0.28980133294951 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999680e-01 5.62002963e-04 -5.69243677e-04 2.43139251e+00] [-5.62735195e-04 9.99999014e-01 -1.28698250e-03 -1.01596172e-01] [ 5.68519827e-04 1.28730243e-03 9.99999010e-01 5.21872841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74255784400003 meters 0.28852140847536245 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999683e-01 6.47264273e-04 -4.63263921e-04 2.43095840e+00] [-6.47758249e-04 9.99999221e-01 -1.06694067e-03 -1.02485332e-01] [ 4.62572967e-04 1.06724041e-03 9.99999324e-01 5.22270550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77255784400006 meters 0.2897295363171603 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999618e-01 7.29338754e-04 -4.81943658e-04 2.43102120e+00] [-7.29750604e-04 9.99999368e-01 -8.54938519e-04 -1.03366688e-01] [ 4.81319814e-04 8.55289891e-04 9.99999518e-01 5.22232203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80255784400003 meters 0.2909202747761763 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999515e-01 7.61521182e-04 -6.25075069e-04 2.43157445e+00] [-7.62001061e-04 9.99999415e-01 -7.67835466e-04 -1.03757759e-01] [ 6.24489981e-04 7.68311402e-04 9.99999510e-01 5.21785304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83255784400006 meters 0.29169406386513724 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999185e-01 7.57950165e-04 -1.02712199e-03 2.43293269e+00] [-7.58735760e-04 9.99999420e-01 -7.64676767e-04 -1.03828174e-01] [ 1.02654181e-03 7.65455459e-04 9.99999180e-01 5.20505837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86255784400004 meters 0.2897875280931881 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999104e-01 7.65742642e-04 -1.09770690e-03 2.43312086e+00] [-7.66554076e-04 9.99999433e-01 -7.38978422e-04 -1.03932738e-01] [ 1.09714041e-03 7.39819212e-04 9.99999124e-01 5.20478620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89255784400007 meters 0.29028186960861363 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999095e-01 7.92183462e-04 -1.08751447e-03 2.43300466e+00] [-7.92907386e-04 9.99999464e-01 -6.65399342e-04 -1.04224195e-01] [ 1.08698677e-03 6.66261038e-04 9.99999187e-01 5.20695699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92255784400004 meters 0.2917011669293494 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.52 [[ 9.99999111e-01 8.41152255e-04 -1.03467928e-03 2.43269527e+00] [-8.41709027e-04 9.99999501e-01 -5.37792914e-04 -1.04732507e-01] [ 1.03422640e-03 5.38663335e-04 9.99999320e-01 5.21093515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95255784400007 meters 0.29147499213129785 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99999105e-01 9.39465279e-04 -9.52163695e-04 2.43236988e+00] [-9.39743401e-04 9.99999516e-01 -2.91689638e-04 -1.05739574e-01] [ 9.51889201e-04 2.92584166e-04 9.99999504e-01 5.21344071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98255784400004 meters 0.29086740472628986 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998843e-01 1.14308001e-03 -1.00414797e-03 2.43267321e+00] [-1.14282114e-03 9.99999314e-01 2.58335372e-04 -1.08037980e-01] [ 1.00444258e-03 -2.57187511e-04 9.99999462e-01 5.20978405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01255784400007 meters 0.2911158509638031 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998662e-01 1.20294302e-03 -1.10841800e-03 2.43300732e+00] [-1.20247916e-03 9.99999189e-01 4.19055446e-04 -1.08716246e-01] [ 1.10892120e-03 -4.17722036e-04 9.99999298e-01 5.20831307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04255784400004 meters 0.2903083442333985 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998421e-01 1.30438030e-03 -1.20663226e-03 2.43336935e+00] [-1.30354676e-03 9.99998911e-01 6.91324950e-04 -1.09864677e-01] [ 1.20753269e-03 -6.89750957e-04 9.99999033e-01 5.20574217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0725578440001 meters 0.2893993082578928 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998356e-01 1.33762639e-03 -1.22436167e-03 2.43346135e+00] [-1.33667263e-03 9.99998803e-01 7.79472398e-04 -1.10233423e-01] [ 1.22540284e-03 -7.77834546e-04 9.99998947e-01 5.20468788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10255784400005 meters 0.29009121459862797 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998335e-01 1.32941273e-03 -1.25038237e-03 2.43351793e+00] [-1.32846315e-03 9.99998829e-01 7.59953990e-04 -1.10151938e-01] [ 1.25139120e-03 -7.58291638e-04 9.99998930e-01 5.20489846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1325578440001 meters 0.29033857827280773 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998457e-01 1.31204792e-03 -1.16781769e-03 2.43334471e+00] [-1.31121705e-03 9.99998887e-01 7.11951920e-04 -1.09955578e-01] [ 1.16875050e-03 -7.10419559e-04 9.99999065e-01 5.20405445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16255784400005 meters 0.29054856253912287 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998548e-01 1.26138830e-03 -1.14608160e-03 2.43337062e+00] [-1.26072287e-03 9.99999036e-01 5.81146270e-04 -1.09421829e-01] [ 1.14681355e-03 -5.79700534e-04 9.99999174e-01 5.20222966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1925578440001 meters 0.29179502886809144 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998629e-01 1.20559880e-03 -1.13533155e-03 2.43345593e+00] [-1.20510490e-03 9.99999179e-01 4.35614002e-04 -1.08834585e-01] [ 1.13585580e-03 -4.34245211e-04 9.99999261e-01 5.19963141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22255784400005 meters 0.29125480547347427 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998606e-01 1.13461660e-03 -1.22475514e-03 2.43380744e+00] [-1.13430778e-03 9.99999325e-01 2.52815655e-04 -1.08103092e-01] [ 1.22504117e-03 -2.51426053e-04 9.99999218e-01 5.19662789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252557844 meters 0.29089827467906487 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998621e-01 1.12573669e-03 -1.22077164e-03 2.43382934e+00] [-1.12545782e-03 9.99999340e-01 2.29101243e-04 -1.08009590e-01] [ 1.22102874e-03 -2.27727000e-04 9.99999229e-01 5.19590515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28255784400005 meters 0.2906938643577982 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998707e-01 1.08994491e-03 -1.18252168e-03 2.43370072e+00] [-1.08978593e-03 9.99999397e-01 1.35077781e-04 -1.07612823e-01] [ 1.18266819e-03 -1.33788911e-04 9.99999292e-01 5.19653322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312557844 meters 0.2901777870686404 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.11, Z:0.52 [[ 9.99998725e-01 1.09423844e-03 -1.16296446e-03 2.43363669e+00] [-1.09407041e-03 9.99999391e-01 1.45115105e-04 -1.07651160e-01] [ 1.16312254e-03 -1.43842555e-04 9.99999313e-01 5.19686125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34255784400005 meters 0.29208713975292677 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.11, Z:0.52 [[ 9.99991122e-01 -3.94290182e-03 1.48645196e-03 2.45617287e+00] [ 3.93777167e-03 9.99986335e-01 3.43854111e-03 -1.08073854e-01] [-1.49998948e-03 -3.43265727e-03 9.99992983e-01 5.17814776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372557844 meters 0.29018533869214286 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.52 [[ 9.99993254e-01 3.66290571e-03 2.74077254e-04 2.43718846e+00] [-3.66354667e-03 9.99990467e-01 2.37585674e-03 -1.12843695e-01] [-2.65372102e-04 -2.37684481e-03 9.99997140e-01 5.16829319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40255784400006 meters 0.2910539741874454 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.52 [[ 9.99993338e-01 3.64493094e-03 1.98106413e-04 2.43743348e+00] [-3.64538334e-03 9.99990633e-01 2.33332646e-03 -1.12677066e-01] [-1.89599744e-04 -2.33403308e-03 9.99997258e-01 5.16710675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43255784400003 meters 0.29100959344545696 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.52 [[ 9.99993571e-01 3.58296973e-03 1.44816816e-04 2.43764948e+00] [-3.58327584e-03 9.99991221e-01 2.17189259e-03 -1.12020768e-01] [-1.37033719e-04 -2.17239755e-03 9.99997631e-01 5.16525653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46255784400006 meters 0.2916479122617983 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.52 [[ 9.99994030e-01 3.44640663e-03 2.47618550e-04 2.43741405e+00] [-3.44683973e-03 9.99992492e-01 1.77045590e-03 -1.10378152e-01] [-2.41514980e-04 -1.77129883e-03 9.99998402e-01 5.16446818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49255784400003 meters 0.29151030456672444 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.11, Z:0.52 [[ 9.99989232e-01 -4.26486064e-03 1.82961043e-03 2.45656994e+00] [ 4.26010089e-03 9.99987552e-01 2.59756440e-03 -1.05017635e-01] [-1.84066591e-03 -2.58974210e-03 9.99994953e-01 5.16911133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52255784400006 meters 0.2905810923815335 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99988693e-01 -4.34120912e-03 1.94129937e-03 2.45626761e+00] [ 4.33657120e-03 9.99987748e-01 2.38694300e-03 -1.04140089e-01] [-1.95163780e-03 -2.37849743e-03 9.99995267e-01 5.16943510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55255784400003 meters 0.2907614655156851 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99988401e-01 -4.38524938e-03 1.99163420e-03 2.45607255e+00] [ 4.38073456e-03 9.99987838e-01 2.26562688e-03 -1.03619662e-01] [-2.00154532e-03 -2.25687578e-03 9.99995450e-01 5.17097783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58255784400006 meters 0.2928747551107377 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.52 [[ 9.99995060e-01 2.90911397e-03 1.19067149e-03 2.43658975e+00] [-2.91003348e-03 9.99995468e-01 7.71255404e-04 -1.06964279e-01] [-1.18842243e-03 -7.74716488e-04 9.99998994e-01 5.15648734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61255784400004 meters 0.2911200629287193 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99986522e-01 -5.04110023e-03 1.24224968e-03 2.45651593e+00] [ 5.03945922e-03 9.99986430e-01 1.32060482e-03 -1.00880374e-01] [-1.24889013e-03 -1.31432676e-03 9.99998356e-01 5.16683907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64255784400007 meters 0.2910932001297686 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99986070e-01 -5.13335756e-03 1.22781263e-03 2.45663250e+00] [ 5.13203642e-03 9.99986251e-01 1.07674543e-03 -9.98820149e-02] [-1.23332307e-03 -1.07042925e-03 9.99998667e-01 5.16488538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67255784400004 meters 0.2915331653744379 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99985443e-01 -5.24797793e-03 1.25382930e-03 2.45665235e+00] [ 5.24701573e-03 9.99985938e-01 7.69474194e-04 -9.86329078e-02] [-1.25784986e-03 -7.62884131e-04 9.99998918e-01 5.16271633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70255784400007 meters 0.29030944522139535 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.10, Z:0.52 [[ 9.99984723e-01 -5.35031119e-03 1.38885344e-03 2.45629856e+00] [ 5.34963547e-03 9.99985571e-01 4.89793589e-04 -9.74641796e-02] [-1.39145395e-03 -4.82356246e-04 9.99998916e-01 5.16276250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73255784400004 meters 0.2917210800482757 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:0.52 [[ 9.99982286e-01 3.46610283e-03 4.83869075e-03 2.47418748e+00] [-3.46122415e-03 9.99993494e-01 -1.01627390e-03 -9.42607855e-02] [-4.84218178e-03 9.99508101e-04 9.99987777e-01 5.16752396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76255784400007 meters 0.29139078460066986 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:0.52 [[ 9.99982751e-01 3.35312491e-03 4.82229312e-03 2.47424174e+00] [-3.34684742e-03 9.99993542e-01 -1.30924491e-03 -9.30423034e-02] [-4.82665204e-03 1.29308285e-03 9.99987516e-01 5.16714643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79255784400004 meters 0.28887623543343743 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99992490e-01 -3.56143410e-03 1.52828702e-03 2.45366652e+00] [ 3.55920338e-03 9.99992600e-01 1.45986801e-03 -9.40310843e-02] [-1.53347493e-03 -1.45441756e-03 9.99997767e-01 5.18202298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8225578440001 meters 0.2902526172697148 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99992509e-01 -3.61461495e-03 1.38447312e-03 2.45417314e+00] [ 3.61278608e-03 9.99992601e-01 1.32122036e-03 -9.34871462e-02] [-1.38923858e-03 -1.31620866e-03 9.99998169e-01 5.17833608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85255784400005 meters 0.29079329691982414 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99992516e-01 -3.64679730e-03 1.29168134e-03 2.45462076e+00] [ 3.64519792e-03 9.99992589e-01 1.23841034e-03 -9.31815904e-02] [-1.29618800e-03 -1.23369263e-03 9.99998399e-01 5.17322366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8825578440001 meters 0.290389093296223 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99992206e-01 -3.72805560e-03 1.29993828e-03 2.45470373e+00] [ 3.72671897e-03 9.99992526e-01 1.02913545e-03 -9.23233418e-02] [-1.30376524e-03 -1.02428293e-03 9.99998626e-01 5.17075543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91255784400005 meters 0.29280666397981636 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:0.52 [[ 9.99984207e-01 3.03704754e-03 4.72885313e-03 2.47552746e+00] [-3.02838173e-03 9.99993724e-01 -1.83862348e-03 -9.04437470e-02] [-4.73440744e-03 1.82427367e-03 9.99987129e-01 5.15437783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9425578440001 meters 0.2897246525008568 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99964451e-01 -7.30092861e-03 4.21815677e-03 2.45285353e+00] [ 7.30789149e-03 9.99971956e-01 -1.63764506e-03 -9.20124004e-02] [-4.20608215e-03 1.66841268e-03 9.99989763e-01 5.16250953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97255784400005 meters 0.29028102350833657 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.09, Z:0.52 [[ 9.99965745e-01 -7.19518946e-03 4.09133430e-03 2.45325424e+00] [ 7.20072733e-03 9.99973176e-01 -1.34044677e-03 -9.32632466e-02] [-4.08157978e-03 1.36986144e-03 9.99990732e-01 5.16083102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002557844 meters 0.290824336980913 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.52 [[ 9.99989876e-01 2.26425368e-03 3.88848961e-03 2.47346626e+00] [-2.25599729e-03 9.99995195e-01 -2.12636567e-03 -9.76049577e-02] [-3.89328556e-03 2.11757172e-03 9.99990179e-01 5.16823747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03255784400005 meters 0.2891405102171551 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.52 [[ 9.99988453e-01 -4.78720437e-03 4.19102907e-04 2.45362661e+00] [ 4.78683988e-03 9.99988168e-01 8.66410363e-04 -1.01119588e-01] [-4.23245631e-04 -8.64394180e-04 9.99999537e-01 5.18000032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062557844 meters 0.2891405102171551 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.10, Z:0.52 [[ 9.99988453e-01 -4.78720437e-03 4.19102907e-04 2.45362661e+00] [ 4.78683988e-03 9.99988168e-01 8.66410363e-04 -1.01119588e-01] [-4.23245631e-04 -8.64394180e-04 9.99999537e-01 5.18000032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09255784400005 meters 0.29049309785189104 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.52 [[ 9.99988631e-01 4.63276638e-03 1.12901552e-03 2.47441971e+00] [-4.63296411e-03 9.99989253e-01 1.72583473e-04 -1.04007041e-01] [-1.12820384e-03 -1.77812200e-04 9.99999348e-01 5.18257159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122557844 meters 0.29069229833830884 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.52 [[ 9.99988966e-01 4.56148445e-03 1.12284303e-03 2.47451547e+00] [-4.56146472e-03 9.99989596e-01 -2.01303745e-05 -1.03222927e-01] [-1.12292318e-03 1.50083435e-05 9.99999369e-01 5.18057049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15255784400006 meters 0.2918796988926433 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.10, Z:0.52 [[ 9.99994431e-01 -3.18782450e-03 9.88172121e-04 2.49362885e+00] [ 3.18694028e-03 9.99994521e-01 8.95092334e-04 -9.72853866e-02] [-9.91020104e-04 -8.91938103e-04 9.99999111e-01 5.19389990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18255784400003 meters 0.29142076826359037 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.10, Z:0.52 [[ 9.99988383e-01 4.79101830e-03 5.28816047e-04 2.47204833e+00] [-4.79104318e-03 9.99988522e-01 4.57965353e-05 -9.93555779e-02] [-5.28590566e-04 -4.83295838e-05 9.99999859e-01 5.18804062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21255784400006 meters 0.29214727854505246 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99996015e-01 -2.82252258e-03 -5.55330573e-05 2.49001503e+00] [ 2.82256038e-03 9.99995777e-01 6.92835948e-04 -8.97190626e-02] [ 5.35772776e-05 -6.92989932e-04 9.99999758e-01 5.21148272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24255784400003 meters 0.2922952490058949 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99995737e-01 -2.91981070e-03 -4.53668996e-06 2.48992725e+00] [ 2.91981236e-03 9.99995648e-01 4.22825098e-04 -8.86128687e-02] [ 3.30210097e-06 -4.22836542e-04 9.99999911e-01 5.21039257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27255784400006 meters 0.29299370011943265 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99995439e-01 -3.01799252e-03 1.14531883e-04 2.48966227e+00] [ 3.01797364e-03 9.99995432e-01 1.64639661e-04 -8.75386678e-02] [-1.15028241e-04 -1.64293256e-04 9.99999980e-01 5.20928980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30255784400003 meters 0.29222035905185906 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:0.52 [[ 9.99989273e-01 4.47398615e-03 -1.19880660e-03 2.47013787e+00] [-4.47533887e-03 9.99989349e-01 -1.12809036e-03 -9.08111618e-02] [ 1.19374677e-03 1.13344332e-03 9.99998645e-01 5.20051300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33255784400006 meters 0.29087893951081384 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:0.52 [[ 9.99989524e-01 4.42253355e-03 -1.18003771e-03 2.47007823e+00] [-4.42402329e-03 9.99989417e-01 -1.26284060e-03 -9.02457226e-02] [ 1.17444027e-03 1.26804788e-03 9.99998506e-01 5.20068479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36255784400004 meters 0.28982973244680926 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:0.52 [[ 9.99989614e-01 4.41285317e-03 -1.13954387e-03 2.46992974e+00] [-4.41432322e-03 9.99989424e-01 -1.29075708e-03 -9.01179298e-02] [ 1.13383589e-03 1.29577399e-03 9.99998518e-01 5.20165585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39255784400007 meters 0.2915475544692203 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99995763e-01 -2.89114055e-03 -3.39861118e-04 2.48922795e+00] [ 2.89117049e-03 9.99995817e-01 8.76145529e-05 -8.55790536e-02] [ 3.39606390e-04 -8.85967781e-05 9.99999938e-01 5.22533424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42255784400004 meters 0.2911629917943478 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99995710e-01 -2.90661150e-03 -3.63468899e-04 2.48928750e+00] [ 2.90662930e-03 9.99995775e-01 4.84568623e-05 -8.54191471e-02] [ 3.63326518e-04 -4.95131238e-05 9.99999933e-01 5.22535724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45255784400007 meters 0.2919080055077565 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.09, Z:0.52 [[ 9.99995657e-01 -2.92146169e-03 -3.89483899e-04 2.48938022e+00] [ 2.92146627e-03 9.99995732e-01 1.11875134e-05 -8.52707787e-02] [ 3.89449553e-04 -1.23253289e-05 9.99999924e-01 5.22478832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48255784400004 meters 0.2921381975035662 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99995512e-01 -2.96450538e-03 -4.32851344e-04 2.48951695e+00] [ 2.96446224e-03 9.99995601e-01 -1.00282621e-04 -8.48152425e-02] [ 4.33146728e-04 9.89989994e-05 9.99999901e-01 5.22416706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51255784400007 meters 0.29007067775787954 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99995459e-01 -2.98722691e-03 -3.98769500e-04 2.48945256e+00] [ 2.98716275e-03 9.99995525e-01 -1.61389608e-04 -8.45646924e-02] [ 3.99249823e-04 1.60197685e-04 9.99999907e-01 5.22362158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54255784400004 meters 0.29004947512531987 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99995374e-01 -3.01496540e-03 -4.02370211e-04 2.48943793e+00] [ 3.01487226e-03 9.99995428e-01 -2.31876554e-04 -8.42685074e-02] [ 4.03067471e-04 2.30662386e-04 9.99999892e-01 5.22410160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5725578440001 meters 0.28955129193920703 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99995106e-01 -3.09326529e-03 -4.69155174e-04 2.48962443e+00] [ 3.09306715e-03 9.99995127e-01 -4.22485668e-04 -8.34830200e-02] [ 4.70459748e-04 4.21032471e-04 9.99999801e-01 5.22370901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60255784400005 meters 0.288631498856538 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99993847e-01 1.80876029e-03 -3.00566637e-03 2.46650746e+00] [-1.82034366e-03 9.99990910e-01 -3.85558867e-03 -8.22740988e-02] [ 2.99866522e-03 3.86103629e-03 9.99988050e-01 5.24451505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6325578440001 meters 0.2908173523152754 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99994596e-01 -3.21615219e-03 -6.81351537e-04 2.48936147e+00] [ 3.21579900e-03 9.99994695e-01 -5.18838319e-04 -8.16898252e-02] [ 6.83016586e-04 5.16644426e-04 9.99999633e-01 5.22555188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66255784400005 meters 0.29063884467816137 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99994483e-01 -3.25095165e-03 -6.82183161e-04 2.48939530e+00] [ 3.25053722e-03 9.99994532e-01 -6.07732073e-04 -8.13233448e-02] [ 6.84155139e-04 6.05511258e-04 9.99999583e-01 5.22482704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6925578440001 meters 0.2887436677389751 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.08, Z:0.52 [[ 9.99996058e-01 1.91196852e-03 -2.05618587e-03 2.46468111e+00] [-1.92036216e-03 9.99989800e-01 -4.08794796e-03 -7.97826061e-02] [ 2.04834887e-03 4.09188047e-03 9.99989530e-01 5.24976365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72255784400005 meters 0.288885771634021 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99994727e-01 -3.07472251e-03 1.04536951e-03 2.48533780e+00] [ 3.07534101e-03 9.99995097e-01 -5.90570789e-04 -7.94010434e-02] [-1.04354854e-03 5.93782542e-04 9.99999279e-01 5.24303608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752557844 meters 0.2885355163719432 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.08, Z:0.52 [[ 9.99987571e-01 4.98574181e-03 1.20159791e-05 2.46495228e+00] [-4.98572033e-03 9.99986608e-01 -1.38764886e-03 -8.29421453e-02] [-1.89342771e-05 1.38757171e-03 9.99999037e-01 5.24240344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78255784400005 meters 0.28800418597025335 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987679e-01 4.96394667e-03 -1.03436763e-05 2.46504583e+00] [-4.96395643e-03 9.99986639e-01 -1.44253248e-03 -8.27162305e-02] [ 3.18288386e-06 1.44256605e-03 9.99998959e-01 5.24155894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812557844 meters 0.2874310535417364 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987830e-01 4.93328802e-03 -5.08498482e-05 2.46527354e+00] [-4.93335977e-03 9.99986670e-01 -1.52351123e-03 -8.24030916e-02] [ 4.33332507e-05 1.52374355e-03 9.99998838e-01 5.23858397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84255784400005 meters 0.28833362839509713 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993449e-01 -3.48590674e-03 -9.74823628e-04 2.48786555e+00] [ 3.48449720e-03 9.99992887e-01 -1.44391883e-03 -7.68654728e-02] [ 9.79850061e-04 1.44051260e-03 9.99998482e-01 5.23863056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872557844 meters 0.2887907107463919 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993417e-01 -3.49910778e-03 -9.60582843e-04 2.48775488e+00] [ 3.49768476e-03 9.99992789e-01 -1.47911766e-03 -7.67088812e-02] [ 9.65751509e-04 1.47574810e-03 9.99998445e-01 5.24024968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90255784400006 meters 0.28811817210398716 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993486e-01 -3.49800656e-03 -8.90048336e-04 2.48745460e+00] [ 3.49668741e-03 9.99992792e-01 -1.47937657e-03 -7.66877978e-02] [ 8.95216789e-04 1.47625472e-03 9.99998510e-01 5.24294633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93255784400003 meters 0.28825339282246865 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993624e-01 -3.46764386e-03 -8.53147027e-04 2.48724699e+00] [ 3.46644532e-03 9.99993009e-01 -1.40233128e-03 -7.69899134e-02] [ 8.58003848e-04 1.39936495e-03 9.99998653e-01 5.24559573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96255784400006 meters 0.28867767971092556 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993504e-01 -3.48837039e-03 -9.07010296e-04 2.48740011e+00] [ 3.48704929e-03 9.99992863e-01 -1.45407014e-03 -7.67767353e-02] [ 9.12076158e-04 1.45089791e-03 9.99998532e-01 5.24521237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99255784400003 meters 0.2878584997531761 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993327e-01 -3.51662632e-03 -9.89432896e-04 2.48761283e+00] [ 3.51511477e-03 9.99992659e-01 -1.52531470e-03 -7.64837065e-02] [ 9.94789594e-04 1.52182656e-03 9.99998347e-01 5.24512626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02255784400006 meters 0.2880247918466298 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.08, Z:0.52 [[ 9.99993114e-01 -3.59640007e-03 -9.15138018e-04 2.48736647e+00] [ 3.59480525e-03 9.99992028e-01 -1.73842461e-03 -7.55851301e-02] [ 9.21382793e-04 1.73512289e-03 9.99998070e-01 5.24632516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05255784400003 meters 0.2884038949878136 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99992706e-01 -3.76034409e-03 -6.69317076e-04 2.48661618e+00] [ 3.75884045e-03 9.99990441e-01 -2.23378591e-03 -7.34554930e-02] [ 6.77710481e-04 2.23125376e-03 9.99997281e-01 5.24906781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08255784400006 meters 0.2884713608444603 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99992487e-01 -3.80972657e-03 -7.16152765e-04 2.48678973e+00] [ 3.80802549e-03 9.99989960e-01 -2.36184100e-03 -7.29306190e-02] [ 7.25143543e-04 2.35909613e-03 9.99996954e-01 5.24783598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11255784400004 meters 0.2897870496019044 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99992368e-01 -3.82021266e-03 -8.18965727e-04 2.48720224e+00] [ 3.81824906e-03 9.99989864e-01 -2.38595477e-03 -7.28639472e-02] [ 8.28072280e-04 2.38280954e-03 9.99996818e-01 5.24447163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14255784400007 meters 0.28913997572461336 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99992348e-01 -3.80182181e-03 -9.21570228e-04 2.48758651e+00] [ 3.79966082e-03 9.99990054e-01 -2.33540834e-03 -7.31067103e-02] [ 9.30439869e-04 2.33188882e-03 9.99996848e-01 5.24175514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17255784400004 meters 0.2892371268669839 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987961e-01 4.29521900e-03 -2.37248044e-03 2.46728106e+00] [-4.30198684e-03 9.99986671e-01 -2.85494439e-03 -7.77283978e-02] [ 2.36018621e-03 2.86511640e-03 9.99993110e-01 5.23972139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20255784400007 meters 0.28816916999859343 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987713e-01 4.33295040e-03 -2.40809538e-03 2.46719760e+00] [-4.33957646e-03 9.99986794e-01 -2.75319491e-03 -7.81301796e-02] [ 2.39613412e-03 2.76361120e-03 9.99993310e-01 5.24378662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23255784400004 meters 0.288807876311245 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987816e-01 4.32820598e-03 -2.37387682e-03 2.46710931e+00] [-4.33477161e-03 9.99986775e-01 -2.76764553e-03 -7.80698080e-02] [ 2.36186649e-03 2.77790202e-03 9.99993352e-01 5.24380852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26255784400007 meters 0.28749554612291306 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:0.52 [[ 9.99987882e-01 4.32560555e-03 -2.35060519e-03 2.46706262e+00] [-4.33212624e-03 9.99986763e-01 -2.77607242e-03 -7.80363298e-02] [ 2.33856588e-03 2.78622190e-03 9.99993384e-01 5.24352074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29255784400004 meters 0.2882574668329991 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.53 [[ 9.99992431e-01 -3.47486992e-03 -1.75012333e-03 2.48673595e+00] [ 3.47163997e-03 9.99992271e-01 -1.84522928e-03 -7.28131034e-02] [ 1.75652173e-03 1.83913952e-03 9.99996766e-01 5.25415339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3225578440001 meters 0.28742983307016345 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.53 [[ 9.99992296e-01 -3.50556205e-03 -1.76627369e-03 2.48680429e+00] [ 3.50216124e-03 9.99992015e-01 -1.92484426e-03 -7.24863094e-02] [ 1.77300725e-03 1.91864366e-03 9.99996588e-01 5.25348606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35255784400005 meters 0.2886026463541269 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99990847e-01 4.09531639e-03 1.23838811e-03 2.50815983e+00] [-4.09033005e-03 9.99983624e-01 -4.00255556e-03 -7.07755909e-02] [-1.25475956e-03 3.99745351e-03 9.99991223e-01 5.23574016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3825578440001 meters 0.2900841289230538 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99990936e-01 4.06895027e-03 1.25398929e-03 2.50808545e+00] [-4.06381523e-03 9.99983457e-01 -4.07066003e-03 -7.04867453e-02] [-1.27053186e-03 4.06552715e-03 9.99990929e-01 5.23650521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41255784400005 meters 0.29034377885494767 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99991365e-01 3.96087218e-03 1.25721066e-03 2.50805238e+00] [-3.95536046e-03 9.99982687e-01 -4.35670099e-03 -6.92949477e-02] [-1.27444523e-03 4.35169065e-03 9.99989719e-01 5.23701221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4425578440001 meters 0.2898575185892024 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99991562e-01 3.90699123e-03 1.26939418e-03 2.50806658e+00] [-3.90124817e-03 9.99982285e-01 -4.49565341e-03 -6.87149833e-02] [-1.28693617e-03 4.49066325e-03 9.99989089e-01 5.23597648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47255784400005 meters 0.28826345170529505 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99991758e-01 3.84851167e-03 1.29352561e-03 2.50808413e+00] [-3.84246106e-03 9.99981816e-01 -4.64798547e-03 -6.80870351e-02] [-1.31138991e-03 4.64297684e-03 9.99988361e-01 5.23415625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters 0.2892280682610539 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99991890e-01 3.82007028e-03 1.27529515e-03 2.50815898e+00] [-3.81401279e-03 9.99981592e-01 -4.71898589e-03 -6.77913698e-02] [-1.29329853e-03 4.71408363e-03 9.99988052e-01 5.23354133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53255784400005 meters 0.2887876012510093 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99991660e-01 3.86003557e-03 1.33393302e-03 2.50786763e+00] [-3.85383843e-03 9.99981913e-01 -4.61751620e-03 -6.81970147e-02] [-1.35173267e-03 4.61233693e-03 9.99988450e-01 5.23679610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters 0.28886617999529113 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99986625e-01 -5.17186140e-03 2.61191761e-05 2.48810221e+00] [ 5.17192129e-03 9.99980436e-01 -3.51831416e-03 -6.57786899e-02] [-7.92243191e-06 3.51840219e-03 9.99993810e-01 5.23276227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59255784400005 meters 0.2891391266374756 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.52 [[ 9.99988550e-01 4.40706927e-03 1.86492433e-03 2.50906358e+00] [-4.39972562e-03 9.99982623e-01 -3.92372090e-03 -6.63697341e-02] [-1.88218403e-03 3.91547082e-03 9.99990563e-01 5.23048248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters 0.2873928705962107 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.07, Z:0.52 [[ 9.99995628e-01 -2.76383109e-03 -1.05139542e-03 2.48808779e+00] [ 2.76242630e-03 9.99995293e-01 -1.33523403e-03 -6.82487263e-02] [ 1.05508083e-03 1.33232379e-03 9.99998556e-01 5.24431584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65255784400006 meters 0.2900530482450595 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99996283e-01 -1.42829993e-03 -2.32233567e-03 2.52747481e+00] [ 1.42446185e-03 9.99997618e-01 -1.65349809e-03 -6.66516903e-02] [ 2.32469183e-03 1.65018386e-03 9.99995936e-01 5.27584427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters 0.28849280042052855 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99996243e-01 -1.36916930e-03 -2.37487190e-03 2.52768293e+00] [ 1.36559746e-03 9.99997935e-01 -1.50498460e-03 -6.72864771e-02] [ 2.37692757e-03 1.50173582e-03 9.99996047e-01 5.27438646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71255784400006 meters 0.28750794086940024 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99996074e-01 -1.33744238e-03 -2.46224072e-03 2.52794846e+00] [ 1.33394845e-03 9.99998102e-01 -1.42010011e-03 -6.76509511e-02] [ 2.46413535e-03 1.41681003e-03 9.99995960e-01 5.27346392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters 0.28724233717374487 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99995770e-01 -1.39038005e-03 -2.55490992e-03 2.52837656e+00] [ 1.38639067e-03 9.99997818e-01 -1.56256436e-03 -6.70742005e-02] [ 2.55707690e-03 1.55901565e-03 9.99995515e-01 5.26863338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77255784400006 meters 0.28974647565068407 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.06, Z:0.53 [[ 9.99994565e-01 -6.45956040e-05 -3.29648215e-03 2.56708501e+00] [ 5.83106269e-05 9.99998181e-01 -1.90663144e-03 -6.39231760e-02] [ 3.29659931e-03 1.90642886e-03 9.99992749e-01 5.29874281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters 0.2879195901033034 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99997232e-01 -1.03540249e-03 -2.11264520e-03 2.52803238e+00] [ 1.03243239e-03 9.99998478e-01 -1.40647427e-03 -6.78182693e-02] [ 2.11409825e-03 1.40428921e-03 9.99996779e-01 5.26739620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83255784400006 meters 0.29050759028199935 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99997398e-01 -1.00355773e-03 -2.04857727e-03 2.52773922e+00] [ 1.00084240e-03 9.99998620e-01 -1.32606698e-03 -6.81441581e-02] [ 2.04990523e-03 1.32401322e-03 9.99997022e-01 5.27037932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters 0.28790781359366086 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.53 [[ 9.99997452e-01 -1.00999270e-03 -2.01884471e-03 2.52762401e+00] [ 1.00728023e-03 9.99998589e-01 -1.34413717e-03 -6.80619567e-02] [ 2.02019943e-03 1.34210020e-03 9.99997059e-01 5.27124938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89255784400007 meters 0.28968164370156346 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.07, Z:0.53 [[ 9.99979508e-01 -5.84215290e-03 -2.61776768e-03 2.55229181e+00] [ 5.84844221e-03 9.99980014e-01 2.40136958e-03 -6.50119995e-02] [ 2.60368619e-03 -2.41663023e-03 9.99993690e-01 5.26053593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92255784400004 meters 0.29028557491691265 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.52 [[ 9.99989116e-01 1.79929711e-03 -4.30466181e-03 2.53330429e+00] [-1.79429198e-03 9.99997710e-01 1.16630269e-03 -6.82896330e-02] [ 4.30675048e-03 -1.15856618e-03 9.99990055e-01 5.24758775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95255784400007 meters 0.29028557491691265 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.52 [[ 9.99989116e-01 1.79929711e-03 -4.30466181e-03 2.53330429e+00] [-1.79429198e-03 9.99997710e-01 1.16630269e-03 -6.82896330e-02] [ 4.30675048e-03 -1.15856618e-03 9.99990055e-01 5.24758775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98255784400004 meters 0.28968302388795286 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.52 [[ 9.99989045e-01 1.71355724e-03 -4.35575840e-03 2.53348221e+00] [-1.70943085e-03 9.99998087e-01 9.50887364e-04 -6.73975875e-02] [ 4.35737946e-03 -9.43431079e-04 9.99990062e-01 5.24649868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01255784400007 meters 0.2898115549645889 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.52 [[ 9.99989172e-01 1.60855409e-03 -4.36672940e-03 2.53351568e+00] [-1.60561028e-03 9.99998481e-01 6.77567262e-04 -6.62629699e-02] [ 4.36781267e-03 -6.70548660e-04 9.99990236e-01 5.24620947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04255784400004 meters 0.2889499411219153 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:0.52 [[ 9.99990230e-01 1.40227168e-03 -4.19196436e-03 2.53292064e+00] [-1.40182145e-03 9.99999011e-01 1.10339506e-04 -6.38448296e-02] [ 4.19211494e-03 -1.04462042e-04 9.99991208e-01 5.24930708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0725578440001 meters 0.2892048842387486 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:0.53 [[ 9.99990563e-01 1.28174175e-03 -4.15094789e-03 2.53275614e+00] [-1.28258975e-03 9.99999157e-01 -2.01636882e-04 -6.25331962e-02] [ 4.15068594e-03 2.06958943e-04 9.99991364e-01 5.25048439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10255784400005 meters 0.28823943735522317 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:0.53 [[ 9.99990738e-01 1.15468904e-03 -4.14609021e-03 2.53268669e+00] [-1.15691252e-03 9.99999188e-01 -5.33926163e-04 -6.11519268e-02] [ 4.14547033e-03 5.38717882e-04 9.99991262e-01 5.25158244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1325578440001 meters 0.2886716717629243 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:0.53 [[ 9.99990989e-01 9.96908583e-04 -4.12660567e-03 2.53267438e+00] [-1.00082464e-03 9.99999051e-01 -9.47021050e-04 -5.94415554e-02] [ 4.12565766e-03 9.51142524e-04 9.99991037e-01 5.25051164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16255784400005 meters 0.2883743543528155 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:0.53 [[ 9.99992252e-01 6.66326330e-04 -3.87969100e-03 2.53197236e+00] [-6.73580115e-04 9.99998027e-01 -1.86867476e-03 -5.56482781e-02] [ 3.87843820e-03 1.87127356e-03 9.99990728e-01 5.25111028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1925578440001 meters 0.2892259656474646 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:0.52 [[ 9.99989487e-01 -4.13794555e-03 -1.97564477e-03 2.55424034e+00] [ 4.14106514e-03 9.99990181e-01 1.57755565e-03 -5.21782512e-02] [ 1.96909754e-03 -1.58572034e-03 9.99996804e-01 5.24021347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22255784400005 meters 0.29051981069592275 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:0.52 [[ 9.99988894e-01 -4.32800268e-03 -1.86571046e-03 2.55396908e+00] [ 4.33002551e-03 9.99990041e-01 1.08153743e-03 -5.01256888e-02] [ 1.86101098e-03 -1.08960399e-03 9.99997675e-01 5.23942094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252557844 meters 0.2890953500275199 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:0.52 [[ 9.99987431e-01 -4.66552196e-03 -1.83596469e-03 2.55388134e+00] [ 4.66592656e-03 9.99989091e-01 2.16150167e-04 -4.65707403e-02] [ 1.83493621e-03 -2.24713927e-04 9.99998291e-01 5.23883259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28255784400005 meters 0.2879587572358781 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.05, Z:0.53 [[ 9.99991353e-01 4.05123028e-03 -9.38349797e-04 2.57357644e+00] [-4.05259783e-03 9.99990722e-01 -1.46010782e-03 -4.66990201e-02] [ 9.32425858e-04 1.46389795e-03 9.99998494e-01 5.25050843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312557844 meters 0.28863485021265156 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:0.52 [[ 9.99984197e-01 -4.80521815e-03 -2.91831134e-03 2.55414860e+00] [ 4.80338199e-03 9.99988262e-01 -6.35868397e-04 -4.34797822e-02] [ 2.92133257e-03 6.21840584e-04 9.99995540e-01 5.24501085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34255784400005 meters 0.29054314685149524 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:0.53 [[ 9.99992044e-01 3.77021420e-03 -1.30267508e-03 2.57371978e+00] [-3.77302094e-03 9.99990552e-01 -2.15889851e-03 -4.36828224e-02] [ 1.29452327e-03 2.16379635e-03 9.99996821e-01 5.25645391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372557844 meters 0.29028560897125216 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:0.53 [[ 9.99992551e-01 3.65628548e-03 -1.23710940e-03 2.57349038e+00] [-3.65931401e-03 9.99990292e-01 -2.45472253e-03 -4.24380273e-02] [ 1.22812223e-03 2.45923121e-03 9.99996222e-01 5.25759609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40255784400006 meters 0.28937135905994776 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:0.53 [[ 9.99993662e-01 3.44914205e-03 -8.83046187e-04 2.57252199e+00] [-3.45188592e-03 9.99989160e-01 -3.12484853e-03 -3.96792513e-02] [ 8.72258568e-04 3.12787690e-03 9.99994728e-01 5.25930761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43255784400003 meters 0.2882425635544408 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.04, Z:0.53 [[ 9.99981858e-01 -5.66945609e-03 -2.03498089e-03 2.55285539e+00] [ 5.66450246e-03 9.99981000e-01 -2.43180485e-03 -3.55590966e-02] [ 2.04872923e-03 2.42023358e-03 9.99994973e-01 5.25096980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46255784400006 meters 0.29081678208892264 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.03, Z:0.53 [[ 9.99993998e-01 3.38022726e-03 -7.60081339e-04 2.57420134e+00] [-3.38286611e-03 9.99988161e-01 -3.49774580e-03 -3.49742582e-02] [ 7.48249164e-04 3.50029606e-03 9.99993594e-01 5.25245686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49255784400003 meters 0.2892915379642278 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.03, Z:0.53 [[ 9.99994447e-01 3.24430265e-03 -7.61962781e-04 2.57428298e+00] [-3.24723564e-03 9.99987200e-01 -3.88009844e-03 -3.34208445e-02] [ 7.49364814e-04 3.88255116e-03 9.99992182e-01 5.25046414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52255784400006 meters 0.2900574725421933 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:0.53 [[ 9.99991915e-01 -2.17391064e-03 -3.38283738e-03 2.55383160e+00] [ 2.17339377e-03 9.99997626e-01 -1.56458891e-04 -3.06490503e-02] [ 3.38316948e-03 1.49105388e-04 9.99994266e-01 5.25086118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55255784400003 meters 0.28907031356009866 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:0.52 [[ 9.99991544e-01 -2.30915205e-03 -3.40292062e-03 2.55400919e+00] [ 2.30743434e-03 9.99997209e-01 -5.08612806e-04 -2.92091988e-02] [ 3.40408558e-03 5.00756489e-04 9.99994081e-01 5.24771027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58255784400006 meters 0.2900238709269649 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:0.52 [[ 9.99991117e-01 -2.44065313e-03 -3.43649517e-03 2.55415989e+00] [ 2.43776115e-03 9.99996671e-01 -8.45485869e-04 -2.78225747e-02] [ 3.43854727e-03 8.37101004e-04 9.99993738e-01 5.24588180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61255784400004 meters 0.28808987682388104 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:0.52 [[ 9.99990602e-01 -2.60875963e-03 -3.46267917e-03 2.55436440e+00] [ 2.60434578e-03 9.99995791e-01 -1.27859089e-03 -2.60388568e-02] [ 3.46600014e-03 1.26956086e-03 9.99993188e-01 5.24237800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64255784400007 meters 0.29101758108970094 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.52 [[ 9.99990357e-01 4.20378203e-04 -4.37145302e-03 2.55818797e+00] [-4.16169461e-04 9.99999449e-01 9.63643735e-04 -2.07398094e-02] [ 4.37185571e-03 -9.61815177e-04 9.99989981e-01 5.21901458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67255784400004 meters 0.29161115961354084 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.52 [[ 9.99990119e-01 3.19842454e-04 -4.43387745e-03 2.55827084e+00] [-3.16696914e-04 9.99999698e-01 7.10117381e-04 -1.96811210e-02] [ 4.43410324e-03 -7.08706169e-04 9.99989918e-01 5.22046926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70255784400007 meters 0.29129974219199756 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.52 [[ 9.99990444e-01 2.22985572e-04 -4.36603898e-03 2.55798267e+00] [-2.20973587e-04 9.99999869e-01 4.61303200e-04 -1.86266194e-02] [ 4.36614127e-03 -4.60334012e-04 9.99990362e-01 5.22275680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73255784400004 meters 0.29096431048502414 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.52 [[ 9.99990721e-01 -2.31060489e-05 -4.30773715e-03 2.55758152e+00] [ 2.25945775e-05 9.99999993e-01 -1.18781820e-04 -1.61148014e-02] [ 4.30773986e-03 1.18683386e-04 9.99990715e-01 5.22707419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76255784400007 meters 0.29073274688522177 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.52 [[ 9.99990784e-01 -1.83388938e-04 -4.28943744e-03 2.55758627e+00] [ 1.81178533e-04 9.99999851e-01 -5.15696463e-04 -1.44655335e-02] [ 4.28953137e-03 5.14914557e-04 9.99990667e-01 5.22564799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79255784400004 meters 0.2916048797929528 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.52 [[ 9.99990808e-01 -3.55108797e-04 -4.27285167e-03 2.55769848e+00] [ 3.51073219e-04 9.99999492e-01 -9.45182323e-04 -1.26772323e-02] [ 4.27318514e-03 9.43673551e-04 9.99990425e-01 5.22198979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8225578440001 meters 0.2912245528548044 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.52 [[ 9.99990571e-01 -4.90974506e-04 -4.31482628e-03 2.55793400e+00] [ 4.85428305e-04 9.99999055e-01 -1.28633542e-03 -1.12702513e-02] [ 4.31545376e-03 1.28422875e-03 9.99989864e-01 5.21892635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85255784400005 meters 0.29078106606130816 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.52 [[ 9.99990100e-01 -7.95372580e-04 -4.37806717e-03 2.55820174e+00] [ 7.86435816e-04 9.99997605e-01 -2.04260105e-03 -8.12544875e-03] [ 4.37968131e-03 2.03913776e-03 9.99988330e-01 5.21619039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8825578440001 meters 0.29073813319963965 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:0.52 [[ 9.99953311e-01 -7.10788239e-03 -6.54623048e-03 2.53580602e+00] [ 7.11488649e-03 9.99974140e-01 1.04727885e-03 -8.43422718e-03] [ 6.53861726e-03 -1.09380564e-03 9.99978025e-01 5.23022428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91255784400005 meters 0.2903977970613966 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:0.52 [[ 9.99989597e-01 1.63136758e-03 -4.25969053e-03 2.55478596e+00] [-1.63141467e-03 9.99998669e-01 -7.57953465e-06 -8.96987354e-03] [ 4.25967249e-03 1.45287774e-05 9.99990927e-01 5.23918983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9425578440001 meters 0.28697170282403384 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:0.52 [[ 9.99989868e-01 1.59933851e-03 -4.20790604e-03 2.55445121e+00] [-1.59974055e-03 9.99998716e-01 -9.21804317e-05 -8.59754723e-03] [ 4.20775321e-03 9.89110556e-05 9.99991142e-01 5.24382723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97255784400005 meters 0.2880517141958558 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:0.53 [[ 9.99990893e-01 1.55774070e-03 -3.97339251e-03 2.55356088e+00] [-1.55865369e-03 9.99998760e-01 -2.26691445e-04 -8.05073242e-03] [ 3.97303445e-03 2.32882523e-04 9.99992080e-01 5.25247356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002557844 meters 0.28940366878545815 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.52 [[ 9.99990370e-01 -4.16404437e-03 -1.38608825e-03 2.57477353e+00] [ 4.16812393e-03 9.99986952e-01 2.95345836e-03 -7.37185653e-03] [ 1.37377184e-03 -2.95920731e-03 9.99994678e-01 5.24216054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03255784400005 meters 0.2913716084308275 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.52 [[ 9.99990249e-01 -4.19970409e-03 -1.36539637e-03 2.57475947e+00] [ 4.20359945e-03 9.99987067e-01 2.86267452e-03 -6.99274396e-03] [ 1.35335633e-03 -2.86838619e-03 9.99994970e-01 5.24118787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062557844 meters 0.2893274565813341 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.52 [[ 9.99990287e-01 -4.21197966e-03 -1.29812207e-03 2.57455721e+00] [ 4.21563794e-03 9.99987114e-01 2.82839955e-03 -6.84263172e-03] [ 1.28619218e-03 -2.83384449e-03 9.99995158e-01 5.24183584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09255784400005 meters 0.2872804566205604 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.52 [[ 9.99990529e-01 -4.19307278e-03 -1.16599715e-03 2.57412116e+00] [ 4.19641212e-03 9.99987058e-01 2.87638438e-03 -7.02756927e-03] [ 1.15392117e-03 -2.88125014e-03 9.99995183e-01 5.24450183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122557844 meters 0.28688374410834877 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.53 [[ 9.99991115e-01 -4.17579722e-03 -5.76801666e-04 2.57222672e+00] [ 4.17752453e-03 9.99986694e-01 3.02662004e-03 -7.80666976e-03] [ 5.64155440e-04 -3.02900275e-03 9.99995253e-01 5.25943032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15255784400006 meters 0.28645132418873714 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.53 [[ 9.99991481e-01 -4.08565893e-03 -5.86987222e-04 2.57204879e+00] [ 4.08756763e-03 9.99986240e-01 3.28814940e-03 -8.84232883e-03] [ 5.73544888e-04 -3.29052074e-03 9.99994422e-01 5.26464458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18255784400003 meters 0.28783169979325685 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.53 [[ 9.99996543e-01 2.21064317e-03 1.42374606e-03 2.59394453e+00] [-2.21117899e-03 9.99997485e-01 3.74884439e-04 -9.98842420e-03] [-1.42291374e-03 -3.78031300e-04 9.99998916e-01 5.25367179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21255784400006 meters 0.28545303260063376 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.52 [[ 9.99978331e-01 -6.57312379e-03 -3.63687208e-04 2.57399340e+00] [ 6.57372122e-03 9.99977004e-01 1.66662705e-03 -1.20368549e-02] [ 3.52723899e-04 -1.66898171e-03 9.99998545e-01 5.24466337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24255784400003 meters 0.2859195360403665 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.53 [[ 9.99998091e-01 1.88284463e-03 5.21751224e-04 2.59294645e+00] [-1.88329800e-03 9.99997848e-01 8.69815403e-04 -1.97996360e-02] [-5.20112374e-04 -8.70796356e-04 9.99999486e-01 5.25551527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27255784400006 meters 0.2844212929999601 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:0.53 [[ 9.99985319e-01 -4.80662527e-03 -2.50150481e-03 2.57162564e+00] [ 4.81619865e-03 9.99981048e-01 3.83519886e-03 -2.37083482e-02] [ 2.48302304e-03 -3.84719030e-03 9.99989517e-01 5.27182638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30255784400003 meters 0.2853121489974614 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.53 [[ 9.99991090e-01 3.78488927e-03 -1.86929796e-03 2.59095186e+00] [-3.77960799e-03 9.99988879e-01 2.82077155e-03 -2.88390970e-02] [ 1.87995347e-03 -2.81368120e-03 9.99994274e-01 5.28714870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33255784400006 meters 0.28373187011204176 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:0.52 [[ 9.99996964e-01 1.38737605e-03 -2.03669249e-03 2.55447867e+00] [-1.38417985e-03 9.99997810e-01 1.56988069e-03 -3.29495052e-02] [ 2.03886604e-03 -1.56705678e-03 9.99996694e-01 5.24520768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36255784400004 meters 0.2878392265401562 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.52 [[ 9.99999492e-01 9.62164754e-04 2.99123733e-04 2.59976203e+00] [-9.62366382e-04 9.99999309e-01 6.74653068e-04 -3.26009804e-02] [-2.98474399e-04 -6.74940592e-04 9.99999728e-01 5.22343867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39255784400007 meters 0.28608115050927996 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.52 [[ 9.99999452e-01 1.01204571e-03 2.66192856e-04 2.59995031e+00] [-1.01225963e-03 9.99999164e-01 8.04703245e-04 -3.31450970e-02] [-2.65378237e-04 -8.04972260e-04 9.99999641e-01 5.22107733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42255784400004 meters 0.2854966068780661 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.52 [[ 9.99999369e-01 1.11283525e-03 1.55504956e-04 2.60046100e+00] [-1.11300248e-03 9.99998798e-01 1.07949311e-03 -3.43228269e-02] [-1.54303471e-04 -1.07966550e-03 9.99999405e-01 5.21531587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45255784400007 meters 0.2883853644792906 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.52 [[ 9.99999284e-01 1.19265770e-03 9.63161440e-05 2.60073620e+00] [-1.19278157e-03 9.99998448e-01 1.29647919e-03 -3.52343005e-02] [-9.47697386e-05 -1.29659315e-03 9.99999155e-01 5.21246848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48255784400004 meters 0.2867392488151333 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.52 [[ 9.99999169e-01 1.28887213e-03 1.38511753e-05 2.60092231e+00] [-1.28889218e-03 9.99997952e-01 1.56038641e-03 -3.63165103e-02] [-1.18400084e-05 -1.56040297e-03 9.99998783e-01 5.21310120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51255784400007 meters 0.28716630810039495 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.52 [[ 9.99999045e-01 1.38113298e-03 4.07901038e-05 2.60080235e+00] [-1.38120491e-03 9.99997391e-01 1.81934738e-03 -3.73722802e-02] [-3.82772367e-05 -1.81940198e-03 9.99998344e-01 5.21438186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54255784400004 meters 0.28574415187101515 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:0.52 [[ 9.99998673e-01 -1.00240711e-04 1.62571908e-03 2.56023515e+00] [ 9.77462096e-05 9.99998818e-01 1.53440568e-03 -3.89037104e-02] [-1.62587097e-03 -1.53424474e-03 9.99997501e-01 5.19176759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5725578440001 meters 0.286025603747589 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:0.52 [[ 9.99998874e-01 -2.69854952e-05 1.50063819e-03 2.56053077e+00] [ 2.43061997e-05 9.99998406e-01 1.78542700e-03 -3.98977551e-02] [-1.50068398e-03 -1.78538851e-03 9.99997280e-01 5.19186218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60255784400005 meters 0.285847518620223 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:0.52 [[ 9.99999203e-01 1.42916581e-05 1.26212442e-03 2.56127764e+00] [-1.67065937e-05 9.99998169e-01 1.91339967e-03 -4.04541677e-02] [-1.26209476e-03 -1.91341923e-03 9.99997373e-01 5.18757833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6325578440001 meters 0.2865055409862822 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:0.52 [[ 9.99999359e-01 6.69519081e-05 1.13060910e-03 2.56172046e+00] [-6.92860981e-05 9.99997866e-01 2.06462903e-03 -4.10834774e-02] [-1.13046846e-03 -2.06470605e-03 9.99997230e-01 5.18457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66255784400005 meters 0.28762273189188203 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:0.52 [[ 9.99976247e-01 6.09384194e-03 3.22039391e-03 2.58420053e+00] [-6.09002072e-03 9.99980742e-01 -1.19504525e-03 -4.16726496e-02] [-3.22761430e-03 1.17540460e-03 9.99994100e-01 5.16831285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6925578440001 meters 0.28589223755446325 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.05, Z:0.52 [[ 9.99997627e-01 -1.57973620e-03 1.49999592e-03 2.56206973e+00] [ 1.57781930e-03 9.99997938e-01 1.27825776e-03 -4.51235078e-02] [-1.50201214e-03 -1.27588801e-03 9.99998058e-01 5.18193644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72255784400005 meters 0.28779988719364086 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.05, Z:0.52 [[ 9.99987242e-01 4.09743691e-03 2.95396919e-03 2.58459138e+00] [-4.09063435e-03 9.99988976e-01 -2.30522910e-03 -4.77288163e-02] [-2.96338216e-03 2.29311608e-03 9.99992980e-01 5.17029181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.752557844 meters 0.28527997638566704 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.05, Z:0.52 [[ 9.99996938e-01 -2.44983579e-03 -3.49291305e-04 2.56309595e+00] [ 2.45008928e-03 9.99996734e-01 7.27163778e-04 -5.21700205e-02] [ 3.47508733e-04 -7.28017347e-04 9.99999675e-01 5.19027048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78255784400005 meters 0.28591238405376573 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.05, Z:0.52 [[ 9.99997295e-01 -2.29086152e-03 -4.02679561e-04 2.56327376e+00] [ 2.29133732e-03 9.99996673e-01 1.18510486e-03 -5.40379190e-02] [ 3.99963310e-04 -1.18602433e-03 9.99999217e-01 5.18908449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812557844 meters 0.2867858722409716 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:0.52 [[ 9.99992304e-01 3.70745336e-03 1.28353672e-03 2.58584518e+00] [-3.70525315e-03 9.99991669e-01 -1.71232887e-03 -5.85804182e-02] [-1.28987441e-03 1.70755987e-03 9.99997710e-01 5.17494431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84255784400005 meters 0.285552308143523 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.06, Z:0.52 [[ 9.99986069e-01 -5.21183224e-03 8.35616107e-04 2.56544009e+00] [ 5.21219482e-03 9.99986323e-01 -4.32323545e-04 -5.72943334e-02] [-8.33351481e-04 4.36672916e-04 9.99999557e-01 5.17123002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872557844 meters 0.285552308143523 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.06, Z:0.52 [[ 9.99986069e-01 -5.21183224e-03 8.35616107e-04 2.56544009e+00] [ 5.21219482e-03 9.99986323e-01 -4.32323545e-04 -5.72943334e-02] [-8.33351481e-04 4.36672916e-04 9.99999557e-01 5.17123002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90255784400006 meters 0.28598160734567996 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.06, Z:0.52 [[ 9.99992341e-01 3.14740934e-03 2.32629802e-03 2.58415413e+00] [-3.14357109e-03 9.99993695e-01 -1.65176089e-03 -6.18814352e-02] [-2.33148212e-03 1.64443535e-03 9.99995930e-01 5.18861151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93255784400003 meters 0.2843289538034618 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.06, Z:0.52 [[ 9.99992118e-01 3.18792685e-03 2.36650359e-03 2.58399226e+00] [-3.18427916e-03 9.99993739e-01 -1.54355336e-03 -6.23275228e-02] [-2.37140951e-03 1.53600558e-03 9.99996009e-01 5.18998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96255784400006 meters 0.2856508240163603 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.06, Z:0.52 [[ 9.99992118e-01 3.21371889e-03 2.33167902e-03 2.58415112e+00] [-3.21029033e-03 9.99993763e-01 -1.47267887e-03 -6.26215280e-02] [-2.33639725e-03 1.46518190e-03 9.99996197e-01 5.18829907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99255784400003 meters 0.2858867806724206 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.06, Z:0.52 [[ 9.99992499e-01 3.24016179e-03 2.12229874e-03 2.58478183e+00] [-3.23721055e-03 9.99993791e-01 -1.39254878e-03 -6.29447562e-02] [-2.12679764e-03 1.38566801e-03 9.99996778e-01 5.18497844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02255784400006 meters 0.2847087475483729 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.06, Z:0.52 [[ 9.99992571e-01 3.24492046e-03 2.08025020e-03 2.58487301e+00] [-3.24205606e-03 9.99993794e-01 -1.37884547e-03 -6.29987616e-02] [-2.08471153e-03 1.37209093e-03 9.99996886e-01 5.18529682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05255784400003 meters 0.2865445987913706 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.06, Z:0.52 [[ 9.99982731e-01 -4.54023159e-03 3.73154709e-03 2.60340169e+00] [ 4.54071877e-03 9.99989683e-01 -1.22096486e-04 -5.93964086e-02] [-3.73095425e-03 1.39038283e-04 9.99993030e-01 5.20298225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08255784400006 meters 0.2865610979276501 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.06, Z:0.52 [[ 9.99982593e-01 -4.54486975e-03 3.76277596e-03 2.60327189e+00] [ 4.54540595e-03 9.99989661e-01 -1.33961460e-04 -5.93440336e-02] [-3.76212821e-03 1.51062473e-04 9.99992912e-01 5.20412241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11255784400004 meters 0.28635995473266745 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.06, Z:0.52 [[ 9.99982456e-01 -4.55280277e-03 3.78950846e-03 2.60321208e+00] [ 4.55342732e-03 9.99989621e-01 -1.56199479e-04 -5.92531378e-02] [-3.78875798e-03 1.73451990e-04 9.99992808e-01 5.20391700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14255784400007 meters 0.28487779094297916 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.06, Z:0.52 [[ 9.99982544e-01 -4.54123729e-03 3.78010716e-03 2.60323384e+00] [ 4.54174818e-03 9.99989678e-01 -1.26576497e-04 -5.93751577e-02] [-3.77949333e-03 1.43742582e-04 9.99992847e-01 5.20396049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17255784400004 meters 0.28602641444180593 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.06, Z:0.52 [[ 9.99982304e-01 -4.53335357e-03 3.85242428e-03 2.60295926e+00] [ 4.53380818e-03 9.99989716e-01 -1.09281574e-04 -5.94430818e-02] [-3.85188925e-03 1.26745793e-04 9.99992573e-01 5.20616404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20255784400007 meters 0.28714595062343923 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:0.52 [[ 9.99976413e-01 4.34790183e-03 5.31682581e-03 2.62244869e+00] [-4.34209016e-03 9.99989964e-01 -1.10412679e-03 -6.21564214e-02] [-5.32157308e-03 1.08101461e-03 9.99985256e-01 5.21170274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23255784400004 meters 0.2865877596114618 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:0.52 [[ 9.99976400e-01 4.34079803e-03 5.32510011e-03 2.62241993e+00] [-4.33487419e-03 9.99989973e-01 -1.12347487e-03 -6.20763439e-02] [-5.32992350e-03 1.10036472e-03 9.99985190e-01 5.21188017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26255784400007 meters 0.28643135266174824 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:0.52 [[ 9.99976838e-01 4.33159844e-03 5.24977008e-03 2.62256296e+00] [-4.32563456e-03 9.99989987e-01 -1.14684880e-03 -6.19739087e-02] [-5.25468520e-03 1.12411365e-03 9.99985562e-01 5.21295396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29255784400004 meters 0.28602286862132353 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:0.52 [[ 9.99977184e-01 4.33967044e-03 5.17665656e-03 2.62266508e+00] [-4.33390984e-03 9.99989977e-01 -1.12350169e-03 -6.20588300e-02] [-5.18148030e-03 1.10104089e-03 9.99985970e-01 5.21485907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3225578440001 meters 0.2868497539029359 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99997935e-01 -1.18671354e-03 1.64964403e-03 2.63874330e+00] [ 1.18476417e-03 9.99998599e-01 1.18216945e-03 -6.21854530e-02] [-1.65104462e-03 -1.18021257e-03 9.99997941e-01 5.26868558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35255784400005 meters 0.28555361885639835 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99998093e-01 -1.17800357e-03 1.55782422e-03 2.63901218e+00] [ 1.17612765e-03 9.99998583e-01 1.20455726e-03 -6.22779102e-02] [-1.55924098e-03 -1.20272277e-03 9.99998061e-01 5.26782504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3825578440001 meters 0.2864990356645403 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99998155e-01 -1.19987369e-03 1.50033268e-03 2.63917011e+00] [ 1.19815266e-03 9.99998624e-01 1.14746931e-03 -6.20450296e-02] [-1.50170743e-03 -1.14566957e-03 9.99998216e-01 5.26755658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41255784400005 meters 0.28827880770815445 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99998175e-01 -1.23138008e-03 1.46054255e-03 2.63923332e+00] [ 1.22982322e-03 9.99998675e-01 1.06636818e-03 -6.17065890e-02] [-1.46185372e-03 -1.06457002e-03 9.99998365e-01 5.26842780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4425578440001 meters 0.2864982162672125 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99997884e-01 -1.38625872e-03 1.51982282e-03 2.63898469e+00] [ 1.38527986e-03 9.99998833e-01 6.44923306e-04 -5.99651902e-02] [-1.52071508e-03 -6.42816562e-04 9.99998637e-01 5.27066888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47255784400005 meters 0.2861978006940562 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99997750e-01 -1.52419654e-03 1.47515340e-03 2.63913902e+00] [ 1.52380143e-03 9.99998803e-01 2.68928952e-04 -5.84351838e-02] [-1.47556154e-03 -2.66680506e-04 9.99998876e-01 5.26977639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters 0.28520322844264284 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:0.53 [[ 9.99974025e-01 7.19185739e-03 4.76208695e-04 2.61699968e+00] [-7.19171317e-03 9.99974093e-01 -3.03892642e-04 -5.75992154e-02] [-4.78381911e-04 3.00459992e-04 9.99999840e-01 5.27035595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53255784400005 meters 0.28690143008130925 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.53 [[ 9.99995251e-01 1.84078295e-03 2.47193521e-03 2.63979369e+00] [-1.84786389e-03 9.99994188e-01 2.86531027e-03 -5.57652443e-02] [-2.46664643e-03 -2.86986446e-03 9.99992840e-01 5.25686056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562557844 meters 0.28514586330318137 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.05, Z:0.53 [[ 9.99995549e-01 1.50543157e-03 2.57597899e-03 2.63958645e+00] [-1.51055106e-03 9.99996886e-01 1.98660628e-03 -5.21520722e-02] [-2.57298027e-03 -1.99048859e-03 9.99994709e-01 5.25596462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59255784400005 meters 0.2848893514210563 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.05, Z:0.53 [[ 9.99995937e-01 1.37475792e-03 2.49721339e-03 2.63994678e+00] [-1.37885546e-03 9.99997705e-01 1.63986570e-03 -5.07237866e-02] [-2.49495324e-03 -1.64330233e-03 9.99995537e-01 5.25218652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622557844 meters 0.28637428016877015 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.05, Z:0.52 [[ 9.99996400e-01 1.23734654e-03 2.38114561e-03 2.64049548e+00] [-1.24038070e-03 9.99998420e-01 1.27318868e-03 -4.92259057e-02] [-2.37956647e-03 -1.27613763e-03 9.99996355e-01 5.24598543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65255784400006 meters 0.28739207886435386 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.52 [[ 0.99997913 -0.0049272 0.00417829 2.66272775] [ 0.00491108 0.99998049 0.00385892 -0.04540232] [-0.00419722 -0.00383832 0.99998383 0.52326913] [ 0. 0. 0. 1. ]] SLAMing on 340.68255784400003 meters 0.2871546949739527 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.05, Z:0.52 [[ 0.99998179 0.00408278 0.00444305 2.64109039] [-0.00409744 0.99998617 0.00329629 -0.04729841] [-0.00442953 -0.00331444 0.9999847 0.5233493 ] [ 0. 0. 0. 1. ]] SLAMing on 340.71255784400006 meters 0.2856162685100168 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.52 [[ 9.99982867e-01 2.21903882e-03 5.41680058e-03 2.60103803e+00] [-2.22940343e-03 9.99995694e-01 1.90813098e-03 -4.38002218e-02] [-5.41254304e-03 -1.92017452e-03 9.99983509e-01 5.21354233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74255784400003 meters 0.2866048711795679 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:0.52 [[ 9.99962742e-01 -6.40542940e-03 5.78658363e-03 2.62347456e+00] [ 6.39217857e-03 9.99976912e-01 2.30552286e-03 -4.09408322e-02] [-5.80121790e-03 -2.26844809e-03 9.99980600e-01 5.21420764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77255784400006 meters 0.28625372654355885 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99994597e-01 1.45786466e-03 2.94614678e-03 2.60638739e+00] [-1.46061689e-03 9.99998499e-01 9.32244711e-04 -4.33351502e-02] [-2.94478327e-03 -9.36542866e-04 9.99995226e-01 5.19482962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80255784400003 meters 0.2885260188376688 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99994928e-01 1.43299661e-03 2.84421587e-03 2.60680602e+00] [-1.43545467e-03 9.99998598e-01 8.62379888e-04 -4.30527743e-02] [-2.84297610e-03 -8.66458257e-04 9.99995583e-01 5.19082155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83255784400006 meters 0.2880892867885519 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:0.52 [[ 9.99967958e-01 -6.69441600e-03 4.38961411e-03 2.62707319e+00] [ 6.68658763e-03 9.99976032e-01 1.79564006e-03 -4.01765417e-02] [-4.40152967e-03 -1.76623099e-03 9.99988753e-01 5.19649999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86255784400004 meters 0.28699703691303796 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99990382e-01 1.77866430e-03 4.00910752e-03 2.60607541e+00] [-1.78181431e-03 9.99998107e-01 7.82277683e-04 -4.20931366e-02] [-4.00770851e-03 -7.89413644e-04 9.99991658e-01 5.19349699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89255784400007 meters 0.28683598803491483 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99990547e-01 1.68371604e-03 4.00886734e-03 2.60602274e+00] [-1.68585953e-03 9.99998438e-01 5.31368644e-04 -4.10517774e-02] [-4.00796640e-03 -5.38122008e-04 9.99991823e-01 5.19498700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92255784400004 meters 0.28714278275004224 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99991746e-01 1.47519086e-03 3.78573225e-03 2.60686185e+00] [-1.47496555e-03 9.99998910e-01 -6.23065020e-05 -3.85498380e-02] [-3.78582004e-03 5.67221630e-05 9.99992832e-01 5.18833449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95255784400007 meters 0.28638924024852286 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.52 [[ 9.99992320e-01 1.32801561e-03 3.68729557e-03 2.60723960e+00] [-1.32630462e-03 9.99999012e-01 -4.66429648e-04 -3.68820639e-02] [-3.68791135e-03 4.61535589e-04 9.99993093e-01 5.18559599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98255784400004 meters 0.28827207076766903 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.52 [[ 9.99995070e-01 1.60033465e-03 2.70153803e-03 2.64620389e+00] [-1.59771294e-03 9.99998251e-01 -9.72329753e-04 -3.49195965e-02] [-2.70308935e-03 9.68008677e-04 9.99995878e-01 5.21906475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01255784400007 meters 0.2880311944200618 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.52 [[ 9.99995225e-01 1.44557000e-03 2.73140193e-03 2.64595755e+00] [-1.44175871e-03 9.99997985e-01 -1.39681222e-03 -3.31678829e-02] [-2.73341562e-03 1.39286753e-03 9.99995294e-01 5.22331243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04255784400004 meters 0.2867594540386313 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.52 [[ 9.99995413e-01 1.30166520e-03 2.73484669e-03 2.64587295e+00] [-1.29676809e-03 9.99997554e-01 -1.79164540e-03 -3.15528678e-02] [-2.73717213e-03 1.78809072e-03 9.99994655e-01 5.22537778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0725578440001 meters 0.2878229086386457 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.52 [[ 9.99995878e-01 9.84389358e-04 2.69716076e-03 2.64613056e+00] [-9.77221646e-04 9.99995991e-01 -2.65753318e-03 -2.79840015e-02] [-2.69976599e-03 2.65488650e-03 9.99992831e-01 5.22248484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10255784400005 meters 0.2884079064568673 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.52 [[ 9.99996066e-01 8.53692279e-04 2.67176622e-03 2.64625785e+00] [-8.45710663e-04 9.99995181e-01 -2.98709850e-03 -2.66257354e-02] [-2.67430341e-03 2.98482720e-03 9.99991969e-01 5.22135840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1325578440001 meters 0.2886926642634134 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:0.52 [[ 9.99996391e-01 5.43966732e-04 2.63108189e-03 2.64638332e+00] [-5.34274104e-04 9.99993074e-01 -3.68319538e-03 -2.37155551e-02] [-2.63306721e-03 3.68177637e-03 9.99989756e-01 5.22148195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16255784400005 meters 0.2871424147556998 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:0.52 [[ 9.99996551e-01 4.18514231e-04 2.59289407e-03 2.64653342e+00] [-4.08162755e-04 9.99991951e-01 -3.99149178e-03 -2.24395363e-02] [-2.59454370e-03 3.99041969e-03 9.99988672e-01 5.22058282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1925578440001 meters 0.2870294830271154 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:0.52 [[ 9.99996571e-01 3.14738396e-04 2.59991360e-03 2.64661134e+00] [-3.03663182e-04 9.99990884e-01 -4.25913604e-03 -2.13314894e-02] [-2.60123042e-03 4.25833193e-03 9.99987550e-01 5.21853736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22255784400005 meters 0.28757090286025117 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:0.52 [[ 9.99996668e-01 2.54033617e-04 2.56879591e-03 2.64674619e+00] [-2.42687500e-04 9.99990219e-01 -4.41624839e-03 -2.06809292e-02] [-2.56989266e-03 4.41561026e-03 9.99986949e-01 5.21739157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252557844 meters 0.2871414194980945 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:0.52 [[ 9.99996782e-01 2.00266619e-04 2.52889246e-03 2.64691293e+00] [-1.88738868e-04 9.99989595e-01 -4.55783500e-03 -2.00908195e-02] [-2.52977893e-03 4.55734304e-03 9.99986415e-01 5.21601212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28255784400005 meters 0.2872792982376771 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.52 [[ 9.99991327e-01 1.96187950e-03 3.67380093e-03 2.64189509e+00] [-1.95057635e-03 9.99993361e-01 -3.07774936e-03 -1.75013019e-02] [-3.67981472e-03 3.07055664e-03 9.99988515e-01 5.24577480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312557844 meters 0.2870831067304546 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.52 [[ 9.99991532e-01 1.81228482e-03 3.69484125e-03 2.64180132e+00] [-1.79949748e-03 9.99992391e-01 -3.46125484e-03 -1.59083287e-02] [-3.70108592e-03 3.45457668e-03 9.99987184e-01 5.24698622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34255784400005 meters 0.28847267983628894 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.01, Z:0.53 [[ 9.99991650e-01 1.63809847e-03 3.74399339e-03 2.64151557e+00] [-1.62341451e-03 9.99990992e-01 -3.92168671e-03 -1.39899288e-02] [-3.75038377e-03 3.91557591e-03 9.99985301e-01 5.25093568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372557844 meters 0.2869712652042801 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.01, Z:0.53 [[ 9.99991533e-01 1.27026956e-03 3.91422423e-03 2.64083069e+00] [-1.25074617e-03 9.99986787e-01 -4.98622269e-03 -9.58221416e-03] [-3.92050636e-03 4.98128477e-03 9.99979908e-01 5.25745504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40255784400006 meters 0.2873756533697618 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:0.52 [[ 9.99976255e-01 -4.33293613e-03 5.35869353e-03 2.66388277e+00] [ 4.34218164e-03 9.99989102e-01 -1.71490096e-03 -7.05699628e-03] [-5.35120457e-03 1.73812866e-03 9.99984172e-01 5.24305217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43255784400003 meters 0.28657767699827563 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.00, Z:0.52 [[ 0.99998462 0.00436969 0.00341683 2.64303856] [-0.00436028 0.9999867 -0.00275477 -0.00423413] [-0.00342883 0.00273983 0.99999037 0.52430344] [ 0. 0. 0. 1. ]] SLAMing on 341.46255784400006 meters 0.2872291349565577 Centerline is valid? [False, False] Translation: X:2.67, Y:0.00, Z:0.52 [[ 9.99989289e-01 -1.32221520e-03 4.43547295e-03 2.66626219e+00] [ 1.32286788e-03 9.99999115e-01 -1.44218835e-04 3.55253515e-03] [-4.43527833e-03 1.50084835e-04 9.99990153e-01 5.23079185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49255784400003 meters 0.28710172707219384 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:0.52 [[ 9.99988721e-01 -1.56762093e-03 4.48324773e-03 2.66607145e+00] [ 1.57113589e-03 9.99998461e-01 -7.80606177e-04 6.18740977e-03] [-4.48201714e-03 7.87641165e-04 9.99989646e-01 5.23262297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52255784400006 meters 0.28609053458029204 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:0.53 [[ 9.99989249e-01 4.48053179e-03 1.19439337e-03 2.64470996e+00] [-4.47548413e-03 9.99981182e-01 -4.19582586e-03 1.20945945e-02] [-1.21317042e-03 4.19043527e-03 9.99990484e-01 5.25223513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55255784400003 meters 0.2887208497834468 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:0.52 [[ 9.99994212e-01 -1.30353702e-03 3.14261316e-03 2.66750998e+00] [ 1.30681621e-03 9.99998604e-01 -1.04163165e-03 1.39799570e-02] [-3.14125097e-03 1.04573244e-03 9.99994519e-01 5.23658290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58255784400006 meters 0.2879056368814788 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99994103e-01 -1.50972048e-03 3.08458331e-03 2.66773844e+00] [ 1.51451345e-03 9.99997649e-01 -1.55210228e-03 1.61147287e-02] [-3.08223281e-03 1.55676477e-03 9.99994038e-01 5.23516705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61255784400004 meters 0.28952273878936774 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99994115e-01 -1.83932823e-03 2.89586003e-03 2.66860687e+00] [ 1.84611275e-03 9.99995554e-01 -2.34190565e-03 1.94712496e-02] [-2.89153962e-03 2.34723795e-03 9.99993065e-01 5.22697480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64255784400007 meters 0.2878245092978687 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99994312e-01 -1.94535727e-03 2.75521988e-03 2.66903724e+00] [ 1.95257002e-03 9.99994668e-01 -2.61758037e-03 2.06123601e-02] [-2.75011306e-03 2.62294524e-03 9.99992778e-01 5.22535366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67255784400004 meters 0.2886383623691404 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99994222e-01 -2.02723164e-03 2.72874026e-03 2.66913783e+00] [ 2.03495304e-03 9.99993925e-01 -2.82986208e-03 2.14948815e-02] [-2.72298690e-03 2.83539859e-03 9.99992273e-01 5.22474172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70255784400007 meters 0.28902448395686614 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99994081e-01 -2.10689894e-03 2.72009604e-03 2.66910198e+00] [ 2.11515503e-03 9.99993155e-01 -3.03591811e-03 2.23441197e-02] [-2.71368105e-03 3.04165357e-03 9.99991692e-01 5.22617699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73255784400004 meters 0.28840037984469147 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:0.52 [[ 9.99964349e-01 -8.36550970e-03 1.14826038e-03 2.64624317e+00] [ 8.36600553e-03 9.99964913e-01 -4.27686280e-04 2.60116753e-02] [-1.14464228e-03 4.37277385e-04 9.99999249e-01 5.24200947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76255784400007 meters 0.28840037984469147 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:0.52 [[ 9.99964349e-01 -8.36550970e-03 1.14826038e-03 2.64624317e+00] [ 8.36600553e-03 9.99964913e-01 -4.27686280e-04 2.60116753e-02] [-1.14464228e-03 4.37277385e-04 9.99999249e-01 5.24200947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79255784400004 meters 0.28896414985109586 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99997643e-01 4.94490161e-04 2.11424329e-03 2.66736702e+00] [-4.92432905e-04 9.99999405e-01 -9.73455844e-04 2.28101176e-02] [-2.11472339e-03 9.72412427e-04 9.99997291e-01 5.23805945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8225578440001 meters 0.28857140636702683 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99997779e-01 4.02595381e-04 2.06892153e-03 2.66755154e+00] [-4.00093488e-04 9.99999188e-01 -1.20954562e-03 2.38011031e-02] [-2.06940681e-03 1.20871517e-03 9.99997128e-01 5.23673992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85255784400005 meters 0.28958809436345895 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.52 [[ 9.99997800e-01 3.01555382e-04 2.07584249e-03 2.66760235e+00] [-2.98512918e-04 9.99998881e-01 -1.46580653e-03 2.48750102e-02] [-2.07628219e-03 1.46518364e-03 9.99996771e-01 5.23546741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8825578440001 meters 0.2879759961417173 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:0.52 [[ 9.99997697e-01 1.30597017e-04 2.14229333e-03 2.66727373e+00] [-1.26550004e-04 9.99998208e-01 -1.88912976e-03 2.66361226e-02] [-2.14253621e-03 1.88885430e-03 9.99995921e-01 5.23924644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91255784400005 meters 0.2901164614597378 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:0.52 [[ 9.99997612e-01 3.78542028e-05 2.18511808e-03 2.66702503e+00] [-3.32021350e-05 9.99997733e-01 -2.12897482e-03 2.76221778e-02] [-2.18519371e-03 2.12889718e-03 9.99995346e-01 5.24261172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9425578440001 meters 0.2867835378568647 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:0.52 [[ 9.99991974e-01 7.32633919e-04 3.93884083e-03 2.62631356e+00] [-7.23628461e-04 9.99997122e-01 -2.28726107e-03 3.13905288e-02] [-3.94050522e-03 2.28439245e-03 9.99989627e-01 5.22085372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97255784400005 meters 0.28672343037063847 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:0.52 [[ 9.99992017e-01 6.71121738e-04 3.93907881e-03 2.62625295e+00] [-6.61479178e-04 9.99996783e-01 -2.44871518e-03 3.20569251e-02] [-3.94070952e-03 2.44609001e-03 9.99989244e-01 5.22241106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002557844 meters 0.28896483811360185 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:0.52 [[ 9.99963178e-01 -5.48062826e-03 6.60345756e-03 2.64866482e+00] [ 5.47649469e-03 9.99984797e-01 6.43890566e-04 3.08576239e-02] [-6.60688609e-03 -6.07703056e-04 9.99977990e-01 5.20026538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03255784400005 meters 0.28800080632617603 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:0.52 [[ 9.99962475e-01 -5.61089637e-03 6.60055309e-03 2.64882999e+00] [ 5.60902243e-03 9.99984224e-01 3.02384498e-04 3.22971243e-02] [-6.60214561e-03 -2.65350501e-04 9.99978170e-01 5.19688874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters 0.2873583755342224 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:0.52 [[ 9.99962076e-01 -5.65202684e-03 6.62577513e-03 2.64872874e+00] [ 5.65085130e-03 9.99984015e-01 1.96126433e-04 3.27379123e-02] [-6.62677773e-03 -1.58677725e-04 9.99978030e-01 5.19779328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09255784400005 meters 0.28824207128563434 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:0.52 [[ 9.99963150e-01 2.56245241e-03 8.19340416e-03 2.66829756e+00] [-2.55576566e-03 9.99996392e-01 -8.26480588e-04 2.99484628e-02] [-8.19549242e-03 8.05509712e-04 9.99966092e-01 5.20413055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122557844 meters 0.28689936659950677 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:0.52 [[ 9.99956241e-01 -5.71221577e-03 7.40860924e-03 2.64820719e+00] [ 5.71284254e-03 9.99983680e-01 -6.34407602e-05 3.50891294e-02] [-7.40812594e-03 1.05762202e-04 9.99972554e-01 5.19942283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15255784400006 meters 0.28709804600377287 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:0.52 [[ 9.99956069e-01 -5.74530750e-03 7.40621144e-03 2.64819986e+00] [ 5.74659687e-03 9.99983476e-01 -1.52823775e-04 3.54576111e-02] [-7.40521105e-03 1.95377573e-04 9.99972562e-01 5.19978244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18255784400003 meters 0.2875773239513817 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:0.52 [[ 9.99964314e-01 2.63865687e-03 8.02548614e-03 2.66954583e+00] [-2.62864816e-03 9.99995755e-01 -1.25740838e-03 3.40760549e-02] [-8.02876994e-03 1.23626733e-03 9.99967005e-01 5.19784881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21255784400006 meters 0.2877969123015529 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99965039e-01 2.50403501e-03 7.97812885e-03 2.66969396e+00] [-2.49117815e-03 9.99995583e-01 -1.62104345e-03 3.55987034e-02] [-7.98215276e-03 1.60111183e-03 9.99966860e-01 5.19738139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters 0.2874231908314851 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99965509e-01 2.34845185e-03 7.96653732e-03 2.66971632e+00] [-2.33219518e-03 9.99995181e-01 -2.04929621e-03 3.73677199e-02] [-7.97131160e-03 2.03064601e-03 9.99966167e-01 5.19789529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27255784400006 meters 0.2882747800925917 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99966164e-01 2.21386936e-03 7.92269138e-03 2.66982174e+00] [-2.19477425e-03 9.99994668e-01 -2.41806232e-03 3.88915438e-02] [-7.92800241e-03 2.40059198e-03 9.99965691e-01 5.19836835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30255784400003 meters 0.2884673920898938 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99967438e-01 2.06339547e-03 7.80164322e-03 2.67016601e+00] [-2.04137206e-03 9.99993912e-01 -2.82983030e-03 4.06050553e-02] [-7.80743478e-03 2.81381210e-03 9.99965563e-01 5.19797019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33255784400006 meters 0.2895901283131724 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99969006e-01 1.75331621e-03 7.67553139e-03 2.67069987e+00] [-1.72594885e-03 9.99992136e-01 -3.57070655e-03 4.38094809e-02] [-7.68173160e-03 3.55734830e-03 9.99964167e-01 5.19524675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters 0.28880525074849994 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:0.52 [[ 9.99969133e-01 1.65234650e-03 7.68137273e-03 2.67073811e+00] [-1.62299482e-03 9.99991364e-01 -3.82581505e-03 4.48755059e-02] [-7.68762796e-03 3.81323013e-03 9.99963179e-01 5.19428779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39255784400007 meters 0.2882166832893801 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.52 [[ 9.99969134e-01 1.55675322e-03 7.70119237e-03 2.67064004e+00] [-1.52537277e-03 9.99990518e-01 -4.07894937e-03 4.59150830e-02] [-7.70746926e-03 4.06707627e-03 9.99962026e-01 5.19562263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42255784400004 meters 0.28983892988278176 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.52 [[ 9.99969176e-01 1.48326930e-03 7.71013056e-03 2.67060106e+00] [-1.45033198e-03 9.99989807e-01 -4.27579124e-03 4.67245828e-02] [-7.71639412e-03 4.26447720e-03 9.99961135e-01 5.19624721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45255784400007 meters 0.2878614306671969 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.52 [[ 9.99969844e-01 1.40143051e-03 7.63852618e-03 2.67075063e+00] [-1.36721960e-03 9.99989021e-01 -4.48211567e-03 4.75807375e-02] [-7.64472368e-03 4.47153697e-03 9.99960781e-01 5.19729387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48255784400004 meters 0.2875838045662556 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:0.52 [[ 9.99980334e-01 -3.58393367e-03 5.14655245e-03 2.65094858e+00] [ 3.58773207e-03 9.99993298e-01 -7.29005060e-04 5.24647602e-02] [-5.14390525e-03 7.47455175e-04 9.99986491e-01 5.19673597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51255784400007 meters 0.2910938743164431 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:0.52 [[ 9.99979112e-01 2.08568582e-03 6.11770479e-03 2.67598973e+00] [-2.06198914e-03 9.99990358e-01 -3.87721166e-03 5.26043386e-02] [-6.12573244e-03 3.86451603e-03 9.99973770e-01 5.17014806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54255784400004 meters 0.2912817377762245 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:0.52 [[ 9.99979786e-01 2.04408193e-03 6.02067563e-03 2.67637486e+00] [-2.02006411e-03 9.99989989e-01 -3.99260593e-03 5.31023091e-02] [-6.02877658e-03 3.98036308e-03 9.99973905e-01 5.16706894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5725578440001 meters 0.28732737240617584 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:0.52 [[ 9.99994952e-01 -1.27401490e-03 2.91065739e-03 2.65288898e+00] [ 1.27098466e-03 9.99998649e-01 1.04269701e-03 5.29085152e-02] [-2.91198187e-03 -1.03899234e-03 9.99995220e-01 5.20079383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60255784400005 meters 0.29075206832850203 Centerline is valid? [False, False] Translation: X:2.69, Y:0.05, Z:0.52 [[ 9.99997172e-01 -1.49100783e-03 1.85292085e-03 2.69163898e+00] [ 1.48780490e-03 9.99997399e-01 1.72876257e-03 5.14087794e-02] [-1.85549363e-03 -1.72600090e-03 9.99996789e-01 5.23621365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6325578440001 meters 0.29042979791835866 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:0.52 [[ 9.99969740e-01 7.65656228e-03 1.37727850e-03 2.67035741e+00] [-7.65749376e-03 9.99970455e-01 6.72319125e-04 5.16897430e-02] [-1.37209015e-03 -6.82845282e-04 9.99998826e-01 5.23059338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66255784400005 meters 0.2899535513317728 Centerline is valid? [False, False] Translation: X:2.69, Y:0.05, Z:0.52 [[ 9.99993539e-01 -1.98907910e-03 2.99410440e-03 2.69118735e+00] [ 1.98710226e-03 9.99997806e-01 6.63072388e-04 5.40362269e-02] [-2.99541674e-03 -6.57118512e-04 9.99995298e-01 5.23097822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6925578440001 meters 0.2894403845854388 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.52 [[ 9.99993145e-01 -2.11722263e-03 3.03753029e-03 2.69092025e+00] [ 2.11634604e-03 9.99997718e-01 2.91772821e-04 5.55277471e-02] [-3.03814111e-03 -2.85342355e-04 9.99995344e-01 5.23498758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72255784400005 meters 0.28852737101437137 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.52 [[ 9.99992837e-01 -2.28249102e-03 3.01921754e-03 2.69086681e+00] [ 2.28307065e-03 9.99997376e-01 -1.88545166e-04 5.74725368e-02] [-3.01877926e-03 1.95436903e-04 9.99995424e-01 5.23748457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752557844 meters 0.2889312224376141 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.52 [[ 9.99992624e-01 -2.56363398e-03 2.86004742e-03 2.69136355e+00] [ 2.56688815e-03 9.99996062e-01 -1.13471195e-03 6.12950083e-02] [-2.85712717e-03 1.14204501e-03 9.99995266e-01 5.23558057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78255784400005 meters 0.2879650559207995 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.52 [[ 9.99992283e-01 -2.67696026e-03 2.87554706e-03 2.69133279e+00] [ 2.68109016e-03 9.99995379e-01 -1.43332253e-03 6.25357735e-02] [-2.87169682e-03 1.44102107e-03 9.99994838e-01 5.23557009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812557844 meters 0.28955343558963964 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.52 [[ 9.99977404e-01 5.24665674e-03 4.20294397e-03 2.71125257e+00] [-5.23545104e-03 9.99982723e-01 -2.67273443e-03 5.97550327e-02] [-4.21689428e-03 2.65066973e-03 9.99987596e-01 5.24355432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84255784400005 meters 0.2874855766940406 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:0.53 [[ 9.99997018e-01 -3.25873051e-04 2.42025338e-03 2.68784304e+00] [ 3.25805793e-04 9.99999947e-01 2.81837229e-05 6.37168224e-02] [-2.42026244e-03 -2.73951063e-05 9.99997071e-01 5.26496104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872557844 meters 0.28845095604843085 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:0.53 [[ 9.99999407e-01 -8.80522283e-04 6.41141738e-04 2.72795053e+00] [ 8.80143973e-04 9.99999439e-01 5.90099729e-04 6.23945406e-02] [-6.41660974e-04 -5.89535082e-04 9.99999620e-01 5.29556073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90255784400006 meters 0.2893114055778327 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:0.53 [[ 9.99999392e-01 -8.95628411e-04 6.43514079e-04 2.72796550e+00] [ 8.95273903e-04 9.99999447e-01 5.50971305e-04 6.25621946e-02] [-6.44007189e-04 -5.50394849e-04 9.99999641e-01 5.29509052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93255784400003 meters 0.2890510422360264 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:0.53 [[ 9.99999370e-01 -8.56845324e-04 7.25551003e-04 2.72776804e+00] [ 8.56368812e-04 9.99999418e-01 6.56814380e-04 6.21168964e-02] [-7.26113369e-04 -6.56192627e-04 9.99999521e-01 5.29476014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96255784400006 meters 0.2900420959725357 Centerline is valid? [False, False] Translation: X:2.77, Y:0.06, Z:0.53 [[ 9.99998062e-01 -1.96159870e-03 -1.65975573e-04 2.76714648e+00] [ 1.96175034e-03 9.99997654e-01 9.18448317e-04 5.82500232e-02] [ 1.64173557e-04 -9.18772140e-04 9.99999564e-01 5.32534206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99255784400003 meters 0.28950244233235317 Centerline is valid? [False, False] Translation: X:2.77, Y:0.06, Z:0.53 [[ 9.99998190e-01 -1.90269541e-03 -2.54878744e-05 2.76661315e+00] [ 1.90272191e-03 9.99997603e-01 1.08336966e-03 5.74970915e-02] [ 2.34264908e-05 -1.08341620e-03 9.99999413e-01 5.32928484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02255784400006 meters 0.28899008049130387 Centerline is valid? [False, False] Translation: X:2.77, Y:0.06, Z:0.53 [[ 9.99998185e-01 -1.90512174e-03 -3.45421168e-05 2.76651181e+00] [ 1.90515784e-03 9.99997605e-01 1.07696381e-03 5.75063259e-02] [ 3.24902869e-05 -1.07702766e-03 9.99999419e-01 5.33206826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05255784400003 meters 0.2902546670331345 Centerline is valid? [False, False] Translation: X:2.77, Y:0.06, Z:0.53 [[ 9.99998112e-01 -1.94279498e-03 -2.56147035e-05 2.76641495e+00] [ 1.94281920e-03 9.99997631e-01 9.81850050e-04 5.79016748e-02] [ 2.37071094e-05 -9.81897961e-04 9.99999518e-01 5.33381130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08255784400006 meters 0.289298643853151 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.53 [[ 9.99973590e-01 7.22522966e-03 -7.84865822e-04 2.74523992e+00] [-7.22519939e-03 9.99973897e-01 4.13936541e-05 5.74285511e-02] [ 7.85144414e-04 -3.57217489e-05 9.99999691e-01 5.32834943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11255784400004 meters 0.2885255155754617 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.53 [[ 9.99974260e-01 7.12527239e-03 -8.42683156e-04 2.74540258e+00] [-7.12546763e-03 9.99974587e-01 -2.28914039e-04 5.85562177e-02] [ 8.41030666e-04 2.34912659e-04 9.99999619e-01 5.32813574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14255784400007 meters 0.2887064200753435 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.53 [[ 9.99975390e-01 6.92172037e-03 -1.14437771e-03 2.74636487e+00] [-6.92273395e-03 9.99975647e-01 -8.84123104e-04 6.13026842e-02] [ 1.13823019e-03 8.92023568e-04 9.99998954e-01 5.32334771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17255784400004 meters 0.28795390423140016 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.53 [[ 9.99996533e-01 -8.85773197e-04 -2.47962104e-03 2.72801987e+00] [ 8.85985578e-04 9.99999604e-01 8.45536787e-05 6.76112939e-02] [ 2.47954516e-03 -8.67502941e-05 9.99996922e-01 5.30821877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20255784400007 meters 0.2895208448556714 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.53 [[ 9.99996203e-01 -1.00186731e-03 -2.56710731e-03 2.72825227e+00] [ 1.00128240e-03 9.99999472e-01 -2.29122928e-04 6.89135592e-02] [ 2.56733551e-03 2.26551659e-04 9.99996679e-01 5.30818864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23255784400004 meters 0.28771656540842244 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:0.53 [[ 9.99995944e-01 -1.12401289e-03 -2.61704546e-03 2.72833816e+00] [ 1.12257672e-03 9.99999219e-01 -5.50182494e-04 7.02472657e-02] [ 2.61766182e-03 5.47242428e-04 9.99996424e-01 5.30936648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26255784400007 meters 0.2887058831676014 Centerline is valid? [False, False] Translation: X:2.77, Y:0.07, Z:0.53 [[ 9.99991843e-01 -1.27435875e-03 -3.83268948e-03 2.76703523e+00] [ 1.27521832e-03 9.99999162e-01 2.21836716e-04 6.97963987e-02] [ 3.83240357e-03 -2.26722423e-04 9.99992631e-01 5.34840956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29255784400004 meters 0.2904263089693655 Centerline is valid? [False, False] Translation: X:2.77, Y:0.07, Z:0.54 [[ 9.99991566e-01 -1.55639459e-03 -3.80079389e-03 2.76682071e+00] [ 1.55476719e-03 9.99998698e-01 -4.31091163e-04 7.25355919e-02] [ 3.80145989e-03 4.25178178e-04 9.99992684e-01 5.35148235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3225578440001 meters 0.2890664356823534 Centerline is valid? [False, False] Translation: X:2.77, Y:0.07, Z:0.54 [[ 9.99991665e-01 -1.64904159e-03 -3.73498361e-03 2.76664669e+00] [ 1.64660337e-03 9.99998429e-01 -6.55787745e-04 7.34715716e-02] [ 3.73605917e-03 6.49632243e-04 9.99992810e-01 5.35172818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35255784400005 meters 0.28887959715408795 Centerline is valid? [False, False] Translation: X:2.77, Y:0.07, Z:0.54 [[ 9.99991762e-01 -1.72688384e-03 -3.67341439e-03 2.76652209e+00] [ 1.72377418e-03 9.99998153e-01 -8.49530521e-04 7.42834218e-02] [ 3.67487464e-03 8.43191386e-04 9.99992892e-01 5.35108520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3825578440001 meters 0.28848806086231543 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99991576e-01 -1.79209846e-03 -3.69267343e-03 2.76665644e+00] [ 1.78834455e-03 9.99997881e-01 -1.01963519e-03 7.50021758e-02] [ 3.69449289e-03 1.01302283e-03 9.99992662e-01 5.34929967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41255784400005 meters 0.2906850130769691 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99990304e-01 -1.91213273e-03 -3.96678282e-03 2.76749761e+00] [ 1.90681314e-03 9.99997278e-01 -1.34438187e-03 7.63908703e-02] [ 3.96934266e-03 1.33680492e-03 9.99991229e-01 5.34534111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4425578440001 meters 0.28991691558239946 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99990067e-01 -1.94487821e-03 -4.01041250e-03 2.76767692e+00] [ 1.93914395e-03 9.99997093e-01 -1.43323550e-03 7.67724570e-02] [ 4.01318831e-03 1.42544449e-03 9.99990931e-01 5.34384756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47255784400005 meters 0.28969702417617255 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99989823e-01 -1.98990209e-03 -4.04885338e-03 2.76788100e+00] [ 1.98362981e-03 9.99996827e-01 -1.55257515e-03 7.72875304e-02] [ 4.05193001e-03 1.54452793e-03 9.99990598e-01 5.34156619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters 0.2900087128415464 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99989573e-01 -2.07943329e-03 -4.06565210e-03 2.76794614e+00] [ 2.07220494e-03 9.99996266e-01 -1.78131123e-03 7.82459218e-02] [ 4.06934103e-03 1.77286779e-03 9.99990149e-01 5.34133816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53255784400005 meters 0.29021500743605183 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99988978e-01 -2.23559248e-03 -4.12861994e-03 2.76804797e+00] [ 2.22659239e-03 9.99995138e-01 -2.18323798e-03 7.99182944e-02] [ 4.13348069e-03 2.17402116e-03 9.99989094e-01 5.34301817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters 0.28706900179549444 Centerline is valid? [False, False] Translation: X:2.77, Y:0.08, Z:0.53 [[ 9.99987758e-01 -2.55189087e-03 -4.23929574e-03 2.76808895e+00] [ 2.53853518e-03 9.99991808e-01 -3.15285028e-03 8.37698505e-02] [ 4.24730674e-03 3.14205009e-03 9.99986044e-01 5.34842117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59255784400005 meters 0.28866360006250574 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:0.54 [[ 9.99987040e-01 -2.75467945e-03 -4.28164518e-03 2.76810760e+00] [ 2.73873222e-03 9.99989308e-01 -3.72596974e-03 8.61053597e-02] [ 4.29186325e-03 3.71419517e-03 9.99983892e-01 5.35075476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters 0.2890971282587393 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:0.54 [[ 0.9999867 -0.00296359 -0.00422188 2.76785617] [ 0.00294541 0.99998639 -0.00430631 0.08848125] [ 0.00423458 0.00429382 0.99998182 0.53534149] [ 0. 0. 0. 1. ]] SLAMing on 343.65255784400006 meters 0.28798047888346795 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.54 [[ 9.99995080e-01 -9.08326392e-04 -3.00261808e-03 2.76205853e+00] [ 9.00807382e-04 9.99996458e-01 -2.50455592e-03 8.93100643e-02] [ 3.00488240e-03 2.50183882e-03 9.99992356e-01 5.38974524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters 0.28798047888346795 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.54 [[ 9.99995080e-01 -9.08326392e-04 -3.00261808e-03 2.76205853e+00] [ 9.00807382e-04 9.99996458e-01 -2.50455592e-03 8.93100643e-02] [ 3.00488240e-03 2.50183882e-03 9.99992356e-01 5.38974524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71255784400006 meters 0.28947520784982583 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.54 [[ 9.99994863e-01 -1.09908218e-03 -3.01113660e-03 2.76208590e+00] [ 1.09003984e-03 9.99994897e-01 -3.00296380e-03 9.13827685e-02] [ 3.01442173e-03 2.99966611e-03 9.99990958e-01 5.38988039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters 0.28912266728513814 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:0.54 [[ 9.99994025e-01 -1.40759809e-03 -3.15729450e-03 2.76253553e+00] [ 1.39558514e-03 9.99991792e-01 -3.80380614e-03 9.47306089e-02] [ 3.16262282e-03 3.79937714e-03 9.99987781e-01 5.38903487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77255784400006 meters 0.28790083300000985 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.54 [[ 9.99993494e-01 -1.51869316e-03 -3.27202284e-03 2.76281299e+00] [ 1.50529331e-03 9.99990487e-01 -4.09385852e-03 9.59355704e-02] [ 3.27820903e-03 4.08890653e-03 9.99986267e-01 5.38966622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters 0.28871993708865196 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:0.54 [[ 9.99985119e-01 -5.40913493e-03 7.09219594e-04 2.78456135e+00] [ 5.40808902e-03 9.99984298e-01 1.46844949e-03 9.19774297e-02] [-7.17151499e-04 -1.46459212e-03 9.99998670e-01 5.35830324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83255784400006 meters 0.2874330474394171 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:0.54 [[ 9.99983096e-01 -5.77552190e-03 6.70944369e-04 2.78454893e+00] [ 5.77515824e-03 9.99983176e-01 5.42695479e-04 9.58210992e-02] [-6.74067431e-04 -5.38811496e-04 9.99999628e-01 5.36053216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters 0.28855998330720073 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.54 [[ 9.99992777e-01 3.79645640e-03 -1.80757609e-04 2.76388759e+00] [-3.79656648e-03 9.99992605e-01 -6.12591781e-04 9.78237121e-02] [ 1.78430595e-04 6.13273614e-04 9.99999796e-01 5.35562224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89255784400007 meters 0.2861672728890379 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:0.54 [[ 9.99993489e-01 3.60123517e-03 -2.29606478e-04 2.76398941e+00] [-3.60149744e-03 9.99992851e-01 -1.15227608e-03 1.00050622e-01] [ 2.25455219e-04 1.15309551e-03 9.99999310e-01 5.35644292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92255784400004 meters 0.2884420580728427 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:0.53 [[ 9.99995014e-01 -2.77721874e-03 1.50283479e-03 2.78640129e+00] [ 2.77394736e-03 9.99993788e-01 2.17452833e-03 1.01364595e-01] [-1.50886460e-03 -2.17034871e-03 9.99996506e-01 5.34154859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95255784400007 meters 0.28824614097727774 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:0.53 [[ 9.99994491e-01 -2.97382298e-03 1.47477798e-03 2.78631566e+00] [ 2.97143171e-03 9.99994271e-01 1.62099293e-03 1.03604499e-01] [-1.47959008e-03 -1.61660180e-03 9.99997599e-01 5.34528382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98255784400004 meters 0.2878221069631774 Centerline is valid? [False, False] Translation: X:2.79, Y:0.11, Z:0.53 [[ 9.99993984e-01 -3.15811545e-03 1.43433112e-03 2.78631745e+00] [ 3.15655115e-03 9.99994422e-01 1.09157004e-03 1.05761078e-01] [-1.43777042e-03 -1.08703593e-03 9.99998376e-01 5.34781135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01255784400007 meters 0.2862163873248298 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.54 [[ 9.99984811e-01 5.41359344e-03 -1.03512925e-03 2.76453798e+00] [-5.41473437e-03 9.99984732e-01 -1.10260254e-03 1.13814503e-01] [ 1.02914440e-03 1.10819075e-03 9.99998856e-01 5.36562670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04255784400004 meters 0.28721767416097976 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.54 [[ 9.99985658e-01 5.22828583e-03 -1.16111752e-03 2.76485595e+00] [-5.23017949e-03 9.99984988e-01 -1.63389110e-03 1.16018230e-01] [ 1.15255764e-03 1.63994052e-03 9.99997991e-01 5.36596362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0725578440001 meters 0.28717179567202983 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.54 [[ 9.99986381e-01 5.05734171e-03 -1.28905997e-03 2.76511883e+00] [-5.06006946e-03 9.99984947e-01 -2.12167002e-03 1.18026610e-01] [ 1.27831055e-03 2.12816386e-03 9.99996918e-01 5.36755147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10255784400005 meters 0.28589185886538776 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.54 [[ 9.99987566e-01 4.81291660e-03 -1.30525976e-03 2.76484391e+00] [-4.81679760e-03 9.99983939e-01 -2.98669008e-03 1.21351870e-01] [ 1.29086410e-03 2.99294012e-03 9.99994688e-01 5.37578484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1325578440001 meters 0.2855788765344623 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:0.54 [[ 9.99988328e-01 4.66662093e-03 -1.25140659e-03 2.76458548e+00] [-4.67087961e-03 9.99983236e-01 -3.42206196e-03 1.23083723e-01] [ 1.23541615e-03 3.42786719e-03 9.99993362e-01 5.37931344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16255784400005 meters 0.285774770298432 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99988800e-01 -1.20418067e-03 -4.57706711e-03 2.77842220e+00] [ 1.20000646e-03 9.99998862e-01 -9.14619003e-04 1.25920782e-01] [ 4.57816327e-03 9.09116249e-04 9.99989107e-01 5.43879013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1925578440001 meters 0.28675619033281313 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99988658e-01 -1.34377224e-03 -4.56922924e-03 2.77830589e+00] [ 1.33775451e-03 9.99998234e-01 -1.31981437e-03 1.27543083e-01] [ 4.57099470e-03 1.31368689e-03 9.99988690e-01 5.44116665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22255784400005 meters 0.285219371609957 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99988512e-01 -1.56074440e-03 -4.53214644e-03 2.77813440e+00] [ 1.55156492e-03 9.99996739e-01 -2.02822626e-03 1.30338115e-01] [ 4.53529720e-03 2.02117104e-03 9.99987673e-01 5.44323185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252557844 meters 0.2864957684902368 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99988277e-01 -1.66141297e-03 -4.54817435e-03 2.77822235e+00] [ 1.65094625e-03 9.99995983e-01 -2.30408939e-03 1.31475825e-01] [ 4.55198412e-03 2.29655359e-03 9.99987003e-01 5.44213081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28255784400005 meters 0.2850136645844875 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99987995e-01 -1.74391184e-03 -4.57920018e-03 2.77835558e+00] [ 1.73233523e-03 9.99995297e-01 -2.53083593e-03 1.32421108e-01] [ 4.58359220e-03 2.52287284e-03 9.99986313e-01 5.44082293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.312557844 meters 0.28682560329156115 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99987235e-01 -1.83784832e-03 -4.70657215e-03 2.77870330e+00] [ 1.82467913e-03 9.99994413e-01 -2.80080917e-03 1.33535188e-01] [ 4.71169332e-03 2.79218543e-03 9.99985002e-01 5.44016303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34255784400005 meters 0.2868107849411355 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.54 [[ 9.99986695e-01 -1.93725065e-03 -4.78089477e-03 2.77885753e+00] [ 1.92251180e-03 9.99993392e-01 -3.08553791e-03 1.34688675e-01] [ 4.78684063e-03 3.07630553e-03 9.99983811e-01 5.44091001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372557844 meters 0.288213825684466 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:0.54 [[ 9.99986246e-01 -2.10288640e-03 -4.80474991e-03 2.77882861e+00] [ 2.08552144e-03 9.99991287e-01 -3.61627992e-03 1.36788109e-01] [ 4.81231267e-03 3.60620977e-03 9.99981918e-01 5.44331263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40255784400006 meters 0.2852517203884611 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99995157e-01 3.18986944e-04 -3.09598080e-03 2.73997954e+00] [-3.29680946e-04 9.99993980e-01 -3.45426082e-03 1.38371711e-01] [ 3.09486029e-03 3.45526477e-03 9.99989241e-01 5.40852893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43255784400003 meters 0.2860632309494952 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99995121e-01 2.77044497e-04 -3.11134524e-03 2.74005663e+00] [-2.88135280e-04 9.99993605e-01 -3.56474398e-03 1.38837788e-01] [ 3.11033775e-03 3.56562308e-03 9.99988806e-01 5.40770209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46255784400006 meters 0.2865607871832497 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99994991e-01 2.47018938e-04 -3.15552890e-03 2.74026891e+00] [-2.58519906e-04 9.99993324e-01 -3.64481581e-03 1.39190789e-01] [ 3.15460749e-03 3.64561332e-03 9.99988379e-01 5.40541120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49255784400003 meters 0.28813189093199987 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99994339e-01 2.08142263e-04 -3.35825957e-03 2.74106834e+00] [-2.20796921e-04 9.99992876e-01 -3.76828856e-03 1.39799086e-01] [ 3.35745131e-03 3.76900872e-03 9.99987261e-01 5.39746378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52255784400006 meters 0.28622433987277174 Centerline is valid? [False, False] Translation: X:2.72, Y:0.14, Z:0.54 [[ 9.99970989e-01 -3.91227645e-03 -6.53571238e-03 2.71845463e+00] [ 3.91248918e-03 9.99992346e-01 1.97640249e-05 1.37513367e-01] [ 6.53558503e-03 -4.53343555e-05 9.99978642e-01 5.41387373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55255784400003 meters 0.28670785469953547 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99993579e-01 1.46707595e-03 -3.26935091e-03 2.74083574e+00] [-1.47559747e-03 9.99995517e-01 -2.60559981e-03 1.38642260e-01] [ 3.26551364e-03 2.61040733e-03 9.99991261e-01 5.39345370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58255784400006 meters 0.2872281096283428 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99993570e-01 1.52024490e-03 -3.24786948e-03 2.74071992e+00] [-1.52826195e-03 9.99995788e-01 -2.46734905e-03 1.38057330e-01] [ 3.24410482e-03 2.47229678e-03 9.99991682e-01 5.39481203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61255784400004 meters 0.2859526549562145 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99993617e-01 1.60019754e-03 -3.19471027e-03 2.74052763e+00] [-1.60742249e-03 9.99996154e-01 -2.26024834e-03 1.37180126e-01] [ 3.19108114e-03 2.26536916e-03 9.99992343e-01 5.39604306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64255784400007 meters 0.28633919076307485 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.54 [[ 9.99993561e-01 1.72972772e-03 -3.14408947e-03 2.74048305e+00] [-1.73581083e-03 9.99996625e-01 -1.93307879e-03 1.35819411e-01] [ 3.14073516e-03 1.93852389e-03 9.99993189e-01 5.39416733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67255784400004 meters 0.2850196889479096 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:0.54 [[ 9.99995032e-01 1.86306051e-03 -2.54248553e-03 2.70208404e+00] [-1.87073317e-03 9.99993694e-01 -3.01874579e-03 1.31978072e-01] [ 2.53684539e-03 3.02348711e-03 9.99992211e-01 5.35931879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70255784400007 meters 0.28721626448872445 Centerline is valid? [False, False] Translation: X:2.74, Y:0.13, Z:0.54 [[ 9.99992747e-01 1.46634933e-03 -3.51513310e-03 2.74222460e+00] [-1.47058838e-03 9.99998194e-01 -1.20366382e-03 1.28617201e-01] [ 3.51336177e-03 1.20882440e-03 9.99993097e-01 5.37946684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73255784400004 meters 0.2867555338290731 Centerline is valid? [False, False] Translation: X:2.74, Y:0.13, Z:0.54 [[ 9.99992665e-01 1.56919732e-03 -3.49401379e-03 2.74228801e+00] [-1.57248839e-03 9.99998322e-01 -9.39368827e-04 1.27534830e-01] [ 3.49253387e-03 9.44856233e-04 9.99993455e-01 5.37689615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76255784400007 meters 0.28635841272434887 Centerline is valid? [False, False] Translation: X:2.74, Y:0.13, Z:0.54 [[ 9.99992402e-01 1.68642888e-03 -3.51466425e-03 2.74233786e+00] [-1.68870077e-03 9.99998367e-01 -6.43536427e-04 1.26304805e-01] [ 3.51357323e-03 6.49466753e-04 9.99993616e-01 5.37699026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79255784400004 meters 0.28617316542982146 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991811e-01 2.05607961e-03 -3.48584476e-03 2.74233969e+00] [-2.05558679e-03 9.99997877e-01 1.44953780e-04 1.22947947e-01] [ 3.48613539e-03 -1.37787137e-04 9.99993914e-01 5.37577276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8225578440001 meters 0.2862653762991514 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991446e-01 2.22780233e-03 -3.48483401e-03 2.74238779e+00] [-2.22583950e-03 9.99997362e-01 5.67027688e-04 1.21193500e-01] [ 3.48608804e-03 -5.59266157e-04 9.99993767e-01 5.37486335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85255784400005 meters 0.286811823700676 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991308e-01 2.36504920e-03 -3.43366519e-03 2.74231689e+00] [-2.36190883e-03 9.99996789e-01 9.18350600e-04 1.19743982e-01] [ 3.43582611e-03 -9.10232614e-04 9.99993683e-01 5.37364822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8825578440001 meters 0.2853812470545457 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991339e-01 2.49858740e-03 -3.32837038e-03 2.74209203e+00] [-2.49442944e-03 9.99996104e-01 1.25281459e-03 1.18356457e-01] [ 3.33148768e-03 -1.24450136e-03 9.99993676e-01 5.37275849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91255784400005 meters 0.28586278535143855 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991469e-01 2.64211252e-03 -3.17497637e-03 2.74166172e+00] [-2.63699470e-03 9.99995219e-01 1.61502917e-03 1.16822462e-01] [ 3.17922828e-03 -1.60664300e-03 9.99993656e-01 5.37391087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9425578440001 meters 0.2860796631036538 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:0.54 [[ 9.99991440e-01 2.80549433e-03 -3.04131865e-03 2.74118224e+00] [-2.79933725e-03 9.99994028e-01 2.02684597e-03 1.15071301e-01] [ 3.04698679e-03 -2.01831494e-03 9.99993321e-01 5.37732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97255784400005 meters 0.28517338578587986 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 0.99999082 0.00311946 -0.00293588 2.74073473] [-0.00311132 0.99999131 0.00277465 0.11188229] [ 0.00294451 -0.00276549 0.99999184 0.53813875] [ 0. 0. 0. 1. ]] SLAMing on 345.002557844 meters 0.28515779438126954 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 0.99999035 0.00322643 -0.00298309 2.74093603] [-0.00321734 0.99999018 0.00304693 0.11075674] [ 0.00299289 -0.0030373 0.99999091 0.53797309] [ 0. 0. 0. 1. ]] SLAMing on 345.03255784400005 meters 0.28550101571368103 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 0.99999017 0.00328081 -0.00298372 2.74102589] [-0.0032713 0.99998957 0.00318684 0.11018347] [ 0.00299414 -0.00317704 0.99999047 0.53778404] [ 0. 0. 0. 1. ]] SLAMing on 345.062557844 meters 0.28645220349775374 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 0.99999046 0.00335149 -0.00280105 2.74063275] [-0.00334204 0.99998873 0.00337189 0.10942832] [ 0.00281232 -0.0033625 0.99999039 0.5376548 ] [ 0. 0. 0. 1. ]] SLAMing on 345.09255784400005 meters 0.2848107975140859 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:0.54 [[ 0.99997843 -0.00523545 -0.00396602 2.7192476 ] [ 0.00524988 0.99997961 0.00363522 0.11159608] [ 0.00394691 -0.00365596 0.99998553 0.53766785] [ 0. 0. 0. 1. ]] SLAMing on 345.122557844 meters 0.28533856036532335 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:0.54 [[ 0.99997821 -0.00527514 -0.00396781 2.71931134] [ 0.00528917 0.99997977 0.00353256 0.11203373] [ 0.0039491 -0.00355347 0.99998589 0.53751951] [ 0. 0. 0. 1. ]] SLAMing on 345.15255784400006 meters 0.28595576728492267 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 0.99998882 0.0029098 -0.00372682 2.74114475] [-0.00289955 0.99999201 0.00275341 0.11052199] [ 0.0037348 -0.00274258 0.99998926 0.5380576 ] [ 0. 0. 0. 1. ]] SLAMing on 345.18255784400003 meters 0.2861591552328609 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 9.99988578e-01 2.85002904e-03 -3.83670715e-03 2.74158099e+00] [-2.84009378e-03 9.99992606e-01 2.59249149e-03 1.11228186e-01] [ 3.84406745e-03 -2.58156528e-03 9.99989279e-01 5.37662651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21255784400006 meters 0.2874701439144688 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.54 [[ 9.99988340e-01 2.81205475e-03 -3.92581717e-03 2.74197777e+00] [-2.80228185e-03 9.99992967e-01 2.49267860e-03 1.11666414e-01] [ 3.93279911e-03 -2.48164829e-03 9.99989187e-01 5.37249230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24255784400003 meters 0.28594515991009173 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.53 [[ 9.99992127e-01 2.73573994e-03 -2.87447247e-03 2.70264153e+00] [-2.73224506e-03 9.99995524e-01 1.21905708e-03 1.11144235e-01] [ 2.87779463e-03 -1.21119371e-03 9.99995126e-01 5.34572602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27255784400006 meters 0.2858657021620461 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.53 [[ 9.99992084e-01 2.77666150e-03 -2.85009397e-03 2.70253828e+00] [-2.77288064e-03 9.99995272e-01 1.32967171e-03 1.10683944e-01] [ 2.85377254e-03 -1.32175822e-03 9.99995054e-01 5.34684558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30255784400003 meters 0.28573630592378896 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.53 [[ 9.99991931e-01 2.86879060e-03 -2.81211008e-03 2.70240726e+00] [-2.86434833e-03 9.99994646e-01 1.58245045e-03 1.09642489e-01] [ 2.81663474e-03 -1.57438281e-03 9.99994794e-01 5.34783810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33255784400006 meters 0.2863416133355764 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:0.53 [[ 9.99990961e-01 1.31704786e-03 -4.04279132e-03 2.70743905e+00] [-1.31562363e-03 9.99999072e-01 3.54928542e-04 1.08821333e-01] [ 4.04325502e-03 -3.49606542e-04 9.99991765e-01 5.31784363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36255784400004 meters 0.28572597543190736 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:0.53 [[ 9.99990572e-01 1.51798933e-03 -4.06840085e-03 2.70766044e+00] [-1.51442432e-03 9.99998467e-01 8.79204216e-04 1.06661665e-01] [ 4.06972924e-03 -8.73034641e-04 9.99991338e-01 5.31450627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39255784400007 meters 0.2853767800374051 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99990100e-01 1.68934612e-03 -4.11650156e-03 2.70788402e+00] [-1.68392280e-03 9.99997710e-01 1.32056997e-03 1.04835189e-01] [ 4.11872304e-03 -1.31362502e-03 9.99990655e-01 5.31245594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42255784400004 meters 0.28639704169494445 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99989801e-01 1.84692651e-03 -4.12149377e-03 2.70801350e+00] [-1.83987500e-03 9.99996838e-01 1.71404833e-03 1.03202842e-01] [ 4.12464646e-03 -1.70644781e-03 9.99990038e-01 5.31010862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45255784400007 meters 0.28762328672232973 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99987415e-01 -2.19970134e-03 -4.50901401e-03 2.70927084e+00] [ 2.19190227e-03 9.99996095e-01 -1.73387365e-03 9.99716939e-02] [ 4.51281040e-03 1.72396851e-03 9.99988331e-01 5.30249467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48255784400004 meters 0.2877708633208233 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99987279e-01 -2.11617056e-03 -4.57856658e-03 2.70962755e+00] [ 2.10923319e-03 9.99996621e-01 -1.51948161e-03 9.90899094e-02] [ 4.58176659e-03 1.50980502e-03 9.99988364e-01 5.29856881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51255784400007 meters 0.28609753710744595 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:0.53 [[ 9.99961513e-01 7.10381277e-03 -5.14865138e-03 2.68876742e+00] [-7.11461069e-03 9.99972523e-01 -2.08196062e-03 9.50032198e-02] [ 5.13372005e-03 2.11851114e-03 9.99984578e-01 5.28984471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54255784400004 meters 0.28636987587082624 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99989985e-01 -1.51961001e-03 -4.20968080e-03 2.70716388e+00] [ 1.51740082e-03 9.99998709e-01 -5.27932266e-04 9.89763919e-02] [ 4.21047761e-03 5.21539206e-04 9.99991000e-01 5.30180478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5725578440001 meters 0.28636987587082624 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99989985e-01 -1.51961001e-03 -4.20968080e-03 2.70716388e+00] [ 1.51740082e-03 9.99998709e-01 -5.27932266e-04 9.89763919e-02] [ 4.21047761e-03 5.21539206e-04 9.99991000e-01 5.30180478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60255784400005 meters 0.28764718349100754 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99990146e-01 -1.47388399e-03 -4.18755126e-03 2.70715550e+00] [ 1.47219969e-03 9.99998834e-01 -4.05270430e-04 9.84723690e-02] [ 4.18814370e-03 3.99101525e-04 9.99991150e-01 5.30081588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6325578440001 meters 0.2879194217139007 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99990459e-01 -1.37894026e-03 -4.14493679e-03 2.70709271e+00] [ 1.37830370e-03 9.99999038e-01 -1.56425961e-04 9.74430575e-02] [ 4.14514851e-03 1.50711487e-04 9.99991397e-01 5.29999213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66255784400005 meters 0.2858195019449453 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99990502e-01 -1.33563792e-03 -4.14872277e-03 2.70711422e+00] [ 1.33545895e-03 9.99999107e-01 -4.59082876e-05 9.69825730e-02] [ 4.14878038e-03 4.03674026e-05 9.99991393e-01 5.29984543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6925578440001 meters 0.2872225540070686 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.53 [[ 9.99990696e-01 -1.25743268e-03 -4.12632646e-03 2.70707197e+00] [ 1.25806660e-03 9.99999197e-01 1.51036677e-04 9.61544382e-02] [ 4.12613323e-03 -1.56226465e-04 9.99991475e-01 5.29968490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72255784400005 meters 0.2860124074574277 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:0.53 [[ 0.99997055 0.00538821 -0.00546528 2.68471648] [-0.00540413 0.99998119 -0.00290254 0.09458922] [ 0.00544954 0.00293199 0.99998085 0.53162178] [ 0. 0. 0. 1. ]] SLAMing on 345.752557844 meters 0.28644231122221014 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:0.53 [[ 9.99995608e-01 -1.64925778e-03 -2.46239739e-03 2.70290690e+00] [ 1.64944707e-03 9.99998637e-01 7.48459054e-05 9.33905150e-02] [ 2.46227060e-03 -7.89071708e-05 9.99996965e-01 5.32488879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78255784400005 meters 0.2855608372511457 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:0.53 [[ 9.99995842e-01 -1.55684720e-03 -2.42758712e-03 2.70271675e+00] [ 1.55762455e-03 9.99998736e-01 3.18359299e-04 9.23674113e-02] [ 2.42708841e-03 -3.22139245e-04 9.99997003e-01 5.32738938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812557844 meters 0.2855775769632312 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:0.53 [[ 9.99996039e-01 -1.45607812e-03 -2.40853754e-03 2.70263008e+00] [ 1.45747738e-03 9.99998770e-01 5.79308609e-04 9.12745936e-02] [ 2.40769106e-03 -5.82816703e-04 9.99996932e-01 5.32848471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84255784400005 meters 0.28662755028693 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:0.53 [[ 9.99988813e-01 4.66336101e-03 7.91774610e-04 2.72262227e+00] [-4.66176476e-03 9.99987122e-01 -2.00605301e-03 9.09253819e-02] [-8.01119362e-04 2.00233950e-03 9.99997674e-01 5.32108308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872557844 meters 0.28627311093675956 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:0.53 [[ 9.99988150e-01 4.76665026e-03 9.89018621e-04 2.72212319e+00] [-4.76491262e-03 9.99987113e-01 -1.75191285e-03 8.98676942e-02] [-9.97356631e-04 1.74717950e-03 9.99997976e-01 5.32114555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90255784400006 meters 0.28618814531002806 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:0.53 [[ 9.99987896e-01 4.79823403e-03 1.08840049e-03 2.72192322e+00] [-4.79641325e-03 9.99987104e-01 -1.66937780e-03 8.95288077e-02] [-1.09639652e-03 1.66413717e-03 9.99998014e-01 5.31999105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93255784400003 meters 0.2857030163654768 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:0.53 [[ 9.99987750e-01 4.82724492e-03 1.09439175e-03 2.72201366e+00] [-4.82549865e-03 9.99987089e-01 -1.59271014e-03 8.92169263e-02] [-1.10206602e-03 1.58740964e-03 9.99998133e-01 5.31762985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96255784400006 meters 0.2862049053907617 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:0.53 [[ 9.99987394e-01 4.91469915e-03 1.02868145e-03 2.72232057e+00] [-4.91329455e-03 9.99987000e-01 -1.36353517e-03 8.82646195e-02] [-1.03536944e-03 1.35846377e-03 9.99998541e-01 5.31451150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99255784400003 meters 0.288300771834953 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:0.53 [[ 9.99989556e-01 -4.44110329e-03 1.07900187e-03 2.74341743e+00] [ 4.44169434e-03 9.99989987e-01 -5.45993986e-04 9.01481651e-02] [-1.07656625e-03 5.50780880e-04 9.99999269e-01 5.31618871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02255784400006 meters 0.2869877006397944 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:0.53 [[ 9.99991224e-01 -4.05221444e-03 1.06392961e-03 2.74336107e+00] [ 4.05177801e-03 9.99991707e-01 4.12045877e-04 8.60980404e-02] [-1.06559049e-03 -4.07731454e-04 9.99999349e-01 5.31874438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05255784400003 meters 0.2879325608542692 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:0.53 [[ 9.99989295e-01 3.84816891e-03 2.56917585e-03 2.76242278e+00] [-3.84708292e-03 9.99992509e-01 -4.27505072e-04 8.05175947e-02] [-2.57080172e-03 4.17616663e-04 9.99996608e-01 5.33246225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08255784400006 meters 0.28740560808474813 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:0.53 [[ 9.99988667e-01 3.99722775e-03 2.58630329e-03 2.76244651e+00] [-3.99711173e-03 9.99992010e-01 -5.00283304e-05 7.89519692e-02] [-2.58648260e-03 3.96900202e-05 9.99996654e-01 5.33111147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11255784400004 meters 0.2865384445288135 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:0.53 [[ 9.99988084e-01 4.15788727e-03 2.55824068e-03 2.76266209e+00] [-4.15881922e-03 9.99991288e-01 3.59082351e-04 7.72486087e-02] [-2.55672537e-03 -3.69717333e-04 9.99996663e-01 5.32812808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14255784400007 meters 0.2869491782074191 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:0.53 [[ 9.99987509e-01 4.30612734e-03 2.53771126e-03 2.76292089e+00] [-4.30799416e-03 9.99990454e-01 7.30625666e-04 7.56985764e-02] [-2.53454087e-03 -7.41548984e-04 9.99996513e-01 5.32384923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17255784400004 meters 0.2886672345810845 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.53 [[ 9.99998101e-01 3.59729375e-04 1.91540817e-03 2.76466613e+00] [-3.54833105e-04 9.99996671e-01 -2.55598082e-03 7.19890970e-02] [-1.91632125e-03 2.55529632e-03 9.99994899e-01 5.31628885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20255784400007 meters 0.286777968367176 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:0.53 [[ 9.99989594e-01 -4.20725396e-03 -1.76387065e-03 2.74219263e+00] [ 4.20953393e-03 9.99990307e-01 1.29088050e-03 6.62860205e-02] [ 1.75842249e-03 -1.29829214e-03 9.99997611e-01 5.33899319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23255784400004 meters 0.28895183969524335 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.53 [[ 9.99996754e-01 2.21560275e-03 1.25808544e-03 2.76396813e+00] [-2.21439315e-03 9.99997085e-01 -9.62047165e-04 6.63151943e-02] [-1.26021328e-03 9.59258147e-04 9.99998746e-01 5.32204654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26255784400007 meters 0.288400722845626 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:0.53 [[ 9.99996450e-01 2.32310418e-03 1.30528909e-03 2.76394824e+00] [-2.32220384e-03 9.99997065e-01 -6.90861763e-04 6.51942325e-02] [-1.30689020e-03 6.87828162e-04 9.99998909e-01 5.32003978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29255784400004 meters 0.2874272541959441 Centerline is valid? [False, False] Translation: X:2.74, Y:0.06, Z:0.53 [[ 9.99991997e-01 -3.20861557e-03 -2.38962150e-03 2.74167308e+00] [ 3.21429678e-03 9.99992008e-01 2.37741583e-03 5.93059944e-02] [ 2.38197419e-03 -2.38507776e-03 9.99994319e-01 5.34212420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3225578440001 meters 0.2874086008353327 Centerline is valid? [False, False] Translation: X:2.74, Y:0.06, Z:0.53 [[ 9.99992680e-01 -2.90955313e-03 -2.48464409e-03 2.74215358e+00] [ 2.91730620e-03 9.99990870e-01 3.12249521e-03 5.61922764e-02] [ 2.47553634e-03 -3.12972082e-03 9.99992038e-01 5.33794510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35255784400005 meters 0.287114312625909 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:0.53 [[ 9.99992823e-01 -2.79902646e-03 -2.55329040e-03 2.74245956e+00] [ 2.80772628e-03 9.99990244e-01 3.41009989e-03 5.49891554e-02] [ 2.54372053e-03 -3.41724435e-03 9.99990926e-01 5.33531820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3825578440001 meters 0.28764374410084287 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:0.53 [[ 9.99993103e-01 -2.68234763e-03 -2.56887558e-03 2.74263799e+00] [ 2.69186937e-03 9.99989494e-01 3.71032209e-03 5.37366240e-02] [ 2.55889622e-03 -3.71721158e-03 9.99989817e-01 5.33264667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41255784400005 meters 0.2862604563184624 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:0.53 [[ 9.99992655e-01 2.95101559e-03 -2.44575695e-03 2.71924375e+00] [-2.95038475e-03 9.99995613e-01 2.61500919e-04 4.78087874e-02] [ 2.44651792e-03 -2.54283074e-04 9.99996975e-01 5.34190279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4425578440001 meters 0.28760408644599456 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.54 [[ 9.99995316e-01 2.52941115e-03 -1.72310646e-03 2.75782567e+00] [-2.52866895e-03 9.99996709e-01 4.32774391e-04 4.92094492e-02] [ 1.72419546e-03 -4.28415198e-04 9.99998422e-01 5.37245702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47255784400005 meters 0.2877855632375197 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.54 [[ 9.99995187e-01 2.62789562e-03 -1.64935865e-03 2.75755588e+00] [-2.62676016e-03 9.99996312e-01 6.90211412e-04 4.81474812e-02] [ 1.65116637e-03 -6.85875620e-04 9.99998402e-01 5.37464231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502557844 meters 0.28847413761674473 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:0.54 [[ 9.99994983e-01 2.73409392e-03 -1.59954543e-03 2.75736234e+00] [-2.73253340e-03 9.99995789e-01 9.76975484e-04 4.69707427e-02] [ 1.60220984e-03 -9.72599771e-04 9.99998243e-01 5.37649006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53255784400005 meters 0.2879860826185151 Centerline is valid? [False, False] Translation: X:2.76, Y:0.04, Z:0.54 [[ 9.99994306e-01 2.96512400e-03 -1.61137417e-03 2.75735110e+00] [-2.96229236e-03 9.99994069e-01 1.75683518e-03 4.39087294e-02] [ 1.61657385e-03 -1.75205181e-03 9.99997158e-01 5.37794341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters 0.28869665694119084 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.54 [[ 9.99981081e-01 -6.09294435e-03 -8.44534249e-04 2.77854207e+00] [ 6.09512673e-03 9.99978029e-01 2.60610182e-03 4.45522828e-02] [ 8.28636860e-04 -2.61120006e-03 9.99996247e-01 5.38117116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59255784400005 meters 0.28643569434474114 Centerline is valid? [False, False] Translation: X:2.76, Y:0.04, Z:0.54 [[ 9.99997841e-01 1.01342555e-04 -2.07533541e-03 2.75544434e+00] [-1.01893119e-04 9.99999960e-01 -2.65185159e-04 4.12769515e-02] [ 2.07530846e-03 2.65396049e-04 9.99997811e-01 5.39823788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters 0.28720887391237937 Centerline is valid? [False, False] Translation: X:2.76, Y:0.04, Z:0.54 [[ 9.99997773e-01 2.52400549e-04 -2.09537186e-03 2.75546044e+00] [-2.52102838e-04 9.99999958e-01 1.42343359e-04 3.95898565e-02] [ 2.09540770e-03 -1.41814792e-04 9.99997795e-01 5.39925564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65255784400006 meters 0.28671039781239605 Centerline is valid? [False, False] Translation: X:2.76, Y:0.04, Z:0.54 [[ 9.99997752e-01 3.79162416e-04 -2.08642022e-03 2.75544065e+00] [-3.78188432e-04 9.99999819e-01 4.67195221e-04 3.82315033e-02] [ 2.08659698e-03 -4.66405110e-04 9.99997714e-01 5.39934032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters 0.28728837619702585 Centerline is valid? [False, False] Translation: X:2.76, Y:0.04, Z:0.54 [[ 9.99997692e-01 4.89536256e-04 -2.09177497e-03 2.75549956e+00] [-4.87975678e-04 9.99999602e-01 7.46499886e-04 3.70655431e-02] [ 2.09213958e-03 -7.45477428e-04 9.99997534e-01 5.39854589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71255784400006 meters 0.2871924239773994 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99997369e-01 7.25546655e-04 -2.17622866e-03 2.75605578e+00] [-7.22655112e-04 9.99998856e-01 1.32918679e-03 3.45925923e-02] [ 2.17719056e-03 -1.32761063e-03 9.99996749e-01 5.39177073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters 0.28618339263860293 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.54 [[ 9.99965858e-01 6.62739655e-03 -4.93571587e-03 2.73541558e+00] [-6.63728213e-03 9.99975995e-01 -1.98918654e-03 3.35433876e-02] [ 4.92241426e-03 2.02187836e-03 9.99985841e-01 5.40013421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77255784400006 meters 0.2874669604638063 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.54 [[ 9.99990081e-01 -1.81071379e-03 -4.06931689e-03 2.75490120e+00] [ 1.80823821e-03 9.99998178e-01 -6.11950943e-04 3.69114677e-02] [ 4.07041754e-03 6.04586579e-04 9.99991533e-01 5.40785528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters 0.2868836234183652 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.54 [[ 9.99990237e-01 -1.72922183e-03 -4.06652694e-03 2.75492913e+00] [ 1.72759136e-03 9.99998426e-01 -4.04428459e-04 3.60463338e-02] [ 4.06721989e-03 3.97399213e-04 9.99991650e-01 5.40726610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83255784400006 meters 0.28742199021657916 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.54 [[ 9.99990678e-01 -1.57975772e-03 -4.01848470e-03 2.75499796e+00] [ 1.57956549e-03 9.99998751e-01 -5.10100452e-05 3.45622590e-02] [ 4.01856026e-03 4.46621099e-05 9.99991925e-01 5.40366520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters 0.287201955319193 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99990892e-01 -1.49789106e-03 -3.99665057e-03 2.75505780e+00] [ 1.49853170e-03 9.99998865e-01 1.57304567e-04 3.36908467e-02] [ 3.99641040e-03 -1.63292242e-04 9.99992001e-01 5.40127406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89255784400007 meters 0.2863721760287408 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99991038e-01 -1.43735898e-03 -3.98225326e-03 2.75510375e+00] [ 1.43862160e-03 9.99998916e-01 3.14215020e-04 3.30366127e-02] [ 3.98179731e-03 -3.19941160e-04 9.99992021e-01 5.39955993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92255784400004 meters 0.28771399192599284 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.54 [[ 9.99988992e-01 4.53580216e-03 -1.20093508e-03 2.77729255e+00] [-4.53899109e-03 9.99986145e-01 -2.66609327e-03 3.41930435e-02] [ 1.18882557e-03 2.67151495e-03 9.99995725e-01 5.38241250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95255784400007 meters 0.28701993599616 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99985615e-01 -3.41758385e-03 -4.13400210e-03 2.75786771e+00] [ 3.41224147e-03 9.99993335e-01 -1.29866402e-03 3.25354668e-02] [ 4.13841284e-03 1.28453913e-03 9.99990612e-01 5.37763084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98255784400004 meters 0.28891042921831106 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.54 [[ 9.99984784e-01 4.94454340e-03 -2.44612837e-03 2.77807534e+00] [-4.94952638e-03 9.99985680e-01 -2.03524499e-03 2.89445400e-02] [ 2.43602999e-03 2.04732119e-03 9.99994937e-01 5.38409567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01255784400007 meters 0.287263325199648 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99986629e-01 -3.59446259e-03 -3.71786146e-03 2.75761251e+00] [ 3.59101268e-03 9.99993116e-01 -9.34187507e-04 2.89781680e-02] [ 3.72119377e-03 9.20824128e-04 9.99992652e-01 5.37713725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04255784400004 meters 0.2876655250662866 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99986865e-01 -3.47296184e-03 -3.76928190e-03 2.75779893e+00] [ 3.47060933e-03 9.99993779e-01 -6.30487480e-04 2.76994182e-02] [ 3.77144811e-03 6.17397494e-04 9.99992697e-01 5.37620986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0725578440001 meters 0.28759735834432687 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:0.54 [[ 9.99987209e-01 -3.36271387e-03 -3.77817643e-03 2.75785859e+00] [ 3.36142505e-03 9.99994290e-01 -3.47420746e-04 2.65118220e-02] [ 3.77932313e-03 3.34716245e-04 9.99992802e-01 5.37565235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10255784400005 meters 0.28793400532502006 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:0.54 [[ 9.99988117e-01 -3.15275491e-03 -3.71822826e-03 2.75770816e+00] [ 3.15348873e-03 9.99995009e-01 1.91511016e-04 2.42421568e-02] [ 3.71760591e-03 -2.03234132e-04 9.99993069e-01 5.37613331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1325578440001 meters 0.28673041189378695 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:0.54 [[ 9.99988573e-01 -3.03531654e-03 -3.69335139e-03 2.75761142e+00] [ 3.03715854e-03 9.99995266e-01 4.93226283e-04 2.29813377e-02] [ 3.69183681e-03 -5.04437941e-04 9.99993058e-01 5.37712790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16255784400005 meters 0.2882436433114506 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.54 [[ 9.99995551e-01 2.97074680e-03 -2.67685551e-04 2.77859873e+00] [-2.97135632e-03 9.99992926e-01 -2.30613191e-03 2.37575755e-02] [ 2.60832723e-04 2.30691704e-03 9.99997305e-01 5.36471296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1925578440001 meters 0.2867599044118801 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:0.54 [[ 9.99982435e-01 -5.73808564e-03 -1.48429632e-03 2.75746766e+00] [ 5.73632611e-03 9.99982843e-01 -1.18697953e-03 2.25779708e-02] [ 1.49108185e-03 1.17844427e-03 9.99998194e-01 5.36382277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22255784400005 meters 0.2875285312718452 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:0.54 [[ 9.99983017e-01 -5.62429525e-03 -1.52769425e-03 2.75760155e+00] [ 5.62293022e-03 9.99983789e-01 -8.96350682e-04 2.13567858e-02] [ 1.53271082e-03 8.87745340e-04 9.99998431e-01 5.36356647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252557844 meters 0.2886962150269615 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.54 [[ 9.99995034e-01 3.09783083e-03 -5.79252441e-04 2.77795045e+00] [-3.09869900e-03 9.99994068e-01 -1.50394936e-03 1.74813460e-02] [ 5.74590025e-04 1.50573683e-03 9.99998701e-01 5.37183220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28255784400005 meters 0.28725856480088646 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:0.54 [[ 9.99983338e-01 -5.16019208e-03 -2.58761867e-03 2.75806883e+00] [ 5.15981046e-03 9.99986676e-01 -1.54133640e-04 1.69749383e-02] [ 2.58837955e-03 1.40779450e-04 9.99996640e-01 5.36512363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312557844 meters 0.2880900231985666 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:0.54 [[ 9.99994558e-01 3.20375880e-03 -7.87458633e-04 2.77789407e+00] [-3.20448903e-03 9.99994435e-01 -9.27820906e-04 1.32855476e-02] [ 7.84481736e-04 9.30339260e-04 9.99999260e-01 5.37403755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34255784400005 meters 0.28709468221861895 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99981982e-01 -5.97838154e-03 -5.42750433e-04 2.75530312e+00] [ 5.97836908e-03 9.99982129e-01 -2.45902321e-05 1.22179284e-02] [ 5.42887743e-04 2.13450266e-05 9.99999852e-01 5.37719655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372557844 meters 0.28686935260538576 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99982690e-01 -5.86162204e-03 -5.10610557e-04 2.75519400e+00] [ 5.86176032e-03 9.99982783e-01 2.69738269e-04 1.09791939e-02] [ 5.09020662e-04 -2.72726676e-04 9.99999833e-01 5.37803960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40255784400006 meters 0.2874237682226384 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99983235e-01 -5.76443343e-03 -5.48207850e-04 2.75539731e+00] [ 5.76471652e-03 9.99983251e-01 5.16227385e-04 9.93338080e-03] [ 5.45222910e-04 -5.19378993e-04 9.99999716e-01 5.37597194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43255784400003 meters 0.2881413608999681 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99983736e-01 -5.67705809e-03 -5.46301276e-04 2.75556222e+00] [ 5.67746085e-03 9.99983610e-01 7.38530647e-04 8.98807013e-03] [ 5.42099641e-04 -7.41620240e-04 9.99999578e-01 5.37244661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46255784400006 meters 0.28772736527440385 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99984300e-01 -5.57526965e-03 -5.61430783e-04 2.75570123e+00] [ 5.57582603e-03 9.99983961e-01 9.94376750e-04 7.90219604e-03] [ 5.55877859e-04 -9.97491579e-04 9.99999348e-01 5.37049019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49255784400003 meters 0.28772736527440385 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:0.54 [[ 9.99984300e-01 -5.57526965e-03 -5.61430783e-04 2.75570123e+00] [ 5.57582603e-03 9.99983961e-01 9.94376750e-04 7.90219604e-03] [ 5.55877859e-04 -9.97491579e-04 9.99999348e-01 5.37049019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52255784400006 meters 0.28802003471102466 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:0.54 [[ 9.99985952e-01 -5.26235725e-03 -6.34792978e-04 2.75595131e+00] [ 5.26346882e-03 9.99984595e-01 1.76231064e-03 4.65086057e-03] [ 6.25509291e-04 -1.76562709e-03 9.99998246e-01 5.37029178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55255784400003 meters 0.2877180977118867 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.54 [[ 9.99995975e-01 2.68638258e-03 -9.12635909e-04 2.73768819e+00] [-2.68589429e-03 9.99996249e-01 5.35834466e-04 -2.42599764e-03] [ 9.14071942e-04 -5.33381065e-04 9.99999440e-01 5.35144506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58255784400006 meters 0.2884338535334613 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.54 [[ 9.99985414e-01 -5.40102728e-03 2.12894805e-06 2.75704643e+00] [ 5.40100978e-03 9.99983035e-01 2.18133067e-03 -6.54308570e-04] [-1.39103384e-05 -2.18128736e-03 9.99997621e-01 5.36566567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61255784400004 meters 0.2883773708605202 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.54 [[ 9.99987075e-01 -5.08423151e-03 1.41887595e-06 2.75712101e+00] [ 5.08420534e-03 9.99982750e-01 2.94105771e-03 -3.86779948e-03] [-1.63718697e-05 -2.94101248e-03 9.99995675e-01 5.36500955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64255784400007 meters 0.2885818592014823 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.54 [[ 9.99987629e-01 -4.97392811e-03 -3.05805732e-05 2.75735388e+00] [ 4.97400067e-03 9.99982471e-01 3.21204232e-03 -5.01909417e-03] [ 1.46035696e-05 -3.21215469e-03 9.99994841e-01 5.36212427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67255784400004 meters 0.28841236514425456 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.54 [[ 9.99988074e-01 -4.88357487e-03 -4.33506168e-05 2.75756345e+00] [ 4.88369499e-03 9.99982173e-01 3.43570278e-03 -5.97878538e-03] [ 2.65713322e-05 -3.43587352e-03 9.99994097e-01 5.35858981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70255784400007 meters 0.2873857975298513 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.01, Z:0.53 [[ 9.99995438e-01 2.86850769e-03 -9.45998140e-04 2.73910090e+00] [-2.86664780e-03 9.99993967e-01 1.96158226e-03 -1.11403778e-02] [ 9.51619247e-04 -1.95886147e-03 9.99997629e-01 5.33614831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73255784400004 meters 0.2892426070681323 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99995707e-01 -2.88954113e-03 4.86002862e-04 2.76264228e+00] [ 2.88691879e-03 9.99981721e-01 5.31255883e-03 -1.04485998e-02] [-5.01344835e-04 -5.31113297e-03 9.99985770e-01 5.31783104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76255784400007 meters 0.2888269278217824 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99995941e-01 -2.79001309e-03 5.77661278e-04 2.76235867e+00] [ 2.78676045e-03 9.99980677e-01 5.55695929e-03 -1.14656351e-02] [-5.93154105e-04 -5.55532693e-03 9.99984393e-01 5.31913793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79255784400004 meters 0.2883678849786801 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996077e-01 -2.74805904e-03 5.42790239e-04 2.76244602e+00] [ 2.74494252e-03 9.99980207e-01 5.66130680e-03 -1.19071317e-02] [-5.58337101e-04 -5.65979466e-03 9.99983827e-01 5.31937214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8225578440001 meters 0.2886507023844311 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996209e-01 -2.70506894e-03 5.14198959e-04 2.76260536e+00] [ 2.70205760e-03 9.99979705e-01 5.76953002e-03 -1.23752308e-02] [-5.29795500e-04 -5.76811875e-03 9.99983224e-01 5.31767109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85255784400005 meters 0.2886777166272045 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996337e-01 -2.67049892e-03 4.41501766e-04 2.76284762e+00] [ 2.66786685e-03 9.99979280e-01 5.85844724e-03 -1.27627515e-02] [-4.57137596e-04 -5.85724791e-03 9.99982742e-01 5.31660502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8825578440001 meters 0.2891234806348206 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996404e-01 -2.65605241e-03 3.71544236e-04 2.76308564e+00] [ 2.65381525e-03 9.99979088e-01 5.89746055e-03 -1.29374825e-02] [-3.87200431e-04 -5.89645334e-03 9.99982541e-01 5.31538930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91255784400005 meters 0.28880871448965323 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996543e-01 -2.61962704e-03 2.26862636e-04 2.76349736e+00] [ 2.61821913e-03 9.99978581e-01 5.99856750e-03 -1.33748183e-02] [-2.42571786e-04 -5.99795279e-03 9.99981983e-01 5.31456138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9425578440001 meters 0.2881769809591484 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.53 [[ 9.99996687e-01 -2.57004269e-03 1.45195819e-04 2.76367310e+00] [ 2.56910377e-03 9.99977888e-01 6.13377743e-03 -1.39375510e-02] [-1.60956678e-04 -6.13338408e-03 9.99981178e-01 5.31550132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97255784400005 meters 0.28910337252929874 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.53 [[ 9.99996936e-01 -2.47441970e-03 6.79828646e-05 2.76391686e+00] [ 2.47393438e-03 9.99976493e-01 6.39475797e-03 -1.50222221e-02] [-8.38045816e-05 -6.39457020e-03 9.99979551e-01 5.31467129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters 0.2882233419422113 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.53 [[ 9.99997151e-01 -2.38682463e-03 -2.12269636e-05 2.76421305e+00] [ 2.38691293e-03 9.99975143e-01 6.63449370e-03 -1.60285601e-02] [ 5.39106292e-06 -6.63452547e-03 9.99977991e-01 5.31329063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03255784400005 meters 0.28768193754783045 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.53 [[ 9.99997458e-01 -2.25443182e-03 -4.80629791e-05 2.76427034e+00] [ 2.25471342e-03 9.99972873e-01 7.01210104e-03 -1.75752433e-02] [ 3.22533716e-05 -7.01219158e-03 9.99975414e-01 5.31391607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062557844 meters 0.28826935325261405 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.53 [[ 9.99978951e-01 6.26116111e-03 1.70131835e-03 2.78349035e+00] [-6.27138041e-03 9.99961916e-01 6.06926265e-03 -2.12915723e-02] [-1.66325293e-03 -6.07980452e-03 9.99980135e-01 5.32457697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09255784400005 meters 0.28923176675105733 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.53 [[ 9.99996681e-01 1.83161131e-03 1.81207975e-03 2.78314107e+00] [-1.83431173e-03 9.99997208e-01 1.48969094e-03 -2.00865422e-02] [-1.80934615e-03 -1.49300992e-03 9.99997249e-01 5.32455638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122557844 meters 0.28810066773306175 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.53 [[ 9.99996706e-01 1.90760106e-03 1.71717694e-03 2.78353011e+00] [-1.91050403e-03 9.99996746e-01 1.69049681e-03 -2.09433443e-02] [-1.71394656e-03 -1.69377192e-03 9.99997097e-01 5.32130031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15255784400006 meters 0.28762289079882425 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.53 [[ 9.99996821e-01 1.86491469e-03 1.69697662e-03 2.78366168e+00] [-1.86759680e-03 9.99997007e-01 1.58031288e-03 -2.04887912e-02] [-1.69402439e-03 -1.58347712e-03 9.99997311e-01 5.31938443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18255784400003 meters 0.2904678288038486 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99996277e-01 2.60813923e-03 8.02729267e-04 2.82358786e+00] [-2.60947984e-03 9.99995195e-01 1.67356650e-03 -1.73356908e-02] [-7.98360515e-04 -1.67565498e-03 9.99998277e-01 5.34533244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21255784400006 meters 0.28977442185581825 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99996431e-01 2.52807263e-03 8.64753167e-04 2.82349542e+00] [-2.52934185e-03 9.99995721e-01 1.46979070e-03 -1.64845244e-02] [-8.61033730e-04 -1.47197271e-03 9.99998546e-01 5.34370799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24255784400003 meters 0.28873178243277425 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99996511e-01 2.45645182e-03 9.71275005e-04 2.82320266e+00] [-2.45770121e-03 9.99996151e-01 1.28725115e-03 -1.57088402e-02] [-9.68109196e-04 -1.28963376e-03 9.99998700e-01 5.34396987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27255784400006 meters 0.2877043880992768 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:0.53 [[ 9.99996496e-01 2.38688463e-03 1.14521356e-03 2.82256035e+00] [-2.38813817e-03 9.99996549e-01 1.09447298e-03 -1.48507349e-02] [-1.14259723e-03 -1.09720407e-03 9.99998745e-01 5.34891908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30255784400003 meters 0.2887165099256567 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:0.54 [[ 9.99983546e-01 -5.37093214e-03 2.01522555e-03 2.84111694e+00] [ 5.36560841e-03 9.99982126e-01 2.63792397e-03 -1.02494327e-02] [-2.02935764e-03 -2.62706766e-03 9.99994490e-01 5.36911223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33255784400006 meters 0.2874661187225892 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.54 [[ 9.99995501e-01 2.72265617e-03 1.25930109e-03 2.82270371e+00] [-2.72432117e-03 9.99995415e-01 1.32234176e-03 -1.50909243e-02] [-1.25569503e-03 -1.32576655e-03 9.99998333e-01 5.35347635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36255784400004 meters 0.28781011369634824 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:0.54 [[ 9.99995642e-01 2.70373554e-03 1.18579181e-03 2.82300516e+00] [-2.70524495e-03 9.99995530e-01 1.27316329e-03 -1.49001038e-02] [-1.18234421e-03 -1.27636560e-03 9.99998486e-01 5.35071119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39255784400007 meters 0.2896622455229315 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99988269e-01 -4.04415937e-03 2.66586777e-03 2.84694514e+00] [ 4.03464247e-03 9.99985504e-01 3.56567108e-03 -1.39721492e-02] [-2.68024927e-03 -3.55487343e-03 9.99990090e-01 5.32362683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42255784400004 meters 0.2879725608710827 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99998049e-01 1.70371956e-03 9.99701179e-04 2.82507690e+00] [-1.70373496e-03 9.99998549e-01 1.45589694e-05 -1.44104002e-02] [-9.99674923e-04 -1.62621668e-05 9.99999500e-01 5.33500767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45255784400007 meters 0.2875424043949169 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:0.53 [[ 9.99997999e-01 1.71827605e-03 1.02472417e-03 2.82492169e+00] [-1.71832914e-03 9.99998522e-01 5.09276732e-05 -1.45522083e-02] [-1.02463514e-03 -5.26883847e-05 9.99999474e-01 5.33711839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48255784400004 meters 0.2877993496675553 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:0.53 [[ 9.99997963e-01 1.75312339e-03 1.00073246e-03 2.82489413e+00] [-1.75326647e-03 9.99998453e-01 1.42114056e-04 -1.49318559e-02] [-1.00048177e-03 -1.43868317e-04 9.99999489e-01 5.33920847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51255784400007 meters 0.2870417601831765 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99997673e-01 1.85993347e-03 1.09302932e-03 2.82458201e+00] [-1.86040969e-03 9.99998175e-01 4.34829025e-04 -1.61367554e-02] [-1.09221857e-03 -4.36861496e-04 9.99999308e-01 5.34129025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54255784400004 meters 0.28857210246727266 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99997547e-01 1.92115113e-03 1.10202172e-03 2.82457177e+00] [-1.92180712e-03 9.99997977e-01 5.94517489e-04 -1.68019410e-02] [-1.10087733e-03 -5.96633904e-04 9.99999216e-01 5.34105479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5725578440001 meters 0.2876464612950839 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99997515e-01 1.95735059e-03 1.06678116e-03 2.82470423e+00] [-1.95808507e-03 9.99997846e-01 6.87897700e-04 -1.71987364e-02] [-1.06543240e-03 -6.89984839e-04 9.99999194e-01 5.34017970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60255784400005 meters 0.28830449560143867 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.53 [[ 9.99997542e-01 1.96979418e-03 1.01741259e-03 2.82491538e+00] [-1.97052798e-03 9.99997799e-01 7.20743222e-04 -1.73450336e-02] [-1.01599064e-03 -7.22746291e-04 9.99999223e-01 5.33834256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6325578440001 meters 0.28665375291217093 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 9.99992653e-01 -3.60188318e-03 -1.31174570e-03 2.80241314e+00] [ 3.60776145e-03 9.99983336e-01 4.50680380e-03 -1.94352046e-02] [ 1.29549086e-03 -4.51150315e-03 9.99988984e-01 5.35304796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66255784400005 meters 0.2871914575551617 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 9.99992763e-01 -3.61157181e-03 -1.19603790e-03 2.80204664e+00] [ 3.61689600e-03 9.99983425e-01 4.47968963e-03 -1.93007831e-02] [ 1.17983935e-03 -4.48398316e-03 9.99989251e-01 5.35471866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6925578440001 meters 0.2862941207070161 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.54 [[ 9.99993328e-01 2.35974893e-03 -2.78846924e-03 2.78060780e+00] [-2.35648507e-03 9.99996535e-01 1.17318942e-03 -2.07505727e-02] [ 2.79122802e-03 -1.16661060e-03 9.99995424e-01 5.36336817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72255784400005 meters 0.29048668066872596 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.54 [[ 9.99992891e-01 1.97354512e-03 -3.21296413e-03 2.81890483e+00] [-1.97243958e-03 9.99997994e-01 3.47220971e-04 -1.85935709e-02] [ 3.21364294e-03 -3.40881125e-04 9.99994778e-01 5.39893945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752557844 meters 0.29004226326951055 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.54 [[ 9.99992787e-01 2.00953341e-03 -3.22301191e-03 2.81898096e+00] [-2.00812914e-03 9.99997887e-01 4.38878120e-04 -1.89791259e-02] [ 3.22388704e-03 -4.32402730e-04 9.99994710e-01 5.39792006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78255784400005 meters 0.2885487838871591 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 9.99967164e-01 -6.18141914e-03 -5.24035285e-03 2.80044848e+00] [ 6.19224934e-03 9.99978720e-01 2.05299327e-03 -1.81064004e-02] [ 5.22755092e-03 -2.08537543e-03 9.99984162e-01 5.38268476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.812557844 meters 0.28711736688370526 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 9.99967889e-01 -6.02614809e-03 -5.28268829e-03 2.80070354e+00] [ 6.03913115e-03 9.99978775e-01 2.44516492e-03 -1.97642831e-02] [ 5.26784123e-03 -2.47698925e-03 9.99983057e-01 5.37982819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84255784400005 meters 0.28751495818500045 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 9.99968607e-01 -5.92619773e-03 -5.25970346e-03 2.80062766e+00] [ 5.94043990e-03 9.99978720e-01 2.69630968e-03 -2.08137045e-02] [ 5.24361267e-03 -2.72746998e-03 9.99982533e-01 5.38045623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.872557844 meters 0.28755316738760756 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.54 [[ 0.99997037 -0.00572998 -0.00514106 2.80025969] [ 0.00574653 0.99997833 0.00321135 -0.02294983] [ 0.00512255 -0.0032408 0.99998163 0.53824537] [ 0. 0. 0. 1. ]] SLAMing on 348.90255784400006 meters 0.2893985916023074 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.54 [[ 9.99996032e-01 9.26035650e-04 -2.66064471e-03 2.82186798e+00] [-9.24491533e-04 9.99999404e-01 5.81525472e-04 -2.29112976e-02] [ 2.66118163e-03 -5.79063421e-04 9.99996291e-01 5.37004057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93255784400003 meters 0.28914881969265094 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.54 [[ 9.99995520e-01 1.05600181e-03 -2.80089242e-03 2.82235392e+00] [-1.05339984e-03 9.99999012e-01 9.30290230e-04 -2.43861043e-02] [ 2.80187204e-03 -9.27335603e-04 9.99995645e-01 5.36758660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96255784400006 meters 0.2874803149429872 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99996659e-01 1.75419315e-04 -2.57915895e-03 2.78504075e+00] [-1.72903871e-04 9.99999509e-01 9.75486653e-04 -2.91458534e-02] [ 2.57932880e-03 -9.75037447e-04 9.99996198e-01 5.32720678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99255784400003 meters 0.2902886132168539 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:0.54 [[ 9.99992100e-01 1.41388705e-04 -3.97247714e-03 2.82481589e+00] [-1.38951623e-04 9.99999802e-01 6.13760935e-04 -2.82381954e-02] [ 3.97256313e-03 -6.13204104e-04 9.99991921e-01 5.36121371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02255784400006 meters 0.287918515130897 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.54 [[ 9.99972667e-01 5.52893856e-03 -4.90885562e-03 2.80122717e+00] [-5.54233717e-03 9.99980942e-01 -2.72008290e-03 -3.12416391e-02] [ 4.89372289e-03 2.74721508e-03 9.99984252e-01 5.37579770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05255784400003 meters 0.28932391087060894 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:0.54 [[ 9.99988887e-01 -3.08830069e-03 -3.56196430e-03 2.82244084e+00] [ 3.08233954e-03 9.99993842e-01 -1.67783470e-03 -3.26470195e-02] [ 3.56712402e-03 1.66683687e-03 9.99992249e-01 5.37800425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08255784400006 meters 0.28750681400731376 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.53 [[ 9.99989083e-01 -3.49131739e-03 -3.10571731e-03 2.78420283e+00] [ 3.48817885e-03 9.99993401e-01 -1.01541035e-03 -3.89110065e-02] [ 3.10924193e-03 1.00456597e-03 9.99994662e-01 5.34447582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11255784400004 meters 0.28760606180034287 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.53 [[ 9.99989284e-01 -3.32279384e-03 -3.22334321e-03 2.78458990e+00] [ 3.32108029e-03 9.99994341e-01 -5.36813321e-04 -4.08943176e-02] [ 3.22510869e-03 5.26102588e-04 9.99994661e-01 5.34248538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14255784400007 meters 0.28854630454679636 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.04, Z:0.53 [[ 9.99994661e-01 3.06616936e-03 -1.13003208e-03 2.80818083e+00] [-3.06975510e-03 9.99990216e-01 -3.18517689e-03 -4.16264272e-02] [ 1.12025473e-03 3.18862881e-03 9.99994289e-01 5.31896845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17255784400004 meters 0.2889010897775932 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:0.53 [[ 9.99993733e-01 3.37307293e-03 -1.07494773e-03 2.80792908e+00] [-3.37556486e-03 9.99991600e-01 -2.32487045e-03 -4.51751147e-02] [ 1.06709674e-03 2.32848443e-03 9.99996720e-01 5.32165504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20255784400007 meters 0.2878294983769262 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:0.53 [[ 9.99993227e-01 3.53298125e-03 -1.03103401e-03 2.80768909e+00] [-3.53495429e-03 9.99991912e-01 -1.91814580e-03 -4.68720481e-02] [ 1.02424890e-03 1.92177747e-03 9.99997629e-01 5.32452825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23255784400004 meters 0.2894136303444981 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:0.53 [[ 9.99992737e-01 3.65863665e-03 -1.06750052e-03 2.80768872e+00] [-3.66034451e-03 9.99992017e-01 -1.60232462e-03 -4.81871707e-02] [ 1.06162967e-03 1.60622040e-03 9.99998146e-01 5.32677402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26255784400007 meters 0.2898087792021279 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:0.53 [[ 9.99992337e-01 3.76707160e-03 -1.06551334e-03 2.80769142e+00] [-3.76848839e-03 9.99992014e-01 -1.33080832e-03 -4.93240705e-02] [ 1.06049158e-03 1.33481350e-03 9.99998547e-01 5.32679050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29255784400004 meters 0.28770923687042615 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99984437e-01 -5.01231688e-03 -2.44981990e-03 2.78797839e+00] [ 5.01259563e-03 9.99987431e-01 1.07655563e-04 -4.94826196e-02] [ 2.44924951e-03 -1.19933844e-04 9.99996993e-01 5.32014287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3225578440001 meters 0.2896717673087906 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99985396e-01 -4.85224885e-03 -2.37980914e-03 2.78782908e+00] [ 4.85343828e-03 9.99988100e-01 4.94282111e-04 -5.11163922e-02] [ 2.37738245e-03 -5.05825150e-04 9.99997046e-01 5.31972114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35255784400005 meters 0.28873058364114934 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99986366e-01 -4.66781131e-03 -2.34069215e-03 2.78771365e+00] [ 4.67004457e-03 9.99988644e-01 9.49545301e-04 -5.30248985e-02] [ 2.33623327e-03 -9.60463491e-04 9.99996810e-01 5.32039486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3825578440001 meters 0.28873058364114934 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99986366e-01 -4.66781131e-03 -2.34069215e-03 2.78771365e+00] [ 4.67004457e-03 9.99988644e-01 9.49545301e-04 -5.30248985e-02] [ 2.33623327e-03 -9.60463491e-04 9.99996810e-01 5.32039486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41255784400005 meters 0.2877110611763533 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:0.53 [[ 9.99999446e-01 8.59498955e-04 6.08330166e-04 2.77283192e+00] [-8.58918636e-04 9.99999176e-01 -9.53573159e-04 -5.67846907e-02] [-6.09149260e-04 9.53050125e-04 9.99999360e-01 5.26838101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4425578440001 meters 0.28715800865336694 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:0.53 [[ 9.99999379e-01 9.62245651e-04 5.62718448e-04 2.77295244e+00] [-9.61865866e-04 9.99999310e-01 -6.74791831e-04 -5.79424279e-02] [-5.63367375e-04 6.74250152e-04 9.99999614e-01 5.26848324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47255784400005 meters 0.28805765002896255 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:0.53 [[ 9.99984083e-01 -4.95248146e-03 2.70318217e-03 2.79528297e+00] [ 4.94507334e-03 9.99984018e-01 2.74035678e-03 -6.03433453e-02] [-2.71671054e-03 -2.72694572e-03 9.99992592e-01 5.25049264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters 0.28905393049404554 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:0.53 [[ 9.99984963e-01 -4.81588916e-03 2.62316576e-03 2.79546096e+00] [ 4.80771284e-03 9.99983593e-01 3.11440276e-03 -6.18845692e-02] [-2.63812134e-03 -3.10174450e-03 9.99991710e-01 5.25145922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53255784400005 meters 0.2882319566868746 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:0.53 [[ 9.99985814e-01 -4.65489768e-03 2.58934141e-03 2.79556370e+00] [ 4.64567468e-03 9.99982884e-01 3.55659350e-03 -6.37111878e-02] [-2.60585267e-03 -3.54451381e-03 9.99990323e-01 5.25136738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters 0.289131868317453 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:0.53 [[ 9.99986734e-01 -4.50081871e-03 2.50505663e-03 2.79576732e+00] [ 4.49082036e-03 9.99981985e-01 3.98268552e-03 -6.54720714e-02] [-2.52293685e-03 -3.97138293e-03 9.99988931e-01 5.25199061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59255784400005 meters 0.28785370160216084 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:0.53 [[ 9.99997892e-01 7.79391042e-04 1.89942392e-03 2.77272160e+00] [-7.81485141e-04 9.99999087e-01 1.10199903e-03 -7.28767872e-02] [-1.89856330e-03 -1.10348108e-03 9.99997589e-01 5.26217667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters 0.2886464060442188 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:0.53 [[ 9.99997841e-01 9.83163209e-04 1.83046179e-03 2.77284882e+00] [-9.86229976e-04 9.99998110e-01 1.67525800e-03 -7.52174301e-02] [-1.82881127e-03 -1.67705964e-03 9.99996921e-01 5.26347441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65255784400006 meters 0.28761521886779584 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:0.53 [[ 9.99995236e-01 -1.03655965e-03 2.90747586e-03 2.76714644e+00] [ 1.03707008e-03 9.99999447e-01 -1.74052873e-04 -7.58208251e-02] [-2.90729384e-03 1.77067300e-04 9.99995758e-01 5.30207125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters 0.28700850637835473 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:0.53 [[ 9.99995358e-01 -8.53950225e-04 2.92485747e-03 2.76700386e+00] [ 8.53005950e-04 9.99999584e-01 3.24077272e-04 -7.78795783e-02] [-2.92513300e-03 -3.21580847e-04 9.99995670e-01 5.30447215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71255784400006 meters 0.28696940795928 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:0.53 [[ 9.99995518e-01 -7.22651763e-04 2.90538407e-03 2.76702964e+00] [ 7.20668734e-04 9.99999507e-01 6.83524786e-04 -7.93643704e-02] [-2.90587659e-03 -6.81427903e-04 9.99995546e-01 5.30508127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters 0.2872257063642717 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:0.53 [[ 9.99996117e-01 -4.57005041e-04 2.74920209e-03 2.76750968e+00] [ 4.52961019e-04 9.99998815e-01 1.47142335e-03 -8.26160943e-02] [-2.74987128e-03 -1.47017236e-03 9.99995138e-01 5.30292155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77255784400006 meters 0.2877204912626881 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.53 [[ 9.99960120e-01 8.37785938e-03 3.09343355e-03 2.78761746e+00] [-8.37952777e-03 9.99964752e-01 5.26764725e-04 -8.82010348e-02] [-3.08891135e-03 -5.52665231e-04 9.99995077e-01 5.31068830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80255784400003 meters 0.2876484773184636 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.53 [[ 0.99998745 0.00399943 0.00301729 2.78801504] [-0.00398756 0.99998433 -0.00392847 -0.08752437] [-0.00303296 0.00391639 0.99998773 0.53048041] [ 0. 0. 0. 1. ]] SLAMing on 349.83255784400006 meters 0.288773139194318 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.53 [[ 0.99998735 0.00409524 0.00291985 2.7883861 ] [-0.00408452 0.99998494 -0.00366661 -0.08863807] [-0.00293482 0.00365464 0.99998902 0.53018746] [ 0. 0. 0. 1. ]] SLAMing on 349.86255784400004 meters 0.2878391216411034 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.53 [[ 9.99987410e-01 4.21827609e-03 2.71756356e-03 2.78902571e+00] [-4.20931770e-03 9.99985716e-01 -3.29380510e-03 -9.02090977e-02] [-2.73141892e-03 3.28232455e-03 9.99990883e-01 5.29804035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89255784400007 meters 0.2874474502728151 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.53 [[ 9.99987140e-01 4.27652753e-03 2.72589782e-03 2.78894793e+00] [-4.26797856e-03 9.99985980e-01 -3.13434276e-03 -9.08613980e-02] [-2.73926371e-03 3.12266838e-03 9.99991373e-01 5.29937224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92255784400004 meters 0.2900267813107886 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:0.53 [[ 9.99982250e-01 -1.64308150e-03 5.72705287e-03 2.81086518e+00] [ 1.64449954e-03 9.99998618e-01 -2.42903822e-04 -9.28236754e-02] [-5.72664585e-03 2.52317646e-04 9.99983571e-01 5.27929608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95255784400007 meters 0.28843335232061934 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.53 [[ 0.99997662 0.00406749 0.00549654 2.78677457] [-0.00405108 0.99998732 -0.00299263 -0.09742799] [-0.00550864 0.00297029 0.99998042 0.52949013] [ 0. 0. 0. 1. ]] SLAMing on 349.98255784400004 meters 0.28725641737743424 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.53 [[ 9.99975812e-01 4.16978738e-03 5.56668774e-03 2.78652381e+00] [-4.15493201e-03 9.99987784e-01 -2.67752108e-03 -9.86942554e-02] [-5.57778443e-03 2.65432711e-03 9.99980921e-01 5.29691531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01255784400007 meters 0.2885608747572549 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99966237e-01 -4.31463021e-03 6.99352155e-03 2.80772421e+00] [ 4.32854550e-03 9.99988680e-01 -1.97582618e-03 -9.87118773e-02] [-6.98491742e-03 2.00603125e-03 9.99973593e-01 5.29949948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04255784400004 meters 0.28900820032735364 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99966460e-01 -4.19085454e-03 7.03675273e-03 2.80746586e+00] [ 4.20219828e-03 9.99989894e-01 -1.59805952e-03 -1.00235331e-01] [-7.02998438e-03 1.62757575e-03 9.99973965e-01 5.30315822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0725578440001 meters 0.2884080253319299 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99967254e-01 -4.05893166e-03 7.00113078e-03 2.80755052e+00] [ 4.06743639e-03 9.99991007e-01 -1.20095456e-03 -1.01845822e-01] [-6.99619322e-03 1.22939188e-03 9.99974771e-01 5.30306571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10255784400005 meters 0.2902898666983142 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99968038e-01 -3.84449804e-03 7.01013093e-03 2.80751080e+00] [ 3.84796644e-03 9.99992481e-01 -4.81350161e-04 -1.04717091e-01] [-7.00822767e-03 5.08309525e-04 9.99975313e-01 5.30309464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1325578440001 meters 0.28783938807847775 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975934e-01 4.00280368e-03 5.66648211e-03 2.78847655e+00] [-3.99468616e-03 9.99990980e-01 -1.44314272e-03 -1.10409724e-01] [-5.67220761e-03 1.42047217e-03 9.99982904e-01 5.29215712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16255784400005 meters 0.2890216356713304 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975513e-01 4.11467150e-03 5.66063677e-03 2.78840208e+00] [-4.10826683e-03 9.99990908e-01 -1.14260345e-03 -1.11647072e-01] [-5.66528674e-03 1.11932006e-03 9.99983326e-01 5.29396015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1925578440001 meters 0.28781082883722214 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975423e-01 4.19323652e-03 5.61865198e-03 2.78839077e+00] [-4.18806322e-03 9.99990796e-01 -9.32186860e-04 -1.12511011e-01] [-5.62250914e-03 9.08632680e-04 9.99983781e-01 5.29659122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22255784400005 meters 0.2880556176469953 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975748e-01 4.20122791e-03 5.55448285e-03 2.78854829e+00] [-4.19624730e-03 9.99990783e-01 -9.08031538e-04 -1.12609593e-01] [-5.55824650e-03 8.84701533e-04 9.99984161e-01 5.29665979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252557844 meters 0.28812412092250206 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975761e-01 4.21589084e-03 5.54114523e-03 2.78854223e+00] [-4.21115977e-03 9.99990759e-01 -8.65197340e-04 -1.12776764e-01] [-5.54474160e-03 8.41841720e-04 9.99984273e-01 5.29756513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28255784400005 meters 0.2883118719219615 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975542e-01 4.26865501e-03 5.54017543e-03 2.78848191e+00] [-4.26469654e-03 9.99990643e-01 -7.26119483e-04 -1.13353892e-01] [-5.54322315e-03 7.02474556e-04 9.99984389e-01 5.29899554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312557844 meters 0.2885345922363487 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.11, Z:0.53 [[ 9.99975149e-01 4.31803296e-03 5.57279854e-03 2.78838440e+00] [-4.31477152e-03 9.99990513e-01 -5.97132462e-04 -1.13893180e-01] [-5.57532411e-03 5.73072270e-04 9.99984294e-01 5.29926775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34255784400005 meters 0.28968311349318465 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99981842e-01 4.41212032e-03 4.10467633e-03 2.82837110e+00] [-4.40588964e-03 9.99989130e-01 -1.52575113e-03 -1.13432551e-01] [-4.11136351e-03 1.50763867e-03 9.99990412e-01 5.32696039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372557844 meters 0.2893240762916706 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99982037e-01 4.44574374e-03 4.02008785e-03 2.82873501e+00] [-4.44000990e-03 9.99989115e-01 -1.43409926e-03 -1.13824408e-01] [-4.02641973e-03 1.41622427e-03 9.99990891e-01 5.32330807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40255784400006 meters 0.28921375706717295 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99982179e-01 4.48182314e-03 3.94389913e-03 2.82888886e+00] [-4.47657577e-03 9.99989085e-01 -1.33832487e-03 -1.14219085e-01] [-3.94985421e-03 1.32064586e-03 9.99991327e-01 5.32419323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43255784400003 meters 0.28831022963602443 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99982112e-01 4.53694713e-03 3.89779131e-03 2.82888798e+00] [-4.53232392e-03 9.99989016e-01 -1.19412618e-03 -1.14815800e-01] [-3.90316618e-03 1.17643877e-03 9.99991691e-01 5.32685249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46255784400006 meters 0.29015140923199095 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.12, Z:0.53 [[ 9.99981986e-01 4.57150842e-03 3.88968394e-03 2.82882619e+00] [-4.56724852e-03 9.99988961e-01 -1.10335594e-03 -1.15192086e-01] [-3.89468501e-03 1.08557091e-03 9.99991826e-01 5.32872247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49255784400003 meters 0.28825446783175057 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99982170e-01 4.48239046e-03 3.94564783e-03 2.82868769e+00] [-4.47717400e-03 9.99989093e-01 -1.32992097e-03 -1.14225444e-01] [-3.95156602e-03 1.31223190e-03 9.99991332e-01 5.32859045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52255784400006 meters 0.2888031986777039 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99982646e-01 4.40569022e-03 3.91109594e-03 2.82893459e+00] [-4.39971579e-03 9.99989143e-01 -1.53485075e-03 -1.13387465e-01] [-3.91781556e-03 1.51761640e-03 9.99991174e-01 5.32502064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55255784400003 meters 0.28997427980900864 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99983181e-01 4.34998481e-03 3.83612650e-03 2.82924099e+00] [-4.34356586e-03 9.99989155e-01 -1.68003763e-03 -1.12792931e-01] [-3.84339304e-03 1.66334690e-03 9.99991231e-01 5.32237830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58255784400006 meters 0.2889027274365316 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99983818e-01 4.32659775e-03 3.69370851e-03 2.82972011e+00] [-4.32019704e-03 9.99989156e-01 -1.73909258e-03 -1.12565021e-01] [-3.70119281e-03 1.72310689e-03 9.99991666e-01 5.31956692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61255784400004 meters 0.29020214014432716 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.11, Z:0.53 [[ 9.99984122e-01 4.32163175e-03 3.61638600e-03 2.82998850e+00] [-4.31532154e-03 9.99989156e-01 -1.75088169e-03 -1.12524046e-01] [-3.62391345e-03 1.73524802e-03 9.99991928e-01 5.31797888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64255784400007 meters 0.28926618568530266 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:0.53 [[ 9.99997644e-01 -2.07992989e-03 6.21390863e-04 2.80884568e+00] [ 2.07902355e-03 9.99996779e-01 1.45566059e-03 -1.13404308e-01] [-6.24416533e-04 -1.45436527e-03 9.99998747e-01 5.33525779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67255784400004 meters 0.2893598014485146 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.11, Z:0.53 [[ 9.99997834e-01 -1.99482032e-03 5.94107649e-04 2.80892126e+00] [ 1.99381929e-03 9.99996600e-01 1.68078796e-03 -1.14339644e-01] [-5.97458499e-04 -1.67959977e-03 9.99998411e-01 5.33506299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70255784400007 meters 0.2903618881232558 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998014e-01 -1.89830784e-03 6.06248224e-04 2.80879150e+00] [ 1.89713088e-03 9.99996326e-01 1.93610173e-03 -1.15388025e-01] [-6.09921314e-04 -1.93494775e-03 9.99997942e-01 5.33727364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73255784400004 meters 0.2895110349114655 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998444e-01 -1.68406630e-03 5.26136125e-04 2.80890560e+00] [ 1.68274755e-03 9.99995467e-01 2.49694736e-03 -1.17706124e-01] [-5.30338765e-04 -2.49605811e-03 9.99996744e-01 5.33925156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76255784400007 meters 0.28972832153115924 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998575e-01 -1.63097181e-03 4.34859262e-04 2.80912159e+00] [ 1.62981992e-03 9.99995197e-01 2.63620294e-03 -1.18282270e-01] [-4.39156746e-04 -2.63549044e-03 9.99996431e-01 5.33962439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79255784400004 meters 0.2897989012249904 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998616e-01 -1.61615062e-03 3.96034770e-04 2.80924615e+00] [ 1.61508451e-03 9.99995111e-01 2.67766341e-03 -1.18456094e-01] [-4.00360341e-04 -2.67702007e-03 9.99996337e-01 5.33902840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8225578440001 meters 0.2917832215495083 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998581e-01 -1.63585827e-03 4.02490086e-04 2.80917141e+00] [ 1.63479537e-03 9.99995213e-01 2.62711704e-03 -1.18235950e-01] [-4.06785750e-04 -2.62645533e-03 9.99996468e-01 5.34039552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85255784400005 meters 0.2893152791641013 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.12, Z:0.54 [[ 9.99987749e-01 4.86380101e-03 -9.19032397e-04 2.78576797e+00] [-4.86361421e-03 9.99988151e-01 2.05378740e-04 -1.18298541e-01] [ 9.20020429e-04 -2.00906404e-04 9.99999557e-01 5.35872014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8825578440001 meters 0.29037858426814467 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.54 [[ 9.99994135e-01 -3.20353180e-03 1.21127236e-03 2.80514924e+00] [ 3.20233822e-03 9.99994386e-01 9.86053717e-04 -1.15323369e-01] [-1.21442442e-03 -9.82169030e-04 9.99998780e-01 5.36374706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91255784400005 meters 0.2892181261497237 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.54 [[ 9.99995866e-01 2.53104447e-03 -1.36427464e-03 2.78235884e+00] [-2.53366099e-03 9.99994948e-01 -1.91957719e-03 -1.14267472e-01] [ 1.35940921e-03 1.92302586e-03 9.99997227e-01 5.38542183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9425578440001 meters 0.2897540377133421 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:0.54 [[ 9.99985979e-01 -5.24314315e-03 -7.41823731e-04 2.80134809e+00] [ 5.24266497e-03 9.99986049e-01 -6.45081284e-04 -1.09957888e-01] [ 7.45195635e-04 6.41183106e-04 9.99999517e-01 5.40084914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97255784400005 meters 0.29026883815586535 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:0.54 [[ 9.99985747e-01 -5.27905797e-03 -7.97880414e-04 2.80155965e+00] [ 5.27846832e-03 9.99985795e-01 -7.39330715e-04 -1.09572390e-01] [ 8.01772050e-04 7.35108592e-04 9.99999408e-01 5.39928643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters 0.2900168358758363 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.54 [[ 9.99994689e-01 2.58516506e-03 -1.98490636e-03 2.78179145e+00] [-2.58879935e-03 9.99994974e-01 -1.83058254e-03 -1.12258968e-01] [ 1.98016403e-03 1.83571135e-03 9.99996355e-01 5.38506359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03255784400005 meters 0.29033736396010346 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.54 [[ 9.99994433e-01 2.61173899e-03 -2.07690967e-03 2.78212609e+00] [-2.61538732e-03 9.99995038e-01 -1.75584405e-03 -1.12591126e-01] [ 2.07231356e-03 1.76126620e-03 9.99996302e-01 5.38266368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters 0.28868500726696594 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.54 [[ 9.99975315e-01 -6.02994277e-03 -3.60669021e-03 2.76253392e+00] [ 6.02858541e-03 9.99981753e-01 -3.87098271e-04 -1.10334811e-01] [ 3.60895858e-03 3.65345476e-04 9.99993421e-01 5.37472963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09255784400005 meters 0.2899150297276846 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.54 [[ 9.99995150e-01 2.75555912e-03 -1.45180979e-03 2.78151965e+00] [-2.75753111e-03 9.99995276e-01 -1.35805477e-03 -1.13992100e-01] [ 1.44806073e-03 1.36205159e-03 9.99998024e-01 5.38047718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters 0.28809771615540447 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.54 [[ 9.99995087e-01 2.82013409e-03 -1.36833606e-03 2.78117548e+00] [-2.82176285e-03 9.99995311e-01 -1.18985124e-03 -1.14677231e-01] [ 1.36497411e-03 1.19370652e-03 9.99998356e-01 5.38348633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15255784400006 meters 0.29128847574573913 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:0.54 [[ 9.99994776e-01 2.92959524e-03 -1.36599274e-03 2.78106240e+00] [-2.93083706e-03 9.99995293e-01 -9.07979192e-04 -1.15843923e-01] [ 1.36332629e-03 9.11977951e-04 9.99998655e-01 5.38576506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18255784400003 meters 0.29129465437142005 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:0.54 [[ 9.99994619e-01 2.94430006e-03 -1.44707079e-03 2.78133158e+00] [-2.94555766e-03 9.99995285e-01 -8.67703008e-04 -1.16021832e-01] [ 1.44450919e-03 8.71960768e-04 9.99998577e-01 5.38437028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21255784400006 meters 0.288617035324413 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.54 [[ 9.99998374e-01 1.62252410e-03 -7.86830219e-04 2.74235850e+00] [-1.62316830e-03 9.99998347e-01 -8.18774671e-04 -1.16799333e-01] [ 7.85500437e-04 8.20050498e-04 9.99999355e-01 5.35563499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters 0.2891547427878375 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.54 [[ 9.99998254e-01 1.70484060e-03 -7.65806088e-04 2.74229788e+00] [-1.70530183e-03 9.99998365e-01 -6.02029578e-04 -1.17685827e-01] [ 7.64778471e-04 6.03334457e-04 9.99999526e-01 5.35585019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27255784400006 meters 0.29066911984968985 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.53 [[ 9.99991602e-01 -3.57642996e-03 2.00136538e-03 2.76452927e+00] [ 3.57082934e-03 9.99989718e-01 2.79501191e-03 -1.20363258e-01] [-2.01134097e-03 -2.78784190e-03 9.99994091e-01 5.33794185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30255784400003 meters 0.29066911984968985 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.53 [[ 9.99991602e-01 -3.57642996e-03 2.00136538e-03 2.76452927e+00] [ 3.57082934e-03 9.99989718e-01 2.79501191e-03 -1.20363258e-01] [-2.01134097e-03 -2.78784190e-03 9.99994091e-01 5.33794185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33255784400006 meters 0.2893119774514938 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.53 [[ 9.99996738e-01 2.41887402e-03 -8.20212601e-04 2.74500753e+00] [-2.41884651e-03 9.99997074e-01 3.45273463e-05 -1.22296743e-01] [ 8.20293718e-04 -3.25432653e-05 9.99999663e-01 5.34156069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters 0.29057687051232034 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.53 [[ 9.99977433e-01 -6.53900446e-03 -1.54096404e-03 2.76782304e+00] [ 6.53945834e-03 9.99978576e-01 2.89693093e-04 -1.20341165e-01] [ 1.53903672e-03 -2.99763626e-04 9.99998771e-01 5.33926782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39255784400007 meters 0.29054605989890103 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.53 [[ 9.99977884e-01 -6.45059863e-03 -1.61924817e-03 2.76805089e+00] [ 6.45143769e-03 9.99979057e-01 5.13488386e-04 -1.21277335e-01] [ 1.61590195e-03 -5.23923508e-04 9.99998557e-01 5.33885823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42255784400004 meters 0.29107138730206644 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.12, Z:0.54 [[ 9.99997185e-01 2.33424636e-03 -4.26316169e-04 2.78750077e+00] [-2.33453119e-03 9.99997051e-01 -6.68835102e-04 -1.24674709e-01] [ 4.24753686e-04 6.69828467e-04 9.99999685e-01 5.35106930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45255784400007 meters 0.28949733306556097 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99998316e-01 1.51075273e-03 1.04212397e-03 2.74774157e+00] [-1.51103933e-03 9.99998821e-01 2.74275222e-04 -1.27835288e-01] [-1.04170838e-03 -2.75849451e-04 9.99999419e-01 5.32542610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48255784400004 meters 0.2895737285761728 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99998275e-01 1.52160596e-03 1.06502144e-03 2.74764365e+00] [-1.52193139e-03 9.99998795e-01 3.04820650e-04 -1.27953113e-01] [-1.06455634e-03 -3.06441013e-04 9.99999386e-01 5.32636651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51255784400007 meters 0.2911441039132535 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.13, Z:0.53 [[ 0.99999001 -0.00332616 0.00298604 2.77205954] [ 0.00331459 0.99998702 0.00386944 -0.12958705] [-0.00299887 -0.0038595 0.99998806 0.53025201] [ 0. 0. 0. 1. ]] SLAMing on 351.54255784400004 meters 0.2910455756801631 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.13, Z:0.53 [[ 0.9999902 -0.00328817 0.0029652 2.77222511] [ 0.0032764 0.99998676 0.00396707 -0.13000842] [-0.0029782 -0.00395732 0.99998773 0.53001169] [ 0. 0. 0. 1. ]] SLAMing on 351.5725578440001 meters 0.29147048231196276 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.13, Z:0.53 [[ 0.99999068 -0.00321222 0.00288558 2.77257094] [ 0.00320018 0.9999862 0.00416702 -0.13086812] [-0.00289893 -0.00415775 0.99998715 0.52970571] [ 0. 0. 0. 1. ]] SLAMing on 351.60255784400005 meters 0.2899053820238665 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99998774e-01 1.46016111e-03 5.65695326e-04 2.74948079e+00] [-1.46054306e-03 9.99998705e-01 6.75347996e-04 -1.31974081e-01] [-5.64708477e-04 -6.76173391e-04 9.99999612e-01 5.31570397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6325578440001 meters 0.29030172667278026 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99998269e-01 1.80105007e-03 4.67903408e-04 2.74944736e+00] [-1.80179022e-03 9.99997119e-01 1.58628261e-03 -1.35703586e-01] [-4.65045085e-04 -1.58712293e-03 9.99998632e-01 5.32196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66255784400005 meters 0.29103171570706177 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997937e-01 1.98637284e-03 4.25601844e-04 2.74944447e+00] [-1.98724370e-03 9.99995913e-01 2.05560778e-03 -1.37647273e-01] [-4.21516901e-04 -2.05644932e-03 9.99997797e-01 5.32447122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6925578440001 meters 0.2905842068214552 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997561e-01 2.16562493e-03 4.34661362e-04 2.74930293e+00] [-2.16670064e-03 9.99994553e-01 2.48980074e-03 -1.39441318e-01] [-4.29267020e-04 -2.49073644e-03 9.99996806e-01 5.32693676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72255784400005 meters 0.29200496318916175 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997221e-01 2.32728918e-03 3.77377371e-04 2.74941039e+00] [-2.32836866e-03 9.99993126e-01 2.88574698e-03 -1.41086254e-01] [-3.70658809e-04 -2.88661763e-03 9.99995765e-01 5.32789931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752557844 meters 0.2910937938246067 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99996962e-01 2.43552394e-03 3.79707045e-04 2.74943373e+00] [-2.43670980e-03 9.99992056e-01 3.15455098e-03 -1.42201889e-01] [-3.72021044e-04 -3.15546663e-03 9.99994952e-01 5.32737863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78255784400005 meters 0.29004168889745646 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99996661e-01 2.55885387e-03 3.61477037e-04 2.74967100e+00] [-2.56010222e-03 9.99990611e-01 3.49627230e-03 -1.43613459e-01] [-3.52527193e-04 -3.49718604e-03 9.99993823e-01 5.32290498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812557844 meters 0.2915651614660582 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.14, Z:0.53 [[ 9.99992184e-01 3.93919872e-03 -3.37320372e-04 2.78881126e+00] [-3.93815934e-03 9.99987660e-01 3.02843503e-03 -1.41295956e-01] [ 3.49245816e-04 -3.02708294e-03 9.99995357e-01 5.34793832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84255784400005 meters 0.2898077947302005 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.53 [[ 9.99995940e-01 2.83489197e-03 -2.90347959e-04 2.75157853e+00] [-2.83379026e-03 9.99989039e-01 3.72707318e-03 -1.45110785e-01] [ 3.00910626e-04 -3.72623526e-03 9.99993012e-01 5.31418112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872557844 meters 0.29182702586908965 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.53 [[ 9.99995844e-01 2.86092205e-03 -3.56528911e-04 2.75182100e+00] [-2.85954740e-03 9.99988698e-01 3.79829531e-03 -1.45418424e-01] [ 3.67391508e-04 -3.79726002e-03 9.99992723e-01 5.31252487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90255784400006 meters 0.29165721365572683 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.53 [[ 9.99995513e-01 2.96917146e-03 -3.98626627e-04 2.75189011e+00] [-2.96752339e-03 9.99987301e-01 4.07320092e-03 -1.46563454e-01] [ 4.10715597e-04 -4.07199971e-03 9.99991625e-01 5.31355875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93255784400003 meters 0.29202494160747766 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.53 [[ 9.99995098e-01 3.10448509e-03 -4.07044301e-04 2.75178504e+00] [-3.10265530e-03 9.99985412e-01 4.42142637e-03 -1.47991111e-01] [ 4.20764616e-04 -4.42014178e-03 9.99990143e-01 5.31650854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96255784400006 meters 0.2910249493544332 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.53 [[ 9.99994586e-01 3.26788631e-03 -3.84580725e-04 2.75150967e+00] [-3.26597886e-03 9.99982856e-01 4.86009393e-03 -1.49759853e-01] [ 4.00456366e-04 -4.85881159e-03 9.99988116e-01 5.32155574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99255784400003 meters 0.2904444955621065 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.54 [[ 9.99982774e-01 4.46229069e-03 -3.81320993e-03 2.72748447e+00] [-4.46810703e-03 9.99988866e-01 -1.51816002e-03 -1.50392975e-01] [ 3.80639300e-03 1.53517170e-03 9.99991577e-01 5.36531795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02255784400006 meters 0.2903948230835432 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.54 [[ 9.99993494e-01 -2.82172070e-03 -2.24737886e-03 2.74672042e+00] [ 2.82168002e-03 9.99996019e-01 -2.12747377e-05 -1.48089660e-01] [ 2.24742994e-03 1.49332153e-05 9.99997474e-01 5.37883559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05255784400003 meters 0.29135625671481247 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.54 [[ 9.99990583e-01 4.21233122e-03 1.04428244e-03 2.76758146e+00] [-4.20953184e-03 9.99987579e-01 -2.66852802e-03 -1.47123759e-01] [-1.05551020e-03 2.66410695e-03 9.99995894e-01 5.36310857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08255784400006 meters 0.290729313475522 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.54 [[ 9.99990490e-01 4.22297697e-03 1.08915445e-03 2.76749067e+00] [-4.22008711e-03 9.99987605e-01 -2.64209045e-03 -1.47234154e-01] [-1.10029844e-03 2.63746900e-03 9.99995917e-01 5.36255608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11255784400004 meters 0.289987257843203 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99986497e-01 -4.43787541e-03 -2.70399903e-03 2.75106860e+00] [ 4.43370282e-03 9.99988974e-01 -1.54716455e-03 -1.44274343e-01] [ 2.71083534e-03 1.53515493e-03 9.99995147e-01 5.34874232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14255784400007 meters 0.28998028120982194 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985999e-01 -4.48655842e-03 -2.80571327e-03 2.75150776e+00] [ 4.48185960e-03 9.99988547e-01 -1.67878399e-03 -1.43768256e-01] [ 2.81321310e-03 1.66618567e-03 9.99994655e-01 5.34423462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17255784400004 meters 0.2903136014173695 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985818e-01 -4.54006530e-03 -2.78416737e-03 2.75150993e+00] [ 4.53499843e-03 9.99988054e-01 -1.82350746e-03 -1.43179374e-01] [ 2.79241296e-03 1.81085541e-03 9.99994462e-01 5.34286774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20255784400007 meters 0.29229623716519115 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985662e-01 -4.62243533e-03 -2.70339391e-03 2.75125791e+00] [ 4.61691722e-03 9.99987253e-01 -2.04386834e-03 -1.42247996e-01] [ 2.71280710e-03 2.03135769e-03 9.99994257e-01 5.34381104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23255784400004 meters 0.29107984189818437 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985625e-01 -4.70386167e-03 -2.57355804e-03 2.75082221e+00] [ 4.69803751e-03 9.99986400e-01 -2.26446152e-03 -1.41297892e-01] [ 2.58417476e-03 2.25233830e-03 9.99994124e-01 5.34595759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26255784400007 meters 0.29121305132109243 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985593e-01 -4.75377412e-03 -2.49287973e-03 2.75046333e+00] [ 4.74780043e-03 9.99985857e-01 -2.39676776e-03 -1.40704110e-01] [ 2.50423816e-03 2.38489753e-03 9.99994021e-01 5.34924121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29255784400004 meters 0.2906544127986256 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99985660e-01 -4.73122538e-03 -2.50921355e-03 2.75040232e+00] [ 4.72535732e-03 9.99986099e-01 -2.33940258e-03 -1.40924750e-01] [ 2.52024691e-03 2.32751210e-03 9.99994116e-01 5.35154288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3225578440001 meters 0.2905423801638997 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99985638e-01 -4.72181624e-03 -2.53523266e-03 2.75047776e+00] [ 4.71594920e-03 9.99986200e-01 -2.31521186e-03 -1.41028879e-01] [ 2.54612968e-03 2.30322259e-03 9.99994106e-01 5.35134151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35255784400005 meters 0.291005448537988 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99985606e-01 -4.72148044e-03 -2.54855131e-03 2.75060420e+00] [ 4.71558165e-03 9.99986200e-01 -2.31563306e-03 -1.41048249e-01] [ 2.55944936e-03 2.30358183e-03 9.99994071e-01 5.34929215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3825578440001 meters 0.29066467433848203 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99985738e-01 -4.72651625e-03 -2.48684767e-03 2.75038104e+00] [ 4.72072046e-03 9.99986140e-01 -2.33130636e-03 -1.40966337e-01] [ 2.49783216e-03 2.31953340e-03 9.99994190e-01 5.35070774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41255784400005 meters 0.2891661556329786 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99992354e-01 3.39209920e-03 -1.94541295e-03 2.72920970e+00] [-3.39763650e-03 9.99990166e-01 -2.85013151e-03 -1.45605603e-01] [ 1.93572589e-03 2.85671952e-03 9.99994046e-01 5.34482671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4425578440001 meters 0.2891051825459815 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99992141e-01 3.40985429e-03 -2.02249918e-03 2.72931267e+00] [-3.41550832e-03 9.99990251e-01 -2.79873247e-03 -1.45801890e-01] [ 2.01293620e-03 2.80561833e-03 9.99994038e-01 5.34696247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47255784400005 meters 0.2891007803985331 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991969e-01 3.42609716e-03 -2.07917023e-03 2.72955085e+00] [-3.43181915e-03 9.99990317e-01 -2.75475337e-03 -1.46005980e-01] [ 2.06971204e-03 2.76186658e-03 9.99994044e-01 5.34478893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters 0.28961068609389246 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991658e-01 3.41093163e-03 -2.24690591e-03 2.73027000e+00] [-3.41718785e-03 9.99990279e-01 -2.78644118e-03 -1.45952945e-01] [ 2.23737971e-03 2.79409603e-03 9.99993594e-01 5.33696974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53255784400005 meters 0.28985283893989955 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991569e-01 3.43176452e-03 -2.25481995e-03 2.73036340e+00] [-3.43791817e-03 9.99990361e-01 -2.73092565e-03 -1.46196422e-01] [ 2.24542633e-03 2.73865452e-03 9.99993729e-01 5.33527885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters 0.28907414190121433 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991449e-01 3.47163029e-03 -2.24737176e-03 2.73028040e+00] [-3.47753067e-03 9.99990503e-01 -2.62689523e-03 -1.46616231e-01] [ 2.23823081e-03 2.63468807e-03 9.99994024e-01 5.33671696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59255784400005 meters 0.2890947628365933 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991215e-01 3.56386861e-03 -2.20643896e-03 2.72987181e+00] [-3.56911407e-03 9.99990803e-01 -2.37798615e-03 -1.47601021e-01] [ 2.19794384e-03 2.38584029e-03 9.99994738e-01 5.34423749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622557844 meters 0.2894740899238576 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.53 [[ 9.99991117e-01 3.57250204e-03 -2.23694990e-03 2.73003673e+00] [-3.57776405e-03 9.99990832e-01 -2.35274771e-03 -1.47721487e-01] [ 2.22852420e-03 2.36073009e-03 9.99994730e-01 5.34218936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65255784400006 meters 0.2903962557280374 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988082e-01 -4.14563515e-03 -2.57852312e-03 2.75010194e+00] [ 4.14205564e-03 9.99990453e-01 -1.39199593e-03 -1.43132970e-01] [ 2.58426921e-03 1.38129896e-03 9.99995707e-01 5.35129869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters 0.2904380599474609 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99987741e-01 -4.13717509e-03 -2.72061440e-03 2.75067387e+00] [ 4.13347640e-03 9.99990527e-01 -1.36372507e-03 -1.43302925e-01] [ 2.72623060e-03 1.35246275e-03 9.99995369e-01 5.34634143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71255784400006 meters 0.2909915706780842 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99987687e-01 -4.13993849e-03 -2.73616295e-03 2.75085667e+00] [ 4.13620193e-03 9.99990508e-01 -1.36987305e-03 -1.43307676e-01] [ 2.74180817e-03 1.35853886e-03 9.99995318e-01 5.34305725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters 0.2895637162415516 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99987769e-01 -4.16877020e-03 -2.66137384e-03 2.75065750e+00] [ 4.16491304e-03 9.99990271e-01 -1.45321170e-03 -1.42959691e-01] [ 2.66740606e-03 1.44210953e-03 9.99995403e-01 5.34331524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77255784400006 meters 0.2898048707770139 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99987900e-01 -4.18551065e-03 -2.58465021e-03 2.75044688e+00] [ 4.18164257e-03 9.99990132e-01 -1.50015523e-03 -1.42757704e-01] [ 2.59090362e-03 1.48932900e-03 9.99995535e-01 5.34364464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters 0.2901581051602661 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99988036e-01 -4.16674157e-03 -2.56259458e-03 2.75036755e+00] [ 4.16302838e-03 9.99990279e-01 -1.45262767e-03 -1.42947928e-01] [ 2.56862240e-03 1.44194214e-03 9.99995661e-01 5.34416811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83255784400006 meters 0.2890810711436875 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99988226e-01 -4.12361626e-03 -2.55809815e-03 2.75032828e+00] [ 4.12018930e-03 9.99990610e-01 -1.34347879e-03 -1.43397743e-01] [ 2.56361412e-03 1.33292312e-03 9.99995826e-01 5.34485401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters 0.2888402864071196 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99988692e-01 -4.05512053e-03 -2.48447909e-03 2.75004328e+00] [ 4.05222878e-03 9.99991108e-01 -1.16785632e-03 -1.44099239e-01] [ 2.48919280e-03 1.15777544e-03 9.99996232e-01 5.34724313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89255784400007 meters 0.289661541420158 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99988875e-01 -4.02530813e-03 -2.45900244e-03 2.74990626e+00] [ 4.02262986e-03 9.99991312e-01 -1.09314376e-03 -1.44392727e-01] [ 2.46338132e-03 1.08323994e-03 9.99996379e-01 5.34884388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92255784400004 meters 0.2902154461967894 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988955e-01 -3.98433542e-03 -2.49297225e-03 2.74991372e+00] [ 3.98188215e-03 9.99991584e-01 -9.88266821e-04 -1.44817131e-01] [ 2.49688885e-03 9.78329184e-04 9.99996404e-01 5.35063817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95255784400007 meters 0.29004616338780526 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.54 [[ 9.99989049e-01 -3.95274536e-03 -2.50549112e-03 2.74990816e+00] [ 3.95047914e-03 9.99991784e-01 -9.08805338e-04 -1.45141329e-01] [ 2.50906281e-03 8.98897495e-04 9.99996448e-01 5.35150111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98255784400004 meters 0.2892969125983783 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99988958e-01 -4.02413862e-03 -2.42689610e-03 2.74977239e+00] [ 4.02149361e-03 9.99991316e-01 -1.09377319e-03 -1.44375270e-01] [ 2.43127651e-03 1.08400136e-03 9.99996457e-01 5.34990965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01255784400007 meters 0.2885461771183564 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99989019e-01 -4.06682821e-03 -2.32881452e-03 2.74951552e+00] [ 4.06402525e-03 9.99991013e-01 -1.20706794e-03 -1.43892192e-01] [ 2.33370253e-03 1.19759032e-03 9.99996560e-01 5.34986763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04255784400004 meters 0.289725228254904 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988825e-01 -4.12126956e-03 -2.31605110e-03 2.74944782e+00] [ 4.11815156e-03 9.99990610e-01 -1.34941374e-03 -1.43296318e-01] [ 2.32159065e-03 1.33986082e-03 9.99996407e-01 5.35056374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0725578440001 meters 0.28952019763857323 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988228e-01 -4.24621188e-03 -2.34822027e-03 2.74951237e+00] [ 4.24229364e-03 9.99989605e-01 -1.67107053e-03 -1.41952865e-01] [ 2.35529158e-03 1.66108902e-03 9.99995847e-01 5.35075762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10255784400005 meters 0.28830570233917735 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988215e-01 -4.29087589e-03 -2.27127010e-03 2.74930361e+00] [ 4.28681521e-03 9.99989210e-01 -1.78970441e-03 -1.41453168e-01] [ 2.27892499e-03 1.77994680e-03 9.99995819e-01 5.35097563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1325578440001 meters 0.2891774401854635 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.54 [[ 9.99988144e-01 -4.36723923e-03 -2.15377980e-03 2.74889823e+00] [ 4.36294555e-03 9.99988494e-01 -1.99424349e-03 -1.40569038e-01] [ 2.16246436e-03 1.98482302e-03 9.99995692e-01 5.35319496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16255784400005 meters 0.2879254126643581 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:0.53 [[ 9.99990605e-01 3.38306439e-03 -2.71007507e-03 2.72826388e+00] [-3.39176574e-03 9.99989087e-01 -3.21260650e-03 -1.42001387e-01] [ 2.69917704e-03 3.22176826e-03 9.99991167e-01 5.34241830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1925578440001 meters 0.2879254126643581 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:0.53 [[ 9.99990605e-01 3.38306439e-03 -2.71007507e-03 2.72826388e+00] [-3.39176574e-03 9.99989087e-01 -3.21260650e-03 -1.42001387e-01] [ 2.69917704e-03 3.22176826e-03 9.99991167e-01 5.34241830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22255784400005 meters 0.2877223129068773 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:0.53 [[ 9.99990868e-01 3.28533348e-03 -2.73321159e-03 2.72849789e+00] [-3.29481535e-03 9.99988545e-01 -3.47188993e-03 -1.40958815e-01] [ 2.72177396e-03 3.48086365e-03 9.99990238e-01 5.33826034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252557844 meters 0.28936106417629975 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99998236e-01 -1.52641002e-03 -1.09418788e-03 2.75236507e+00] [ 1.52621538e-03 9.99998819e-01 -1.78700126e-04 -1.39525284e-01] [ 1.09445936e-03 1.77029845e-04 9.99999385e-01 5.31719351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28255784400005 meters 0.28893711738604 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99998044e-01 -1.63341571e-03 -1.11519878e-03 2.75258572e+00] [ 1.63290798e-03 9.99998563e-01 -4.56038038e-04 -1.38398883e-01] [ 1.11594207e-03 4.54216129e-04 9.99999274e-01 5.31335204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312557844 meters 0.2880262030641119 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997909e-01 -1.74211539e-03 -1.07096338e-03 2.75258013e+00] [ 1.74132561e-03 9.99998212e-01 -7.37938755e-04 -1.37244425e-01] [ 1.07224704e-03 7.36072316e-04 9.99999154e-01 5.31081385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34255784400005 meters 0.2889107262806128 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997773e-01 -1.87307313e-03 -9.72592931e-04 2.75218020e+00] [ 1.87202010e-03 9.99997662e-01 -1.08248667e-03 -1.35762971e-01] [ 9.74618233e-04 1.08066355e-03 9.99998941e-01 5.31397585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372557844 meters 0.2881831860177483 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.53 [[ 9.99997743e-01 -1.90985725e-03 -9.30462322e-04 2.75203133e+00] [ 1.90875812e-03 9.99997481e-01 -1.18074027e-03 -1.35347725e-01] [ 9.32715023e-04 1.17896157e-03 9.99998870e-01 5.31485908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40255784400006 meters 0.2878628457921264 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99997533e-01 -1.96572814e-03 -1.03398667e-03 2.75231042e+00] [ 1.96436094e-03 9.99997197e-01 -1.32161354e-03 -1.34776398e-01] [ 1.03658170e-03 1.31957916e-03 9.99998592e-01 5.31445806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43255784400003 meters 0.28965344653529934 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99997234e-01 -2.05900119e-03 -1.13656405e-03 2.75277959e+00] [ 2.05723241e-03 9.99996675e-01 -1.55523033e-03 -1.33849707e-01] [ 1.13976249e-03 1.55288785e-03 9.99998145e-01 5.30975282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46255784400006 meters 0.28723886375269275 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:0.53 [[ 9.99996251e-01 -2.70807431e-03 -4.04520865e-04 2.71489135e+00] [ 2.70776135e-03 9.99996036e-01 -7.72197606e-04 -1.34000067e-01] [ 4.06610430e-04 7.71099366e-04 9.99999620e-01 5.27149086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49255784400003 meters 0.2884307514687611 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:0.53 [[ 9.99996157e-01 -2.75170131e-03 -3.37150237e-04 2.71474723e+00] [ 2.75140057e-03 9.99995820e-01 -8.89236828e-04 -1.33518021e-01] [ 3.39595742e-04 8.88305776e-04 9.99999548e-01 5.27079422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52255784400006 meters 0.2872938330397235 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:0.53 [[ 9.99996060e-01 -2.79075478e-03 -3.04092718e-04 2.71459930e+00] [ 2.79045155e-03 9.99995614e-01 -9.93054592e-04 -1.33077447e-01] [ 3.06862756e-04 9.92202123e-04 9.99999461e-01 5.27217139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55255784400003 meters 0.2890342988101551 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:0.53 [[ 9.99999115e-01 -7.77384205e-04 -1.07974432e-03 2.75417770e+00] [ 7.76465124e-04 9.99999336e-01 -8.51361038e-04 -1.30109039e-01] [ 1.08040544e-03 8.50521900e-04 9.99999055e-01 5.29901878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58255784400006 meters 0.28576446184842913 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.53 [[ 9.99998006e-01 1.23814911e-03 -1.56709738e-03 2.69832847e+00] [-1.23971837e-03 9.99998731e-01 -1.00080089e-03 -1.32501293e-01] [ 1.56585625e-03 1.00274166e-03 9.99998271e-01 5.30227467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61255784400004 meters 0.2872908973183657 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.53 [[ 9.99998133e-01 1.00932000e-03 -1.64773156e-03 2.69863331e+00] [-1.01198524e-03 9.99998180e-01 -1.61748893e-03 -1.29981435e-01] [ 1.64609600e-03 1.61915339e-03 9.99997334e-01 5.30003253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64255784400007 meters 0.2889460576313962 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99996138e-01 1.97407900e-03 -1.95611709e-03 2.73760786e+00] [-1.97922664e-03 9.99994575e-01 -2.63313091e-03 -1.24811524e-01] [ 1.95090847e-03 2.63699234e-03 9.99994620e-01 5.32771682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67255784400004 meters 0.28766261800901616 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99996867e-01 1.76127608e-03 -1.77866281e-03 2.73702962e+00] [-1.76694890e-03 9.99993342e-01 -3.19285048e-03 -1.22413067e-01] [ 1.77302748e-03 3.19598329e-03 9.99993321e-01 5.32987717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70255784400007 meters 0.28642790975868965 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.53 [[ 9.99979969e-01 -5.12637685e-03 -3.71237582e-03 2.71501577e+00] [ 5.12575742e-03 9.99986848e-01 -1.76352401e-04 -1.22505345e-01] [ 3.71323105e-03 1.57320131e-04 9.99993094e-01 5.34336031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73255784400004 meters 0.287103508685054 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.53 [[ 9.99991535e-01 3.69799972e-03 -1.80408672e-03 2.73424743e+00] [-3.70091873e-03 9.99991844e-01 -1.61735047e-03 -1.23400804e-01] [ 1.79809104e-03 1.62401355e-03 9.99997065e-01 5.34832959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76255784400007 meters 0.28735016939991664 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.53 [[ 9.99991733e-01 3.62922392e-03 -1.83383400e-03 2.73437403e+00] [-3.63251316e-03 9.99991794e-01 -1.79350464e-03 -1.22680468e-01] [ 1.82730992e-03 1.80015124e-03 9.99996710e-01 5.34714816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79255784400004 meters 0.28736819015110465 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:0.54 [[ 9.99980356e-01 -3.66682591e-03 -5.08352893e-03 2.71437248e+00] [ 3.66992583e-03 9.99993085e-01 6.00603441e-04 -1.23106090e-01] [ 5.08129147e-03 -6.19247817e-04 9.99986898e-01 5.35630343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8225578440001 meters 0.28897297028160573 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99993175e-01 2.98250508e-03 -2.18030149e-03 2.73768285e+00] [-2.98718443e-03 9.99993235e-01 -2.14609813e-03 -1.20349853e-01] [ 2.17388600e-03 2.15259645e-03 9.99995320e-01 5.32578259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85255784400005 meters 0.28673121243650074 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:0.53 [[ 9.99998034e-01 1.75308894e-03 -9.26883366e-04 2.69804706e+00] [-1.75446608e-03 9.99997355e-01 -1.48705741e-03 -1.23529329e-01] [ 9.24273971e-04 1.48868067e-03 9.99998465e-01 5.29839358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8825578440001 meters 0.2879044017925253 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99997703e-01 2.13885955e-03 -1.38401581e-04 2.73947370e+00] [-2.13917937e-03 9.99994943e-01 -2.35343647e-03 -1.21772695e-01] [ 1.33367211e-04 2.35372713e-03 9.99997221e-01 5.30916540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91255784400005 meters 0.28644281084394707 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.53 [[ 9.99966262e-01 -8.10495567e-03 -1.33622991e-03 2.71747143e+00] [ 8.10191212e-03 9.99964608e-01 -2.26760567e-03 -1.22498997e-01] [ 1.35456146e-03 2.25670314e-03 9.99996536e-01 5.32156277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9425578440001 meters 0.2868235057365762 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99999376e-01 1.10473256e-03 1.66040169e-04 2.73711538e+00] [-1.10421513e-03 9.99994633e-01 -3.08473428e-03 -1.25099419e-01] [-1.69447084e-04 3.08454901e-03 9.99995228e-01 5.32798850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97255784400005 meters 0.2865116822198104 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99999293e-01 1.16925584e-03 2.15306405e-04 2.73705163e+00] [-1.16862234e-03 9.99995056e-01 -2.91928413e-03 -1.25794726e-01] [-2.18718731e-04 2.91903046e-03 9.99995716e-01 5.32662295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters 0.286548317066024 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99999203e-01 1.23969093e-03 2.38994140e-04 2.73703015e+00] [-1.23903266e-03 9.99995492e-01 -2.73509374e-03 -1.26561106e-01] [-2.42383734e-04 2.73479544e-03 9.99996231e-01 5.32577647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03255784400005 meters 0.2852444795222141 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99999047e-01 1.36717206e-03 1.93278451e-04 2.73718461e+00] [-1.36669668e-03 9.99996093e-01 -2.43866589e-03 -1.27812050e-01] [-1.96611772e-04 2.43839941e-03 9.99997008e-01 5.32526679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters 0.28670039059312574 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99998927e-01 1.46025821e-03 1.19284564e-04 2.73736703e+00] [-1.45999212e-03 9.99996512e-01 -2.20116145e-03 -1.28800691e-01] [-1.22498412e-04 2.20098494e-03 9.99997570e-01 5.32552885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09255784400005 meters 0.2875942075322335 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99993078e-01 -3.58103425e-03 1.00987851e-03 2.76078223e+00] [ 3.57944165e-03 9.99992354e-01 1.57444446e-03 -1.28841068e-01] [-1.01550893e-03 -1.57081876e-03 9.99998251e-01 5.31354294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters 0.28644030138378895 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99992346e-01 3.91245136e-03 1.45355113e-05 2.74146674e+00] [-3.91245813e-03 9.99992222e-01 4.99169192e-04 -1.33720277e-01] [-1.25824230e-05 -4.99222241e-04 9.99999875e-01 5.29569469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15255784400006 meters 0.2877998604176211 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99990760e-01 -3.89429939e-03 1.82077719e-03 2.76096107e+00] [ 3.89141905e-03 9.99991176e-01 1.58280136e-03 -1.30917880e-01] [-1.82692503e-03 -1.57570133e-03 9.99997090e-01 5.30185530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters 0.2856595751075716 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99998864e-01 1.36144620e-03 6.47593236e-04 2.73694473e+00] [-1.36041206e-03 9.99997803e-01 -1.59466639e-03 -1.32604256e-01] [-6.49762866e-04 1.59378359e-03 9.99998519e-01 5.32295637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21255784400006 meters 0.2867031183692834 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99989771e-01 -3.25101616e-03 3.14464817e-03 2.76008642e+00] [ 3.24464701e-03 9.99992679e-01 2.02837775e-03 -1.33596947e-01] [-3.15121944e-03 -2.01815372e-03 9.99992998e-01 5.30398037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters 0.2876842190461223 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99989845e-01 -3.24848649e-03 3.12381336e-03 2.76018479e+00] [ 3.24213511e-03 9.99992671e-01 2.03613087e-03 -1.33639812e-01] [-3.13040481e-03 -2.02598237e-03 9.99993048e-01 5.30299371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27255784400006 meters 0.28785210833788444 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99990064e-01 -3.17360696e-03 3.13062879e-03 2.76010399e+00] [ 3.16662078e-03 9.99992491e-01 2.23399849e-03 -1.34448104e-01] [-3.13769511e-03 -2.22406278e-03 9.99992604e-01 5.30462705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters 0.2859175081221421 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.14, Z:0.53 [[ 9.99994240e-01 3.02663164e-03 1.53609521e-03 2.73925427e+00] [-3.02638355e-03 9.99995407e-01 -1.63808936e-04 -1.38053702e-01] [-1.53658394e-03 1.59159179e-04 9.99998807e-01 5.31086755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33255784400006 meters 0.28749765075954503 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:0.53 [[ 9.99986033e-01 -4.76520673e-03 2.28627832e-03 2.75995433e+00] [ 4.76335935e-03 9.99988325e-01 8.12795198e-04 -1.35809579e-01] [-2.29012477e-03 -8.01893480e-04 9.99997056e-01 5.32182710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters 0.2858642454149407 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.14, Z:0.53 [[ 9.99999558e-01 1.22129255e-04 9.32131583e-04 2.73665035e+00] [-1.19639985e-04 9.99996428e-01 -2.67010209e-03 -1.37567607e-01] [-9.32454351e-04 2.66998939e-03 9.99996001e-01 5.33686265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39255784400007 meters 0.28707744227401816 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.14, Z:0.53 [[ 9.99999634e-01 1.85687850e-04 8.35571419e-04 2.73700677e+00] [-1.83597304e-04 9.99996855e-01 -2.50131821e-03 -1.38291517e-01] [-8.36033255e-04 2.50116389e-03 9.99996523e-01 5.33438505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42255784400004 meters 0.28480103718619365 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.14, Z:0.53 [[ 9.99999711e-01 1.52450816e-04 7.45437493e-04 2.73730534e+00] [-1.50524698e-04 9.99996652e-01 -2.58324982e-03 -1.37967577e-01] [-7.45828816e-04 2.58313687e-03 9.99996386e-01 5.33278587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45255784400007 meters 0.2873167540629431 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:0.53 [[ 9.99988538e-01 -4.53373366e-03 1.53908841e-03 2.76164704e+00] [ 4.53224538e-03 9.99989260e-01 9.69101400e-04 -1.35975468e-01] [-1.54346553e-03 -9.62114766e-04 9.99998346e-01 5.31577032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48255784400004 meters 0.2852384041052486 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:0.53 [[ 9.99998296e-01 1.10946754e-03 -1.47550128e-03 2.73948084e+00] [-1.11220876e-03 9.99997655e-01 -1.85830238e-03 -1.34386129e-01] [ 1.47343609e-03 1.85994028e-03 9.99997185e-01 5.33605395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51255784400007 meters 0.28515077119333354 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99994417e-01 -3.30560159e-03 4.88819528e-04 2.76218585e+00] [ 3.30482597e-03 9.99993292e-01 1.57910822e-03 -1.30505456e-01] [-4.94036152e-04 -1.57748394e-03 9.99998634e-01 5.32686123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54255784400004 meters 0.2854658497944219 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99994151e-01 -3.36503779e-03 6.12525556e-04 2.76175410e+00] [ 3.36416778e-03 9.99993339e-01 1.41589238e-03 -1.29791242e-01] [-6.17286007e-04 -1.41382346e-03 9.99998810e-01 5.32935272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5725578440001 meters 0.28518599707142006 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99993951e-01 -3.40954834e-03 6.87689520e-04 2.76157782e+00] [ 3.40865414e-03 9.99993349e-01 1.29731176e-03 -1.29299092e-01] [-6.92108194e-04 -1.29495981e-03 9.99998922e-01 5.32891865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60255784400005 meters 0.2855350678644171 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.53 [[ 9.99978904e-01 6.19455165e-03 1.95401915e-03 2.78234855e+00] [-6.19572231e-03 9.99980630e-01 5.93621824e-04 -1.30256668e-01] [-1.95030408e-03 -6.05715861e-04 9.99997915e-01 5.32746539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6325578440001 meters 0.28515012769188175 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.53 [[ 9.99979517e-01 6.09871158e-03 1.94195640e-03 2.78265541e+00] [-6.09939741e-03 9.99981338e-01 3.47441224e-04 -1.29258611e-01] [-1.93980122e-03 -3.59278871e-04 9.99998054e-01 5.32118218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66255784400005 meters 0.28494302212916195 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:0.53 [[ 9.99995804e-01 -2.88838166e-03 -2.20585217e-04 2.76429405e+00] [ 2.88869056e-03 9.99994829e-01 1.41311345e-03 -1.26307580e-01] [ 2.16502465e-04 -1.41374473e-03 9.99998977e-01 5.31083936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6925578440001 meters 0.2868278280381116 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.12, Z:0.53 [[ 9.99987797e-01 4.17419503e-03 2.64221842e-03 2.78573969e+00] [-4.17005854e-03 9.99990074e-01 -1.56911317e-03 -1.23140778e-01] [-2.64874198e-03 1.55807581e-03 9.99995278e-01 5.29139394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72255784400005 meters 0.28582425622813684 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.12, Z:0.53 [[ 9.99988299e-01 3.99203151e-03 2.73229863e-03 2.78558280e+00] [-3.98621978e-03 9.99989788e-01 -2.12919999e-03 -1.20883866e-01] [-2.74077057e-03 2.11828353e-03 9.99994001e-01 5.28947161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752557844 meters 0.28927617731979466 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.12, Z:0.53 [[ 9.99988705e-01 3.83980846e-03 2.80091307e-03 2.78539796e+00] [-3.83267472e-03 9.99989409e-01 -2.54786989e-03 -1.19142967e-01] [-2.81066674e-03 2.53710613e-03 9.99992832e-01 5.28952043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78255784400005 meters 0.2853919041384102 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.53 [[ 9.99996240e-01 -2.62666705e-03 7.87478811e-04 2.76294024e+00] [ 2.62612192e-03 9.99996312e-01 6.92485039e-04 -1.18479425e-01] [-7.89294834e-04 -6.90414420e-04 9.99999450e-01 5.30685869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812557844 meters 0.28512667725952545 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.53 [[ 9.99995164e-01 -2.91286001e-03 1.08985217e-03 2.76222633e+00] [ 2.91304254e-03 9.99995743e-01 -1.65933356e-04 -1.14943588e-01] [-1.08936419e-03 1.69107340e-04 9.99999392e-01 5.30534998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84255784400005 meters 0.28618236028869526 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.53 [[ 9.99976982e-01 6.02551194e-03 3.11923685e-03 2.78115678e+00] [-6.02019843e-03 9.99980416e-01 -1.71006033e-03 -1.14099254e-01] [-3.12947975e-03 1.69124255e-03 9.99993673e-01 5.31167118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872557844 meters 0.285384097735897 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99978214e-01 4.01369561e-05 6.60068399e-03 2.76578157e+00] [-4.32708835e-05 9.99999886e-01 4.74646158e-04 -1.11898108e-01] [-6.60066419e-03 -4.74921435e-04 9.99978103e-01 5.25864096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90255784400006 meters 0.28436129368478585 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99978742e-01 -1.73452929e-05 6.52030700e-03 2.76594820e+00] [ 1.52208726e-05 9.99999947e-01 3.25865482e-04 -1.11276717e-01] [-6.52031231e-03 -3.25759310e-04 9.99978689e-01 5.25939658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93255784400003 meters 0.2849434147603163 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99978478e-01 -5.01087795e-05 6.56054315e-03 2.76573085e+00] [ 4.86383299e-05 9.99999974e-01 2.24294698e-04 -1.10833659e-01] [-6.56055422e-03 -2.23970777e-04 9.99978454e-01 5.26232190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96255784400006 meters 0.284152716953409 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99978148e-01 -8.19294908e-07 6.61086512e-03 2.76550205e+00] [-1.57381249e-06 9.99999934e-01 3.61990891e-04 -1.11380451e-01] [-6.61086499e-03 -3.61993385e-04 9.99978082e-01 5.26503276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99255784400003 meters 0.28435851153222075 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99977512e-01 7.06888246e-05 6.70605433e-03 2.76510043e+00] [-7.44903636e-05 9.99999837e-01 5.66633563e-04 -1.12184161e-01] [-6.70601318e-03 -5.67120357e-04 9.99977354e-01 5.26932144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02255784400006 meters 0.28430450448206995 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99977519e-01 1.39945227e-04 6.70393268e-03 2.76501701e+00] [-1.45083939e-04 9.99999696e-01 7.66041820e-04 -1.12979966e-01] [-6.70382344e-03 -7.66997231e-04 9.99977235e-01 5.27157827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05255784400003 meters 0.2855530393214871 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.53 [[ 9.99980653e-01 2.37962829e-04 6.21587884e-03 2.76634892e+00] [-2.44860036e-04 9.99999355e-01 1.10887344e-03 -1.14504355e-01] [-6.21561096e-03 -1.11037401e-03 9.99980066e-01 5.26863846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08255784400006 meters 0.28392212265650796 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99980835e-01 4.88626999e-03 3.80180509e-03 2.74408165e+00] [-4.87662609e-03 9.99984879e-01 -2.54181187e-03 -1.15514163e-01] [-3.81416758e-03 2.52322317e-03 9.99989543e-01 5.28208247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11255784400004 meters 0.28392212265650796 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99980835e-01 4.88626999e-03 3.80180509e-03 2.74408165e+00] [-4.87662609e-03 9.99984879e-01 -2.54181187e-03 -1.15514163e-01] [-3.81416758e-03 2.52322317e-03 9.99989543e-01 5.28208247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14255784400007 meters 0.2833380965774222 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99980763e-01 4.92099168e-03 3.77580808e-03 2.74407975e+00] [-4.91176224e-03 9.99984937e-01 -2.44975201e-03 -1.15886444e-01] [-3.78780641e-03 2.43115901e-03 9.99989871e-01 5.28365800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17255784400004 meters 0.28261644747670445 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99980220e-01 4.99067445e-03 3.82780010e-03 2.74382782e+00] [-4.98201013e-03 9.99985014e-01 -2.26972933e-03 -1.16615220e-01] [-3.83907021e-03 2.25061429e-03 9.99990098e-01 5.28650035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20255784400007 meters 0.28419828603571395 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99978952e-01 5.18184377e-03 3.90439894e-03 2.74349382e+00] [-5.17487647e-03 9.99985004e-01 -1.79246709e-03 -1.18614429e-01] [-3.91362868e-03 1.77222458e-03 9.99990771e-01 5.28954853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23255784400004 meters 0.2831623557831225 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99979018e-01 5.24707064e-03 3.79879688e-03 2.74393303e+00] [-5.24095801e-03 9.99984958e-01 -1.61726676e-03 -1.19387605e-01] [-3.80722566e-03 1.59732349e-03 9.99991477e-01 5.28569858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26255784400007 meters 0.282785250947702 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99979297e-01 5.28465547e-03 3.67122539e-03 2.74449270e+00] [-5.27914455e-03 9.99984926e-01 -1.50918563e-03 -1.19904741e-01] [-3.67914558e-03 1.48977346e-03 9.99992122e-01 5.27998815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29255784400004 meters 0.282780165598084 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.53 [[ 9.99979702e-01 5.31903795e-03 3.50773736e-03 2.74504487e+00] [-5.31412816e-03 9.99984889e-01 -1.40754167e-03 -1.20374409e-01] [-3.51517112e-03 1.38887253e-03 9.99992857e-01 5.27676584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3225578440001 meters 0.2839186295481553 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.53 [[ 9.99979184e-01 5.44952112e-03 3.45473698e-03 2.74504599e+00] [-5.44590816e-03 9.99984615e-01 -1.05434672e-03 -1.21832022e-01] [-3.46042951e-03 1.03551059e-03 9.99993477e-01 5.27993566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35255784400005 meters 0.28325802785466303 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99978517e-01 5.50750728e-03 3.55425266e-03 2.74464163e+00] [-5.50434239e-03 9.99984446e-01 -8.99620851e-04 -1.22446050e-01] [-3.55915204e-03 8.80037701e-04 9.99993279e-01 5.28373298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3825578440001 meters 0.28298917790185124 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.53 [[ 9.99978306e-01 5.54497666e-03 3.55542887e-03 2.74459383e+00] [-5.54216389e-03 9.99984322e-01 -8.00483880e-04 -1.22852549e-01] [-3.55981180e-03 7.80761744e-04 9.99993359e-01 5.28477771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41255784400005 meters 0.2837234649262657 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.53 [[ 9.99993059e-01 -2.20899892e-03 3.00049555e-03 2.76517884e+00] [ 2.20835752e-03 9.99997538e-01 2.17060901e-04 -1.19047680e-01] [-3.00096765e-03 -2.10433228e-04 9.99995475e-01 5.29638916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4425578440001 meters 0.2837188311680042 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.53 [[ 9.99993343e-01 -2.20713333e-03 2.90562003e-03 2.76580165e+00] [ 2.20649268e-03 9.99997541e-01 2.23673272e-04 -1.19218231e-01] [-2.90610657e-03 -2.17260554e-04 9.99995754e-01 5.28624890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47255784400005 meters 0.2849950447052934 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.12, Z:0.53 [[ 9.99998833e-01 -6.62918312e-04 1.37611660e-03 2.80545573e+00] [ 6.62997889e-04 9.99999779e-01 -5.73723744e-05 -1.16536236e-01] [-1.37607826e-03 5.82846698e-05 9.99999052e-01 5.31618227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters 0.283708616558719 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:0.53 [[ 9.99990874e-01 4.27051742e-03 -1.19098549e-04 2.78129220e+00] [-4.27091284e-03 9.99984595e-01 -3.54525264e-03 -1.16708119e-01] [ 1.03956651e-04 3.54572895e-03 9.99993708e-01 5.33756403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53255784400005 meters 0.28378779327118325 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:0.53 [[ 9.99990662e-01 4.32031620e-03 -1.03648286e-04 2.78109584e+00] [-4.32064505e-03 9.99984832e-01 -3.41576829e-03 -1.17227670e-01] [ 8.88895146e-05 3.41618422e-03 9.99994161e-01 5.34113971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters 0.2824830426909975 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.54 [[ 9.99991354e-01 -2.97550579e-03 -2.90487184e-03 2.76038107e+00] [ 2.97426093e-03 9.99995483e-01 -4.32770219e-04 -1.21522833e-01] [ 2.90614643e-03 4.24126630e-04 9.99995687e-01 5.35387458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59255784400005 meters 0.2849553921011986 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:0.54 [[ 9.99991264e-01 -1.39958576e-03 -3.93858778e-03 2.79989883e+00] [ 1.39885369e-03 9.99999004e-01 -1.88619031e-04 -1.21901686e-01] [ 3.93884784e-03 1.83107875e-04 9.99992226e-01 5.38416212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters 0.2829878502544866 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:0.54 [[ 0.99997997 0.00340914 -0.00533359 2.77655585] [-0.00342824 0.99998773 -0.00357551 -0.12444941] [ 0.00532134 0.00359373 0.99997938 0.53955941] [ 0. 0. 0. 1. ]] SLAMing on 355.65255784400006 meters 0.2834702615049106 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.54 [[ 9.99977900e-01 3.70787678e-03 -5.51828876e-03 2.77690444e+00] [-3.72281917e-03 9.99989425e-01 -2.69999151e-03 -1.28007592e-01] [ 5.50821917e-03 2.72047543e-03 9.99981129e-01 5.39794426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters 0.28258739747125233 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.54 [[ 9.99977168e-01 3.85536762e-03 -5.54966695e-03 2.77686370e+00] [-3.86830131e-03 9.99989823e-01 -2.32169026e-03 -1.29572948e-01] [ 5.54065950e-03 2.34310503e-03 9.99981905e-01 5.40057809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71255784400006 meters 0.2831423769656415 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.13, Z:0.54 [[ 9.99985020e-01 -3.63880976e-03 -4.08885540e-03 2.79643411e+00] [ 3.63507996e-03 9.99992971e-01 -9.19248019e-04 -1.27647236e-01] [ 4.09217162e-03 9.04370933e-04 9.99991218e-01 5.41368059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters 0.2815179727926758 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.54 [[ 9.99982131e-01 4.14131378e-03 -4.31137858e-03 2.77619563e+00] [-4.14840617e-03 9.99990055e-01 -1.63739974e-03 -1.33472654e-01] [ 4.30455472e-03 1.65525583e-03 9.99989365e-01 5.40375211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77255784400006 meters 0.282736641420742 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.13, Z:0.54 [[ 9.99990532e-01 -3.41622677e-03 -2.69553053e-03 2.79484553e+00] [ 3.41606026e-03 9.99994163e-01 -6.63740520e-05 -1.31147621e-01] [ 2.69574155e-03 5.71653288e-05 9.99996365e-01 5.41579136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters 0.2818714180947589 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.13, Z:0.54 [[ 9.99990908e-01 -3.36052919e-03 -2.62506185e-03 2.79464217e+00] [ 3.36075361e-03 9.99994349e-01 8.10844780e-05 -1.31745866e-01] [ 2.62477453e-03 -8.99059268e-05 9.99996551e-01 5.41651007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83255784400006 meters 0.28249808207773797 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.13, Z:0.54 [[ 9.99991162e-01 -3.29130603e-03 -2.61593656e-03 2.79455252e+00] [ 3.29199832e-03 9.99994547e-01 2.60378705e-04 -1.32481125e-01] [ 2.61506531e-03 -2.68988063e-04 9.99996545e-01 5.41811407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters 0.2828833211256119 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.13, Z:0.54 [[ 9.99991361e-01 -3.21420773e-03 -2.63554145e-03 2.79453782e+00] [ 3.21542418e-03 9.99994726e-01 4.57449316e-04 -1.33296719e-01] [ 2.63405721e-03 -4.65919748e-04 9.99996422e-01 5.41965555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89255784400007 meters 0.28403050715849987 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.14, Z:0.55 [[ 9.99994401e-01 -1.56029220e-03 -2.96043685e-03 2.83262903e+00] [ 1.56281063e-03 9.99998419e-01 8.48574184e-04 -1.35285284e-01] [ 2.95910815e-03 -8.53196035e-04 9.99995258e-01 5.45625324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92255784400004 meters 0.28080445223790623 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.14, Z:0.54 [[ 9.99995099e-01 -2.66648536e-03 -1.64056395e-03 2.79355367e+00] [ 2.67020206e-03 9.99993864e-01 2.26749748e-03 -1.41924479e-01] [ 1.63450763e-03 -2.27186701e-03 9.99996083e-01 5.42873991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95255784400007 meters 0.28198497673585476 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:0.54 [[ 9.99991463e-01 4.12963354e-03 -1.42629778e-04 2.81562710e+00] [-4.12973490e-03 9.99991215e-01 -7.17808141e-04 -1.45085546e-01] [ 1.39664240e-04 7.18391036e-04 9.99999732e-01 5.41670266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98255784400004 meters 0.2812210865276688 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:0.54 [[ 9.99990548e-01 4.33592706e-03 -3.22710117e-04 2.81606846e+00] [-4.33595783e-03 9.99990595e-01 -9.46988123e-05 -1.47636126e-01] [ 3.22296475e-04 9.60971746e-05 9.99999943e-01 5.41684431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01255784400007 meters 0.2822574545414802 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:0.54 [[ 9.99988647e-01 4.70711073e-03 -7.40958956e-04 2.81698585e+00] [-4.70626641e-03 9.99988279e-01 1.13713839e-03 -1.52564089e-01] [ 7.46302907e-04 -1.13363833e-03 9.99999079e-01 5.41872377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04255784400004 meters 0.281442668611977 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.15, Z:0.54 [[ 9.99987696e-01 4.89635869e-03 -7.95553028e-04 2.81703308e+00] [-4.89506123e-03 9.99986699e-01 1.62473797e-03 -1.54593988e-01] [ 8.03497746e-04 -1.62082370e-03 9.99998364e-01 5.42075967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0725578440001 meters 0.2816158767872311 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.16, Z:0.54 [[ 0.99998588 -0.00426513 -0.0031705 2.79764869] [ 0.00427453 0.99998647 0.00296583 -0.15583119] [ 0.00315781 -0.00297934 0.99999058 0.54232265] [ 0. 0. 0. 1. ]] SLAMing on 356.10255784400005 meters 0.2818122605216917 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:0.54 [[ 9.99992093e-01 3.04296020e-03 -2.56024018e-03 2.81997506e+00] [-3.04233408e-03 9.99995341e-01 2.48415425e-04 -1.59700834e-01] [ 2.56098417e-03 -2.40624355e-04 9.99996692e-01 5.41204109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1325578440001 meters 0.2824159895281756 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:0.54 [[ 9.99991590e-01 3.10033502e-03 -2.68472681e-03 2.82043166e+00] [-3.09927684e-03 9.99995118e-01 3.98219118e-04 -1.60362436e-01] [ 2.68594831e-03 -3.89895057e-04 9.99996317e-01 5.40883546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16255784400005 meters 0.28179281518505817 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:0.54 [[ 9.99991133e-01 3.19362354e-03 -2.74490231e-03 2.82065311e+00] [-3.19188170e-03 9.99994702e-01 6.38719169e-04 -1.61384606e-01] [ 2.74692760e-03 -6.29952102e-04 9.99996029e-01 5.40727936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1925578440001 meters 0.2828828797314901 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.16, Z:0.54 [[ 9.99990709e-01 3.32371769e-03 -2.74490701e-03 2.82066302e+00] [-3.32106433e-03 9.99994014e-01 9.70643518e-04 -1.62779675e-01] [ 2.74811672e-03 -9.61518487e-04 9.99995762e-01 5.40715662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22255784400005 meters 0.2820435486947744 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.17, Z:0.54 [[ 9.99990221e-01 3.68174463e-03 -2.45021055e-03 2.81934893e+00] [-3.67657030e-03 9.99991009e-01 2.11295684e-03 -1.67338124e-01] [ 2.45796789e-03 -2.10392781e-03 9.99994766e-01 5.42137257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252557844 meters 0.2831745335552362 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.17, Z:0.54 [[ 9.99990184e-01 -4.42395603e-03 -2.45616162e-04 2.84071491e+00] [ 4.42460273e-03 9.99986572e-01 2.69800922e-03 -1.69249850e-01] [ 2.33676990e-04 -2.69906949e-03 9.99996330e-01 5.42087020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28255784400005 meters 0.28165807585165914 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99995668e-01 2.93496476e-03 -2.24065229e-04 2.82224058e+00] [-2.93455213e-03 9.99994038e-01 1.82020693e-03 -1.77584766e-01] [ 2.29406136e-04 -1.81954151e-03 9.99998318e-01 5.40508560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312557844 meters 0.28297717875714096 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99995094e-01 3.11033062e-03 -3.72453394e-04 2.82262217e+00] [-3.10946631e-03 9.99992523e-01 2.29911115e-03 -1.79587077e-01] [ 3.79601605e-04 -2.29794174e-03 9.99997288e-01 5.40503296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34255784400005 meters 0.28227867215001956 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99994666e-01 3.22890944e-03 -4.91127842e-04 2.82301658e+00] [-3.22761512e-03 9.99991375e-01 2.61376092e-03 -1.80934808e-01] [ 4.99563204e-04 -2.61216181e-03 9.99996464e-01 5.40289250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372557844 meters 0.2831459368577231 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99993984e-01 3.41216464e-03 -6.24050556e-04 2.82340043e+00] [-3.41022683e-03 9.99989441e-01 3.08035129e-03 -1.82920848e-01] [ 6.34554633e-04 -3.07820461e-03 9.99995061e-01 5.40188269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40255784400006 meters 0.28269282027468107 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99993711e-01 3.48233444e-03 -6.72009208e-04 2.82337613e+00] [-3.48012795e-03 9.99988640e-01 3.25712041e-03 -1.83643051e-01] [ 6.83343956e-04 -3.25476125e-03 9.99994470e-01 5.40513245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43255784400003 meters 0.2816941432057614 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.18, Z:0.54 [[ 9.99993416e-01 3.55342510e-03 -7.35618480e-04 2.82338175e+00] [-3.55087462e-03 9.99987779e-01 3.43986691e-03 -1.84385414e-01] [ 7.47832800e-04 -3.43723217e-03 9.99993813e-01 5.40867786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46255784400006 meters 0.28304087374569614 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.18, Z:0.54 [[ 9.99990623e-01 -4.29819377e-03 5.28609192e-04 2.84356484e+00] [ 4.29595970e-03 9.99982131e-01 4.15722425e-03 -1.81439139e-01] [-5.46468301e-04 -4.15491438e-03 9.99991219e-01 5.41459775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49255784400003 meters 0.2828587689898464 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.19, Z:0.54 [[ 9.99994451e-01 3.32633636e-03 -1.84603963e-04 2.82253117e+00] [-3.32565052e-03 9.99987994e-01 3.59880511e-03 -1.86356529e-01] [ 1.96572583e-04 -3.59817121e-03 9.99993507e-01 5.41081794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52255784400006 meters 0.2819351265258381 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.19, Z:0.54 [[ 9.99994347e-01 3.35847811e-03 -1.63231339e-04 2.82239693e+00] [-3.35785414e-03 9.99987579e-01 3.68329232e-03 -1.86687976e-01] [ 1.75599568e-04 -3.68272339e-03 9.99993203e-01 5.41266621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55255784400003 meters 0.2824187508659813 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.18, Z:0.54 [[ 9.99990013e-01 -4.23155335e-03 1.43804900e-03 2.84192626e+00] [ 4.22494035e-03 9.99980628e-01 4.57093135e-03 -1.83155641e-01] [-1.45736328e-03 -4.56481003e-03 9.99988519e-01 5.41839275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58255784400006 meters 0.28285863220292257 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.18, Z:0.54 [[ 9.99990384e-01 -4.10547323e-03 1.54146143e-03 2.84148426e+00] [ 4.09787415e-03 9.99979594e-01 4.90099991e-03 -1.84486328e-01] [-1.56155090e-03 -4.89463607e-03 9.99986802e-01 5.42307068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61255784400004 meters 0.28398827750967576 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.18, Z:0.54 [[ 9.99984811e-01 3.46489475e-03 4.28626046e-03 2.86207724e+00] [-3.47488038e-03 9.99991261e-01 2.32443290e-03 -1.84169296e-01] [-4.27816909e-03 -2.33929184e-03 9.99988112e-01 5.40822842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64255784400007 meters 0.28239168155329164 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.18, Z:0.55 [[ 9.99994162e-01 -9.54226225e-04 -3.28092165e-03 2.85519123e+00] [ 9.55103930e-04 9.99999509e-01 2.65961369e-04 -1.79171935e-01] [ 3.28066625e-03 -2.69093438e-04 9.99994582e-01 5.48725038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67255784400004 meters 0.28394686199883856 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.18, Z:0.55 [[ 9.99985206e-01 -5.26636784e-03 -1.36097805e-03 2.87907184e+00] [ 5.27181888e-03 9.99977970e-01 4.03317923e-03 -1.80424785e-01] [ 1.33970786e-03 -4.04029440e-03 9.99990941e-01 5.46743590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70255784400007 meters 0.28300247430147507 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.18, Z:0.55 [[ 9.99992036e-01 -5.89273758e-04 -3.94720630e-03 2.85642728e+00] [ 5.92349176e-04 9.99999522e-01 7.78014141e-04 -1.81084382e-01] [ 3.94674595e-03 -7.80346070e-04 9.99991907e-01 5.48433622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73255784400004 meters 0.28329449803244083 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:0.55 [[ 9.99988799e-01 6.77503212e-04 -4.68423161e-03 2.89522318e+00] [-6.79710964e-04 9.99999659e-01 -4.69739760e-04 -1.78404682e-01] [ 4.68391176e-03 4.72918422e-04 9.99988919e-01 5.51419486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76255784400007 meters 0.28294700676558 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:0.55 [[ 9.99988995e-01 6.69220512e-04 -4.64348922e-03 2.89507898e+00] [-6.71509201e-04 9.99999654e-01 -4.91339852e-04 -1.78299001e-01] [ 4.64315880e-03 4.94452590e-04 9.99989098e-01 5.51499137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79255784400004 meters 0.2833341728243213 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989412e-01 6.69833861e-04 -4.55267158e-03 2.89484076e+00] [-6.72092093e-04 9.99999652e-01 -4.94511766e-04 -1.78278068e-01] [ 4.55233875e-03 4.97566345e-04 9.99989514e-01 5.51514443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8225578440001 meters 0.2830123379763951 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:0.55 [[ 9.99989220e-01 6.57567769e-04 -4.59657062e-03 2.89500906e+00] [-6.59978897e-04 9.99999645e-01 -5.23052052e-04 -1.78174094e-01] [ 4.59622505e-03 5.26080053e-04 9.99989299e-01 5.51388745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85255784400005 meters 0.28259279333933784 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:0.55 [[ 9.99989074e-01 6.34349347e-04 -4.63128160e-03 2.89515301e+00] [-6.37042545e-04 9.99999629e-01 -5.80071212e-04 -1.77945942e-01] [ 4.63091191e-03 5.83015198e-04 9.99989107e-01 5.51261338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8825578440001 meters 0.2838203126627131 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:0.55 [[ 9.99989105e-01 5.95290859e-04 -4.62990659e-03 2.89520753e+00] [-5.98441399e-04 9.99999590e-01 -6.79120327e-04 -1.77540319e-01] [ 4.62950042e-03 6.81883655e-04 9.99989051e-01 5.51131647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91255784400005 meters 0.28254229757326904 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989470e-01 5.60319269e-04 -4.55486887e-03 2.89485494e+00] [-5.63846100e-04 9.99999542e-01 -7.73051849e-04 -1.77100778e-01] [ 4.55443363e-03 7.75611954e-04 9.99989328e-01 5.51493578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9425578440001 meters 0.28409722009501376 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989556e-01 5.29730294e-04 -4.53959288e-03 2.89471009e+00] [-5.33599268e-04 9.99999495e-01 -8.51104654e-04 -1.76741273e-01] [ 4.53913973e-03 8.53518088e-04 9.99989334e-01 5.51723771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97255784400005 meters 0.2838406195294224 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989617e-01 4.92003769e-04 -4.53031340e-03 2.89468671e+00] [-4.96302474e-04 9.99999428e-01 -9.47800724e-04 -1.76336259e-01] [ 4.52984449e-03 9.50039289e-04 9.99989289e-01 5.51721573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters 0.2838406195294224 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989617e-01 4.92003769e-04 -4.53031340e-03 2.89468671e+00] [-4.96302474e-04 9.99999428e-01 -9.47800724e-04 -1.76336259e-01] [ 4.52984449e-03 9.50039289e-04 9.99989289e-01 5.51721573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03255784400005 meters 0.28412371806800124 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:0.55 [[ 9.99989392e-01 4.19266753e-04 -4.58690601e-03 2.89490415e+00] [-4.24450174e-04 9.99999272e-01 -1.12913226e-03 -1.75593307e-01] [ 4.58642926e-03 1.13106720e-03 9.99988843e-01 5.51556516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters 0.2841739347680301 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:0.55 [[ 9.99989063e-01 2.66951403e-04 -4.66942515e-03 2.89527763e+00] [-2.73983593e-04 9.99998829e-01 -1.50543287e-03 -1.74040489e-01] [ 4.66901781e-03 1.50669575e-03 9.99987965e-01 5.51176497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09255784400005 meters 0.2850100429465298 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:0.55 [[ 9.99988877e-01 2.19164518e-04 -4.71151040e-03 2.89536481e+00] [-2.26808205e-04 9.99998659e-01 -1.62187013e-03 -1.73549141e-01] [ 4.71114863e-03 1.62292070e-03 9.99987586e-01 5.51219540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters 0.2855897675010444 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:0.55 [[ 9.99988715e-01 1.58191337e-04 -4.74820931e-03 2.89540582e+00] [-1.66611846e-04 9.99998414e-01 -1.77306427e-03 -1.72905219e-01] [ 4.74792129e-03 1.77383537e-03 9.99987155e-01 5.51329269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15255784400006 meters 0.2846545774887857 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:0.55 [[ 9.99988510e-01 1.04742530e-04 -4.79267458e-03 2.89548735e+00] [-1.13873411e-04 9.99998179e-01 -1.90494118e-03 -1.72345454e-01] [ 4.79246632e-03 1.90546505e-03 9.99986701e-01 5.51397350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters 0.28440829125313694 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:0.55 [[ 9.99988176e-01 1.57540513e-06 -4.86284294e-03 2.89565844e+00] [-1.20732363e-05 9.99997670e-01 -2.15875615e-03 -1.71277722e-01] [ 4.86282821e-03 2.15878933e-03 9.99985846e-01 5.51414253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21255784400006 meters 0.28418746601154105 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.17, Z:0.55 [[ 9.99954384e-01 -7.09697908e-03 -6.39240792e-03 2.87403813e+00] [ 7.10256466e-03 9.99974414e-01 8.51505382e-04 -1.68472754e-01] [ 6.38620124e-03 -8.96869030e-04 9.99979206e-01 5.52512534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters 0.2844120907353583 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.17, Z:0.55 [[ 9.99989616e-01 1.93611634e-03 -4.12555489e-03 2.89234668e+00] [-1.93903381e-03 9.99997873e-01 -7.03286233e-04 -1.68658464e-01] [ 4.12418447e-03 7.11278521e-04 9.99991243e-01 5.53273032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27255784400006 meters 0.2844040063531565 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.17, Z:0.55 [[ 9.99989852e-01 1.80838686e-03 -4.12626344e-03 2.89228961e+00] [-1.81262080e-03 9.99997834e-01 -1.02258608e-03 -1.67294079e-01] [ 4.12440527e-03 1.03005506e-03 9.99990964e-01 5.53386609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters 0.28484064040142165 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.17, Z:0.55 [[ 9.99989836e-01 1.69807344e-03 -4.17654771e-03 2.89239858e+00] [-1.70351453e-03 9.99997705e-01 -1.29955860e-03 -1.66123040e-01] [ 4.17433138e-03 1.30666020e-03 9.99990434e-01 5.53424393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33255784400006 meters 0.2839079530307726 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.16, Z:0.55 [[ 9.99992850e-01 -3.39134824e-03 -1.67276739e-03 2.91386079e+00] [ 3.39421225e-03 9.99992774e-01 1.71228055e-03 -1.63379642e-01] [ 1.66694837e-03 -1.71794603e-03 9.99997135e-01 5.52508759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters 0.28398509777746683 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.16, Z:0.55 [[ 9.99992776e-01 -3.43485630e-03 -1.62788501e-03 2.91360716e+00] [ 3.43746038e-03 9.99992813e-01 1.59958506e-03 -1.62862897e-01] [ 1.62237897e-03 -1.60516929e-03 9.99997396e-01 5.52804450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39255784400007 meters 0.2828080062395303 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.17, Z:0.55 [[ 9.99990150e-01 4.21696554e-03 -1.38464858e-03 2.89317313e+00] [-4.21605241e-03 9.99990893e-01 6.61723274e-04 -1.66790168e-01] [ 1.38742644e-03 -6.55879005e-04 9.99998822e-01 5.52060758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42255784400004 meters 0.28329777245360255 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.17, Z:0.55 [[ 9.99990633e-01 4.07505699e-03 -1.45885747e-03 2.89322323e+00] [-4.07461746e-03 9.99991652e-01 3.04129713e-04 -1.65244623e-01] [ 1.46008464e-03 -2.98182578e-04 9.99998890e-01 5.52355806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45255784400007 meters 0.2829451577808413 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:0.55 [[ 9.99981368e-01 -5.53974716e-03 -2.56412644e-03 2.87365656e+00] [ 5.54230602e-03 9.99984149e-01 9.91916581e-04 -1.61215707e-01] [ 2.55859083e-03 -1.00610927e-03 9.99996221e-01 5.52054196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48255784400004 meters 0.28346394321089696 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:0.55 [[ 9.99980884e-01 -5.65637645e-03 -2.49740996e-03 2.87346634e+00] [ 5.65809008e-03 9.99983762e-01 6.79628536e-04 -1.59885985e-01] [ 2.49352517e-03 -6.93746115e-04 9.99996651e-01 5.52080565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51255784400007 meters 0.2843825393185784 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:0.55 [[ 9.99980263e-01 -5.80516662e-03 -2.40292247e-03 2.87324042e+00] [ 5.80588920e-03 9.99983103e-01 2.93844403e-04 -1.58256593e-01] [ 2.40117605e-03 -3.07789705e-04 9.99997070e-01 5.52016393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54255784400004 meters 0.28336163964102595 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:0.55 [[ 9.99995498e-01 -1.68138579e-03 -2.48524658e-03 2.87336686e+00] [ 1.69147633e-03 9.99990313e-01 4.06366891e-03 -1.55854636e-01] [ 2.47838991e-03 -4.06785435e-03 9.99988655e-01 5.52067672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5725578440001 meters 0.28206945879619116 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99979581e-01 3.40851015e-03 -5.40542869e-03 2.85248638e+00] [-3.40551909e-03 9.99994043e-01 5.62452341e-04 -1.54132316e-01] [ 5.40731361e-03 -5.44032566e-04 9.99985232e-01 5.53030292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60255784400005 meters 0.28432495904262467 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.15, Z:0.55 [[ 9.99993164e-01 -1.70873279e-03 -3.27894760e-03 2.87565016e+00] [ 1.71998358e-03 9.99992633e-01 3.43147353e-03 -1.52122918e-01] [ 3.27305998e-03 -3.43708981e-03 9.99988737e-01 5.51124836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6325578440001 meters 0.28379750277216076 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99981314e-01 2.75754973e-03 -5.45594916e-03 2.85186780e+00] [-2.75900815e-03 9.99996160e-01 -2.59798712e-04 -1.50586986e-01] [ 5.45521180e-03 2.74846865e-04 9.99985082e-01 5.53255860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66255784400005 meters 0.2830660372120696 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99981343e-01 2.69477199e-03 -5.48204684e-03 2.85190952e+00] [-2.69712036e-03 9.99996274e-01 -4.21026333e-04 -1.49909907e-01] [ 5.48089185e-03 4.35804218e-04 9.99984885e-01 5.53304208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6925578440001 meters 0.28387740872839845 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99980615e-01 2.64949135e-03 -5.63475614e-03 2.85224795e+00] [-2.65265223e-03 9.99996328e-01 -5.53560885e-04 -1.49372813e-01] [ 5.63326880e-03 5.68497203e-04 9.99983971e-01 5.53375413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72255784400005 meters 0.2847036069615766 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99980412e-01 2.64487801e-03 -5.67283116e-03 2.85232664e+00] [-2.64813495e-03 9.99996333e-01 -5.66693904e-04 -1.49311244e-01] [ 5.67131152e-03 5.81705226e-04 9.99983749e-01 5.53412763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752557844 meters 0.2843491029857305 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.55 [[ 9.99980267e-01 2.69675945e-03 -5.67395547e-03 2.85221147e+00] [-2.69916991e-03 9.99996270e-01 -4.17213978e-04 -1.49899538e-01] [ 5.67280918e-03 4.32520715e-04 9.99983816e-01 5.53706458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78255784400005 meters 0.28649236559154445 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.15, Z:0.55 [[ 9.99976505e-01 -5.22834830e-03 -4.43336478e-03 2.87336308e+00] [ 5.22984445e-03 9.99986271e-01 3.25950679e-04 -1.48445677e-01] [ 4.43159973e-03 -3.49128829e-04 9.99990119e-01 5.54377487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812557844 meters 0.28595780194218795 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.15, Z:0.55 [[ 9.99977186e-01 -5.12362186e-03 -4.40176003e-03 2.87313968e+00] [ 5.12645603e-03 9.99986659e-01 6.32830495e-04 -1.49662086e-01] [ 4.39845892e-03 -6.55381487e-04 9.99990112e-01 5.54734054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84255784400005 meters 0.28371265859293116 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.15, Z:0.55 [[ 9.99976868e-01 -5.00249272e-03 -4.60863380e-03 2.87354672e+00] [ 5.00743590e-03 9.99986899e-01 1.06167696e-03 -1.51329186e-01] [ 4.60326239e-03 -1.08472984e-03 9.99988817e-01 5.54955460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872557844 meters 0.2847932700925791 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.15, Z:0.55 [[ 9.99976701e-01 -4.88475647e-03 -4.76832625e-03 2.87395662e+00] [ 4.89139131e-03 9.99987084e-01 1.38077130e-03 -1.52668837e-01] [ 4.76151993e-03 -1.40406288e-03 9.99987678e-01 5.54942835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90255784400006 meters 0.28381686405596557 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.15, Z:0.56 [[ 9.99976574e-01 -6.99351873e-05 -6.84450622e-03 2.85061063e+00] [ 5.77715278e-05 9.99998419e-01 -1.77732358e-03 -1.53615986e-01] [ 6.84461969e-03 1.77688652e-03 9.99974997e-01 5.56697763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93255784400003 meters 0.283925421405261 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.16, Z:0.56 [[ 9.99976306e-01 7.96066967e-05 -6.88333806e-03 2.85065603e+00] [-8.90923972e-05 9.99999047e-01 -1.37777128e-03 -1.55284431e-01] [ 6.88322182e-03 1.37835189e-03 9.99975360e-01 5.56806015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96255784400006 meters 0.28299828238469915 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.16, Z:0.56 [[ 9.99976543e-01 1.52105066e-04 -6.84761335e-03 2.85040492e+00] [-1.60278619e-04 9.99999275e-01 -1.19310242e-03 -1.56032518e-01] [ 6.84742691e-03 1.19417196e-03 9.99975843e-01 5.57166442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99255784400003 meters 0.2850119635683432 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.16, Z:0.56 [[ 9.99977121e-01 2.19287372e-04 -6.76089626e-03 2.85006083e+00] [-2.26180250e-04 9.99999455e-01 -1.01877365e-03 -1.56747426e-01] [ 6.76066918e-03 1.02027952e-03 9.99976626e-01 5.57461910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02255784400006 meters 0.28484911949774266 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.16, Z:0.56 [[ 9.99985169e-01 -4.67433781e-03 -2.79495972e-03 2.87045571e+00] [ 4.68060672e-03 9.99986536e-01 2.24061504e-03 -1.59272174e-01] [ 2.78444869e-03 -2.25366392e-03 9.99993584e-01 5.56398177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05255784400003 meters 0.2833649413076146 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99992514e-01 2.92035946e-03 -2.53851810e-03 2.85063002e+00] [-2.91666827e-03 9.99994686e-01 1.45655848e-03 -1.65379864e-01] [ 2.54275829e-03 -1.44914356e-03 9.99995717e-01 5.55511395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08255784400006 meters 0.283747332051514 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99992112e-01 3.01322296e-03 -2.58785120e-03 2.85074789e+00] [-3.00878807e-03 9.99994001e-01 1.71592131e-03 -1.66447785e-01] [ 2.59300613e-03 -1.70812148e-03 9.99995179e-01 5.55513519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11255784400004 meters 0.2843193661625132 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99991776e-01 3.10210274e-03 -2.61234470e-03 2.85083689e+00] [-3.09697048e-03 9.99993271e-01 1.96637841e-03 -1.67489595e-01] [ 2.61842703e-03 -1.95827188e-03 9.99994654e-01 5.55429830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14255784400007 meters 0.28354591399874085 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99991471e-01 3.23476697e-03 -2.56774553e-03 2.85063266e+00] [-3.22874241e-03 9.99992034e-01 2.34693516e-03 -1.69023535e-01] [ 2.57531686e-03 -2.33862456e-03 9.99993949e-01 5.55643874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17255784400004 meters 0.28364788128151763 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99991289e-01 3.37910911e-03 -2.45001963e-03 2.85012156e+00] [-3.37231037e-03 9.99990467e-01 2.77381324e-03 -1.70735769e-01] [ 2.45936929e-03 -2.76552685e-03 9.99993152e-01 5.56175982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20255784400007 meters 0.2850951178095533 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.17, Z:0.56 [[ 9.99990403e-01 3.58589015e-03 -2.51706151e-03 2.84992934e+00] [-3.57701182e-03 9.99987397e-01 3.52294470e-03 -1.73631794e-01] [ 2.52966267e-03 -3.51390733e-03 9.99990627e-01 5.56995355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23255784400004 meters 0.2824858522019374 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.18, Z:0.56 [[ 0.9999767 -0.00458588 -0.0050566 2.82944762] [ 0.00461488 0.99997289 0.005737 -0.17563607] [ 0.00503015 -0.0057602 0.99997076 0.55804464] [ 0. 0. 0. 1. ]] SLAMing on 358.26255784400007 meters 0.2843399811588824 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:0.56 [[ 9.99990433e-01 2.29504461e-03 -3.72368774e-03 2.85131044e+00] [-2.28467939e-03 9.99993511e-01 2.78546055e-03 -1.79014527e-01] [ 3.73005633e-03 -2.77692647e-03 9.99989188e-01 5.56880967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29255784400004 meters 0.284263853484173 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:0.56 [[ 9.99990286e-01 2.44409240e-03 -3.66796278e-03 2.85106023e+00] [-2.43229543e-03 9.99991867e-01 3.21723977e-03 -1.80753789e-01] [ 3.67579617e-03 -3.20828695e-03 9.99988098e-01 5.57123422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3225578440001 meters 0.2845636539123943 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.18, Z:0.56 [[ 9.99990164e-01 2.70814934e-03 -3.51245298e-03 2.85033680e+00] [-2.69369058e-03 9.99987907e-01 4.11464676e-03 -1.84262644e-01] [ 3.52355358e-03 -4.10514483e-03 9.99985366e-01 5.57876129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35255784400005 meters 0.28435006821454584 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 0.99998961 0.00286718 -0.00354258 2.85031468] [-0.00285105 0.99998557 0.0045523 -0.18604706] [ 0.00355558 -0.00454215 0.99998336 0.55806016] [ 0. 0. 0. 1. ]] SLAMing on 358.3825578440001 meters 0.2841761067741614 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 0.99998909 0.00300777 -0.00357512 2.85036019] [-0.00299014 0.99998339 0.00492664 -0.18758331] [ 0.00358988 -0.00491589 0.99998147 0.55811384] [ 0. 0. 0. 1. ]] SLAMing on 358.41255784400005 meters 0.2845167757305396 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 0.99998847 0.0031066 -0.00366312 2.85062369] [-0.00308759 0.99998179 0.00518428 -0.18866241] [ 0.00367915 -0.00517291 0.99997985 0.55799992] [ 0. 0. 0. 1. ]] SLAMing on 358.4425578440001 meters 0.2838819042105736 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 0.99998799 0.00324701 -0.00367001 2.85052362] [-0.00322665 0.99997944 0.00554236 -0.19013113] [ 0.00368793 -0.00553045 0.99997791 0.55823644] [ 0. 0. 0. 1. ]] SLAMing on 358.47255784400005 meters 0.2836611738340808 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 0.99998783 0.00327775 -0.00368674 2.8504373 ] [-0.00325699 0.99997889 0.0056229 -0.19044819] [ 0.0037051 -0.00561083 0.9999774 0.55851991] [ 0. 0. 0. 1. ]] SLAMing on 358.502557844 meters 0.2830113248243938 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99992665e-01 -1.09598889e-03 -3.66999442e-03 2.85041028e+00] [ 1.10043884e-03 9.99998662e-01 1.21072203e-03 -1.89830454e-01] [ 3.66866257e-03 -1.21475175e-03 9.99992533e-01 5.58449661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53255784400005 meters 0.2850535188260697 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99992591e-01 -1.08729941e-03 -3.69265567e-03 2.85045097e+00] [ 1.09186232e-03 9.99998643e-01 1.23388190e-03 -1.89927209e-01] [ 3.69130906e-03 -1.23790463e-03 9.99992421e-01 5.58483170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters 0.2836637633325108 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99991834e-01 -1.14171008e-03 -3.87656870e-03 2.85105429e+00] [ 1.14589441e-03 9.99998763e-01 1.07734312e-03 -1.89308239e-01] [ 3.87533389e-03 -1.08177646e-03 9.99991906e-01 5.58069672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59255784400005 meters 0.28368699354390053 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99991782e-01 -1.20817847e-03 -3.87001685e-03 2.85110471e+00] [ 1.21168149e-03 9.99998858e-01 9.02951457e-04 -1.88593817e-01] [ 3.86892150e-03 -9.07633264e-04 9.99992104e-01 5.57932250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters 0.28514781951171625 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.19, Z:0.56 [[ 9.99979110e-01 6.31666325e-03 -1.37121454e-03 2.87132178e+00] [-6.31897533e-03 9.99978610e-01 -1.68841914e-03 -1.89254288e-01] [ 1.36052003e-03 1.69704854e-03 9.99997635e-01 5.56983395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65255784400006 meters 0.28270707523711086 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99992737e-01 -2.86968467e-03 -2.50799724e-03 2.85181263e+00] [ 2.86845066e-03 9.99995763e-01 -4.95487968e-04 -1.86223125e-01] [ 2.50940850e-03 4.88290303e-04 9.99996732e-01 5.56638858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters 0.2846967931850343 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99993293e-01 -2.78282813e-03 -2.38134790e-03 2.85139870e+00] [ 2.78221308e-03 9.99996095e-01 -2.61553186e-04 -1.87171482e-01] [ 2.38206646e-03 2.54926014e-04 9.99997130e-01 5.56883976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71255784400006 meters 0.2842449550139424 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99993445e-01 -2.72257200e-03 -2.38686901e-03 2.85139095e+00] [ 2.72233193e-03 9.99996289e-01 -1.03822738e-04 -1.87822422e-01] [ 2.38714282e-03 9.73242080e-05 9.99997146e-01 5.56917506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters 0.2846812800135257 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99993588e-01 -2.66481728e-03 -2.39216652e-03 2.85140479e+00] [ 2.66493789e-03 9.99996448e-01 4.72332844e-05 -1.88451067e-01] [ 2.39203216e-03 -5.36079567e-05 9.99997138e-01 5.56904085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77255784400006 meters 0.28374363955114745 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99993725e-01 -2.58885906e-03 -2.41823402e-03 2.85142921e+00] [ 2.58946626e-03 9.99996617e-01 2.47995784e-04 -1.89277786e-01] [ 2.41758381e-03 -2.54256163e-04 9.99997045e-01 5.56982349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80255784400003 meters 0.2828717166261212 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:0.56 [[ 9.99993961e-01 -2.50652739e-03 -2.40724861e-03 2.85127064e+00] [ 2.50765195e-03 9.99996748e-01 4.64253006e-04 -1.90156150e-01] [ 2.40607712e-03 -4.70286744e-04 9.99996995e-01 5.57263868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83255784400006 meters 0.2849398425127028 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:0.56 [[ 9.99996381e-01 -9.73408464e-04 -2.50817235e-03 2.88992740e+00] [ 9.73468979e-04 9.99999526e-01 2.29062890e-05 -1.90826540e-01] [ 2.50814886e-03 -2.53478341e-05 9.99996854e-01 5.59814426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86255784400004 meters 0.2833802726198 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:0.56 [[ 9.99996414e-01 -9.68156785e-04 -2.49708599e-03 2.88982024e+00] [ 9.68250280e-04 9.99999531e-01 3.62328695e-05 -1.90871187e-01] [ 2.49704974e-03 -3.86505438e-05 9.99996882e-01 5.59991023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89255784400007 meters 0.28428097091893983 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:0.56 [[ 9.99996500e-01 -9.64878089e-04 -2.46349447e-03 2.88973211e+00] [ 9.64984177e-04 9.99999534e-01 4.18758680e-05 -1.90899883e-01] [ 2.46345292e-03 -4.42529546e-05 9.99996965e-01 5.59999225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92255784400004 meters 0.28428097091893983 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:0.56 [[ 9.99996500e-01 -9.64878089e-04 -2.46349447e-03 2.88973211e+00] [ 9.64984177e-04 9.99999534e-01 4.18758680e-05 -1.90899883e-01] [ 2.46345292e-03 -4.42529546e-05 9.99996965e-01 5.59999225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95255784400007 meters 0.28468540982719076 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:0.56 [[ 9.99996652e-01 -1.06125757e-03 -2.36013881e-03 2.88937248e+00] [ 1.06074169e-03 9.99999413e-01 -2.19819411e-04 -1.89779495e-01] [ 2.36037071e-03 2.17315177e-04 9.99997191e-01 5.60258753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98255784400004 meters 0.2855418029273012 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.19, Z:0.56 [[ 9.99993818e-01 5.36469142e-04 -3.47502779e-03 2.92696485e+00] [-5.39495185e-04 9.99999476e-01 -8.69917783e-04 -1.87682195e-01] [ 3.47455928e-03 8.71787166e-04 9.99993584e-01 5.63979796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01255784400007 meters 0.28401468667249236 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.19, Z:0.56 [[ 9.99993818e-01 4.20094562e-04 -3.49100027e-03 2.92709507e+00] [-4.24164586e-04 9.99999231e-01 -1.16520331e-03 -1.86470260e-01] [ 3.49050809e-03 1.16667687e-03 9.99993228e-01 5.63811620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04255784400004 meters 0.28412669695262055 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.19, Z:0.56 [[ 9.99993557e-01 2.99245788e-04 -3.57710289e-03 2.92740441e+00] [-3.04528167e-04 9.99998864e-01 -1.47626623e-03 -1.85195029e-01] [ 3.57665706e-03 1.47734604e-03 9.99992512e-01 5.63620188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0725578440001 meters 0.2836191016041842 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993398e-01 1.72841331e-04 -3.62958293e-03 2.92764030e+00] [-1.79375697e-04 9.99998364e-01 -1.80005933e-03 -1.83862234e-01] [ 3.62926586e-03 1.80069850e-03 9.99991793e-01 5.63415552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10255784400005 meters 0.2836593396610899 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993336e-01 -8.83061231e-05 -3.64968037e-03 2.92762577e+00] [ 7.95005797e-05 9.99997086e-01 -2.41276358e-03 -1.81281645e-01] [ 3.64988279e-03 2.41245735e-03 9.99990429e-01 5.63625961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1325578440001 meters 0.2836526725113103 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993560e-01 -1.56163674e-04 -3.58557953e-03 2.92743649e+00] [ 1.46894407e-04 9.99996647e-01 -2.58526969e-03 -1.80556288e-01] [ 3.58597123e-03 2.58472634e-03 9.99990230e-01 5.63706154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16255784400005 meters 0.28506363367537374 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993792e-01 -2.24394880e-04 -3.51657075e-03 2.92734893e+00] [ 2.14681583e-04 9.99996162e-01 -2.76228457e-03 -1.79829254e-01] [ 3.51717710e-03 2.76151248e-03 9.99990002e-01 5.63535173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1925578440001 meters 0.2844438788138784 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993838e-01 -2.93413242e-04 -3.49825056e-03 2.92743266e+00] [ 2.83119846e-04 9.99995631e-01 -2.94257318e-03 -1.79104769e-01] [ 3.49909866e-03 2.94156463e-03 9.99989552e-01 5.63257954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22255784400005 meters 0.2848538072587535 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99993574e-01 -4.75372127e-04 -3.55322259e-03 2.92789680e+00] [ 4.63356150e-04 9.99994174e-01 -3.38177110e-03 -1.77297051e-01] [ 3.55480949e-03 3.38010296e-03 9.99987969e-01 5.62597703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252557844 meters 0.28454444223821207 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.18, Z:0.56 [[ 9.99957201e-01 -7.46246509e-03 -5.46883841e-03 2.90669873e+00] [ 7.46020835e-03 9.99972079e-01 -4.32937556e-04 -1.75201693e-01] [ 5.47191649e-03 3.92120353e-04 9.99984952e-01 5.63871077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28255784400005 meters 0.28440275480751365 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.18, Z:0.56 [[ 0.99998101 -0.00309229 -0.00533049 2.90612547] [ 0.00311321 0.99998747 0.00392037 -0.17565103] [ 0.00531831 -0.00393689 0.99997811 0.56426657] [ 0. 0. 0. 1. ]] SLAMing on 359.312557844 meters 0.2852128099364425 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:0.56 [[ 9.99989178e-01 4.03520826e-03 -2.31533546e-03 2.92588630e+00] [-4.03279726e-03 9.99991322e-01 1.04504316e-03 -1.75105963e-01] [ 2.31953234e-03 -1.03569457e-03 9.99996774e-01 5.63515409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34255784400005 meters 0.2873921453501537 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:0.56 [[ 9.99990157e-01 3.85290147e-03 -2.20007700e-03 2.92537487e+00] [-3.85164795e-03 9.99992418e-01 5.73719281e-04 -1.73037249e-01] [ 2.20227081e-03 -5.65239712e-04 9.99997415e-01 5.64111746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372557844 meters 0.2861814931137553 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:0.56 [[ 9.99990549e-01 3.73500839e-03 -2.22500677e-03 2.92544990e+00] [-3.73440663e-03 9.99992989e-01 2.74548026e-04 -1.71791651e-01] [ 2.22601661e-03 -2.66236351e-04 9.99997487e-01 5.64121967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40255784400006 meters 0.2853643497476449 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:0.56 [[ 9.99990902e-01 3.60785618e-03 -2.27567836e-03 2.92567912e+00] [-3.60798454e-03 9.99993490e-01 -5.22998517e-05 -1.70442006e-01] [ 2.27547485e-03 6.05099882e-05 9.99997409e-01 5.63926892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43255784400003 meters 0.28462208506233605 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:0.56 [[ 9.99991453e-01 3.43150033e-03 -2.30610914e-03 2.92584337e+00] [-3.43270530e-03 9.99993974e-01 -5.18754449e-04 -1.68525459e-01] [ 2.30431514e-03 5.26666208e-04 9.99997206e-01 5.63786593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46255784400006 meters 0.28520258968174245 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:0.56 [[ 9.99992034e-01 3.24647914e-03 -2.32195911e-03 2.92589441e+00] [-3.24885138e-03 9.99994204e-01 -1.01861732e-03 -1.66472402e-01] [ 2.31863874e-03 1.02615290e-03 9.99996785e-01 5.63805878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49255784400003 meters 0.2840734372415103 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.16, Z:0.56 [[ 9.99993365e-01 2.91966863e-03 -2.17859143e-03 2.92561311e+00] [-2.92427533e-03 9.99993489e-01 -2.11435037e-03 -1.62096925e-01] [ 2.17240404e-03 2.12070714e-03 9.99995392e-01 5.63719946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52255784400006 meters 0.28545943686828856 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:0.56 [[ 9.99998055e-01 -1.77708400e-03 -8.55829384e-04 2.94857343e+00] [ 1.77814891e-03 9.99997644e-01 1.24516101e-03 -1.59074476e-01] [ 8.53614612e-04 -1.24668038e-03 9.99998859e-01 5.62994456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55255784400003 meters 0.28463033626280543 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.16, Z:0.56 [[ 9.99997648e-01 -2.00651298e-03 -8.23251589e-04 2.94850868e+00] [ 2.00698854e-03 9.99997819e-01 5.77249253e-04 -1.56382781e-01] [ 8.22091536e-04 -5.78900152e-04 9.99999495e-01 5.63001186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58255784400006 meters 0.28361887918710305 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.15, Z:0.56 [[ 9.99981872e-01 4.31376744e-03 -4.20077318e-03 2.92633979e+00] [-4.32283063e-03 9.99988343e-01 -2.15082147e-03 -1.45192348e-01] [ 4.19144607e-03 2.16894171e-03 9.99988864e-01 5.64847537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61255784400004 meters 0.28544804150342384 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.14, Z:0.56 [[ 0.9999828 0.00401621 -0.00427435 2.92680752] [-0.00402891 0.99998748 -0.00296685 -0.14187501] [ 0.00426238 0.00298402 0.99998646 0.56430677] [ 0. 0. 0. 1. ]] SLAMing on 359.64255784400007 meters 0.2851208352436106 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.14, Z:0.56 [[ 0.99998357 0.00375745 -0.00432997 2.92720121] [-0.00377336 0.99998614 -0.00367278 -0.13901775] [ 0.00431611 0.00368906 0.99998388 0.56380929] [ 0. 0. 0. 1. ]] SLAMing on 359.67255784400004 meters 0.28379974578398537 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.14, Z:0.56 [[ 0.99998415 0.00352445 -0.00439011 2.92750213] [-0.00354331 0.9999845 -0.00429558 -0.136476 ] [ 0.00437491 0.00431107 0.99998114 0.56353815] [ 0. 0. 0. 1. ]] SLAMing on 359.70255784400007 meters 0.28426522806326515 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:0.56 [[ 0.99998457 0.00331882 -0.00445438 2.92776242] [-0.00334031 0.99998277 -0.00482683 -0.13430064] [ 0.00443829 0.00484164 0.99997843 0.5633628 ] [ 0. 0. 0. 1. ]] SLAMing on 359.73255784400004 meters 0.28466262450436625 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:0.56 [[ 0.99998527 0.00298367 -0.00453506 2.92821976] [-0.00300908 0.99997977 -0.0056049 -0.13108337] [ 0.00451824 0.00561846 0.99997401 0.56296249] [ 0. 0. 0. 1. ]] SLAMing on 359.76255784400007 meters 0.2849746929088454 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:0.56 [[ 9.99985744e-01 2.89721009e-03 -4.48533548e-03 2.92814521e+00] [-2.92330133e-03 9.99978782e-01 -5.82142268e-03 -1.30194251e-01] [ 4.46837443e-03 5.83445168e-03 9.99972996e-01 5.62864248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79255784400004 meters 0.28542588522558376 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:0.56 [[ 0.99998308 -0.00472407 -0.00339422 2.94808662] [ 0.00470765 0.99997727 -0.00482664 -0.12652598] [ 0.00341695 0.00481058 0.99998259 0.56431843] [ 0. 0. 0. 1. ]] SLAMing on 359.8225578440001 meters 0.2861451662372564 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:0.56 [[ 0.99998279 -0.00478005 -0.00340287 2.94797974] [ 0.0047631 0.99997629 -0.00497361 -0.12591645] [ 0.00342656 0.00495732 0.99998184 0.56462659] [ 0. 0. 0. 1. ]] SLAMing on 359.85255784400005 meters 0.28467600689642314 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:0.57 [[ 0.99998406 0.0040443 -0.00393977 2.92506636] [-0.00406412 0.99997906 -0.00503571 -0.12710751] [ 0.00391932 0.00505164 0.99997956 0.56526201] [ 0. 0. 0. 1. ]] SLAMing on 359.8825578440001 meters 0.2846903751583184 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:0.57 [[ 0.9999844 0.00392469 -0.00397567 2.92513587] [-0.00394597 0.99997785 -0.00535965 -0.12577462] [ 0.00395454 0.00537525 0.99997773 0.56533673] [ 0. 0. 0. 1. ]] SLAMing on 359.91255784400005 meters 0.28497024936124815 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.12, Z:0.57 [[ 0.99998498 0.00380051 -0.00395032 2.92508222] [-0.00382305 0.99997636 -0.00571453 -0.12432937] [ 0.00392851 0.00572955 0.99997587 0.56535503] [ 0. 0. 0. 1. ]] SLAMing on 359.9425578440001 meters 0.28565643199978025 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:0.57 [[ 0.99998715 0.00360604 -0.00356315 2.92403831] [-0.00362895 0.99997266 -0.0064433 -0.12144475] [ 0.00353981 0.00645614 0.99997289 0.56586385] [ 0. 0. 0. 1. ]] SLAMing on 359.97255784400005 meters 0.2850913579140619 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:0.57 [[ 0.99998807 0.00344361 -0.00346524 2.92382107] [-0.00346761 0.99996987 -0.00694446 -0.11942982] [ 0.00344122 0.0069564 0.99996988 0.56584256] [ 0. 0. 0. 1. ]] SLAMing on 360.002557844 meters 0.2843667941625304 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:0.57 [[ 0.99998858 0.00327422 -0.00348142 2.92396396] [-0.0033002 0.99996657 -0.00748053 -0.1173063 ] [ 0.00345681 0.00749193 0.99996596 0.56563118] [ 0. 0. 0. 1. ]] SLAMing on 360.03255784400005 meters 0.285047141047534 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99995554e-01 -1.40916886e-03 -2.62796287e-03 2.94706436e+00] [ 1.39880098e-03 9.99991248e-01 -3.94288732e-03 -1.13407867e-01] [ 2.63349607e-03 3.93919380e-03 9.99988774e-01 5.64858216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062557844 meters 0.28641848762967476 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99994836e-01 -1.72830115e-03 -2.70933104e-03 2.94749023e+00] [ 1.71463581e-03 9.99985839e-01 -5.03804123e-03 -1.09133427e-01] [ 2.71799993e-03 5.03336970e-03 9.99983639e-01 5.64366910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09255784400005 meters 0.28562593458944574 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99994644e-01 -1.90573944e-03 -2.66103642e-03 2.94747645e+00] [ 1.89103643e-03 9.99982994e-01 -5.51692143e-03 -1.07171773e-01] [ 2.67150498e-03 5.51185976e-03 9.99981241e-01 5.64146948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters 0.2847599502869015 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99994300e-01 -2.08300928e-03 -2.65715442e-03 2.94757496e+00] [ 2.06707038e-03 9.99979940e-01 -5.98719476e-03 -1.05244206e-01] [ 2.66957250e-03 5.98166811e-03 9.99978546e-01 5.63925885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15255784400006 meters 0.28705950985586065 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:0.56 [[ 9.99993936e-01 -2.26193607e-03 -2.64806657e-03 2.94763616e+00] [ 2.24481541e-03 9.99976675e-01 -6.45056104e-03 -1.03333893e-01] [ 2.66259557e-03 6.44457750e-03 9.99975689e-01 5.63770002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters 0.28672902593237654 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:0.56 [[ 9.99992153e-01 -4.71440441e-04 -3.93347729e-03 2.95328834e+00] [ 4.51902920e-04 9.99987565e-01 -4.96639596e-03 -1.01494816e-01] [ 3.93576973e-03 4.96457944e-03 9.99979931e-01 5.60434820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21255784400006 meters 0.2854221141560467 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.10, Z:0.56 [[ 9.99996785e-01 -3.62233776e-04 -2.50985954e-03 2.91399666e+00] [ 3.51823765e-04 9.99991340e-01 -4.14684763e-03 -9.99802578e-02] [ 2.51133993e-03 4.14595127e-03 9.99988252e-01 5.57072738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters 0.2854837582491648 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.10, Z:0.56 [[ 9.99996831e-01 -5.31926834e-04 -2.46085034e-03 2.91389200e+00] [ 5.20594050e-04 9.99989268e-01 -4.60358183e-03 -9.81018455e-02] [ 2.46327269e-03 4.60228613e-03 9.99986376e-01 5.57039722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27255784400006 meters 0.28540263064226 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.10, Z:0.56 [[ 9.99987665e-01 -4.91830975e-03 -6.93369588e-04 2.93619397e+00] [ 4.91779721e-03 9.99987635e-01 -7.38973717e-04 -9.53842740e-02] [ 6.96995516e-04 7.35554750e-04 9.99999487e-01 5.56463486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters 0.2857244288634473 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.56 [[ 9.99986478e-01 -5.18798754e-03 -3.58836078e-04 2.93539182e+00] [ 5.18740988e-03 9.99985277e-01 -1.59243598e-03 -9.19051149e-02] [ 3.67092333e-04 1.59055302e-03 9.99998668e-01 5.56438057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33255784400006 meters 0.28576402602995077 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.56 [[ 9.99985921e-01 -5.29644000e-03 -3.26251785e-04 2.93541086e+00] [ 5.29581689e-03 9.99984206e-01 -1.88205189e-03 -9.07210382e-02] [ 3.36214807e-04 1.88029762e-03 9.99998176e-01 5.56216244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters 0.2869079607455975 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.56 [[ 9.99985351e-01 -5.40006957e-03 -3.69916582e-04 2.93564643e+00] [ 5.39926085e-03 9.99983105e-01 -2.15341317e-03 -8.96104601e-02] [ 3.81538914e-04 2.15138435e-03 9.99997613e-01 5.55925499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39255784400007 meters 0.2863532046356526 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.56 [[ 9.99999453e-01 -9.40519144e-04 -4.58133177e-04 2.93591403e+00] [ 9.41632745e-04 9.99996588e-01 2.43661599e-03 -9.11215541e-02] [ 4.55839930e-04 -2.43704605e-03 9.99996927e-01 5.55810641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42255784400004 meters 0.2848985706740259 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.09, Z:0.56 [[ 9.99979727e-01 5.14028493e-03 -3.75794399e-03 2.91378901e+00] [-5.14163761e-03 9.99986720e-01 -3.50378775e-04 -8.54271901e-02] [ 3.75609304e-03 3.69693658e-04 9.99992878e-01 5.57702339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45255784400007 meters 0.28507724240592563 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.56 [[ 9.99980277e-01 4.99548599e-03 -3.80665591e-03 2.91400742e+00] [-4.99835417e-03 9.99987231e-01 -7.44325658e-04 -8.38124401e-02] [ 3.80288904e-03 7.63337992e-04 9.99992478e-01 5.57490512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48255784400004 meters 0.2867254189168107 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.08, Z:0.56 [[ 9.99991595e-01 -3.05300717e-03 -2.73649768e-03 2.93375372e+00] [ 3.05279344e-03 9.99995337e-01 -8.22779104e-05 -7.81902134e-02] [ 2.73673611e-03 7.39232568e-05 9.99996252e-01 5.58043834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51255784400007 meters 0.2863561058365008 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.08, Z:0.56 [[ 9.99991101e-01 -3.16265940e-03 -2.79195332e-03 2.93399827e+00] [ 3.16162340e-03 9.99994932e-01 -3.75401957e-04 -7.69952639e-02] [ 2.79312644e-03 3.66571511e-04 9.99996032e-01 5.57792256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54255784400004 meters 0.28753680398799303 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99990577e-01 -3.37094354e-03 -2.73543986e-03 2.93403852e+00] [ 3.36812341e-03 9.99993792e-01 -1.03491146e-03 -7.43728326e-02] [ 2.73891151e-03 1.02568841e-03 9.99995723e-01 5.57316091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5725578440001 meters 0.28560904658012465 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99990468e-01 -3.52615515e-03 -2.57488427e-03 2.93363942e+00] [ 3.52238699e-03 9.99992721e-01 -1.46650009e-03 -7.25897316e-02] [ 2.58003663e-03 1.45741637e-03 9.99995610e-01 5.57297959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60255784400005 meters 0.2857746442520847 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99990227e-01 -3.66668465e-03 -2.46989673e-03 2.93332396e+00] [ 3.66211079e-03 9.99991576e-01 -1.85382769e-03 -7.09921452e-02] [ 2.47667333e-03 1.84476454e-03 9.99995231e-01 5.57418911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6325578440001 meters 0.2857728349718574 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 0.99998699 0.00377169 -0.00343513 2.91427634] [-0.00378421 0.9999862 -0.00364537 -0.07293119] [ 0.00342134 0.00365832 0.99998746 0.55547972] [ 0. 0. 0. 1. ]] SLAMing on 360.66255784400005 meters 0.286866347906673 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994068e-01 -1.72902699e-03 -2.97913507e-03 2.93818682e+00] [ 1.72723423e-03 9.99998326e-01 -6.04240620e-04 -6.95186617e-02] [ 2.98017483e-03 5.99091372e-04 9.99995380e-01 5.53944321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6925578440001 meters 0.2867211273948654 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993688e-01 -1.80454972e-03 -3.06048617e-03 2.93846136e+00] [ 1.80212972e-03 9.99998062e-01 -7.93299260e-04 -6.87444116e-02] [ 3.06191179e-03 7.87778860e-04 9.99995002e-01 5.53790491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72255784400005 meters 0.28642168498048864 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993664e-01 -1.86044536e-03 -3.03501577e-03 2.93832548e+00] [ 1.85761056e-03 9.99997836e-01 -9.36583148e-04 -6.81396252e-02] [ 3.03675167e-03 9.30939336e-04 9.99994956e-01 5.53946881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.752557844 meters 0.286790894660672 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993906e-01 -1.85344308e-03 -2.95840040e-03 2.93797003e+00] [ 1.85072826e-03 9.99997864e-01 -9.20139472e-04 -6.81972201e-02] [ 2.96009951e-03 9.14658670e-04 9.99995201e-01 5.54323572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78255784400005 meters 0.2854983743026873 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994299e-01 -1.82321173e-03 -2.84211137e-03 2.93753370e+00] [ 1.82082199e-03 9.99997987e-01 -8.43194213e-04 -6.85139458e-02] [ 2.84364297e-03 8.38014427e-04 9.99995606e-01 5.54670908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.812557844 meters 0.2854983743026873 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994299e-01 -1.82321173e-03 -2.84211137e-03 2.93753370e+00] [ 1.82082199e-03 9.99997987e-01 -8.43194213e-04 -6.85139458e-02] [ 2.84364297e-03 8.38014427e-04 9.99995606e-01 5.54670908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84255784400005 meters 0.2857145197019926 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99994626e-01 -1.79391531e-03 -2.74422953e-03 2.93715161e+00] [ 1.79181568e-03 9.99998100e-01 -7.67377641e-04 -6.88215974e-02] [ 2.74560092e-03 7.62456363e-04 9.99995940e-01 5.55002378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.872557844 meters 0.28657335314786214 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99994583e-01 -1.76878262e-03 -2.77592829e-03 2.93715543e+00] [ 1.76684594e-03 9.99998194e-01 -6.99965773e-04 -6.90900249e-02] [ 2.77716136e-03 6.95057344e-04 9.99995902e-01 5.55176180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90255784400006 meters 0.2871564803403051 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99994500e-01 -1.77218338e-03 -2.80346149e-03 2.93724728e+00] [ 1.77020523e-03 9.99998183e-01 -7.07934716e-04 -6.90618392e-02] [ 2.80471099e-03 7.02968120e-04 9.99995820e-01 5.55124002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93255784400003 meters 0.2866649908024067 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99994936e-01 -1.77940193e-03 -2.63836681e-03 2.93678325e+00] [ 1.77745690e-03 9.99998147e-01 -7.39372534e-04 -6.89452235e-02] [ 2.63967757e-03 7.34679206e-04 9.99996246e-01 5.55282951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96255784400006 meters 0.28699773470742695 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995185e-01 -1.81961251e-03 -2.51383359e-03 2.93640882e+00] [ 1.81747735e-03 9.99997986e-01 -8.51387954e-04 -6.84739586e-02] [ 2.51537773e-03 8.46815019e-04 9.99996478e-01 5.55431391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99255784400003 meters 0.28627476408904023 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995181e-01 -1.86779745e-03 -2.47976736e-03 2.93636261e+00] [ 1.86537472e-03 9.99997781e-01 -9.78953980e-04 -6.79522903e-02] [ 2.48159035e-03 9.74323567e-04 9.99996446e-01 5.55338966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02255784400006 meters 0.28626967663820885 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995248e-01 -1.90797691e-03 -2.42132292e-03 2.93622512e+00] [ 1.90535612e-03 9.99997597e-01 -1.08422480e-03 -6.75149330e-02] [ 2.42338578e-03 1.07960616e-03 9.99996481e-01 5.55306797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05255784400003 meters 0.28716323843316344 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995210e-01 -1.97435321e-03 -2.38369867e-03 2.93614410e+00] [ 1.97137427e-03 9.99997274e-01 -1.25141571e-03 -6.68123361e-02] [ 2.38616291e-03 1.24671056e-03 9.99996376e-01 5.55269028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08255784400006 meters 0.2866074672317144 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995453e-01 -1.89849358e-03 -2.34319239e-03 2.93603305e+00] [ 1.89601281e-03 9.99997640e-01 -1.06048394e-03 -6.76024729e-02] [ 2.34520019e-03 1.05603640e-03 9.99996692e-01 5.55295368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11255784400004 meters 0.2859118126923063 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995670e-01 -1.78204806e-03 -2.34196335e-03 2.93597310e+00] [ 1.78030258e-03 9.99998136e-01 -7.47178974e-04 -6.88829005e-02] [ 2.34329049e-03 7.43006336e-04 9.99996978e-01 5.55435366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14255784400007 meters 0.2870592537355471 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995772e-01 -1.63288910e-03 -2.40622425e-03 2.93613435e+00] [ 1.63209571e-03 9.99998613e-01 -3.31649708e-04 -7.05884463e-02] [ 2.40676246e-03 3.27721118e-04 9.99997050e-01 5.55448485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17255784400004 meters 0.2861622749738588 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99995568e-01 -1.47587693e-03 -2.58567399e-03 2.93667006e+00] [ 1.47619574e-03 9.99998903e-01 1.21395614e-04 -7.24794333e-02] [ 2.58549198e-03 -1.25212037e-04 9.99996650e-01 5.55259530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20255784400007 meters 0.2865225658031341 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994205e-01 -1.17862365e-03 -3.19383350e-03 2.93844766e+00] [ 1.18246760e-03 9.99998579e-01 1.20193094e-03 -7.70419190e-02] [ 3.19241234e-03 -1.20570058e-03 9.99994177e-01 5.54540404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23255784400004 meters 0.28612576595580425 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994269e-01 -9.78687579e-04 -3.24111799e-03 2.93864965e+00] [ 9.84331425e-04 9.99998001e-01 1.74018970e-03 -7.92632869e-02] [ 3.23940841e-03 -1.74337006e-03 9.99993233e-01 5.54349278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26255784400007 meters 0.28586323651211465 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994503e-01 -7.88639395e-04 -3.22063498e-03 2.93858566e+00] [ 7.95819656e-04 9.99997200e-01 2.22878247e-03 -8.12855793e-02] [ 3.21886825e-03 -2.23133326e-03 9.99992330e-01 5.54386192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29255784400004 meters 0.28674906501790964 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994763e-01 -6.32520846e-04 -3.17378883e-03 2.93840963e+00] [ 6.40850422e-04 9.99996352e-01 2.62415954e-03 -8.29235690e-02] [ 3.17211741e-03 -2.62617972e-03 9.99991520e-01 5.54534846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3225578440001 meters 0.286724939753638 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99995001e-01 -5.02114121e-04 -3.12174563e-03 2.93825409e+00] [ 5.11345138e-04 9.99995498e-01 2.95691021e-03 -8.42928278e-02] [ 3.12024687e-03 -2.95849172e-03 9.99990756e-01 5.54601673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35255784400005 meters 0.28720532292218387 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99993756e-01 -3.56018554e-04 -3.51595282e-03 2.93939135e+00] [ 3.67766461e-04 9.99994350e-01 3.34123424e-03 -8.59228044e-02] [ 3.51474341e-03 -3.34250642e-03 9.99988237e-01 5.54158085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3825578440001 meters 0.28753297969826014 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99992849e-01 -3.44069163e-04 -3.76613358e-03 2.94016614e+00] [ 3.56766945e-04 9.99994253e-01 3.37141714e-03 -8.60601290e-02] [ 3.76495193e-03 -3.37273666e-03 9.99987225e-01 5.53739174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41255784400005 meters 0.2883259142026205 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99992457e-01 -3.44243826e-04 -3.86876410e-03 2.94058672e+00] [ 3.57291399e-04 9.99994250e-01 3.37235798e-03 -8.60866361e-02] [ 3.86758094e-03 -3.37371482e-03 9.99986830e-01 5.53341160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4425578440001 meters 0.2875016758462793 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99993362e-01 -3.02724614e-04 -3.63094402e-03 2.94014245e+00] [ 3.15453219e-04 9.99993806e-01 3.50553095e-03 -8.65867170e-02] [ 3.62986032e-03 -3.50665308e-03 9.99987264e-01 5.53033507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47255784400005 meters 0.28684816572427585 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99993757e-01 -3.26918365e-04 -3.51846098e-03 2.93980197e+00] [ 3.39022297e-04 9.99994025e-01 3.44007478e-03 -8.62972131e-02] [ 3.51731533e-03 -3.44124614e-03 9.99987893e-01 5.53168998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5025578440001 meters 0.28687518634324594 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99994183e-01 -3.54560434e-04 -3.39232689e-03 2.93939153e+00] [ 3.65965690e-04 9.99994281e-01 3.36204485e-03 -8.59472384e-02] [ 3.39111544e-03 -3.36326677e-03 9.99988594e-01 5.53391844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53255784400005 meters 0.2885573922069672 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99978856e-01 6.50164022e-03 -1.29520659e-04 2.95951709e+00] [-6.50157765e-03 9.99978750e-01 4.77799636e-04 -8.40438619e-02] [ 1.32624388e-04 -4.76947445e-04 9.99999877e-01 5.52502442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters 0.28785731930568553 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99979180e-01 6.45268461e-03 5.04204376e-05 2.95895869e+00] [-6.45270128e-03 9.99979124e-01 3.37820860e-04 -8.34179208e-02] [-4.82395335e-05 -3.38139175e-04 9.99999942e-01 5.52741342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59255784400005 meters 0.28772577534467075 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99979558e-01 6.39118907e-03 1.90058803e-04 2.95863767e+00] [-6.39122185e-03 9.99979561e-01 1.72411822e-04 -8.27224258e-02] [-1.88953002e-04 -1.73623006e-04 9.99999967e-01 5.52655409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters 0.28793719487517927 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99980051e-01 6.31135862e-03 2.55509535e-04 2.95848147e+00] [-6.31134935e-03 9.99980083e-01 -3.70721122e-05 -8.18507230e-02] [-2.55738422e-04 3.54587627e-05 9.99999967e-01 5.52619652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65255784400006 meters 0.2878680575275729 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99981205e-01 6.12925479e-03 1.48791885e-04 2.95884289e+00] [-6.12917480e-03 9.99981075e-01 -5.32201492e-04 -7.98102427e-02] [-1.52051068e-04 5.31279517e-04 9.99999847e-01 5.52386673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters 0.2875393233029727 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994455e-01 -2.91930730e-03 -1.60220073e-03 2.93998275e+00] [ 2.91972529e-03 9.99995704e-01 2.58605521e-04 -7.62281172e-02] [ 1.60143889e-03 -2.63282073e-04 9.99998683e-01 5.51245487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71255784400006 meters 0.2889094991366568 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:0.55 [[ 9.99983265e-01 5.78245572e-03 -1.83513333e-04 2.95977576e+00] [-5.78270172e-03 9.99982342e-01 -1.36954883e-03 -7.57256394e-02] [ 1.75590737e-04 1.37058712e-03 9.99999045e-01 5.51889583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters 0.28727880420087054 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994975e-01 -2.98322057e-03 -1.07293530e-03 2.94061229e+00] [ 2.98297516e-03 9.99995524e-01 -2.30260011e-04 -7.14215905e-02] [ 1.07361741e-03 2.27058315e-04 9.99999398e-01 5.50234402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77255784400006 meters 0.28890975154463183 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994666e-01 -3.12911231e-03 -9.35775176e-04 2.94029966e+00] [ 3.12853907e-03 9.99994918e-01 -6.13424132e-04 -6.98274541e-02] [ 9.37689893e-04 6.10493251e-04 9.99999374e-01 5.50125500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters 0.2875180787668186 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99994303e-01 -3.28380635e-03 -7.80816531e-04 2.93985924e+00] [ 3.28300871e-03 9.99994090e-01 -1.02063944e-03 -6.81114045e-02] [ 7.84163499e-04 1.01807020e-03 9.99999174e-01 5.50170498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83255784400006 meters 0.2872149142148267 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.06, Z:0.55 [[ 9.99993272e-01 -3.61795089e-03 -6.04665892e-04 2.93935948e+00] [ 3.61680346e-03 9.99991677e-01 -1.88806373e-03 -6.44931989e-02] [ 6.11491782e-04 1.88586407e-03 9.99998035e-01 5.50190112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters 0.2873016302941213 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.06, Z:0.55 [[ 9.99992706e-01 -3.77471409e-03 -5.82981012e-04 2.93932693e+00] [ 3.77337190e-03 9.99990267e-01 -2.28647646e-03 -6.28426713e-02] [ 5.91606133e-04 2.28425998e-03 9.99997216e-01 5.50111339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89255784400007 meters 0.28764212772567677 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.06, Z:0.55 [[ 9.99992136e-01 -3.92825348e-03 -5.44911260e-04 2.93929888e+00] [ 3.92678315e-03 9.99988716e-01 -2.67361626e-03 -6.12496643e-02] [ 5.55407753e-04 2.67145549e-03 9.99996277e-01 5.49935307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92255784400004 meters 0.28644123983580255 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.06, Z:0.55 [[ 9.99991202e-01 3.98403421e-03 -1.31289158e-03 2.92004593e+00] [-3.98941748e-03 9.99983540e-01 -4.12352273e-03 -6.32905898e-02] [ 1.29644172e-03 4.12872412e-03 9.99990636e-01 5.48437602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95255784400007 meters 0.28700067399793655 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99992590e-01 -3.72669643e-03 -9.65177548e-04 2.93923457e+00] [ 3.72333171e-03 9.99987066e-01 -3.46475584e-03 -5.37645229e-02] [ 9.78077157e-04 3.46113649e-03 9.99993532e-01 5.50222984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98255784400004 meters 0.2865421524467412 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99992331e-01 -3.80580434e-03 -9.23809867e-04 2.93900466e+00] [ 3.80239097e-03 9.99986040e-01 -3.66893493e-03 -5.29037335e-02] [ 9.37760220e-04 3.66539411e-03 9.99992843e-01 5.50489371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01255784400007 meters 0.2865745652258179 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99992076e-01 -3.88209680e-03 -8.82185029e-04 2.93879762e+00] [ 3.87865906e-03 9.99985006e-01 -3.86569954e-03 -5.20734436e-02] [ 8.97178821e-04 3.86224721e-03 9.99992139e-01 5.50699174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04255784400004 meters 0.2887683696667221 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99991560e-01 -4.00822356e-03 -9.02494953e-04 2.93884105e+00] [ 4.00441881e-03 9.99983251e-01 -4.17887948e-03 -5.07746541e-02] [ 9.19229720e-04 4.17523024e-03 9.99990861e-01 5.50687297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0725578440001 meters 0.28750548479573673 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99991367e-01 -4.05699398e-03 -8.97826355e-04 2.93885300e+00] [ 4.05309476e-03 9.99982528e-01 -4.30297857e-03 -5.02646965e-02] [ 9.15267826e-04 4.29930245e-03 9.99990339e-01 5.50625341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10255784400005 meters 0.2877280418475116 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999354e-01 3.26902438e-04 -1.08832308e-03 2.93939325e+00] [-3.26726182e-04 9.99999933e-01 1.62125843e-04 -5.12675974e-02] [ 1.08837601e-03 -1.61770155e-04 9.99999395e-01 5.50513350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1325578440001 meters 0.2870831165938006 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999352e-01 2.99095820e-04 -1.09825413e-03 2.93949578e+00] [-2.98994083e-04 9.99999951e-01 9.27981827e-05 -5.09867627e-02] [ 1.09828183e-03 -9.24697511e-05 9.99999393e-01 5.50339528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16255784400005 meters 0.2860523988677821 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.05, Z:0.55 [[ 0.9999787 0.00543542 -0.00361292 2.91723092] [-0.00544767 0.99997941 -0.00339056 -0.05048913] [ 0.00359442 0.00341017 0.99998773 0.5517311 ] [ 0. 0. 0. 1. ]] SLAMing on 362.1925578440001 meters 0.2879700860911355 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99998918e-01 1.48666092e-04 -1.46327251e-03 2.94054355e+00] [-1.48831886e-04 9.99999983e-01 -1.13195039e-04 -5.10131974e-02] [ 1.46325566e-03 1.13412699e-04 9.99998923e-01 5.49768275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22255784400005 meters 0.2873390347353958 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99998600e-01 1.77452795e-04 -1.66392805e-03 2.94116533e+00] [-1.77513253e-04 9.99999984e-01 -3.61865654e-05 -5.13763237e-02] [ 1.66392160e-03 3.64818840e-05 9.99998615e-01 5.49461264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2525578440001 meters 0.2877222466682558 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99998509e-01 1.55647321e-04 -1.71989427e-03 2.94146309e+00] [-1.55805855e-04 9.99999984e-01 -9.20426850e-05 -5.11598553e-02] [ 1.71987992e-03 9.23105174e-05 9.99998517e-01 5.49083741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28255784400005 meters 0.2874306710700787 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99998499e-01 1.62203560e-04 -1.72511684e-03 2.94155641e+00] [-1.62329200e-04 9.99999984e-01 -7.26903613e-05 -5.12498513e-02] [ 1.72510503e-03 7.29702890e-05 9.99998509e-01 5.48898037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.312557844 meters 0.28758858787870106 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99998626e-01 1.62272883e-04 -1.64968267e-03 2.94139241e+00] [-1.62393340e-04 9.99999984e-01 -7.28840390e-05 -5.12448575e-02] [ 1.64967082e-03 7.31518364e-05 9.99998637e-01 5.48837426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34255784400005 meters 0.2873421829480227 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999001e-01 1.87772846e-04 -1.40063172e-03 2.94057033e+00] [-1.87791502e-04 9.99999982e-01 -1.31885994e-05 -5.14408879e-02] [ 1.40062922e-03 1.34516130e-05 9.99999019e-01 5.49395256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.372557844 meters 0.2861178920301237 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.06, Z:0.55 [[ 9.99966098e-01 8.03265538e-03 -1.81074560e-03 2.92023023e+00] [-8.03473202e-03 9.99967068e-01 -1.14249950e-03 -5.53541933e-02] [ 1.80150866e-03 1.15700962e-03 9.99997708e-01 5.48356269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40255784400006 meters 0.2872931374332782 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999446e-01 1.43515507e-04 -1.04293412e-03 2.93906441e+00] [-1.43564826e-04 9.99999989e-01 -4.72141780e-05 -5.02430810e-02] [ 1.04292733e-03 4.73638805e-05 9.99999455e-01 5.49799275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43255784400003 meters 0.2881025366613489 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999527e-01 7.73364682e-05 -9.69724874e-04 2.93901248e+00] [-7.75477085e-05 9.99999973e-01 -2.17799560e-04 -4.95442015e-02] [ 9.69708005e-04 2.17874657e-04 9.99999506e-01 5.49490443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46255784400006 meters 0.2886090412689636 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999534e-01 9.25600002e-05 -9.61371563e-04 2.93891418e+00] [-9.27337389e-05 9.99999979e-01 -1.80676661e-04 -4.96905508e-02] [ 9.61354819e-04 1.80765729e-04 9.99999522e-01 5.49661908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49255784400003 meters 0.287750817186081 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999609e-01 1.14482017e-04 -8.76511074e-04 2.93858162e+00] [-1.14594381e-04 9.99999985e-01 -1.28144972e-04 -4.98918795e-02] [ 8.76496391e-04 1.28245365e-04 9.99999608e-01 5.49927460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52255784400006 meters 0.28633686555035964 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999653e-01 1.48299587e-04 -8.20102561e-04 2.93834537e+00] [-1.48337005e-04 9.99999988e-01 -4.55660993e-05 -5.02269427e-02] [ 8.20095793e-04 4.56877350e-05 9.99999663e-01 5.50143463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55255784400003 meters 0.2872153721280893 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.55 [[ 9.99999495e-01 1.45147527e-04 -9.94840662e-04 2.93894081e+00] [-1.45194173e-04 9.99999988e-01 -4.68153445e-05 -5.02734808e-02] [ 9.94833855e-04 4.69597659e-05 9.99999504e-01 5.49730407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58255784400006 meters 0.2871427299409791 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99987128e-01 -5.05003572e-03 -4.91474700e-04 2.96331927e+00] [ 5.05167903e-03 9.99981454e-01 3.40188363e-03 -4.87006995e-02] [ 4.74285951e-04 -3.40432261e-03 9.99994093e-01 5.47936240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61255784400004 meters 0.28707404807658476 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986939e-01 -5.08269598e-03 -5.37245594e-04 2.96350749e+00] [ 5.08445205e-03 9.99981565e-01 3.31944037e-03 -4.83678768e-02] [ 5.20363983e-04 -3.32212861e-03 9.99994346e-01 5.47766599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64255784400007 meters 0.28760640416631356 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986812e-01 -5.11328201e-03 -4.79740474e-04 2.96336571e+00] [ 5.11481009e-03 9.99981670e-01 3.23997985e-03 -4.80284567e-02] [ 4.63164750e-04 -3.24239090e-03 9.99994636e-01 5.47746308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67255784400004 meters 0.2868264999690223 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986725e-01 -5.14209771e-03 -3.30537222e-04 2.96291692e+00] [ 5.14311661e-03 9.99981783e-01 3.15938728e-03 -4.76663521e-02] [ 3.14285323e-04 -3.16104533e-03 9.99994954e-01 5.47895582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70255784400007 meters 0.2865924186535223 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986816e-01 -5.12639945e-03 -2.97295425e-04 2.96286015e+00] [ 5.12732411e-03 9.99981742e-01 3.19769038e-03 -4.78289834e-02] [ 2.80897359e-04 -3.19917256e-03 9.99994843e-01 5.47837819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73255784400004 meters 0.2865924186535223 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986816e-01 -5.12639945e-03 -2.97295425e-04 2.96286015e+00] [ 5.12732411e-03 9.99981742e-01 3.19769038e-03 -4.78289834e-02] [ 2.80897359e-04 -3.19917256e-03 9.99994843e-01 5.47837819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76255784400007 meters 0.2889849651953188 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99986934e-01 -5.09511983e-03 -4.14200315e-04 2.96326809e+00] [ 5.09645313e-03 9.99981620e-01 3.28430599e-03 -4.82269687e-02] [ 3.97458770e-04 -3.28637403e-03 9.99994521e-01 5.47601043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79255784400004 meters 0.28713128011247074 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99987117e-01 -5.04591051e-03 -5.51538495e-04 2.96377370e+00] [ 5.04776945e-03 9.99981402e-01 3.42269451e-03 -4.88475794e-02] [ 5.34257627e-04 -3.42543445e-03 9.99993990e-01 5.47248582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8225578440001 meters 0.28784962336682707 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99987228e-01 -4.97850632e-03 -8.70289926e-04 2.96480136e+00] [ 4.98165240e-03 9.99980927e-01 3.65098253e-03 -4.98568456e-02] [ 8.52096887e-04 -3.65527138e-03 9.99992956e-01 5.46597080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85255784400005 meters 0.2876384375991584 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:0.55 [[ 9.99991326e-01 4.08551726e-03 8.10719082e-04 2.98465118e+00] [-4.08789215e-03 9.99987294e-01 2.94965790e-03 -5.25631249e-02] [-7.98657903e-04 -2.95294644e-03 9.99995321e-01 5.47015449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8825578440001 meters 0.2871120458364969 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:0.55 [[ 9.99985601e-01 -5.36283890e-03 1.95005462e-04 2.96221786e+00] [ 5.36209204e-03 9.99978971e-01 3.64755071e-03 -5.31137230e-02] [-2.14562588e-04 -3.64645255e-03 9.99993329e-01 5.47527056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91255784400005 meters 0.28631231758080733 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:0.55 [[ 9.99992184e-01 3.39614689e-03 2.02421064e-03 2.98084983e+00] [-3.40160895e-03 9.99990567e-01 2.70105841e-03 -5.73371405e-02] [-2.01501835e-03 -2.70792288e-03 9.99994303e-01 5.48956697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9425578440001 meters 0.28616530375073423 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:0.55 [[ 9.99991455e-01 3.57176121e-03 2.08128172e-03 2.98050147e+00] [-3.57863964e-03 9.99988117e-01 3.31059971e-03 -5.96911835e-02] [-2.06943231e-03 -3.31801958e-03 9.99992354e-01 5.49566145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97255784400005 meters 0.2870980604102778 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:0.55 [[ 9.99990941e-01 3.69476900e-03 2.11335437e-03 2.98038385e+00] [-3.70251131e-03 9.99986406e-01 3.67140998e-03 -6.11421439e-02] [-2.09976063e-03 -3.67920144e-03 9.99991027e-01 5.49686892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0025578440001 meters 0.28655759180273366 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:0.55 [[ 9.99990372e-01 3.81972883e-03 2.16007644e-03 2.98018883e+00] [-3.82843991e-03 9.99984498e-01 4.04311212e-03 -6.26345368e-02] [-2.14459936e-03 -4.05134291e-03 9.99989494e-01 5.49900092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03255784400005 meters 0.28576200785000394 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:0.55 [[ 9.99993362e-01 1.72226025e-03 3.21097888e-03 2.97460194e+00] [-1.72890905e-03 9.99996365e-01 2.06902236e-03 -6.21330524e-02] [-3.20740381e-03 -2.07456012e-03 9.99992704e-01 5.53787568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters 0.2852185822219548 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:0.55 [[ 9.99993111e-01 1.87932072e-03 3.20097845e-03 2.97448862e+00] [-1.88754734e-03 9.99994919e-01 2.56895383e-03 -6.41424915e-02] [-3.19613430e-03 -2.57497813e-03 9.99991577e-01 5.54117403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09255784400005 meters 0.28670780832909815 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:0.55 [[ 9.99993307e-01 1.95313549e-03 3.09369634e-03 2.97484164e+00] [-1.96171299e-03 9.99994234e-01 2.77196774e-03 -6.49948536e-02] [-3.08826447e-03 -2.77801813e-03 9.99991373e-01 5.53939928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters 0.28573084606245214 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99993327e-01 2.04648809e-03 3.02630291e-03 2.97516199e+00] [-2.05562212e-03 9.99993332e-01 3.01818899e-03 -6.60420997e-02] [-3.02010604e-03 -3.02438978e-03 9.99990866e-01 5.53611889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15255784400006 meters 0.2861954856483094 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99993558e-01 2.10163479e-03 2.90985891e-03 2.97556107e+00] [-2.11085841e-03 9.99992747e-01 3.17034627e-03 -6.67024801e-02] [-2.90317490e-03 -3.17646815e-03 9.99990741e-01 5.53373612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters 0.2862446912102739 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99993561e-01 2.22613941e-03 2.81470201e-03 2.97583190e+00] [-2.23600962e-03 9.99991346e-01 3.50839130e-03 -6.81123620e-02] [-2.80686748e-03 -3.51466241e-03 9.99989884e-01 5.53321860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21255784400006 meters 0.2881697103795405 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99993390e-01 2.31420357e-03 2.80426098e-03 2.97576270e+00] [-2.32467803e-03 9.99990313e-01 3.73770932e-03 -6.90593231e-02] [-2.79558400e-03 -3.74420362e-03 9.99989083e-01 5.53544539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters 0.28575647703965434 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99993052e-01 2.38151120e-03 2.86786587e-03 2.97549413e+00] [-2.39273169e-03 9.99989472e-01 3.91543152e-03 -6.97801842e-02] [-2.85851104e-03 -3.92226635e-03 9.99988222e-01 5.53798959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27255784400006 meters 0.2872763036333503 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99992301e-01 2.54914970e-03 2.98336228e-03 2.97513887e+00] [-2.56239467e-03 9.99986841e-01 4.44424034e-03 -7.18795220e-02] [-2.97199399e-03 -4.45185067e-03 9.99985674e-01 5.54013951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters 0.28673343943287605 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99992380e-01 2.65482723e-03 2.86220285e-03 2.97551941e+00] [-2.66843160e-03 9.99985112e-01 4.75981775e-03 -7.31802087e-02] [-2.84952375e-03 -4.76741907e-03 9.99984576e-01 5.53820926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33255784400006 meters 0.28664323756716875 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.07, Z:0.55 [[ 9.99992493e-01 2.79069959e-03 2.68814260e-03 2.97605331e+00] [-2.80461153e-03 9.99982622e-01 5.18550512e-03 -7.49357136e-02] [-2.67362470e-03 -5.19300538e-03 9.99982942e-01 5.53573628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36255784400004 meters 0.2876851336338415 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:0.55 [[ 9.99976760e-01 -6.12531290e-03 2.99321576e-03 2.99924245e+00] [ 6.10880884e-03 9.99966259e-01 5.49220459e-03 -7.51426198e-02] [-3.02675624e-03 -5.47379197e-03 9.99980438e-01 5.52891222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39255784400007 meters 0.28695536361774143 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.08, Z:0.55 [[ 9.99996830e-01 1.56064329e-03 1.97608503e-03 2.98165651e+00] [-1.56942457e-03 9.99988867e-01 4.45005169e-03 -8.31877994e-02] [-1.96911809e-03 -4.45313890e-03 9.99988146e-01 5.51251313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42255784400004 meters 0.28405783526372236 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.09, Z:0.55 [[ 9.99999668e-01 -6.08991930e-04 -5.40741464e-04 2.93815726e+00] [ 6.11232097e-04 9.99991192e-01 4.15231249e-03 -9.15059839e-02] [ 5.38207977e-04 -4.15264164e-03 9.99991233e-01 5.52804945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45255784400007 meters 0.2864184337613163 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.09, Z:0.56 [[ 9.99998145e-01 -9.91620713e-04 -1.65110584e-03 2.97641606e+00] [ 9.96924173e-04 9.99994337e-01 3.21434670e-03 -9.26357572e-02] [ 1.64790907e-03 -3.21598677e-03 9.99993471e-01 5.56655493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48255784400004 meters 0.28581695834329535 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.09, Z:0.56 [[ 9.99998194e-01 -8.68552563e-04 -1.69024899e-03 2.97645613e+00] [ 8.74549328e-04 9.99993315e-01 3.55035951e-03 -9.40048174e-02] [ 1.68715402e-03 -3.55183131e-03 9.99992269e-01 5.56781510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51255784400007 meters 0.2869968429695426 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:0.56 [[ 9.99998238e-01 -7.58211658e-04 -1.71715049e-03 2.97655911e+00] [ 7.64800295e-04 9.99992336e-01 3.83955854e-03 -9.52053052e-02] [ 1.71422614e-03 -3.84086505e-03 9.99991155e-01 5.56694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54255784400004 meters 0.28419067886743576 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:0.56 [[ 9.99983386e-01 4.78985425e-03 -3.20696473e-03 2.95388884e+00] [-4.78744979e-03 9.99988254e-01 7.57021106e-04 -9.69494740e-02] [ 3.21055308e-03 -7.41655346e-04 9.99994571e-01 5.57960709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5725578440001 meters 0.2866982093487781 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:0.56 [[ 9.99999691e-01 -7.86732612e-04 3.51735567e-06 2.97523789e+00] [ 7.86714558e-04 9.99993044e-01 3.64602652e-03 -9.80960789e-02] [-6.38577917e-06 -3.64602262e-03 9.99993353e-01 5.56589818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60255784400005 meters 0.28695921131393726 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99999702e-01 -7.59883486e-04 1.35718200e-04 2.97480908e+00] [ 7.59374293e-04 9.99992817e-01 3.71329240e-03 -9.83612867e-02] [-1.38538894e-04 -3.71318823e-03 9.99993096e-01 5.56801397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6325578440001 meters 0.28675514077088066 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99999707e-01 -7.23626166e-04 2.49504730e-04 2.97450321e+00] [ 7.22672114e-04 9.99992508e-01 3.80290360e-03 -9.87309116e-02] [-2.52254741e-04 -3.80272218e-03 9.99992738e-01 5.56833931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66255784400005 meters 0.28681600620039155 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99999796e-01 -6.14154101e-04 1.73691999e-04 2.97480724e+00] [ 6.13435772e-04 9.99991383e-01 4.10589809e-03 -1.00026174e-01] [-1.76212157e-04 -4.10579070e-03 9.99991556e-01 5.56589721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6925578440001 meters 0.2869114529396013 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:0.56 [[ 9.99999841e-01 -5.62691230e-04 4.64514583e-05 2.97526608e+00] [ 5.62488824e-04 9.99990819e-01 4.24807492e-03 -1.00642059e-01] [-4.88413863e-05 -4.24804811e-03 9.99990976e-01 5.56251072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72255784400005 meters 0.28678555801983097 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:0.56 [[ 9.99987648e-01 3.67946816e-03 -3.34148780e-03 2.95320037e+00] [-3.67791155e-03 9.99993125e-01 4.71866791e-04 -9.92235410e-02] [ 3.34320105e-03 -4.59571266e-04 9.99994306e-01 5.57861433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7525578440001 meters 0.28803610722330925 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:0.56 [[ 9.99996600e-01 -2.44118527e-03 -9.16791676e-04 2.97572708e+00] [ 2.44404897e-03 9.99992097e-01 3.13559175e-03 -1.00717664e-01] [ 9.09129871e-04 -3.13782177e-03 9.99994664e-01 5.55937999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78255784400005 meters 0.28619915044694333 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:0.56 [[ 9.99993751e-01 2.85412851e-03 -2.08621119e-03 2.95260869e+00] [-2.85391755e-03 9.99995922e-01 1.04091188e-04 -1.04404774e-01] [ 2.08649977e-03 -9.81366624e-05 9.99997818e-01 5.57389438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.812557844 meters 0.28699562669510587 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99985102e-01 -5.44473376e-03 -3.87510360e-04 2.97357348e+00] [ 5.44503055e-03 9.99984880e-01 7.69011171e-04 -1.04464485e-01] [ 3.83317440e-04 -7.71109720e-04 9.99999629e-01 5.57941299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84255784400005 meters 0.2868832694465997 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.11, Z:0.56 [[ 9.99985617e-01 -5.35903820e-03 -2.17470572e-04 2.97310128e+00] [ 5.35925363e-03 9.99985137e-01 1.00243777e-03 -1.05420711e-01] [ 2.12095238e-04 -1.00358883e-03 9.99999474e-01 5.58055646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.872557844 meters 0.2867783909736815 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.11, Z:0.56 [[ 9.99986281e-01 -5.23809590e-03 1.79639607e-06 2.97256685e+00] [ 5.23808866e-03 9.99985364e-01 1.35444549e-03 -1.06837242e-01] [-8.89108512e-06 -1.35441749e-03 9.99999083e-01 5.58051899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90255784400006 meters 0.28674898415360256 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.11, Z:0.56 [[ 9.99986547e-01 -5.18704258e-03 4.29412776e-06 2.97258127e+00] [ 5.18703045e-03 9.99985441e-01 1.48749285e-03 -1.07393486e-01] [-1.20097540e-05 -1.48745057e-03 9.99998894e-01 5.58000162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93255784400003 meters 0.2861807237073146 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99995898e-01 2.77362637e-03 -7.15211563e-04 2.95288080e+00] [-2.77334524e-03 9.99996077e-01 3.93769801e-04 -1.10577618e-01] [ 7.16300927e-04 -3.91784657e-04 9.99999667e-01 5.56848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96255784400006 meters 0.2869669429002641 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99995933e-01 2.78472227e-03 -6.16566471e-04 2.95251293e+00] [-2.78446187e-03 9.99996034e-01 4.22788742e-04 -1.10687747e-01] [ 6.17741375e-04 -4.21070217e-04 9.99999721e-01 5.57130871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99255784400003 meters 0.28705390410753867 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99996137e-01 2.73181557e-03 -5.13685807e-04 2.95216157e+00] [-2.73166993e-03 9.99996229e-01 2.83996420e-04 -1.10090818e-01] [ 5.14459695e-04 -2.82592103e-04 9.99999828e-01 5.57368308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02255784400006 meters 0.2854725374541808 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99996315e-01 2.66147473e-03 -5.36027736e-04 2.95228420e+00] [-2.66141913e-03 9.99996453e-01 1.04410506e-04 -1.09347966e-01] [ 5.36303720e-04 -1.02983527e-04 9.99999851e-01 5.57232185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05255784400003 meters 0.2849656909493371 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:0.56 [[ 9.99996479e-01 2.58722620e-03 -5.89962381e-04 2.95257059e+00] [-2.58728007e-03 9.99996649e-01 -9.05583060e-05 -1.08545285e-01] [ 5.89726109e-04 9.20843851e-05 9.99999822e-01 5.56896287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08255784400006 meters 0.2869960325876887 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99983658e-01 -5.71400142e-03 -1.81523863e-04 2.97384160e+00] [ 5.71408110e-03 9.99983577e-01 4.41502719e-04 -1.04944679e-01] [ 1.78998135e-04 -4.42532746e-04 9.99999886e-01 5.57262418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11255784400004 meters 0.28606537807538973 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:0.56 [[ 9.99982637e-01 -5.89093105e-03 -1.49546266e-04 2.97373906e+00] [ 5.89092487e-03 9.99982647e-01 -4.17140819e-05 -1.02953586e-01] [ 1.49789406e-04 4.08323918e-05 9.99999988e-01 5.57304610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14255784400007 meters 0.2868969134695014 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:0.56 [[ 9.99994561e-01 2.80408405e-03 1.73653737e-03 2.99267451e+00] [-2.80144513e-03 9.99994920e-01 -1.52021642e-03 -1.02924750e-01] [-1.74079136e-03 1.51534333e-03 9.99997337e-01 5.58415861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17255784400004 meters 0.2862974904582636 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:0.56 [[ 9.99995003e-01 2.65223558e-03 1.72043133e-03 2.99269004e+00] [-2.64889764e-03 9.99994611e-01 -1.93956218e-03 -1.01210120e-01] [-1.72556624e-03 1.93499525e-03 9.99996639e-01 5.58499948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20255784400007 meters 0.2866729648700431 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:0.56 [[ 9.99995622e-01 2.46351021e-03 1.63934481e-03 2.99302071e+00] [-2.45945908e-03 9.99993928e-01 -2.46863669e-03 -9.90579893e-02] [-1.64541637e-03 2.46459398e-03 9.99995609e-01 5.58226376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23255784400004 meters 0.2855270268419345 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:0.56 [[ 9.99996234e-01 2.29237530e-03 1.50890746e-03 2.99352803e+00] [-2.28790928e-03 9.99993017e-01 -2.95486883e-03 -9.70860990e-02] [-1.51567060e-03 2.95140546e-03 9.99994496e-01 5.57808607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26255784400007 meters 0.28524368174262893 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.09, Z:0.56 [[ 9.99997407e-01 1.98165184e-03 1.12205767e-03 2.99497176e+00] [-1.97707740e-03 9.99989790e-01 -4.06336137e-03 -9.25800499e-02] [-1.13009838e-03 4.06113244e-03 9.99991115e-01 5.56601145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29255784400004 meters 0.28585974147836857 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:0.56 [[ 9.99997821e-01 1.80910518e-03 1.04142631e-03 2.99530200e+00] [-1.80434491e-03 9.99988003e-01 -4.55385632e-03 -9.05939161e-02] [-1.04965222e-03 4.55196730e-03 9.99989089e-01 5.56329513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3225578440001 meters 0.285938472929492 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:0.56 [[ 9.99998160e-01 1.64350698e-03 9.88920920e-04 2.99551196e+00] [-1.63852806e-03 9.99986084e-01 -5.01461775e-03 -8.87170184e-02] [-9.97148718e-04 5.01298815e-03 9.99986938e-01 5.56174003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35255784400005 meters 0.28619317174293546 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:0.56 [[ 9.99998502e-01 1.47300960e-03 9.09219507e-04 2.99571521e+00] [-1.46799766e-03 9.99983860e-01 -5.48863066e-03 -8.67886119e-02] [-9.17289637e-04 5.48728770e-03 9.99984524e-01 5.56196464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3825578440001 meters 0.28631135924063367 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:0.56 [[ 9.99999007e-01 1.20607413e-03 7.29638349e-04 2.99620771e+00] [-1.20140879e-03 9.99979047e-01 -6.36104428e-03 -8.33424636e-02] [-7.37294952e-04 6.36016137e-03 9.99979502e-01 5.56119615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41255784400005 meters 0.28710422350424636 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:0.56 [[ 9.99999173e-01 1.09657733e-03 6.71953806e-04 2.99639996e+00] [-1.09207675e-03 9.99977213e-01 -6.66191058e-03 -8.21274023e-02] [-6.79243794e-04 6.66117124e-03 9.99977583e-01 5.56024199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4425578440001 meters 0.286823583861631 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.08, Z:0.56 [[ 9.99999315e-01 9.78427236e-04 6.42135679e-04 2.99654801e+00] [-9.73923524e-04 9.99975187e-01 -6.97687538e-03 -8.08384286e-02] [-6.48946110e-04 6.97624521e-03 9.99975455e-01 5.55877777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47255784400005 meters 0.28585590692166224 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99984842e-01 -5.44768548e-03 -7.98668985e-04 2.97400567e+00] [ 5.44454818e-03 9.99977655e-01 -3.87908132e-03 -7.91427755e-02] [ 8.19783153e-04 3.87467413e-03 9.99992157e-01 5.57397475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5025578440001 meters 0.2857348986774308 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999126e-01 -1.11288937e-03 -7.13757644e-04 2.97355408e+00] [ 1.11319503e-03 9.99999289e-01 4.27987780e-04 -7.90781612e-02] [ 7.13280834e-04 -4.28781957e-04 9.99999654e-01 5.57853482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53255784400005 meters 0.2872305794487574 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999150e-01 -1.10310014e-03 -6.95220778e-04 2.97344814e+00] [ 1.10341416e-03 9.99999289e-01 4.51468401e-04 -7.91741473e-02] [ 6.94722269e-04 -4.52235133e-04 9.99999656e-01 5.57984738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters 0.2872185385820431 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999312e-01 -9.78716931e-04 -6.47294715e-04 2.97331024e+00] [ 9.79210115e-04 9.99999230e-01 7.62037471e-04 -8.04764691e-02] [ 6.46548398e-04 -7.62670784e-04 9.99999500e-01 5.58003086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59255784400005 meters 0.2857088968160816 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999325e-01 -9.74542692e-04 -6.33223814e-04 2.97329138e+00] [ 9.75032596e-04 9.99999225e-01 7.73817981e-04 -8.05243082e-02] [ 6.32469205e-04 -7.74434872e-04 9.99999500e-01 5.57964680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters 0.2857088968160816 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999325e-01 -9.74542692e-04 -6.33223814e-04 2.97329138e+00] [ 9.75032596e-04 9.99999225e-01 7.73817981e-04 -8.05243082e-02] [ 6.32469205e-04 -7.74434872e-04 9.99999500e-01 5.57964680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65255784400006 meters 0.2873212593322933 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.08, Z:0.56 [[ 9.99999294e-01 -1.01315303e-03 -6.21424025e-04 2.97328605e+00] [ 1.01357037e-03 9.99999261e-01 6.71633782e-04 -8.01038649e-02] [ 6.20743098e-04 -6.72263165e-04 9.99999581e-01 5.57906700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters 0.2857554163867509 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.08, Z:0.56 [[ 9.99971986e-01 7.20997909e-03 -2.01071907e-03 2.95212812e+00] [-7.21018988e-03 9.99974001e-01 -9.76068315e-05 -8.11295814e-02] [ 2.00996306e-03 1.12101763e-04 9.99997974e-01 5.57532547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71255784400006 meters 0.2871004199076036 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99993696e-01 -9.82141968e-04 -3.41210525e-03 2.97359574e+00] [ 9.83991319e-04 9.99999370e-01 5.40360355e-04 -7.49449548e-02] [ 3.41157239e-03 -5.43714431e-04 9.99994033e-01 5.58303523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters 0.2871329259324511 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99993166e-01 -1.11893924e-03 -3.52364082e-03 2.97397651e+00] [ 1.11949169e-03 9.99999361e-01 1.54814305e-04 -7.33817639e-02] [ 3.52346535e-03 -1.58757933e-04 9.99993780e-01 5.58044383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77255784400006 meters 0.2875206246281646 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99992788e-01 -1.22462225e-03 -3.59510203e-03 2.97420903e+00] [ 1.22411827e-03 9.99999241e-01 -1.42382079e-04 -7.21787949e-02] [ 3.59527366e-03 1.37980222e-04 9.99993527e-01 5.57915291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters 0.2868137136713422 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99992743e-01 -1.34362844e-03 -3.56501294e-03 2.97409082e+00] [ 1.34198148e-03 9.99998992e-01 -4.64330399e-04 -7.08571139e-02] [ 3.56563324e-03 4.59542848e-04 9.99993538e-01 5.58012136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83255784400006 meters 0.2871779106137237 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99989929e-01 2.86641190e-03 -3.45328809e-03 2.97365687e+00] [-2.85449147e-03 9.99989968e-01 3.45190366e-03 -6.91839663e-02] [ 3.46314803e-03 -3.44201151e-03 9.99988080e-01 5.58426616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters 0.2873261442603758 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99990389e-01 2.77667029e-03 -3.39295352e-03 2.97344306e+00] [-2.76573433e-03 9.99990980e-01 3.22359171e-03 -6.82249428e-02] [ 3.40187377e-03 -3.21417672e-03 9.99989048e-01 5.58550431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89255784400007 meters 0.2877858103168477 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99990667e-01 2.69744592e-03 -3.37499429e-03 2.97336771e+00] [-2.68726881e-03 9.99991840e-01 3.01635378e-03 -6.73665169e-02] [ 3.38310320e-03 -3.00725611e-03 9.99989755e-01 5.58618377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92255784400004 meters 0.28705717866438474 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99990784e-01 2.62460909e-03 -3.39759052e-03 2.97342356e+00] [-2.61501169e-03 9.99992587e-01 2.82613458e-03 -6.65843149e-02] [ 3.40498283e-03 -2.81722379e-03 9.99990235e-01 5.58619638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95255784400007 meters 0.2864288209911416 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99990884e-01 2.57657484e-03 -3.40493726e-03 2.97346773e+00] [-2.56739073e-03 9.99993062e-01 2.69891589e-03 -6.60624478e-02] [ 3.41186760e-03 -2.69014948e-03 9.99990561e-01 5.58562723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98255784400004 meters 0.28812906883110073 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99990944e-01 2.54515988e-03 -3.41096001e-03 2.97343420e+00] [-2.53624100e-03 9.99993361e-01 2.61654890e-03 -6.57171393e-02] [ 3.41759690e-03 -2.60787419e-03 9.99990759e-01 5.58672469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01255784400007 meters 0.2867769253301653 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99991245e-01 2.57643003e-03 -3.29736127e-03 2.97300979e+00] [-2.56751769e-03 9.99993047e-01 2.70425539e-03 -6.60510140e-02] [ 3.30430567e-03 -2.69576568e-03 9.99990907e-01 5.59038291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04255784400004 meters 0.28668382183643876 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99991239e-01 2.63835579e-03 -3.24981168e-03 2.97283030e+00] [-2.62903337e-03 9.99992427e-01 2.86954493e-03 -6.67237697e-02] [ 3.25735795e-03 -2.86097592e-03 9.99990602e-01 5.59175061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0725578440001 meters 0.2878776218140932 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.07, Z:0.56 [[ 9.99991197e-01 2.68939061e-03 -3.22082973e-03 2.97274776e+00] [-2.67971543e-03 9.99991896e-01 3.00449506e-03 -6.72790119e-02] [ 3.22888389e-03 -2.99583770e-03 9.99990300e-01 5.59190523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10255784400005 meters 0.28471551172298143 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99996935e-01 1.31757613e-03 -2.09597026e-03 2.93315353e+00] [-1.31212079e-03 9.99995754e-01 2.60202730e-03 -6.69412257e-02] [ 2.09938973e-03 -2.59926916e-03 9.99994418e-01 5.55985150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1325578440001 meters 0.28579361689052873 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99996868e-01 1.32457750e-03 -2.12364669e-03 2.93326577e+00] [-1.31900686e-03 9.99995692e-01 2.62240688e-03 -6.70260938e-02] [ 2.12711112e-03 -2.61959756e-03 9.99994307e-01 5.55884412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16255784400005 meters 0.2861870645954597 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99996960e-01 1.32111318e-03 -2.08209383e-03 2.93319580e+00] [-1.31566866e-03 9.99995718e-01 2.61412851e-03 -6.69911832e-02] [ 2.08553847e-03 -2.61138122e-03 9.99994416e-01 5.55806063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1925578440001 meters 0.28643817701948066 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99996854e-01 1.31771946e-03 -2.13424919e-03 2.93323010e+00] [-1.31215467e-03 9.99995742e-01 2.60668258e-03 -6.69559366e-02] [ 2.13767498e-03 -2.60387391e-03 9.99994325e-01 5.56020574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22255784400005 meters 0.28897179202152595 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99996725e-01 1.33886044e-03 -2.18128906e-03 2.93337342e+00] [-1.33305207e-03 9.99995568e-01 2.66209755e-03 -6.71864008e-02] [ 2.18484357e-03 -2.65918106e-03 9.99994078e-01 5.55969967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2525578440001 meters 0.28597086764690194 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99964785e-01 6.43066313e-03 -5.39212552e-03 2.91200547e+00] [-6.43499958e-03 9.99978985e-01 -7.87255216e-04 -6.60005273e-02] [ 5.38694963e-03 8.21925818e-04 9.99985152e-01 5.57221758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28255784400005 meters 0.2872916267461615 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99986839e-01 -1.76437808e-03 -4.81755128e-03 2.93232069e+00] [ 1.76578921e-03 9.99998399e-01 2.88676518e-04 -6.35899684e-02] [ 4.81703424e-03 -2.97179499e-04 9.99988354e-01 5.58039477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.312557844 meters 0.28740664320564613 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99986839e-01 -1.61828687e-03 -4.86860018e-03 2.93232862e+00] [ 1.62143759e-03 9.99998479e-01 6.43275127e-04 -6.50594786e-02] [ 4.86755177e-03 -6.51160792e-04 9.99987941e-01 5.58303135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34255784400005 meters 0.2874365864521255 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99987124e-01 -1.57798890e-03 -4.82308143e-03 2.93215747e+00] [ 1.58160414e-03 9.99998471e-01 7.45848543e-04 -6.54816993e-02] [ 4.82189711e-03 -7.53467145e-04 9.99988091e-01 5.58425057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.372557844 meters 0.28563468471668346 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99965925e-01 4.74545153e-03 -6.75494307e-03 2.91098747e+00] [-4.75778184e-03 9.99987043e-01 -1.81047833e-03 -6.73684324e-02] [ 6.74626400e-03 1.84255518e-03 9.99975546e-01 5.59095196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40255784400006 meters 0.2864037655183785 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99982984e-01 -2.95589032e-03 -5.02929146e-03 2.92984358e+00] [ 2.95398806e-03 9.99995563e-01 -3.85623724e-04 -6.46648789e-02] [ 5.03040900e-03 3.70760695e-04 9.99987279e-01 5.60475555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43255784400003 meters 0.2863307170387912 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99983534e-01 -2.79195358e-03 -5.01364477e-03 2.92977917e+00] [ 2.79209158e-03 9.99996102e-01 2.05254207e-05 -6.63525251e-02] [ 5.01356792e-03 -3.45236380e-05 9.99987431e-01 5.60533047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46255784400006 meters 0.286498471102353 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99983384e-01 -2.69154349e-03 -5.09772429e-03 2.93007991e+00] [ 2.69299382e-03 9.99996335e-01 2.77662340e-04 -6.74319247e-02] [ 5.09695827e-03 -2.91385867e-04 9.99986968e-01 5.60345769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49255784400003 meters 0.2870521642524091 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99983095e-01 -2.59501878e-03 -5.20334956e-03 2.93054311e+00] [ 2.59778980e-03 9.99996487e-01 5.25857157e-04 -6.84992803e-02] [ 5.20196667e-03 -5.39365476e-04 9.99986324e-01 5.59917654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52255784400006 meters 0.28633229629477785 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99965494e-01 5.03579978e-03 -6.60687520e-03 2.91197290e+00] [-5.04032476e-03 9.99987074e-01 -6.68417248e-04 -7.33510467e-02] [ 6.60342379e-03 7.01694980e-04 9.99977951e-01 5.58035858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55255784400003 meters 0.2862904004904986 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99964628e-01 5.15699048e-03 -6.64433619e-03 2.91196394e+00] [-5.15952556e-03 9.99986623e-01 -3.64455395e-04 -7.45967691e-02] [ 6.64236781e-03 3.98724126e-04 9.99977860e-01 5.58260474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58255784400006 meters 0.28648379944458496 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99965070e-01 5.17082451e-03 -6.56674563e-03 2.91166261e+00] [-5.17310102e-03 9.99986565e-01 -3.29734395e-04 -7.47232048e-02] [ 6.56495241e-03 3.63693316e-04 9.99978384e-01 5.58493774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61255784400004 meters 0.2854660276317156 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:0.56 [[ 9.99966795e-01 -3.70652349e-03 -7.25745012e-03 2.89183250e+00] [ 3.71308504e-03 9.99992710e-01 8.90847601e-04 -7.21667052e-02] [ 7.25409526e-03 -9.17765550e-04 9.99973268e-01 5.57505795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64255784400007 meters 0.28599293077400495 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99984168e-01 3.00787530e-03 -4.75576647e-03 2.91297473e+00] [-3.01715950e-03 9.99993554e-01 -1.94623185e-03 -7.28023545e-02] [ 4.74988180e-03 1.96054994e-03 9.99986797e-01 5.56302153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67255784400004 meters 0.2872588111680005 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99982938e-01 3.19063456e-03 -4.89331342e-03 2.91363720e+00] [-3.19786908e-03 9.99993804e-01 -1.47133828e-03 -7.48651669e-02] [ 4.88858860e-03 1.48696135e-03 9.99986945e-01 5.55571152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70255784400007 meters 0.2866129073890807 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.56 [[ 9.99982424e-01 3.25988624e-03 -4.95234020e-03 2.91391456e+00] [-3.26631150e-03 9.99993834e-01 -1.28988683e-03 -7.56327559e-02] [ 4.94810478e-03 1.30604005e-03 9.99986905e-01 5.55280434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73255784400004 meters 0.28666885668621755 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.56 [[ 9.99982360e-01 3.28958424e-03 -4.94554170e-03 2.91390496e+00] [-3.29561460e-03 9.99993835e-01 -1.21169918e-03 -7.59532581e-02] [ 4.94152522e-03 1.22797640e-03 9.99987037e-01 5.55262779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76255784400007 meters 0.28607686494623985 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.56 [[ 9.99982631e-01 3.31897015e-03 -4.87054018e-03 2.91358837e+00] [-3.32453906e-03 9.99993829e-01 -1.13573501e-03 -7.62530602e-02] [ 4.86674065e-03 1.15190759e-03 9.99987494e-01 5.55554541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79255784400004 meters 0.2854602987242385 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.56 [[ 9.99983074e-01 3.33532159e-03 -4.76722297e-03 2.91317293e+00] [-3.34056346e-03 9.99993824e-01 -1.09202617e-03 -7.64078469e-02] [ 4.76355127e-03 1.10793290e-03 9.99988040e-01 5.55923401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8225578440001 meters 0.2877695896512315 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.08, Z:0.55 [[ 9.99994255e-01 -1.83534377e-03 -2.84991967e-03 2.93656376e+00] [ 1.84124184e-03 9.99996166e-01 2.06831435e-03 -7.54973653e-02] [ 2.84611268e-03 -2.07354986e-03 9.99993800e-01 5.54211534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85255784400005 meters 0.28743664756294096 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993899e-01 -1.91107091e-03 -2.92405814e-03 2.93689087e+00] [ 1.91650265e-03 9.99996441e-01 1.85592957e-03 -7.46387719e-02] [ 2.92050092e-03 -1.86152221e-03 9.99994003e-01 5.53855195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8825578440001 meters 0.28713787167942745 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993676e-01 -1.97611457e-03 -2.95682185e-03 2.93711466e+00] [ 1.98105532e-03 9.99996645e-01 1.66897284e-03 -7.38910941e-02] [ 2.95351385e-03 -1.67481991e-03 9.99994236e-01 5.53490299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91255784400005 meters 0.28588190551251474 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993741e-01 -2.10869607e-03 -2.84096338e-03 2.93682383e+00] [ 2.11218696e-03 9.99997017e-01 1.22633092e-03 -7.21672563e-02] [ 2.83836894e-03 -1.23232390e-03 9.99995213e-01 5.53504092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9425578440001 meters 0.2867080480699938 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993766e-01 -2.20559011e-03 -2.75751399e-03 2.93656290e+00] [ 2.20819651e-03 9.99997118e-01 9.42512871e-04 -7.10066900e-02] [ 2.75542724e-03 -9.48596128e-04 9.99995754e-01 5.53622401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97255784400005 meters 0.2864522470892409 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99993566e-01 -2.34618162e-03 -2.71365309e-03 2.93654296e+00] [ 2.34766030e-03 9.99997097e-01 5.41845086e-04 -6.93933360e-02] [ 2.71237394e-03 -5.48212335e-04 9.99996171e-01 5.53388627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0025578440001 meters 0.2869827490693233 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99992991e-01 -2.46881505e-03 -2.81484013e-03 2.93697459e+00] [ 2.46939611e-03 9.99996930e-01 2.02968419e-04 -6.80150844e-02] [ 2.81433040e-03 -2.09917952e-04 9.99996018e-01 5.52948896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03255784400005 meters 0.28833912035335746 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99992579e-01 -2.58708375e-03 -2.85477310e-03 2.93741867e+00] [ 2.58674564e-03 9.99996647e-01 -1.22120240e-04 -6.66620158e-02] [ 2.85507946e-03 1.14734762e-04 9.99995918e-01 5.52077590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.062557844 meters 0.2885515314786107 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.55 [[ 9.99992455e-01 -2.59215183e-03 -2.89327375e-03 2.93758528e+00] [ 2.59176814e-03 9.99996632e-01 -1.36355109e-04 -6.66225471e-02] [ 2.89361745e-03 1.28855386e-04 9.99995805e-01 5.51923580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09255784400005 meters 0.28707250050293165 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.55 [[ 9.99987264e-01 2.41807454e-03 -4.42990025e-03 2.91407598e+00] [-2.43439900e-03 9.99990253e-01 -3.68338391e-03 -6.74448183e-02] [ 4.42095038e-03 3.69412114e-03 9.99983404e-01 5.53365219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters 0.2874058935862594 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99978769e-01 -5.30675768e-03 -3.78157008e-03 2.93387850e+00] [ 5.29747666e-03 9.99982942e-01 -2.46007956e-03 -6.40917633e-02] [ 3.79456062e-03 2.43999455e-03 9.99989824e-01 5.55175872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15255784400006 meters 0.28624078008339704 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99979095e-01 -5.25398338e-03 -3.76899604e-03 2.93377964e+00] [ 5.24524603e-03 9.99983542e-01 -2.32436704e-03 -6.46526039e-02] [ 3.78114620e-03 2.30454914e-03 9.99990196e-01 5.55337915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters 0.2887788123921773 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99979511e-01 -5.21704062e-03 -3.70948950e-03 2.93365743e+00] [ 5.20878880e-03 9.99983946e-01 -2.23070844e-03 -6.50411274e-02] [ 3.72106765e-03 2.21134079e-03 9.99990632e-01 5.55280371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21255784400006 meters 0.2866619885509357 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99979947e-01 -5.14014706e-03 -3.69914645e-03 2.93367432e+00] [ 5.13264826e-03 9.99984760e-01 -2.03381532e-03 -6.58694446e-02] [ 3.70954418e-03 2.01478812e-03 9.99991090e-01 5.55191063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters 0.2873568358588142 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99980328e-01 -5.06727727e-03 -3.69681517e-03 2.93368542e+00] [ 5.06047282e-03 9.99985489e-01 -1.84766189e-03 -6.66465308e-02] [ 3.70612414e-03 1.82891791e-03 9.99991460e-01 5.55169441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27255784400006 meters 0.28742058146902655 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99980787e-01 -4.94169607e-03 -3.74246505e-03 2.93369523e+00] [ 4.93602159e-03 9.99986657e-01 -1.52396308e-03 -6.79861225e-02] [ 3.74994608e-03 1.50546091e-03 9.99991836e-01 5.55435729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters 0.28835260645772304 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:0.56 [[ 9.99989096e-01 3.76932585e-03 -2.75689150e-03 2.95376509e+00] [-3.77688288e-03 9.99989111e-01 -2.74109047e-03 -7.07802117e-02] [ 2.74652942e-03 2.75147304e-03 9.99992443e-01 5.56405222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33255784400006 meters 0.28718881942758523 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99975273e-01 -4.98342673e-03 -4.96177328e-03 2.93526512e+00] [ 4.97574058e-03 9.99986404e-01 -1.56021517e-03 -6.88860313e-02] [ 4.96948103e-03 1.53548809e-03 9.99986473e-01 5.55426982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters 0.287629568619444 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.07, Z:0.56 [[ 9.99975360e-01 -4.98743897e-03 -4.94004187e-03 2.93534024e+00] [ 4.97973956e-03 9.99986369e-01 -1.56964829e-03 -6.88595722e-02] [ 4.94780306e-03 1.54500949e-03 9.99986566e-01 5.55128491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39255784400007 meters 0.28688081926401204 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99976830e-01 -4.99818842e-03 -4.62147065e-03 2.93445400e+00] [ 4.99074932e-03 9.99986234e-01 -1.61981528e-03 -6.85829878e-02] [ 4.62950317e-03 1.59671315e-03 9.99988009e-01 5.55408874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42255784400004 meters 0.28792104456051937 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:0.56 [[ 9.99993383e-01 3.30334684e-03 -1.52358762e-03 2.95325842e+00] [-3.30792924e-03 9.99989984e-01 -3.01498625e-03 -6.84359631e-02] [ 1.51361281e-03 3.02000622e-03 9.99994294e-01 5.56024456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45255784400007 meters 0.2871978709630536 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99989554e-01 -3.43811478e-03 -3.01196054e-03 2.93078661e+00] [ 3.43848704e-03 9.99994081e-01 1.18425429e-04 -6.90999706e-02] [ 3.01153555e-03 -1.28780779e-04 9.99995457e-01 5.57353204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48255784400004 meters 0.2865949656260228 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99989787e-01 -3.47734117e-03 -2.88687263e-03 2.93050259e+00] [ 3.47739050e-03 9.99993954e-01 1.20703848e-05 -6.86545231e-02] [ 2.88681320e-03 -2.21090450e-05 9.99995833e-01 5.57267977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51255784400007 meters 0.28812160069558 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:0.56 [[ 9.99991979e-01 3.99442044e-03 -2.93076383e-04 2.95079635e+00] [-3.99514264e-03 9.99988878e-01 -2.50643577e-03 -6.68160791e-02] [ 2.83061366e-04 2.50758655e-03 9.99996816e-01 5.56580721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54255784400004 meters 0.28812160069558 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:0.56 [[ 9.99991979e-01 3.99442044e-03 -2.93076383e-04 2.95079635e+00] [-3.99514264e-03 9.99988878e-01 -2.50643577e-03 -6.68160791e-02] [ 2.83061366e-04 2.50758655e-03 9.99996816e-01 5.56580721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5725578440001 meters 0.28645267767721877 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99992417e-01 -2.67189846e-03 -2.83311615e-03 2.92912543e+00] [ 2.67316213e-03 9.99996329e-01 4.42344948e-04 -6.77409317e-02] [ 2.83192385e-03 -4.49914973e-04 9.99995889e-01 5.58116565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60255784400005 meters 0.2861057739386896 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99992502e-01 -2.70929582e-03 -2.76688682e-03 2.92896535e+00] [ 2.71025352e-03 9.99996269e-01 3.42439916e-04 -6.73247894e-02] [ 2.76594873e-03 -3.49936313e-04 9.99996114e-01 5.58093343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6325578440001 meters 0.28628014615027503 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99992585e-01 -2.72492597e-03 -2.72098340e-03 2.92884080e+00] [ 2.72575263e-03 9.99996240e-01 3.00147476e-04 -6.71447002e-02] [ 2.72015529e-03 -3.07561978e-04 9.99996253e-01 5.58110272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66255784400005 meters 0.28674328093985824 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99992704e-01 -2.77943497e-03 -2.62025432e-03 2.92863829e+00] [ 2.77985586e-03 9.99996124e-01 1.56998654e-04 -6.65434961e-02] [ 2.61980780e-03 -1.64281438e-04 9.99996555e-01 5.57980026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6925578440001 meters 0.28794976770746017 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99992456e-01 -2.79521158e-03 -2.69718895e-03 2.92890809e+00] [ 2.79553937e-03 9.99996086e-01 1.17765157e-04 -6.64018964e-02] [ 2.69684922e-03 -1.25304367e-04 9.99996356e-01 5.57809774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72255784400005 meters 0.2888362086502256 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99991938e-01 -2.82155946e-03 -2.85713692e-03 2.92949097e+00] [ 2.82172671e-03 9.99996017e-01 5.45088373e-05 -6.61802979e-02] [ 2.85697174e-03 -6.25704574e-05 9.99995917e-01 5.57395708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7525578440001 meters 0.287710292096143 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.07, Z:0.56 [[ 9.99991646e-01 -2.85369521e-03 -2.92664045e-03 2.92973441e+00] [ 2.85363621e-03 9.99995928e-01 -2.43349869e-05 -6.58651563e-02] [ 2.92669798e-03 1.59832164e-05 9.99995717e-01 5.57242869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78255784400005 meters 0.28687333872628545 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99991862e-01 -2.93875959e-03 -2.76408989e-03 2.92910011e+00] [ 2.93809047e-03 9.99995654e-01 -2.46106548e-04 -6.48595541e-02] [ 2.76480113e-03 2.37983399e-04 9.99996150e-01 5.57727331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.812557844 meters 0.2872807711154743 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99992113e-01 -2.95365299e-03 -2.65502618e-03 2.92865391e+00] [ 2.95289330e-03 9.99995598e-01 -2.90007605e-04 -6.46540271e-02] [ 2.65587107e-03 2.82165309e-04 9.99996433e-01 5.58110492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84255784400005 meters 0.2870188844153459 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99992304e-01 -2.95242353e-03 -2.58361205e-03 2.92832524e+00] [ 2.95168237e-03 9.99995602e-01 -2.90635007e-04 -6.46374495e-02] [ 2.58445876e-03 2.83006768e-04 9.99996620e-01 5.58432942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.872557844 meters 0.2870142491524799 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99991857e-01 -3.01410203e-03 -2.68345820e-03 2.92875098e+00] [ 3.01291811e-03 9.99995362e-01 -4.45125016e-04 -6.40287228e-02] [ 2.68478741e-03 4.37036352e-04 9.99996300e-01 5.58012241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90255784400006 meters 0.28724616065354425 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:0.56 [[ 9.99977957e-01 2.64985254e-03 -6.08805875e-03 2.90781522e+00] [-2.66961576e-03 9.99991186e-01 -3.24039610e-03 -6.33374430e-02] [ 6.07941852e-03 3.25657745e-03 9.99976217e-01 5.59030634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93255784400003 meters 0.28713210715137016 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:0.56 [[ 9.99977518e-01 2.59974598e-03 -6.18094413e-03 2.90820687e+00] [-2.62057656e-03 9.99990907e-01 -3.36442288e-03 -6.28347517e-02] [ 6.17214128e-03 3.38054488e-03 9.99975238e-01 5.58661140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96255784400006 meters 0.288526404757466 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99989600e-01 -2.52094632e-03 -3.80051398e-03 2.93035569e+00] [ 2.52146092e-03 9.99996813e-01 1.30618226e-04 -6.27769106e-02] [ 3.80017258e-03 -1.40199715e-04 9.99992769e-01 5.57425385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99255784400003 meters 0.28785338507156055 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99989804e-01 -2.55386997e-03 -3.72431978e-03 2.93003748e+00] [ 2.55404909e-03 9.99996737e-01 4.33397404e-05 -6.23898479e-02] [ 3.72419694e-03 -5.28513941e-05 9.99993064e-01 5.57691949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02255784400006 meters 0.28634307100083906 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.56 [[ 9.99975429e-01 4.96166793e-03 -4.95204549e-03 2.91108258e+00] [-4.96882651e-03 9.99986627e-01 -1.43432670e-03 -6.60953953e-02] [ 4.94486261e-03 1.45889731e-03 9.99986710e-01 5.55964013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05255784400003 meters 0.2876747845952623 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99986118e-01 -3.15750321e-03 -4.21839011e-03 2.93102312e+00] [ 3.15451305e-03 9.99994769e-01 -7.15304370e-04 -6.08210195e-02] [ 4.22062662e-03 7.01987473e-04 9.99990847e-01 5.56646582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08255784400006 meters 0.28679229537411205 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:0.55 [[ 9.99974834e-01 4.41955561e-03 -5.54964562e-03 2.91176996e+00] [-4.43171101e-03 9.99987804e-01 -2.17991779e-03 -6.39413195e-02] [ 5.53994366e-03 2.20445736e-03 9.99982225e-01 5.54963151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11255784400004 meters 0.28755997721037724 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.56 [[ 9.99981980e-01 -2.95840677e-03 -5.22365609e-03 2.93023581e+00] [ 2.95385414e-03 9.99995251e-01 -8.79040983e-04 -5.56728494e-02] [ 5.22623184e-03 8.63595224e-04 9.99985970e-01 5.56485736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14255784400007 meters 0.28854638658646264 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982170e-01 -3.10310051e-03 -5.10195519e-03 2.92998234e+00] [ 3.09666868e-03 9.99994401e-01 -1.26807697e-03 -5.40676260e-02] [ 5.10586160e-03 1.25225529e-03 9.99986181e-01 5.56329972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17255784400004 meters 0.2879839035529858 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982194e-01 -3.19086374e-03 -5.04273987e-03 2.92978267e+00] [ 3.18333222e-03 9.99993807e-01 -1.50085735e-03 -5.30903980e-02] [ 5.04749767e-03 1.48477791e-03 9.99986159e-01 5.56423116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20255784400007 meters 0.2869925059822106 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982538e-01 -3.34671328e-03 -4.87069313e-03 2.92922428e+00] [ 3.33732089e-03 9.99992559e-01 -1.93520022e-03 -5.12657992e-02] [ 4.87713345e-03 1.91891136e-03 9.99986266e-01 5.56695416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23255784400004 meters 0.2873041381746865 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982564e-01 -3.44552432e-03 -4.79580411e-03 2.92911094e+00] [ 3.43506710e-03 9.99991709e-01 -2.18702571e-03 -5.02276388e-02] [ 4.80329979e-03 2.17051367e-03 9.99986108e-01 5.56506214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26255784400007 meters 0.28879229202731194 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982436e-01 -3.54664558e-03 -4.74859924e-03 2.92910167e+00] [ 3.53510779e-03 9.99990785e-01 -2.43591909e-03 -4.91938703e-02] [ 4.75719482e-03 2.41908950e-03 9.99985758e-01 5.56247349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29255784400004 meters 0.28937701044588293 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.05, Z:0.56 [[ 9.99982404e-01 -3.65417916e-03 -4.67311850e-03 2.92891843e+00] [ 3.64160381e-03 9.99989733e-01 -2.69668108e-03 -4.80986103e-02] [ 4.68292468e-03 2.67961599e-03 9.99985445e-01 5.56195399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3225578440001 meters 0.2870378394679634 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.05, Z:0.56 [[ 0.99998062 0.00467095 -0.0041172 2.90728315] [-0.00468659 0.9999818 -0.00379821 -0.05007977] [ 0.00409939 0.00381743 0.99998431 0.55567078] [ 0. 0. 0. 1. ]] SLAMing on 367.35255784400005 meters 0.2874274688590494 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.05, Z:0.56 [[ 0.99998106 0.00456484 -0.00412847 2.90721041] [-0.00458162 0.99998124 -0.0040647 -0.04894988] [ 0.00410984 0.00408354 0.99998322 0.55588001] [ 0. 0. 0. 1. ]] SLAMing on 367.3825578440001 meters 0.28646782795136827 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.05, Z:0.56 [[ 0.99998165 0.00444416 -0.00411788 2.90718858] [-0.00446215 0.9999805 -0.00436852 -0.04768478] [ 0.00409838 0.00438682 0.99998198 0.55584977] [ 0. 0. 0. 1. ]] SLAMing on 367.41255784400005 meters 0.28575344877250175 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.05, Z:0.56 [[ 0.9999821 0.00437233 -0.00408439 2.90724029] [-0.00439091 0.99998 -0.00455269 -0.04693183] [ 0.0040644 0.00457055 0.9999813 0.55553376] [ 0. 0. 0. 1. ]] SLAMing on 367.4425578440001 meters 0.28718816034703465 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.04, Z:0.55 [[ 9.99995698e-01 -1.11751324e-03 -2.71213102e-03 2.93010295e+00] [ 1.11404196e-03 9.99998559e-01 -1.28108447e-03 -4.49481006e-02] [ 2.71355874e-03 1.27805753e-03 9.99995502e-01 5.53965978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47255784400005 meters 0.2877495455707616 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.04, Z:0.55 [[ 9.99995878e-01 -1.15847172e-03 -2.62723058e-03 2.93000493e+00] [ 1.15483137e-03 9.99998372e-01 -1.38671601e-03 -4.45123488e-02] [ 2.62883277e-03 1.38367628e-03 9.99995587e-01 5.53694093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5025578440001 meters 0.28719624212762984 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.04, Z:0.55 [[ 9.99996006e-01 -1.16477018e-03 -2.57510648e-03 2.92983725e+00] [ 1.16115463e-03 9.99998339e-01 -1.40509055e-03 -4.44288727e-02] [ 2.57673881e-03 1.40209484e-03 9.99995697e-01 5.53768022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53255784400005 meters 0.28768577559082037 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.04, Z:0.55 [[ 9.99996146e-01 -1.15420275e-03 -2.52496718e-03 2.92966070e+00] [ 1.15071879e-03 9.99998385e-01 -1.38082107e-03 -4.45251345e-02] [ 2.52655685e-03 1.37791022e-03 9.99995859e-01 5.53870323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters 0.2860858526966556 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:0.55 [[ 9.99997017e-01 -1.83735800e-03 -1.60961494e-03 2.89142011e+00] [ 1.83572022e-03 9.99997797e-01 -1.01838729e-03 -4.91428338e-02] [ 1.61148253e-03 1.01542944e-03 9.99998186e-01 5.50128297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59255784400005 meters 0.286775563059117 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:0.55 [[ 9.99997217e-01 -1.68361780e-03 -1.65267953e-03 2.89173871e+00] [ 1.68259100e-03 9.99998391e-01 -6.22492093e-04 -5.08527912e-02] [ 1.65372491e-03 6.19709577e-04 9.99998441e-01 5.49702049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters 0.2882626732140639 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:0.55 [[ 9.99997280e-01 -1.62532415e-03 -1.67278962e-03 2.89194693e+00] [ 1.62453439e-03 9.99998568e-01 -4.73374958e-04 -5.14917324e-02] [ 1.67355661e-03 4.70656166e-04 9.99998489e-01 5.49366457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65255784400006 meters 0.2872341115296576 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:0.55 [[ 9.99997402e-01 -1.55775933e-03 -1.66408233e-03 2.89197233e+00] [ 1.55725657e-03 9.99998741e-01 -3.03381051e-04 -5.22091568e-02] [ 1.66455283e-03 3.00788860e-04 9.99998569e-01 5.49275579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters 0.2871301049721096 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:0.55 [[ 9.99997427e-01 -1.44721838e-03 -1.74697430e-03 2.89220201e+00] [ 1.44717597e-03 9.99998953e-01 -2.55387147e-05 -5.33859440e-02] [ 1.74700943e-03 2.30104698e-05 9.99998474e-01 5.49268021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71255784400006 meters 0.2892096127036756 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.05, Z:0.55 [[ 9.99984164e-01 5.62636591e-03 1.28518349e-04 2.91398390e+00] [-5.62600249e-03 9.99980604e-01 -2.67188845e-03 -5.34673114e-02] [-1.43548878e-04 2.67112310e-03 9.99996422e-01 5.48119417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters 0.2872802525204013 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.05, Z:0.55 [[ 9.99993900e-01 -2.70333600e-03 -2.21158722e-03 2.89541448e+00] [ 2.70088463e-03 9.99995736e-01 -1.11065656e-03 -5.28003186e-02] [ 2.21458027e-03 1.10467655e-03 9.99996938e-01 5.46986284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77255784400006 meters 0.2876867657123358 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.05, Z:0.55 [[ 9.99994298e-01 -2.52217507e-03 -2.24566971e-03 2.89562856e+00] [ 2.52073586e-03 9.99996616e-01 -6.43481419e-04 -5.47784261e-02] [ 2.24728509e-03 6.37817009e-04 9.99997271e-01 5.46749257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters 0.2876465273020895 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.55 [[ 9.99994689e-01 -2.39886603e-03 -2.20631069e-03 2.89545576e+00] [ 2.39814750e-03 9.99997071e-01 -3.28258465e-04 -5.60914364e-02] [ 2.20709167e-03 3.22965663e-04 9.99997512e-01 5.46938109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83255784400006 meters 0.2876020799190886 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.55 [[ 9.99995085e-01 -2.25481723e-03 -2.17851552e-03 2.89527598e+00] [ 2.25492209e-03 9.99997457e-01 4.56816997e-05 -5.76482414e-02] [ 2.17840697e-03 -5.05938580e-05 9.99997626e-01 5.47207986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters 0.28716532416385576 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.55 [[ 9.99995461e-01 -2.13269790e-03 -2.12834686e-03 2.89507296e+00] [ 2.13346746e-03 9.99997660e-01 3.59368292e-04 -5.89499606e-02] [ 2.12757545e-03 -3.63907420e-04 9.99997670e-01 5.47400546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89255784400007 meters 0.2894889665707096 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.55 [[ 9.99995559e-01 -1.89262844e-03 -2.30227626e-03 2.89562057e+00] [ 1.89497825e-03 9.99997685e-01 1.01889503e-03 -6.17421759e-02] [ 2.30034254e-03 -1.02325327e-03 9.99996831e-01 5.47213163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92255784400004 meters 0.2872744224351562 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.54 [[ 9.99993991e-01 -2.49112953e-03 -2.41084896e-03 2.85846658e+00] [ 2.49508214e-03 9.99995546e-01 1.63789416e-03 -6.67774016e-02] [ 2.40675802e-03 -1.64389958e-03 9.99995753e-01 5.43359779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95255784400007 meters 0.2880698567776462 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.54 [[ 9.99977269e-01 6.53533732e-03 -1.65862763e-03 2.87918820e+00] [-6.53395825e-03 9.99978304e-01 8.35509807e-04 -7.01937524e-02] [ 1.66405198e-03 -8.24653411e-04 9.99998275e-01 5.43759125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98255784400004 meters 0.2883752002581703 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998857e-01 -1.23747008e-03 -8.69263425e-04 2.89841588e+00] [ 1.23939449e-03 9.99996775e-01 2.21679860e-03 -6.63670737e-02] [ 8.66517400e-04 -2.21787342e-03 9.99997165e-01 5.45107932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01255784400007 meters 0.2890004286884311 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99999024e-01 -1.14745710e-03 -7.97698977e-04 2.89805887e+00] [ 1.14939956e-03 9.99996365e-01 2.43890404e-03 -6.72855070e-02] [ 7.94897540e-04 -2.43981853e-03 9.99996708e-01 5.45509950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04255784400004 meters 0.2869827754877238 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.55 [[ 9.99988043e-01 4.17794415e-03 -2.54153836e-03 2.87593429e+00] [-4.18052287e-03 9.99990751e-01 -1.01016298e-03 -6.87817703e-02] [ 2.53729445e-03 1.02077586e-03 9.99996260e-01 5.46492069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0725578440001 meters 0.2879470935714824 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99998474e-01 -1.73837745e-03 -1.73696291e-04 2.89763721e+00] [ 1.73868844e-03 9.99996856e-01 1.80664463e-03 -6.77215564e-02] [ 1.70555114e-04 -1.80694388e-03 9.99998353e-01 5.44770711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10255784400005 meters 0.28784704091266133 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99998398e-01 -1.78720013e-03 -1.01229693e-04 2.89758728e+00] [ 1.78736799e-03 9.99996986e-01 1.68311515e-03 -6.72098339e-02] [ 9.82213239e-05 -1.68329339e-03 9.99998578e-01 5.44458735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1325578440001 meters 0.28801302884994745 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99998370e-01 -1.80526408e-03 3.11680150e-05 2.89712484e+00] [ 1.80521079e-03 9.99997038e-01 1.63248323e-03 -6.69667493e-02] [-3.41149860e-05 -1.63242431e-03 9.99998667e-01 5.44750386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16255784400005 meters 0.2869221564274413 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998402e-01 -1.78449240e-03 1.04860286e-04 2.89673539e+00] [ 1.78431326e-03 9.99996990e-01 1.68439132e-03 -6.71608104e-02] [-1.07865754e-04 -1.68420153e-03 9.99998576e-01 5.45223339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1925578440001 meters 0.2891607932262093 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.55 [[ 9.99998990e-01 -1.07050834e-03 -9.34475815e-04 2.93461046e+00] [ 1.07159797e-03 9.99998746e-01 1.16631787e-03 -6.38564737e-02] [ 9.33226090e-04 -1.16731807e-03 9.99998883e-01 5.49362075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22255784400005 meters 0.2864813250464053 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998285e-01 -1.84239880e-03 -1.87772558e-04 2.89709682e+00] [ 1.84273244e-03 9.99996696e-01 1.79237673e-03 -6.77876910e-02] [ 1.84469665e-04 -1.79271967e-03 9.99998376e-01 5.45474458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2525578440001 meters 0.2870697934594592 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998371e-01 -1.73572166e-03 -4.94539287e-04 2.89789741e+00] [ 1.73677914e-03 9.99996189e-01 2.14596491e-03 -6.92566183e-02] [ 4.90812605e-04 -2.14682032e-03 9.99997575e-01 5.45387525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28255784400005 meters 0.2873723359663337 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998544e-01 -1.61356075e-03 -5.55811587e-04 2.89802792e+00] [ 1.61493754e-03 9.99995607e-01 2.48561503e-03 -7.06565538e-02] [ 5.51798454e-04 -2.48650901e-03 9.99996756e-01 5.45468917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.312557844 meters 0.2876976404687459 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.55 [[ 9.99998785e-01 -1.47930572e-03 -4.90766882e-04 2.89779305e+00] [ 1.48070318e-03 9.99994815e-01 2.85945701e-03 -7.21878734e-02] [ 4.86534327e-04 -2.86018022e-03 9.99995791e-01 5.45671432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34255784400005 meters 0.286395170947475 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.08, Z:0.55 [[ 9.99999194e-01 -1.19509653e-03 -4.28166552e-04 2.89758675e+00] [ 1.19667304e-03 9.99992436e-01 3.70086710e-03 -7.56205547e-02] [ 4.23740420e-04 -3.70137649e-03 9.99993060e-01 5.45820130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.372557844 meters 0.287927784294593 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:0.54 [[ 9.99984544e-01 5.50306755e-03 7.92808691e-04 2.92044063e+00] [-5.50359636e-03 9.99984633e-01 6.66383706e-04 -7.68596228e-02] [-7.89129353e-04 -6.70736705e-04 9.99999464e-01 5.44232098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40255784400006 meters 0.28667488134378283 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.08, Z:0.54 [[ 9.99993549e-01 -3.02854995e-03 -1.93150391e-03 2.90189518e+00] [ 3.03271920e-03 9.99993070e-01 2.15928849e-03 -7.72823843e-02] [ 1.92495101e-03 -2.16513227e-03 9.99995803e-01 5.43396148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43255784400003 meters 0.28667488134378283 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.08, Z:0.54 [[ 9.99993549e-01 -3.02854995e-03 -1.93150391e-03 2.90189518e+00] [ 3.03271920e-03 9.99993070e-01 2.15928849e-03 -7.72823843e-02] [ 1.92495101e-03 -2.16513227e-03 9.99995803e-01 5.43396148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46255784400006 meters 0.2891147775028168 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:0.54 [[ 9.99993114e-01 3.68810980e-03 -4.12520204e-04 2.92492490e+00] [-3.68845809e-03 9.99992839e-01 -8.46732510e-04 -7.73150055e-02] [ 4.09394407e-04 8.48248242e-04 9.99999556e-01 5.41637928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49255784400003 meters 0.2868190581021834 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:0.54 [[ 9.99987664e-01 2.76695987e-03 -4.12496201e-03 2.88306864e+00] [-2.76958187e-03 9.99995966e-01 -6.30066685e-04 -8.13944180e-02] [ 4.12320200e-03 6.41483333e-04 9.99991294e-01 5.41935425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52255784400006 meters 0.28868157682313883 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.54 [[ 9.99994981e-01 -2.19766209e-03 -2.28227551e-03 2.90668620e+00] [ 2.20427289e-03 9.99993371e-01 2.89811828e-03 -8.13534318e-02] [ 2.27589130e-03 -2.90313449e-03 9.99993196e-01 5.39996699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55255784400003 meters 0.2883577781484035 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99979980e-01 5.84046110e-03 -2.43506180e-03 2.88556310e+00] [-5.83533736e-03 9.99980757e-01 2.10597373e-03 -8.51496341e-02] [ 2.44731480e-03 -2.09172216e-03 9.99994818e-01 5.39022311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58255784400006 meters 0.2876650383398897 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.08, Z:0.54 [[ 9.99980456e-01 5.80091329e-03 -2.33167557e-03 2.88524768e+00] [-5.79625240e-03 9.99981200e-01 2.00075901e-03 -8.46872198e-02] [ 2.34323797e-03 -1.98720493e-03 9.99995280e-01 5.39160697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61255784400004 meters 0.28874246395062053 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:0.54 [[ 9.99973545e-01 6.77409994e-03 -2.64960703e-03 2.92383402e+00] [-6.77111685e-03 9.99976434e-01 1.13321642e-03 -7.87199342e-02] [ 2.65722111e-03 -1.11524564e-03 9.99995848e-01 5.42102420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64255784400007 meters 0.2885635783264439 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99990647e-01 -2.36046757e-03 -3.62419238e-03 2.90474786e+00] [ 2.36776103e-03 9.99995178e-01 2.00946718e-03 -7.43573456e-02] [ 3.61943163e-03 -2.01802960e-03 9.99991414e-01 5.40815537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67255784400004 meters 0.2885305931494461 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99990749e-01 -2.49016896e-03 -3.50724166e-03 2.90448993e+00] [ 2.49594269e-03 9.99995536e-01 1.64281506e-03 -7.28447507e-02] [ 3.50313512e-03 -1.65155374e-03 9.99992500e-01 5.40692785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70255784400007 meters 0.28855566873562194 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99990970e-01 -2.63415205e-03 -3.33488666e-03 2.90412540e+00] [ 2.63831486e-03 9.99995745e-01 1.24447801e-03 -7.11917726e-02] [ 3.33159432e-03 -1.25326525e-03 9.99993665e-01 5.40486784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73255784400004 meters 0.28979043494519463 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:0.54 [[ 9.99990355e-01 -2.91459975e-03 -3.28551636e-03 2.90408888e+00] [ 2.91625319e-03 9.99995623e-01 4.98572458e-04 -6.80869557e-02] [ 3.28404884e-03 -5.08149047e-04 9.99994478e-01 5.40215699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76255784400007 meters 0.2904635566855376 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.54 [[ 9.99977920e-01 4.90726313e-03 -4.48098533e-03 2.88436365e+00] [-4.91096969e-03 9.99987608e-01 -8.16548016e-04 -7.05812345e-02] [ 4.47692278e-03 8.38535970e-04 9.99989627e-01 5.39359795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79255784400004 meters 0.29117338896471684 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.54 [[ 9.99978787e-01 4.74527461e-03 -4.46175165e-03 2.88428252e+00] [-4.75073139e-03 9.99987979e-01 -1.21321149e-03 -6.88949468e-02] [ 4.45594099e-03 1.23438234e-03 9.99989310e-01 5.39408614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8225578440001 meters 0.29026774932420224 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:0.54 [[ 9.99980162e-01 -3.83504849e-03 -4.99678336e-03 2.86418448e+00] [ 3.83473705e-03 9.99992645e-01 -7.19072631e-05 -6.41649517e-02] [ 4.99702238e-03 5.27444863e-05 9.99987513e-01 5.37915171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85255784400005 meters 0.2887540644306013 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:0.54 [[ 9.99980249e-01 -3.84848861e-03 -4.96890162e-03 2.86400946e+00] [ 3.84797956e-03 9.99992590e-01 -1.12003202e-04 -6.39871485e-02] [ 4.96929584e-03 9.28807583e-05 9.99987649e-01 5.38160398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8825578440001 meters 0.2897886148714231 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.54 [[ 9.99983173e-01 4.96977679e-03 -2.99259425e-03 2.88289887e+00] [-4.97339305e-03 9.99986910e-01 -1.20217653e-03 -6.66895509e-02] [ 2.98658053e-03 1.21703965e-03 9.99994800e-01 5.38967201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91255784400005 meters 0.28878984098590904 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:0.54 [[ 9.99982914e-01 4.99733731e-03 -3.03291411e-03 2.88291811e+00] [-5.00077168e-03 9.99986862e-01 -1.12584196e-03 -6.69917754e-02] [ 3.02724805e-03 1.14098964e-03 9.99994767e-01 5.39161930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9425578440001 meters 0.2883140720300005 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.54 [[ 9.99981885e-01 -2.55783275e-03 -5.44862585e-03 2.86246615e+00] [ 2.56613338e-03 9.99995557e-01 1.51698871e-03 -6.97471161e-02] [ 5.44472143e-03 -1.53094313e-03 9.99984005e-01 5.39626552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97255784400005 meters 0.2889269660938252 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.54 [[ 9.99981331e-01 -2.45380232e-03 -5.59603516e-03 2.86283295e+00] [ 2.46393355e-03 9.99995337e-01 1.80425433e-03 -7.09425341e-02] [ 5.59158178e-03 -1.81800891e-03 9.99982714e-01 5.39660510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0025578440001 meters 0.28913747526902334 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.54 [[ 9.99980992e-01 -2.31788767e-03 -5.71343484e-03 2.86313142e+00] [ 2.33035717e-03 9.99994915e-01 2.17679684e-03 -7.24868144e-02] [ 5.70836022e-03 -2.19006981e-03 9.99981309e-01 5.39676669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03255784400005 meters 0.2881798089716311 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.54 [[ 9.99980885e-01 -2.16314711e-03 -5.79223423e-03 2.86330936e+00] [ 2.17822534e-03 9.99994252e-01 2.59813795e-03 -7.42238794e-02] [ 5.78658078e-03 -2.61070508e-03 9.99979850e-01 5.39736509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters 0.2881030827443178 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99980736e-01 -1.91432489e-03 -5.90450094e-03 2.86360436e+00] [ 1.93369566e-03 9.99992762e-01 3.27671682e-03 -7.70352848e-02] [ 5.89818550e-03 -3.28807121e-03 9.99977200e-01 5.39725846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09255784400005 meters 0.28777030538181453 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99980705e-01 -1.81673980e-03 -5.94044217e-03 2.86378305e+00] [ 1.83768963e-03 9.99992105e-01 3.52309040e-03 -7.80771077e-02] [ 5.93399473e-03 -3.53393911e-03 9.99976149e-01 5.39550231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters 0.28822284863390946 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99980582e-01 -1.75167368e-03 -5.98050749e-03 2.86398285e+00] [ 1.77376398e-03 9.99991617e-01 3.69041440e-03 -7.87909110e-02] [ 5.97399295e-03 -3.70095075e-03 9.99975307e-01 5.39344978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15255784400006 meters 0.28833566313392706 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99980906e-01 -1.68537869e-03 -5.94539682e-03 2.86389311e+00] [ 1.70833562e-03 9.99991097e-01 3.85833084e-03 -7.94812796e-02] [ 5.93884114e-03 -3.86841390e-03 9.99974882e-01 5.39374167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters 0.2896132863975182 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:0.54 [[ 9.99982687e-01 5.18189064e-03 -2.78819248e-03 2.88493842e+00] [-5.17896667e-03 9.99986033e-01 1.05489755e-03 -7.70226923e-02] [ 2.79361990e-03 -1.04043933e-03 9.99995557e-01 5.37942584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21255784400006 meters 0.28935902778582157 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:0.54 [[ 9.99983196e-01 5.12433363e-03 -2.71086129e-03 2.88479227e+00] [-5.12191322e-03 9.99986479e-01 8.99045801e-04 -7.63761812e-02] [ 2.71543165e-03 -8.85145897e-04 9.99995921e-01 5.37818808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters 0.28957829594909007 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:0.54 [[ 9.99983651e-01 5.05622699e-03 -2.67067297e-03 2.88473684e+00] [-5.05433854e-03 9.99986972e-01 7.13386119e-04 -7.56125362e-02] [ 2.67424522e-03 -6.99875970e-04 9.99996179e-01 5.37706537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27255784400006 meters 0.2882515819993008 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99978815e-01 -4.32606676e-03 -4.86363772e-03 2.86524382e+00] [ 4.33104374e-03 9.99990108e-01 1.01323638e-03 -7.25326132e-02] [ 4.85920628e-03 -1.03427955e-03 9.99987659e-01 5.37303155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters 0.2893102932130146 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:0.54 [[ 9.99984107e-01 4.31055130e-03 -3.63397395e-03 2.88500813e+00] [-4.31224425e-03 9.99990597e-01 -4.58160312e-04 -7.43965358e-02] [ 3.63196486e-03 4.73823613e-04 9.99993292e-01 5.38248666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33255784400006 meters 0.2895483013260027 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:0.54 [[ 9.99983956e-01 4.30220950e-03 -3.68498760e-03 2.88521651e+00] [-4.30399789e-03 9.99990624e-01 -4.77526334e-04 -7.43284934e-02] [ 3.68289863e-03 4.93378851e-04 9.99993096e-01 5.38080355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters 0.2905297787283233 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:0.54 [[ 9.99983973e-01 4.32158623e-03 -3.65760020e-03 2.88507368e+00] [-4.32318325e-03 9.99990563e-01 -4.28836848e-04 -7.45138787e-02] [ 3.65571243e-03 4.44642451e-04 9.99993219e-01 5.38246788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39255784400007 meters 0.2879671673774991 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99975817e-01 -5.34192907e-03 -4.45310092e-03 2.86328321e+00] [ 5.34314078e-03 9.99985691e-01 2.60252543e-04 -7.52025249e-02] [ 4.45164695e-03 -2.84039794e-04 9.99990051e-01 5.38252057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42255784400004 meters 0.28843493059983294 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99975890e-01 -5.24573402e-03 -4.54992361e-03 2.86346869e+00] [ 5.24821476e-03 9.99986086e-01 5.33459286e-04 -7.63252676e-02] [ 4.54706191e-03 -5.57325401e-04 9.99989507e-01 5.38412749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45255784400007 meters 0.2885494777732607 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99975921e-01 -5.12527274e-03 -4.67854682e-03 2.86372125e+00] [ 5.12946037e-03 9.99986454e-01 8.83510348e-04 -7.77587854e-02] [ 4.67395521e-03 -9.07487495e-04 9.99988665e-01 5.38602093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48255784400004 meters 0.28919907945662043 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:0.54 [[ 9.99975833e-01 -5.01590666e-03 -4.81396521e-03 2.86401360e+00] [ 5.02174986e-03 9.99986668e-01 1.20248312e-03 -7.90665963e-02] [ 4.80786948e-03 -1.22662859e-03 9.99987690e-01 5.38723228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51255784400007 meters 0.28997528964500013 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.08, Z:0.54 [[ 9.99993477e-01 1.59503539e-03 -3.24053970e-03 2.88637394e+00] [-1.59968817e-03 9.99997693e-01 -1.43372097e-03 -8.27000919e-02] [ 3.23824539e-03 1.43889547e-03 9.99993722e-01 5.37641609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54255784400004 meters 0.2896783781713693 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.08, Z:0.54 [[ 9.99993225e-01 1.74158517e-03 -3.24299382e-03 2.88626310e+00] [-1.74497755e-03 9.99997933e-01 -1.04353026e-03 -8.43064961e-02] [ 3.24116972e-03 1.04918215e-03 9.99994197e-01 5.37897387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5725578440001 meters 0.2880466048861413 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99993074e-01 1.89296497e-03 -3.20453708e-03 2.88603421e+00] [-1.89504871e-03 9.99997995e-01 -6.47335879e-04 -8.59444383e-02] [ 3.20330527e-03 6.53404149e-04 9.99994656e-01 5.38183561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60255784400005 meters 0.28875695813924396 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99992432e-01 2.12849509e-03 -3.25658470e-03 2.88586174e+00] [-2.12862316e-03 9.99997734e-01 -3.58627077e-05 -8.85108148e-02] [ 3.25650099e-03 4.27944779e-05 9.99994697e-01 5.38848195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6325578440001 meters 0.28865710030981306 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99992306e-01 2.18901715e-03 -3.25522019e-03 2.88588840e+00] [-2.18864667e-03 9.99997598e-01 1.17367957e-04 -8.91535181e-02] [ 3.25546930e-03 -1.10242527e-04 9.99994695e-01 5.38785097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66255784400005 meters 0.289375391488462 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.09, Z:0.54 [[ 9.99982015e-01 -5.66272148e-03 -1.97561226e-03 2.90577639e+00] [ 5.66519454e-03 9.99983173e-01 1.24845393e-03 -8.59639049e-02] [ 1.96850937e-03 -1.25962370e-03 9.99997269e-01 5.39303636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6925578440001 meters 0.28855156145558986 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99995333e-01 2.08503607e-03 -2.23293281e-03 2.88579455e+00] [-2.08442829e-03 9.99997790e-01 2.74477329e-04 -9.06897283e-02] [ 2.23350017e-03 -2.69821660e-04 9.99997469e-01 5.37559200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72255784400005 meters 0.2885695083049065 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99995218e-01 2.21468582e-03 -2.15844397e-03 2.88557387e+00] [-2.21338993e-03 9.99997369e-01 6.02582817e-04 -9.20534594e-02] [ 2.15977282e-03 -5.97802458e-04 9.99997489e-01 5.37648293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7525578440001 meters 0.28847669263917103 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99995214e-01 2.27642918e-03 -2.09530688e-03 2.88536530e+00] [-2.27484379e-03 9.99997125e-01 7.58709338e-04 -9.26947669e-02] [ 2.09702800e-03 -7.53939211e-04 9.99997517e-01 5.37761201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78255784400005 meters 0.2894065022762239 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99995085e-01 2.31581850e-03 -2.11367309e-03 2.88541270e+00] [-2.31400569e-03 9.99996953e-01 8.59704565e-04 -9.31204093e-02] [ 2.11565757e-03 -8.54809287e-04 9.99997397e-01 5.37765566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.812557844 meters 0.28958665035799686 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994707e-01 2.34802929e-03 -2.25222083e-03 2.88603319e+00] [-2.34589098e-03 9.99996796e-01 9.51598117e-04 -9.35376361e-02] [ 2.25444799e-03 -9.46309616e-04 9.99997011e-01 5.37130777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84255784400005 meters 0.2887351367879562 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994546e-01 2.36598184e-03 -2.30432503e-03 2.88626265e+00] [-2.36368320e-03 9.99996707e-01 9.99745272e-04 -9.37540600e-02] [ 2.30668282e-03 -9.94293125e-04 9.99996845e-01 5.36922103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.872557844 meters 0.2893707389680538 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994409e-01 2.36385606e-03 -2.36508776e-03 2.88649668e+00] [-2.36150532e-03 9.99996715e-01 9.96235348e-04 -9.37488595e-02] [ 2.36743495e-03 -9.90644611e-04 9.99996707e-01 5.36749908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90255784400006 meters 0.2896899956945353 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994359e-01 2.35144493e-03 -2.39829048e-03 2.88660847e+00] [-2.34913097e-03 9.99996773e-01 9.67196086e-04 -9.36279757e-02] [ 2.40055705e-03 -9.61556732e-04 9.99996656e-01 5.36690975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93255784400003 meters 0.28932823206527575 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994442e-01 2.28888415e-03 -2.42428642e-03 2.88677573e+00] [-2.28693094e-03 9.99997058e-01 8.08150602e-04 -9.29741926e-02] [ 2.42612905e-03 -8.02601934e-04 9.99996735e-01 5.36455959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96255784400006 meters 0.2904407979568562 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.09, Z:0.54 [[ 9.99994503e-01 2.23635620e-03 -2.44813154e-03 2.88694194e+00] [-2.23470612e-03 9.99997274e-01 6.76542086e-04 -9.24339924e-02] [ 2.44963785e-03 -6.71067513e-04 9.99996774e-01 5.36224515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99255784400003 meters 0.28892808016616556 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998270e-01 1.11613982e-03 -1.48815286e-03 2.84832052e+00] [-1.11460494e-03 9.99998846e-01 1.03183117e-03 -9.44532692e-02] [ 1.48930281e-03 -1.03017069e-03 9.99998360e-01 5.32947442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02255784400006 meters 0.28902937910549215 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998348e-01 1.07498627e-03 -1.46606848e-03 2.84819227e+00] [-1.07363146e-03 9.99998996e-01 9.24586603e-04 -9.39896489e-02] [ 1.46706092e-03 -9.23011058e-04 9.99998498e-01 5.33106218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05255784400003 meters 0.2900044093498171 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998347e-01 1.05063430e-03 -1.48426193e-03 2.84809569e+00] [-1.04936070e-03 9.99999081e-01 8.58589797e-04 -9.36989731e-02] [ 1.48516263e-03 -8.57030851e-04 9.99998530e-01 5.33431828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08255784400006 meters 0.28867155881225054 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998309e-01 1.03760436e-03 -1.51813168e-03 2.84818557e+00] [-1.03635012e-03 9.99999121e-01 8.26725544e-04 -9.35636185e-02] [ 1.51898816e-03 -8.25150830e-04 9.99998506e-01 5.33422258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11255784400004 meters 0.28873520467619 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998266e-01 1.03134969e-03 -1.55055013e-03 2.84822705e+00] [-1.03009202e-03 9.99999140e-01 8.11690542e-04 -9.34943410e-02] [ 1.55138593e-03 -8.10091925e-04 9.99998468e-01 5.33514188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14255784400007 meters 0.2880804849610523 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998227e-01 1.03186305e-03 -1.57548709e-03 2.84819549e+00] [-1.03058379e-03 9.99999139e-01 8.12577392e-04 -9.34879413e-02] [ 1.57632420e-03 -8.10952279e-04 9.99998429e-01 5.33737705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17255784400004 meters 0.2890221280567519 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998243e-01 1.03225968e-03 -1.56491275e-03 2.84811824e+00] [-1.03098839e-03 9.99999138e-01 8.12957330e-04 -9.34807531e-02] [ 1.56575058e-03 -8.11342495e-04 9.99998445e-01 5.33854679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20255784400007 meters 0.289673780791987 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:0.53 [[ 9.99998277e-01 1.02718756e-03 -1.54639834e-03 2.84795329e+00] [-1.02595150e-03 9.99999154e-01 7.99899110e-04 -9.34006306e-02] [ 1.54721868e-03 -7.98311202e-04 9.99998484e-01 5.34121884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23255784400004 meters 0.2887921615708517 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999995e-01 -1.65583365e-05 -9.62347214e-05 2.80900540e+00] [ 1.66890810e-05 9.99999077e-01 1.35875742e-03 -9.60165990e-02] [ 9.62121338e-05 -1.35875902e-03 9.99999072e-01 5.30705376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26255784400007 meters 0.28839683416443523 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999993e-01 -4.45577880e-05 -1.11852869e-04 2.80919721e+00] [ 4.47016366e-05 9.99999172e-01 1.28637899e-03 -9.57343519e-02] [ 1.11795458e-04 -1.28638398e-03 9.99999166e-01 5.30353717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29255784400004 meters 0.28850026048573135 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999994e-01 -7.32421182e-05 -8.42613394e-05 2.80935942e+00] [ 7.33443862e-05 9.99999260e-01 1.21433804e-03 -9.54430771e-02] [ 8.41723363e-05 -1.21434422e-03 9.99999259e-01 5.29820011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3225578440001 meters 0.2888960693781704 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999998e-01 -2.40777691e-05 -5.33040686e-05 2.80910636e+00] [ 2.41492973e-05 9.99999099e-01 1.34229518e-03 -9.59561631e-02] [ 5.32717011e-05 -1.34229646e-03 9.99999098e-01 5.30228635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35255784400005 meters 0.2888960693781704 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999998e-01 -2.40777691e-05 -5.33040686e-05 2.80910636e+00] [ 2.41492973e-05 9.99999099e-01 1.34229518e-03 -9.59561631e-02] [ 5.32717011e-05 -1.34229646e-03 9.99999098e-01 5.30228635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3825578440001 meters 0.2899741334877495 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999998e-01 5.77985123e-05 1.62194506e-06 2.80873470e+00] [-5.78009649e-05 9.99998789e-01 1.55524320e-03 -9.68346411e-02] [-1.53205235e-06 -1.55524329e-03 9.99998791e-01 5.30770852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41255784400005 meters 0.2886155075922306 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999987e-01 1.51345012e-04 4.77170322e-05 2.80834974e+00] [-1.51430630e-04 9.99998370e-01 1.79940431e-03 -9.78240029e-02] [-4.74446235e-05 -1.79941152e-03 9.99998380e-01 5.31409359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4425578440001 meters 0.28934226564864746 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999990e-01 1.42853961e-04 1.28694933e-05 2.80851766e+00] [-1.42876659e-04 9.99998403e-01 1.78133566e-03 -9.77511535e-02] [-1.26150019e-05 -1.78133748e-03 9.99998413e-01 5.31238070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47255784400005 meters 0.2892153322478512 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999990e-01 1.38581295e-04 -2.11815970e-05 2.80875800e+00] [-1.38543531e-04 9.99998419e-01 1.77257623e-03 -9.77294226e-02] [ 2.14272094e-05 -1.77257328e-03 9.99998429e-01 5.30897679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5025578440001 meters 0.2883116652157455 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.53 [[ 9.99983893e-01 5.11131738e-03 -2.46734027e-03 2.78822097e+00] [-5.11622451e-03 9.99984939e-01 -1.98663571e-03 -9.85614890e-02] [ 2.45714878e-03 1.99922718e-03 9.99994983e-01 5.30945919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53255784400005 meters 0.29022092386465764 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.53 [[ 9.99999867e-01 -1.31847544e-04 -4.98817709e-04 2.81342395e+00] [ 1.32303843e-04 9.99999573e-01 9.14839503e-04 -9.99916326e-02] [ 4.98696877e-04 -9.14905376e-04 9.99999457e-01 5.27780855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters 0.28811280562625863 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.53 [[ 9.99999597e-01 -8.78494981e-04 1.82692213e-04 2.77358589e+00] [ 8.78180351e-04 9.99998143e-01 1.71519188e-03 -1.02182566e-01] [-1.84198661e-04 -1.71503075e-03 9.99998512e-01 5.25646254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59255784400005 meters 0.2890552782572468 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.52 [[ 9.99974580e-01 6.42416570e-03 3.09340715e-03 2.79459189e+00] [-6.42161782e-03 9.99979034e-01 -8.32878720e-04 -1.00031478e-01] [-3.09869285e-03 8.12992870e-04 9.99994869e-01 5.23931487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters 0.2890032935273851 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.52 [[ 9.99996915e-01 -2.47487301e-03 2.10488696e-04 2.77647799e+00] [ 2.47485230e-03 9.99996933e-01 9.85541702e-05 -9.86467862e-02] [-2.10731959e-04 -9.80329377e-05 9.99999973e-01 5.22831379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65255784400006 meters 0.28940081748883933 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.52 [[ 9.99997083e-01 -2.41073520e-03 1.48570680e-04 2.77659874e+00] [ 2.41069609e-03 9.99997060e-01 2.62828562e-04 -9.93344928e-02] [-1.49203853e-04 -2.62469637e-04 9.99999954e-01 5.22920835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters 0.28981930216939245 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:0.52 [[ 9.99983194e-01 4.47130583e-03 3.69040684e-03 2.79728460e+00] [-4.46237943e-03 9.99987107e-01 -2.42351268e-03 -9.72536620e-02] [-3.70119553e-03 2.40700396e-03 9.99990254e-01 5.21140810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71255784400006 meters 0.28973562615560466 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:0.52 [[ 9.99982970e-01 4.44513617e-03 3.78155015e-03 2.79692263e+00] [-4.43572946e-03 9.99987056e-01 -2.49228605e-03 -9.69325213e-02] [-3.79257975e-03 2.47546968e-03 9.99989744e-01 5.21434939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters 0.28933142425931185 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99981831e-01 -4.79885647e-03 3.64815979e-03 2.77706516e+00] [ 4.80440614e-03 9.99987313e-01 -1.51398551e-03 -9.28662985e-02] [-3.64084811e-03 1.53148525e-03 9.99992199e-01 5.20370555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77255784400006 meters 0.28919629016650206 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99981724e-01 -4.84385214e-03 3.61789151e-03 2.77726292e+00] [ 4.84978059e-03 9.99986909e-01 -1.63167538e-03 -9.23939475e-02] [-3.60994055e-03 1.64919154e-03 9.99992124e-01 5.20083548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters 0.2888853046824973 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99981524e-01 -4.92269299e-03 3.56631395e-03 2.77744631e+00] [ 4.92930098e-03 9.99986146e-01 -1.84647608e-03 -9.15122933e-02] [-3.55717491e-03 1.86402140e-03 9.99991936e-01 5.19939222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83255784400006 meters 0.2901333708870226 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.09, Z:0.52 [[ 9.99978185e-01 5.02615704e-03 4.28574197e-03 2.79919121e+00] [-5.01680861e-03 9.99985019e-01 -2.18925352e-03 -9.15939023e-02] [-4.29668130e-03 2.16770502e-03 9.99988420e-01 5.19773384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters 0.2885409240855896 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995340e-01 -1.78645702e-03 2.47574330e-03 2.77806353e+00] [ 1.78378434e-03 9.99997824e-01 1.08133702e-03 -9.20155192e-02] [-2.47766967e-03 -1.07691579e-03 9.99996351e-01 5.20484746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89255784400007 meters 0.2899055270067837 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.09, Z:0.52 [[ 9.99975046e-01 5.07529205e-03 4.91417235e-03 2.79823848e+00] [-5.06511976e-03 9.99985008e-01 -2.08022893e-03 -9.18772766e-02] [-4.92465645e-03 2.05528615e-03 9.99985762e-01 5.19948097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92255784400004 meters 0.2887420068769299 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99981594e-01 -4.76361459e-03 3.75772089e-03 2.77702641e+00] [ 4.77013271e-03 9.99987131e-01 -1.72754489e-03 -9.09860428e-02] [-3.74944317e-03 1.74543792e-03 9.99991448e-01 5.20282535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95255784400007 meters 0.2887117392167914 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99981727e-01 -4.71578566e-03 3.78257159e-03 2.77694607e+00] [ 4.72188200e-03 9.99987565e-01 -1.60438293e-03 -9.15005807e-02] [-3.77495862e-03 1.62221447e-03 9.99991559e-01 5.20334092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98255784400004 meters 0.28845784756936943 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99982088e-01 -4.64121321e-03 3.77920204e-03 2.77692879e+00] [ 4.64656244e-03 9.99988214e-01 -1.40789206e-03 -9.23209222e-02] [-3.77262317e-03 1.42542714e-03 9.99991868e-01 5.20411192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01255784400007 meters 0.2893914690573322 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99982542e-01 -4.55403513e-03 3.76521999e-03 2.77691120e+00] [ 4.55850113e-03 9.99988916e-01 -1.17838814e-03 -9.32727289e-02] [-3.75981183e-03 1.19553133e-03 9.99992217e-01 5.20549688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04255784400004 meters 0.2879225687578912 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99982972e-01 -4.47080545e-03 3.75074558e-03 2.77689508e+00] [ 4.47446095e-03 9.99989522e-01 -9.66783868e-04 -9.41595952e-02] [-3.74638397e-03 9.83549970e-04 9.99992499e-01 5.20677702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0725578440001 meters 0.2902672097946471 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.09, Z:0.52 [[ 9.99978375e-01 5.33126556e-03 3.85068299e-03 2.79958639e+00] [-5.32564041e-03 9.99984739e-01 -1.46959963e-03 -9.47979208e-02] [-3.85845905e-03 1.44906049e-03 9.99991506e-01 5.20235982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10255784400005 meters 0.2914171221399877 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.09, Z:0.52 [[ 9.99979278e-01 5.23783044e-03 3.74271394e-03 2.80004229e+00] [-5.23142192e-03 9.99984837e-01 -1.72000667e-03 -9.37795674e-02] [-3.75166630e-03 1.70039131e-03 9.99991517e-01 5.19806592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1325578440001 meters 0.28987705940439185 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.09, Z:0.52 [[ 9.99980167e-01 5.11132783e-03 3.67961034e-03 2.80032106e+00] [-5.10376490e-03 9.99984850e-01 -2.06182503e-03 -9.23790115e-02] [-3.69009326e-03 2.04300428e-03 9.99991105e-01 5.19523005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16255784400005 meters 0.28882415245553456 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995778e-01 -2.20232766e-03 1.89589500e-03 2.77815536e+00] [ 2.20183843e-03 9.99997542e-01 2.60095081e-04 -9.11733989e-02] [-1.89646316e-03 -2.55919529e-04 9.99998169e-01 5.21009211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1925578440001 meters 0.288925360309723 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995480e-01 -2.28303955e-03 1.95633740e-03 2.77801944e+00] [ 2.28295281e-03 9.99997393e-01 4.65718358e-05 -9.02835619e-02] [-1.95643863e-03 -4.21053993e-05 9.99998085e-01 5.20950952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22255784400005 meters 0.2902778933838296 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995226e-01 -2.34558168e-03 2.01152015e-03 2.77792829e+00] [ 2.34582254e-03 9.99997242e-01 -1.17388924e-04 -8.96052784e-02] [-2.01123926e-03 1.22107033e-04 9.99997970e-01 5.20821335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2525578440001 meters 0.29108818025303235 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995205e-01 -2.40371321e-03 1.95262662e-03 2.77814265e+00] [ 2.40423499e-03 9.99997075e-01 -2.64919402e-04 -8.90080467e-02] [-1.95198412e-03 2.69612705e-04 9.99998059e-01 5.20663818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28255784400005 meters 0.2898081974758812 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995466e-01 -2.50960102e-03 1.66456799e-03 2.77895413e+00] [ 2.51050891e-03 9.99996701e-01 -5.43555103e-04 -8.78988375e-02] [-1.66319840e-03 5.47731551e-04 9.99998467e-01 5.20364775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.312557844 meters 0.28874630509185134 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995424e-01 -2.52618693e-03 1.66440855e-03 2.77888222e+00] [ 2.52716860e-03 9.99996634e-01 -5.87964677e-04 -8.77071085e-02] [-1.66291764e-03 5.92168227e-04 9.99998442e-01 5.20523132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34255784400005 meters 0.2898330566041193 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99995185e-01 -2.56682173e-03 1.74400810e-03 2.77853936e+00] [ 2.56803693e-03 9.99996461e-01 -6.94903041e-04 -8.72350920e-02] [-1.74221823e-03 6.99378373e-04 9.99998238e-01 5.20823021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.372557844 meters 0.29008657097734025 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:0.52 [[ 9.99994586e-01 -2.72531131e-03 1.84402346e-03 2.77793642e+00] [ 2.72736932e-03 9.99995660e-01 -1.11444873e-03 -8.53553978e-02] [-1.84097824e-03 1.11947203e-03 9.99997679e-01 5.21627033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40255784400006 meters 0.28901699849782553 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99994086e-01 -2.81707089e-03 1.97296353e-03 2.77747245e+00] [ 2.81976542e-03 9.99995094e-01 -1.36427874e-03 -8.42839533e-02] [-1.96911059e-03 1.36983397e-03 9.99997123e-01 5.21928183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43255784400003 meters 0.2882751562633999 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99993686e-01 -2.92727996e-03 2.01447823e-03 2.77738584e+00] [ 2.93063597e-03 9.99994320e-01 -1.66501594e-03 -8.30488416e-02] [-2.00959282e-03 1.67090913e-03 9.99996585e-01 5.21862350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46255784400006 meters 0.2888709317111667 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99993404e-01 -3.15462310e-03 1.79992472e-03 2.77827899e+00] [ 3.15884035e-03 9.99992261e-01 -2.34500269e-03 -8.02207607e-02] [-1.79251319e-03 2.35067289e-03 9.99995631e-01 5.20860856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49255784400003 meters 0.28852484083057717 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99993314e-01 -3.24316104e-03 1.68950235e-03 2.77865720e+00] [ 3.24750508e-03 9.99991412e-01 -2.57482938e-03 -7.92849841e-02] [-1.68113725e-03 2.58029883e-03 9.99995258e-01 5.20615851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52255784400006 meters 0.28881851848096957 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99993260e-01 -3.29669069e-03 1.61587948e-03 2.77883813e+00] [ 3.30106367e-03 9.99990876e-01 -2.71110254e-03 -7.87202936e-02] [-1.60692707e-03 2.71641839e-03 9.99995019e-01 5.20624103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55255784400003 meters 0.28901097587593666 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:0.52 [[ 9.99993066e-01 -3.37809950e-03 1.56737882e-03 2.77890298e+00] [ 3.38266152e-03 9.99990024e-01 -2.91714157e-03 -7.78530814e-02] [-1.55750879e-03 2.92242325e-03 9.99994517e-01 5.20742052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58255784400006 meters 0.28775135915163 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:0.52 [[ 9.99987652e-01 4.96933411e-03 -3.83317431e-05 2.75769273e+00] [-4.96944041e-03 9.99981083e-01 -3.62464752e-03 -7.87598119e-02] [ 2.03189334e-05 3.62479325e-03 9.99993430e-01 5.21204364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61255784400004 meters 0.2883267307235794 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99996595e-01 -2.58587002e-03 3.51801240e-04 2.77660576e+00] [ 2.58673801e-03 9.99993555e-01 -2.48958522e-03 -7.22077510e-02] [-3.45361229e-04 2.49048676e-03 9.99996839e-01 5.23004921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64255784400007 meters 0.28794383627732506 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99996340e-01 -2.67440474e-03 4.10058668e-04 2.77646731e+00] [ 2.67551080e-03 9.99992719e-01 -2.72093862e-03 -7.12412123e-02] [-4.02778791e-04 2.72202577e-03 9.99996214e-01 5.22965708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67255784400004 meters 0.2890762294599708 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99996116e-01 -2.74707546e-03 4.70456161e-04 2.77621021e+00] [ 2.74843658e-03 9.99991967e-01 -2.91740355e-03 -7.04045756e-02] [-4.62438055e-04 2.91868524e-03 9.99995634e-01 5.23195603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70255784400007 meters 0.28785652375470394 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99995665e-01 -2.88354053e-03 5.95980798e-04 2.77560261e+00] [ 2.88548348e-03 9.99990440e-01 -3.28536326e-03 -6.87959066e-02] [-5.86501623e-04 3.28706871e-03 9.99994426e-01 5.23909494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73255784400004 meters 0.28788134250220554 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99995368e-01 -2.97955712e-03 6.21418362e-04 2.77547643e+00] [ 2.98173608e-03 9.99989305e-01 -3.53549069e-03 -6.77437622e-02] [-6.10877520e-04 3.53732722e-03 9.99993557e-01 5.24033566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76255784400007 meters 0.28824743006856746 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99995048e-01 -3.08337988e-03 6.30253213e-04 2.77542608e+00] [ 3.08575572e-03 9.99988003e-01 -3.80410537e-03 -6.66221141e-02] [-6.18516150e-04 3.80603133e-03 9.99992566e-01 5.24077970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79255784400004 meters 0.28986889930347215 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:0.52 [[ 9.99994689e-01 -3.19225653e-03 6.56265070e-04 2.77533598e+00] [ 3.19491197e-03 9.99986549e-01 -4.08587177e-03 -6.54486390e-02] [-6.43213091e-04 4.08794679e-03 9.99991437e-01 5.24110001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8225578440001 meters 0.2880769238750954 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:0.52 [[ 9.99993813e-01 -3.40821440e-03 8.70821610e-04 2.77474154e+00] [ 3.41226997e-03 9.99983138e-01 -4.69892639e-03 -6.28901622e-02] [-8.54791978e-04 4.70186880e-03 9.99988581e-01 5.24194693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85255784400005 meters 0.28787407487519356 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:0.52 [[ 9.99993411e-01 -3.51698928e-03 8.99802697e-04 2.77460537e+00] [ 3.52142914e-03 9.99981393e-01 -4.98119162e-03 -6.17078619e-02] [-8.82267157e-04 4.98432738e-03 9.99987189e-01 5.24313135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8825578440001 meters 0.2891690131811098 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:0.52 [[ 9.99992986e-01 -3.62900758e-03 9.26136163e-04 2.77454530e+00] [ 3.63384066e-03 9.99979504e-01 -5.27133271e-03 -6.04990685e-02] [-9.06987475e-04 5.27466117e-03 9.99985678e-01 5.24286082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91255784400005 meters 0.28798172366144525 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999574e-01 6.06801055e-04 6.95303253e-04 2.77518837e+00] [-6.05945151e-04 9.99999059e-01 -1.23052948e-03 -5.94556226e-02] [-6.96049285e-04 1.23010764e-03 9.99999001e-01 5.24060656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9425578440001 meters 0.288903160239925 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999617e-01 5.48816268e-04 6.81607604e-04 2.77529449e+00] [-5.47875940e-04 9.99998899e-01 -1.37899454e-03 -5.88470510e-02] [-6.82363668e-04 1.37862058e-03 9.99998817e-01 5.23893652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97255784400005 meters 0.28985589321715094 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999656e-01 5.35146832e-04 6.33106710e-04 2.77547393e+00] [-5.34251529e-04 9.99998858e-01 -1.41346660e-03 -5.87143708e-02] [-6.33862399e-04 1.41312788e-03 9.99998801e-01 5.23769472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0025578440001 meters 0.2882073554973117 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999733e-01 5.02115860e-04 5.31818151e-04 2.77582333e+00] [-5.01319501e-04 9.99998755e-01 -1.49650382e-03 -5.83828944e-02] [-5.32568907e-04 1.49623681e-03 9.99998739e-01 5.23550065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03255784400005 meters 0.28776965544524474 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999856e-01 3.90147942e-04 3.68124205e-04 2.77643837e+00] [-3.89489245e-04 9.99998326e-01 -1.78771172e-03 -5.71901522e-02] [-3.68821061e-04 1.78756808e-03 9.99998334e-01 5.23017799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters 0.2880743457015051 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999884e-01 3.17158194e-04 3.61911879e-04 2.77657918e+00] [-3.16442089e-04 9.99997996e-01 -1.97701679e-03 -5.64142348e-02] [-3.62538180e-04 1.97690204e-03 9.99997980e-01 5.22729162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09255784400005 meters 0.28777791078219894 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:0.52 [[ 9.99999884e-01 2.83329042e-04 3.90438980e-04 2.77652367e+00] [-2.82521697e-04 9.99997825e-01 -2.06629524e-03 -5.60462509e-02] [-3.91023573e-04 2.06618469e-03 9.99997789e-01 5.22684047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters 0.2902355594753901 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:0.52 [[ 9.99981367e-01 -5.44584927e-03 2.75850572e-03 2.79739989e+00] [ 5.44305065e-03 9.99984665e-01 1.02103517e-03 -5.41927387e-02] [-2.76402383e-03 -1.00600146e-03 9.99995674e-01 5.21868025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15255784400006 meters 0.2882700094428425 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:0.52 [[ 9.99980984e-01 -5.52261084e-03 2.74448046e-03 2.79739284e+00] [ 5.52037327e-03 9.99984425e-01 8.22203770e-04 -5.33611755e-02] [-2.74897842e-03 -8.07037578e-04 9.99995896e-01 5.21942647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters 0.2892383975776879 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99988061e-01 3.20508436e-03 3.68863047e-03 2.81683098e+00] [-3.20281589e-03 9.99994678e-01 -6.20731084e-04 -5.49371020e-02] [-3.69060033e-03 6.08909669e-04 9.99993004e-01 5.22993214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21255784400006 meters 0.2883537164842419 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99988393e-01 3.13773850e-03 3.65635387e-03 2.81697056e+00] [-3.13485657e-03 9.99994771e-01 -7.93662731e-04 -5.42217890e-02] [-3.65882506e-03 7.82191373e-04 9.99993001e-01 5.22857361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters 0.2883537164842419 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99988393e-01 3.13773850e-03 3.65635387e-03 2.81697056e+00] [-3.13485657e-03 9.99994771e-01 -7.93662731e-04 -5.42217890e-02] [-3.65882506e-03 7.82191373e-04 9.99993001e-01 5.22857361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27255784400006 meters 0.287060194280734 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:0.52 [[ 9.99992930e-01 -3.74868484e-03 2.94104189e-04 2.79820255e+00] [ 3.74812501e-03 9.99991206e-01 1.88148930e-03 -5.40477295e-02] [-3.01154713e-04 -1.88037366e-03 9.99998187e-01 5.22452479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters 0.2881635142214819 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:0.52 [[ 9.99985398e-01 5.08812249e-03 1.82087287e-03 2.81792759e+00] [-5.08961790e-03 9.99986714e-01 8.17567886e-04 -5.59156734e-02] [-1.81668879e-03 -8.26823495e-04 9.99998008e-01 5.23003461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33255784400006 meters 0.2861866321598148 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.05, Z:0.52 [[ 9.99993464e-01 -3.61511579e-03 -6.07671643e-05 2.79776406e+00] [ 3.61522103e-03 9.99991788e-01 1.83151249e-03 -5.44843797e-02] [ 5.41455355e-05 -1.83172021e-03 9.99998321e-01 5.22701408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters 0.28763186192221407 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99993265e-01 3.23480119e-03 1.73358886e-03 2.81979593e+00] [-3.23303355e-03 9.99994252e-01 -1.02147756e-03 -5.41421192e-02] [-1.73688317e-03 1.01586593e-03 9.99997976e-01 5.21588120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39255784400007 meters 0.2877825889468272 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99993289e-01 3.27411389e-03 1.64356919e-03 2.82004673e+00] [-3.27260968e-03 9.99994224e-01 -9.17062847e-04 -5.45842583e-02] [-1.64656227e-03 9.11677932e-04 9.99998229e-01 5.21548618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42255784400004 meters 0.2883794063238164 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99993267e-01 3.26523917e-03 1.67444168e-03 2.81992885e+00] [-3.26366704e-03 9.99994232e-01 -9.40772702e-04 -5.44815427e-02] [-1.67750387e-03 9.35301548e-04 9.99998156e-01 5.21634830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45255784400007 meters 0.28716883343969246 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99993275e-01 3.22983000e-03 1.73756014e-03 2.81966586e+00] [-3.22803665e-03 9.99994255e-01 -1.03392461e-03 -5.40797046e-02] [-1.74088956e-03 1.02830875e-03 9.99997956e-01 5.21865118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48255784400004 meters 0.28698275933886896 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99993251e-01 3.15046448e-03 1.89036412e-03 2.81919023e+00] [-3.14807980e-03 9.99994247e-01 -1.26314438e-03 -5.31096042e-02] [-1.89433274e-03 1.25718484e-03 9.99997415e-01 5.22090195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51255784400007 meters 0.2877061734185768 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.52 [[ 9.99991005e-01 -2.36793278e-03 3.51885028e-03 2.84227857e+00] [ 2.36117330e-03 9.99995362e-01 1.92384760e-03 -5.20924275e-02] [-3.52338950e-03 -1.91552168e-03 9.99991958e-01 5.20429542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54255784400004 meters 0.28761411339752174 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99994221e-01 3.21079925e-03 1.11734761e-03 2.82008941e+00] [-3.20926461e-03 9.99993908e-01 -1.37255871e-03 -5.15700639e-02] [-1.12174782e-03 1.36896491e-03 9.99998434e-01 5.22096144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5725578440001 meters 0.2867503090481676 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99994313e-01 3.18579674e-03 1.10659770e-03 2.82011901e+00] [-3.18420499e-03 9.99993898e-01 -1.43721553e-03 -5.13011871e-02] [-1.11116962e-03 1.43368372e-03 9.99998355e-01 5.22087246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60255784400005 meters 0.28663163454112045 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.52 [[ 9.99993206e-01 -2.43331358e-03 2.76903914e-03 2.84198422e+00] [ 2.42851305e-03 9.99995545e-01 1.73568774e-03 -4.89235155e-02] [-2.77325027e-03 -1.72895130e-03 9.99994660e-01 5.21494484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6325578440001 meters 0.2879141770400412 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.52 [[ 9.99993071e-01 -2.42180516e-03 2.82732654e-03 2.84175893e+00] [ 2.41682073e-03 9.99995522e-01 1.76503384e-03 -4.90337155e-02] [-2.83158844e-03 -1.75818847e-03 9.99994445e-01 5.21666934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66255784400005 meters 0.28608498794238946 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:0.52 [[ 9.99995283e-01 2.96669253e-03 7.95742317e-04 2.81871091e+00] [-2.96546830e-03 9.99994424e-01 -1.53526912e-03 -4.93981951e-02] [-8.00292551e-04 1.53290213e-03 9.99998505e-01 5.23707067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6925578440001 meters 0.28758508057935117 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99994543e-01 3.30365343e-03 -7.07789758e-06 2.85795644e+00] [-3.30366099e-03 9.99992485e-01 -2.02863676e-03 -4.71587738e-02] [ 3.75931595e-07 2.02864907e-03 9.99997942e-01 5.26900050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72255784400005 meters 0.2857093410230751 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99985177e-01 -5.04978969e-03 -2.03606929e-03 2.83891232e+00] [ 5.04869967e-03 9.99987109e-01 -5.40140503e-04 -4.56058138e-02] [ 2.03877064e-03 5.29852994e-04 9.99997781e-01 5.25890884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7525578440001 meters 0.28680600851604293 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99985280e-01 -4.99733189e-03 -2.11333410e-03 2.83918311e+00] [ 4.99649455e-03 9.99987437e-01 -4.01314200e-04 -4.61920248e-02] [ 2.11531305e-03 3.90749030e-04 9.99997686e-01 5.25729851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78255784400005 meters 0.28781463928898005 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99992896e-01 3.62354701e-03 -1.03798839e-03 2.85867631e+00] [-3.62521516e-03 9.99992133e-01 -1.60975594e-03 -4.92464539e-02] [ 1.03214720e-03 1.61350743e-03 9.99998166e-01 5.26964254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.812557844 meters 0.28633873699899154 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99980245e-01 -6.17749250e-03 -1.16133145e-03 2.83676518e+00] [ 6.17595724e-03 9.99980056e-01 -1.32095488e-03 -4.79423866e-02] [ 1.16946848e-03 1.31375645e-03 9.99998453e-01 5.26911933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84255784400005 meters 0.2886623893755495 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99996579e-01 2.61106774e-03 1.53569103e-04 2.85692108e+00] [-2.61068669e-03 9.99993637e-01 -2.43123765e-03 -4.97610014e-02] [-1.59916252e-04 2.43082841e-03 9.99997033e-01 5.27646765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.872557844 meters 0.2862548737734254 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99996708e-01 2.56101719e-03 1.61288430e-04 2.85700132e+00] [-2.56059541e-03 9.99993437e-01 -2.56315648e-03 -4.92200482e-02] [-1.67851659e-04 2.56273505e-03 9.99996702e-01 5.27411529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90255784400006 meters 0.2862564339205505 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99990243e-01 -3.75222585e-03 -2.33121044e-03 2.83632563e+00] [ 3.75398314e-03 9.99992673e-01 7.49889382e-04 -4.98087604e-02] [ 2.32837960e-03 -7.58633390e-04 9.99997002e-01 5.27821729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93255784400003 meters 0.2867701964731543 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99990471e-01 -3.78354281e-03 -2.17792693e-03 2.83584979e+00] [ 3.78499303e-03 9.99992618e-01 6.62133424e-04 -4.94208374e-02] [ 2.17540564e-03 -6.70370553e-04 9.99997409e-01 5.28028008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96255784400006 meters 0.28538821501513867 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99990658e-01 -3.73678356e-03 -2.17254252e-03 2.83577465e+00] [ 3.73848605e-03 9.99992708e-01 7.80106263e-04 -4.99093193e-02] [ 2.16961159e-03 -7.88220995e-04 9.99997336e-01 5.28172479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99255784400003 meters 0.2849010208107719 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99990942e-01 -3.62285192e-03 -2.23381200e-03 2.83588634e+00] [ 3.62529826e-03 9.99992832e-01 1.09206650e-03 -5.11952263e-02] [ 2.22983959e-03 -1.10015484e-03 9.99996909e-01 5.28302861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02255784400006 meters 0.28563288720676555 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99991154e-01 -3.55299609e-03 -2.25142050e-03 2.83598308e+00] [ 3.55587236e-03 9.99992865e-01 1.27482091e-03 -5.19608881e-02] [ 2.24687500e-03 -1.28281540e-03 9.99996653e-01 5.28195760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05255784400003 meters 0.28671879049191806 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99991366e-01 -3.46743937e-03 -2.29001183e-03 2.83609057e+00] [ 3.47087577e-03 9.99992854e-01 1.49834057e-03 -5.28883686e-02] [ 2.28480006e-03 -1.50627598e-03 9.99996255e-01 5.28189510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08255784400006 meters 0.28633002915057637 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99991657e-01 -3.36327151e-03 -2.31817245e-03 2.83619154e+00] [ 3.36737557e-03 9.99992766e-01 1.76876096e-03 -5.40161625e-02] [ 2.31220686e-03 -1.77655236e-03 9.99995749e-01 5.28145842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11255784400004 meters 0.28540390405724897 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:0.53 [[ 9.99992183e-01 -3.13757290e-03 -2.40609701e-03 2.83643741e+00] [ 3.14333775e-03 9.99992189e-01 2.39590767e-03 -5.65977025e-02] [ 2.39856088e-03 -2.40345211e-03 9.99994235e-01 5.28132518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14255784400007 meters 0.2855814653947358 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:0.53 [[ 9.99992488e-01 -3.00238255e-03 -2.45133482e-03 2.83652535e+00] [ 3.00911729e-03 9.99991696e-01 2.74832798e-03 -5.80528999e-02] [ 2.44306293e-03 -2.75568369e-03 9.99993219e-01 5.28216969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17255784400004 meters 0.28582304807123093 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:0.53 [[ 9.99992909e-01 -2.85070863e-03 -2.46091406e-03 2.83663133e+00] [ 2.85842025e-03 9.99990998e-01 3.13583096e-03 -5.96793807e-02] [ 2.45195257e-03 -3.14284305e-03 9.99992055e-01 5.28061095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20255784400007 meters 0.2860914431869018 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:0.53 [[ 9.99981901e-01 5.77313251e-03 -1.69384637e-03 2.85637169e+00] [-5.76972427e-03 9.99981335e-01 2.01016517e-03 -6.41166701e-02] [ 1.70541970e-03 -2.00035576e-03 9.99996545e-01 5.29348696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23255784400004 meters 0.28834944952317465 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.53 [[ 9.99980878e-01 5.89815236e-03 -1.85872727e-03 2.85703631e+00] [-5.89378505e-03 9.99979879e-01 2.34640699e-03 -6.55466589e-02] [ 1.87252934e-03 -2.33540718e-03 9.99995520e-01 5.28752570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26255784400007 meters 0.28675696974855963 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.07, Z:0.53 [[ 9.99980704e-01 5.90577365e-03 -1.92728686e-03 2.85732987e+00] [-5.90120187e-03 9.99979781e-01 2.36926165e-03 -6.56500057e-02] [ 1.94124021e-03 -2.35784263e-03 9.99995336e-01 5.28479241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29255784400004 meters 0.28867674126178755 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:0.53 [[ 9.99995804e-01 -2.78127395e-03 -8.10062393e-04 2.87802067e+00] [ 2.78338079e-03 9.99992717e-01 2.61142734e-03 -6.12724817e-02] [ 8.02793398e-04 -2.61367110e-03 9.99996262e-01 5.28089863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3225578440001 meters 0.28864814469242517 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:0.53 [[ 9.99978162e-01 6.30931574e-03 -1.96682978e-03 2.85683160e+00] [-6.30490408e-03 9.99977612e-01 2.24121762e-03 -6.08183751e-02] [ 1.98092630e-03 -2.22876800e-03 9.99995554e-01 5.27279764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35255784400005 meters 0.28871321059556754 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:0.53 [[ 9.99979455e-01 6.14861783e-03 -1.81226849e-03 2.85655222e+00] [-6.14542319e-03 9.99979562e-01 1.76310967e-03 -5.88853200e-02] [ 1.82307214e-03 -1.75193629e-03 9.99996804e-01 5.27003014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3825578440001 meters 0.287648294223789 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.53 [[ 9.99993318e-01 -2.96289009e-03 -2.14121686e-03 2.83686516e+00] [ 2.96818244e-03 9.99992538e-01 2.47271974e-03 -5.35321387e-02] [ 2.13387448e-03 -2.47905874e-03 9.99994650e-01 5.25456983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41255784400005 meters 0.28881061867518826 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.52 [[ 9.99991864e-01 3.56115261e-03 1.89469358e-03 2.85803002e+00] [-3.56001585e-03 9.99993481e-01 -6.03004959e-04 -4.54875936e-02] [-1.89682862e-03 5.96254914e-04 9.99998023e-01 5.23050947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4425578440001 meters 0.2903302745640552 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:0.52 [[ 9.99992939e-01 3.10486977e-03 2.11704833e-03 2.85771185e+00] [-3.10062561e-03 9.99993183e-01 -2.00509851e-03 -3.97989107e-02] [-2.12325946e-03 1.99852018e-03 9.99995749e-01 5.22494124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47255784400005 meters 0.289011945818722 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.52 [[ 9.99983995e-01 -5.62483002e-03 6.09697655e-04 2.83790439e+00] [ 5.62565268e-03 9.99983256e-01 -1.35607772e-03 -3.43495822e-02] [-6.02059740e-04 1.35948596e-03 9.99998895e-01 5.21561419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5025578440001 meters 0.28800224785144685 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.52 [[ 9.99982849e-01 -5.82365758e-03 6.22100611e-04 2.83783820e+00] [ 5.82479976e-03 9.99981324e-01 -1.85025076e-03 -3.22822622e-02] [-6.11313766e-04 1.85384263e-03 9.99998095e-01 5.21580635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53255784400005 meters 0.28585097016141586 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:0.52 [[ 9.99992059e-01 3.43669879e-03 2.01792209e-03 2.85791067e+00] [-3.43089357e-03 9.99989987e-01 -2.87328238e-03 -3.17660508e-02] [-2.02777649e-03 2.86633628e-03 9.99993836e-01 5.22033630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters 0.28756667386656837 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:0.52 [[ 9.99992329e-01 3.18781762e-03 2.27581283e-03 2.85706931e+00] [-3.17999068e-03 9.99989046e-01 -3.43455799e-03 -2.93898313e-02] [-2.28673665e-03 3.42729458e-03 9.99991512e-01 5.22341587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59255784400005 meters 0.28714450695551186 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:0.52 [[ 9.99992552e-01 3.06410478e-03 2.34687422e-03 2.85680336e+00] [-3.05528468e-03 9.99988291e-01 -3.75264590e-03 -2.80610228e-02] [-2.35834524e-03 3.74544758e-03 9.99990205e-01 5.22501346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters 0.2877825234965777 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.52 [[ 9.99984176e-01 -4.71659036e-03 3.06621194e-03 2.87632380e+00] [ 4.72486301e-03 9.99985202e-01 -2.69637890e-03 -2.20275557e-02] [-3.05344886e-03 2.71082366e-03 9.99991664e-01 5.24175491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65255784400006 meters 0.2858064998478731 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.52 [[ 9.99983810e-01 -4.77639632e-03 3.09274684e-03 2.87618760e+00] [ 4.78523612e-03 9.99984469e-01 -2.85717163e-03 -2.13598385e-02] [-3.07905182e-03 2.87192490e-03 9.99991136e-01 5.24320118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters 0.2862898964461544 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.52 [[ 9.99995764e-01 -7.94131695e-04 2.80022720e-03 2.87664124e+00] [ 7.92531192e-04 9.99999522e-01 5.72625052e-04 -1.86417315e-02] [-2.80068060e-03 -5.70403359e-04 9.99995915e-01 5.24665353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71255784400006 meters 0.2833178483502526 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99990956e-01 4.17550510e-03 8.08046396e-04 2.85332447e+00] [-4.17291770e-03 9.99986245e-01 -3.17766319e-03 -1.79712197e-02] [-8.21303630e-04 3.17426254e-03 9.99994625e-01 5.26513595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters 0.28359869799162163 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99992830e-01 -1.71227939e-03 3.37751705e-03 2.87429555e+00] [ 1.71261284e-03 9.99998529e-01 -9.58375412e-05 -1.73656435e-02] [-3.37734798e-03 1.01621233e-04 9.99994292e-01 5.25755070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77255784400006 meters 0.28317246351289843 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99992796e-01 -1.70308102e-03 3.39237927e-03 2.87416404e+00] [ 1.70333731e-03 9.99998547e-01 -7.26629841e-05 -1.74509649e-02] [-3.39225059e-03 7.84408268e-05 9.99994243e-01 5.25969315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80255784400003 meters 0.28388639205333316 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99992878e-01 -1.60612628e-03 3.41534426e-03 2.87407078e+00] [ 1.60549013e-03 9.99998693e-01 1.88996636e-04 -1.85381481e-02] [-3.41564335e-03 -1.83511989e-04 9.99994150e-01 5.26062837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83255784400006 meters 0.28305281763468054 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99993237e-01 -1.53271329e-03 3.34326590e-03 2.87424236e+00] [ 1.53144569e-03 9.99998754e-01 3.81677768e-04 -1.93421175e-02] [-3.34384674e-03 -3.76555157e-04 9.99994338e-01 5.26102792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters 0.28349136482810255 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99993484e-01 -1.46050442e-03 3.30138538e-03 2.87442331e+00] [ 1.45863295e-03 9.99998774e-01 5.69210801e-04 -2.01335409e-02] [-3.30221267e-03 -5.64391583e-04 9.99994388e-01 5.25949357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89255784400007 meters 0.2837439273821567 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99993908e-01 -1.38802950e-03 3.20266260e-03 2.87468915e+00] [ 1.38561176e-03 9.99998754e-01 7.57008319e-04 -2.09233095e-02] [-3.20370935e-03 -7.52566060e-04 9.99994585e-01 5.25930430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92255784400004 meters 0.2856517891279304 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99994278e-01 -1.29333083e-03 3.12599064e-03 2.87496945e+00] [ 1.29023894e-03 9.99998677e-01 9.90907768e-04 -2.19138736e-02] [-3.12726808e-03 -9.86868823e-04 9.99994623e-01 5.25764359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95255784400007 meters 0.2828259812635584 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99990258e-01 4.32581622e-03 8.78003389e-04 2.85309643e+00] [-4.32377112e-03 9.99987966e-01 -2.31793897e-03 -2.25216117e-02] [-8.88019801e-04 2.31412010e-03 9.99996928e-01 5.27041927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98255784400004 meters 0.283694981028072 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:0.53 [[ 9.99989070e-01 4.66903421e-03 -2.43067216e-04 2.89175963e+00] [-4.66971288e-03 9.99984976e-01 -2.87070648e-03 -2.01373126e-02] [ 2.29660137e-04 2.87181016e-03 9.99995850e-01 5.30776951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01255784400007 meters 0.2828242372231783 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99989303e-01 -4.29573364e-03 -1.71477207e-03 2.87221639e+00] [ 4.29235128e-03 9.99988845e-01 -1.97131124e-03 -1.76931185e-02] [ 1.72322117e-03 1.96392975e-03 9.99996587e-01 5.30090033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04255784400004 meters 0.2843638456929827 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99989318e-01 -4.34507165e-03 -1.57625188e-03 2.87190839e+00] [ 4.34174413e-03 9.99988352e-01 -2.10834792e-03 -1.71218050e-02] [ 1.58539445e-03 2.10148172e-03 9.99996535e-01 5.29993278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0725578440001 meters 0.2847212955167783 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99989430e-01 -4.36122285e-03 -1.45595302e-03 2.87167089e+00] [ 4.35808124e-03 9.99988184e-01 -2.15401195e-03 -1.69338094e-02] [ 1.46532994e-03 2.14764402e-03 9.99996620e-01 5.29830817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10255784400005 meters 0.28414633876519446 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99989805e-01 3.89255903e-03 -2.28884616e-03 2.85087846e+00] [-3.89928983e-03 9.99988065e-01 -2.94362491e-03 -2.08912666e-02] [ 2.27736061e-03 2.95251977e-03 9.99993048e-01 5.29133866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1325578440001 meters 0.2834750854239836 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99989925e-01 3.84553361e-03 -2.31575894e-03 2.85105615e+00] [-3.85262539e-03 9.99987879e-01 -3.06576371e-03 -2.03958203e-02] [ 2.30394137e-03 3.07465458e-03 9.99992619e-01 5.28876319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16255784400005 meters 0.2834750854239836 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99989925e-01 3.84553361e-03 -2.31575894e-03 2.85105615e+00] [-3.85262539e-03 9.99987879e-01 -3.06576371e-03 -2.03958203e-02] [ 2.30394137e-03 3.07465458e-03 9.99992619e-01 5.28876319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1925578440001 meters 0.2836659425223753 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99997561e-01 -1.82809922e-03 -1.23976944e-03 2.87499114e+00] [ 1.82822793e-03 9.99998324e-01 1.02693869e-04 -1.89976433e-02] [ 1.23957963e-03 -1.04960199e-04 9.99999226e-01 5.26830620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22255784400005 meters 0.2829322140387019 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99997635e-01 -1.76736937e-03 -1.26761787e-03 2.87495423e+00] [ 1.76770020e-03 9.99998404e-01 2.59907181e-04 -1.96358712e-02] [ 1.26715649e-03 -2.62147335e-04 9.99999163e-01 5.27089187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2525578440001 meters 0.2833086534501704 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99997820e-01 -1.67827541e-03 -1.24217634e-03 2.87480434e+00] [ 1.67889374e-03 9.99998467e-01 4.96899849e-04 -2.06160791e-02] [ 1.24134050e-03 -4.98984248e-04 9.99999105e-01 5.27314366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28255784400005 meters 0.2842986320272709 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.53 [[ 9.99997804e-01 -1.54812043e-03 -1.41231241e-03 2.87524130e+00] [ 1.54944209e-03 9.99998362e-01 9.35198977e-04 -2.23804424e-02] [ 1.41086230e-03 -9.37385220e-04 9.99998565e-01 5.27276811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.312557844 meters 0.2831762226642914 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.53 [[ 9.99997782e-01 -1.43764884e-03 -1.53943068e-03 2.87559824e+00] [ 1.43956419e-03 9.99998190e-01 1.24380888e-03 -2.36603957e-02] [ 1.53763973e-03 -1.24602223e-03 9.99998042e-01 5.27207425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34255784400005 meters 0.2831218013033764 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.53 [[ 9.99997939e-01 -1.34386918e-03 -1.52196228e-03 2.87558341e+00] [ 1.34614064e-03 9.99997980e-01 1.49241663e-03 -2.46888608e-02] [ 1.51995360e-03 -1.49446233e-03 9.99997728e-01 5.27155100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.372557844 meters 0.28381423099602365 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.53 [[ 9.99998049e-01 -1.28880887e-03 -1.49687382e-03 2.87559078e+00] [ 1.29125647e-03 9.99997829e-01 1.63533207e-03 -2.52914832e-02] [ 1.49476294e-03 -1.63726173e-03 9.99997543e-01 5.27001784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40255784400006 meters 0.2846247269431165 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.03, Z:0.52 [[ 9.99982543e-01 5.88804059e-03 4.93954351e-04 2.89817787e+00] [-5.88775322e-03 9.99982498e-01 -5.81216715e-04 -2.63067155e-02] [-4.97367934e-04 5.78298287e-04 9.99999709e-01 5.24907724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43255784400003 meters 0.28422130321508915 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.03, Z:0.52 [[ 9.99990648e-01 4.24892887e-03 8.06639971e-04 2.85897457e+00] [-4.24785261e-03 9.99990092e-01 -1.33130972e-03 -2.76253851e-02] [-8.12288619e-04 1.32787078e-03 9.99998788e-01 5.21962930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46255784400006 meters 0.28243883417594695 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.52 [[ 9.99992134e-01 -3.67967825e-03 1.48042989e-03 2.87806210e+00] [ 3.67979509e-03 9.99993227e-01 -7.62088758e-05 -2.30784844e-02] [-1.48013944e-03 8.16559550e-05 9.99998901e-01 5.23404269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49255784400003 meters 0.28350744329197164 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.52 [[ 9.99978385e-01 5.22168221e-03 3.99537216e-03 2.89718859e+00] [-5.21695445e-03 9.99985680e-01 -1.19281857e-03 -2.14038322e-02] [-4.00154346e-03 1.17194911e-03 9.99991307e-01 5.24094079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52255784400006 meters 0.28254480754063893 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.52 [[ 9.99978237e-01 5.10402572e-03 4.18016325e-03 2.89669273e+00] [-5.09768351e-03 9.99985842e-01 -1.52646756e-03 -2.00002337e-02] [-4.18789520e-03 1.50512519e-03 9.99990098e-01 5.24146711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55255784400003 meters 0.28221096168018006 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.52 [[ 9.99978177e-01 4.97279505e-03 4.34924687e-03 2.89623295e+00] [-4.96457032e-03 9.99985872e-01 -1.89982555e-03 -1.84369667e-02] [-4.35863286e-03 1.87819195e-03 9.99988737e-01 5.24215376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58255784400006 meters 0.2841026579449212 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980082e-01 -3.03672517e-03 5.53294903e-03 2.91420151e+00] [ 3.04339891e-03 9.99994651e-01 -1.19816241e-03 -9.83884547e-03] [-5.52928095e-03 1.21497752e-03 9.99983975e-01 5.25615092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61255784400004 meters 0.282949999449083 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980315e-01 -3.13453892e-03 5.43544404e-03 2.91446248e+00] [ 3.14246693e-03 9.99994010e-01 -1.45064936e-03 -8.79226084e-03] [-5.43086437e-03 1.46770151e-03 9.99984176e-01 5.25576477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64255784400007 meters 0.28506501208695395 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980701e-01 -3.20562739e-03 5.32188925e-03 2.91473801e+00] [ 3.21434769e-03 9.99993504e-01 -1.63082951e-03 -8.04378838e-03] [-5.31662685e-03 1.64790444e-03 9.99984509e-01 5.25601521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67255784400004 meters 0.2849684706377123 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980496e-01 -3.24402926e-03 5.33693716e-03 2.91470895e+00] [ 3.25330156e-03 9.99993212e-01 -1.72961886e-03 -7.63150442e-03] [-5.33129000e-03 1.74694779e-03 9.99984263e-01 5.25571060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70255784400007 meters 0.28327986046657383 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980436e-01 -3.25502210e-03 5.34164418e-03 2.91460204e+00] [ 3.26446991e-03 9.99993121e-01 -1.76094416e-03 -7.49901196e-03] [-5.33587553e-03 1.77834734e-03 9.99984183e-01 5.25785028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73255784400004 meters 0.28241310285231447 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980478e-01 -3.27179366e-03 5.32345052e-03 2.91461052e+00] [ 3.28149244e-03 9.99992970e-01 -1.81418425e-03 -7.29326531e-03] [-5.31747746e-03 1.83161770e-03 9.99984185e-01 5.25872436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76255784400007 meters 0.283819962653064 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99980337e-01 -3.29717569e-03 5.33421677e-03 2.91455578e+00] [ 3.30724450e-03 9.99992764e-01 -1.87987255e-03 -7.01571891e-03] [-5.32797990e-03 1.89747714e-03 9.99984006e-01 5.25927386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79255784400004 meters 0.28361680076441437 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:0.53 [[ 9.99958379e-01 6.15028601e-03 6.73899600e-03 2.93618261e+00] [-6.13468211e-03 9.99978460e-01 -2.33369397e-03 -5.67426467e-03] [-6.75320372e-03 2.29225524e-03 9.99974570e-01 5.25768442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8225578440001 meters 0.2817419501407233 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99983470e-01 -2.51495457e-03 5.17047460e-03 2.91739677e+00] [ 2.52212799e-03 9.99995865e-01 -1.38132906e-03 -1.21037138e-03] [-5.16697924e-03 1.39434683e-03 9.99985679e-01 5.24608604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85255784400005 meters 0.28303073428165293 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99983586e-01 -2.62705658e-03 5.09187449e-03 2.91770120e+00] [ 2.63573805e-03 9.99995083e-01 -1.69900576e-03 8.22729932e-05] [-5.08738607e-03 1.71239872e-03 9.99985593e-01 5.24329823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8825578440001 meters 0.28431694111000916 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99982811e-01 -2.76229072e-03 5.17175495e-03 2.91762516e+00] [ 2.77307656e-03 9.99993993e-01 -2.07952027e-03 1.63031719e-03] [-5.16597964e-03 2.09382619e-03 9.99984464e-01 5.24006929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91255784400005 meters 0.2830541391039281 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99980602e-01 -2.92058097e-03 5.50135252e-03 2.91655432e+00] [ 2.93458492e-03 9.99992470e-01 -2.53919782e-03 3.66641714e-03] [-5.49389516e-03 2.55529276e-03 9.99981644e-01 5.24524743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9425578440001 meters 0.28393145070657305 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99980600e-01 -2.86918744e-03 5.52872767e-03 2.91626784e+00] [ 2.88254110e-03 9.99992944e-01 -2.40887066e-03 3.14979917e-03] [-5.52177716e-03 2.42476071e-03 9.99981815e-01 5.25029271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97255784400005 meters 0.282828773338607 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99981100e-01 -2.76051792e-03 5.49350843e-03 2.91621215e+00] [ 2.77214830e-03 9.99993930e-01 -2.11062599e-03 1.93201228e-03] [-5.48764867e-03 2.12581492e-03 9.99982683e-01 5.25386965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0025578440001 meters 0.2819224478666081 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99981899e-01 -2.59879121e-03 5.42662252e-03 2.91634294e+00] [ 2.60781950e-03 9.99995226e-01 -1.65729086e-03 6.87655035e-05] [-5.42228966e-03 1.67141251e-03 9.99983902e-01 5.25496488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03255784400005 meters 0.28310511875069544 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99983812e-01 -2.36730480e-03 5.17410057e-03 2.91716531e+00] [ 2.37214608e-03 9.99996754e-01 -9.29739192e-04 -2.93255906e-03] [-5.17188280e-03 9.41997864e-04 9.99986182e-01 5.25017503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters 0.2820733647959043 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.52 [[ 9.99979179e-01 5.62304639e-03 3.16598563e-03 2.89835510e+00] [-5.61758544e-03 9.99982723e-01 -1.73113752e-03 -8.00243533e-03] [-3.17566520e-03 1.71331628e-03 9.99993490e-01 5.23748901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09255784400005 meters 0.28381172845682795 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99993741e-01 -1.03088479e-03 3.38464887e-03 2.92162575e+00] [ 1.02787144e-03 9.99999074e-01 8.91917563e-04 -7.02461593e-03] [-3.38556520e-03 -8.88432996e-04 9.99993874e-01 5.22479113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters 0.2836880571796624 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99994308e-01 -9.79367290e-04 3.22878864e-03 2.92232043e+00] [ 9.76052128e-04 9.99998995e-01 1.02816706e-03 -7.65205727e-03] [-3.22979235e-03 -1.02500974e-03 9.99994259e-01 5.21787513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15255784400006 meters 0.28370135731105306 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99995416e-01 -9.61206620e-04 2.87118212e-03 2.92348030e+00] [ 9.58121960e-04 9.99998963e-01 1.07553400e-03 -7.92483737e-03] [-2.87221295e-03 -1.07277812e-03 9.99995300e-01 5.20955652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters 0.2849176944911188 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.52 [[ 9.99988630e-01 4.76233599e-03 -2.44681475e-04 2.90177813e+00] [-4.76281985e-03 9.99986624e-01 -2.01653687e-03 -6.28451262e-03] [ 2.35074776e-04 2.01767931e-03 9.99997937e-01 5.22736599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21255784400006 meters 0.283420680065525 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99995395e-01 -3.02849624e-03 1.96346642e-04 2.92046800e+00] [ 3.02863075e-03 9.99995177e-01 -6.88378734e-04 -1.40913299e-05] [-1.94260943e-04 6.88970225e-04 9.99999744e-01 5.23837953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters 0.2883466021053337 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99995315e-01 -3.05316749e-03 2.18575498e-04 2.92045390e+00] [ 3.05333146e-03 9.99995054e-01 -7.53801665e-04 2.52660369e-04] [-2.16272934e-04 7.54465517e-04 9.99999692e-01 5.23737876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27255784400006 meters 0.2853706596445557 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99984577e-01 5.38183984e-03 1.37175750e-03 2.93996935e+00] [-5.37866965e-03 9.99982880e-01 -2.30434955e-03 -1.95378629e-03] [-1.38413565e-03 2.29693578e-03 9.99996404e-01 5.24921136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters 0.28432909873649853 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.53 [[ 9.99984384e-01 5.39986208e-03 1.43985650e-03 2.93958219e+00] [-5.39659763e-03 9.99982881e-01 -2.26152995e-03 -2.13010840e-03] [-1.45204381e-03 2.25372430e-03 9.99996406e-01 5.25442340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33255784400006 meters 0.28445780704312273 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99994656e-01 -3.18263190e-03 7.47259549e-04 2.91872887e+00] [ 3.18337813e-03 9.99994433e-01 -9.99560001e-04 2.76041150e-04] [-7.44074158e-04 1.00193347e-03 9.99999221e-01 5.24765561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters 0.28369133501579524 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99979167e-01 5.75031392e-03 2.93252583e-03 2.93845774e+00] [-5.74520710e-03 9.99981970e-01 -1.74690401e-03 -1.15352866e-03] [-2.94251820e-03 1.73001965e-03 9.99994174e-01 5.24942805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39255784400007 meters 0.28389123347693207 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99979999e-01 5.70604342e-03 2.72826012e-03 2.93900751e+00] [-5.70098281e-03 9.99982021e-01 -1.85908021e-03 -7.14292796e-04] [-2.73881907e-03 1.84348926e-03 9.99994550e-01 5.24841615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42255784400004 meters 0.2836429904417138 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99980496e-01 5.70755818e-03 2.53592105e-03 2.93962655e+00] [-5.70288736e-03 9.99982036e-01 -1.84529225e-03 -8.05948221e-04] [-2.54640761e-03 1.83079419e-03 9.99995082e-01 5.24528302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45255784400007 meters 0.2838119812095639 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99980855e-01 5.70328400e-03 2.40058087e-03 2.94009438e+00] [-5.69884441e-03 9.99982046e-01 -1.85217642e-03 -8.01211511e-04] [-2.41110126e-03 1.83846042e-03 9.99995403e-01 5.24234422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48255784400004 meters 0.2851954601698509 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.53 [[ 9.99994319e-01 -2.09916128e-03 2.63722296e-03 2.95970984e+00] [ 2.10055446e-03 9.99997656e-01 -5.25614356e-04 3.85833445e-03] [-2.63611343e-03 5.31151000e-04 9.99996384e-01 5.25797276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51255784400007 meters 0.2856240399983518 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.53 [[ 9.99994280e-01 -2.04147947e-03 2.69664812e-03 2.95933294e+00] [ 2.04248782e-03 9.99997845e-01 -3.71225944e-04 3.22641986e-03] [-2.69588446e-03 3.76731692e-04 9.99996295e-01 5.26343717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54255784400004 meters 0.2827594783929295 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99987473e-01 -2.77835211e-03 4.16354024e-03 2.91804891e+00] [ 2.77889365e-03 9.99996131e-01 -1.24288232e-04 -7.11085030e-05] [-4.16317881e-03 1.35856711e-04 9.99991325e-01 5.24674391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5725578440001 meters 0.2837074784763518 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99987254e-01 -2.76660625e-03 4.22344493e-03 2.91780261e+00] [ 2.76703412e-03 9.99996167e-01 -9.54689641e-05 -1.83216279e-04] [-4.22316461e-03 1.07154163e-04 9.99991077e-01 5.24897090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60255784400005 meters 0.28273603065891867 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99987253e-01 -2.77639317e-03 4.21727640e-03 2.91783385e+00] [ 2.77692667e-03 9.99996137e-01 -1.20652076e-04 -8.25422074e-05] [-4.21692514e-03 1.32361606e-04 9.99991100e-01 5.24861561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6325578440001 meters 0.2844943993601317 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.52 [[ 9.99987898e-01 -2.79280845e-03 4.05013892e-03 2.91850722e+00] [ 2.79348901e-03 9.99996085e-01 -1.62385774e-04 5.75782028e-05] [-4.04966955e-03 1.73697827e-04 9.99991785e-01 5.24193967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66255784400005 meters 0.2842330364494256 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99988193e-01 -2.77379582e-03 3.99002067e-03 2.91866904e+00] [ 2.77426775e-03 9.99996145e-01 -1.12748591e-04 -1.56434100e-04] [-3.98969255e-03 1.23816645e-04 9.99992033e-01 5.24182551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6925578440001 meters 0.28415665088793374 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99988056e-01 -2.73845965e-03 4.04832567e-03 2.91836278e+00] [ 2.73856737e-03 9.99996250e-01 -2.10666315e-05 -5.28235671e-04] [-4.04825280e-03 3.21529925e-05 9.99991805e-01 5.24557090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72255784400005 meters 0.28311549205158437 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99987831e-01 -2.65727975e-03 4.15650265e-03 2.91764968e+00] [ 2.65643584e-03 9.99996450e-01 2.08541025e-04 -1.47755347e-03] [-4.15704204e-03 -1.97497005e-04 9.99991340e-01 5.25760532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7525578440001 meters 0.28339134994494847 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99987952e-01 -2.61038664e-03 4.15714086e-03 2.91760085e+00] [ 2.60904344e-03 9.99996542e-01 3.28496264e-04 -1.97653263e-03] [-4.15798399e-03 -3.17646146e-04 9.99991305e-01 5.25871442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78255784400005 meters 0.2831460750006813 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99988492e-01 -2.55621942e-03 4.05981346e-03 2.91790027e+00] [ 2.55432041e-03 9.99996626e-01 4.72875426e-04 -2.59333566e-03] [-4.06100853e-03 -4.62499920e-04 9.99991647e-01 5.25764399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.812557844 meters 0.2831948947496305 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989086e-01 -2.52791699e-03 3.92893796e-03 2.91831675e+00] [ 2.52577319e-03 9.99996659e-01 5.50508370e-04 -2.93426037e-03] [-3.93031647e-03 -5.40578756e-04 9.99992130e-01 5.25578078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84255784400005 meters 0.28377924299235596 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989421e-01 -2.50563732e-03 3.85753941e-03 2.91849666e+00] [ 2.50328004e-03 9.99996677e-01 6.15788912e-04 -3.20667613e-03] [-3.85906953e-03 -6.06125896e-04 9.99992370e-01 5.25584319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.872557844 meters 0.28356145978788283 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989213e-01 -2.49889057e-03 3.91519143e-03 2.91829801e+00] [ 2.49643415e-03 9.99996684e-01 6.32167652e-04 -3.26862746e-03] [-3.91675817e-03 -6.22386815e-04 9.99992136e-01 5.25703952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90255784400006 meters 0.28279786628282205 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989194e-01 -2.49540033e-03 3.92242094e-03 2.91826272e+00] [ 2.49290098e-03 9.99996687e-01 6.41956205e-04 -3.30648474e-03] [-3.92400988e-03 -6.32171060e-04 9.99992101e-01 5.25744887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93255784400003 meters 0.2830856390418199 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989487e-01 -2.49725410e-03 3.84569952e-03 2.91847492e+00] [ 2.49481625e-03 9.99996684e-01 6.38582748e-04 -3.30074547e-03] [-3.84728147e-03 -6.28981721e-04 9.99992401e-01 5.25706892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96255784400006 meters 0.2836691655200876 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989777e-01 -2.50008246e-03 3.76768831e-03 2.91879018e+00] [ 2.49771734e-03 9.99996681e-01 6.32312847e-04 -3.29391090e-03] [-3.76925664e-03 -6.22895762e-04 9.99992702e-01 5.25442023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99255784400003 meters 0.2845829788096012 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99989473e-01 -2.63355640e-03 3.75753576e-03 2.91897417e+00] [ 2.63257123e-03 9.99996499e-01 2.67108841e-04 -1.80069335e-03] [-3.75822605e-03 -2.57214049e-04 9.99992905e-01 5.25047697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02255784400006 meters 0.28449365860722126 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99988935e-01 -2.72183714e-03 3.83692641e-03 2.91876467e+00] [ 2.72172610e-03 9.99996296e-01 3.41611866e-05 -8.28929173e-04] [-3.83700517e-03 -2.37177459e-05 9.99992638e-01 5.25044917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05255784400003 meters 0.28449365860722126 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99988935e-01 -2.72183714e-03 3.83692641e-03 2.91876467e+00] [ 2.72172610e-03 9.99996296e-01 3.41611866e-05 -8.28929173e-04] [-3.83700517e-03 -2.37177459e-05 9.99992638e-01 5.25044917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08255784400006 meters 0.2848889096885006 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99988414e-01 -2.80200888e-03 3.91406686e-03 2.91846387e+00] [ 2.80272694e-03 9.99996057e-01 -1.77984271e-04 7.48174992e-05] [-3.91355271e-03 1.88952270e-04 9.99992324e-01 5.25265751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11255784400004 meters 0.28444898053968687 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99987866e-01 -2.88844467e-03 3.99062874e-03 2.91810104e+00] [ 2.89009468e-03 9.99995741e-01 -4.07765430e-04 1.05151275e-03] [-3.98943393e-03 4.19293777e-04 9.99991954e-01 5.25635098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14255784400007 meters 0.2857171809541413 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99987305e-01 -3.13583116e-03 3.94405864e-03 2.91826891e+00] [ 3.13999490e-03 9.99994519e-01 -1.04995151e-03 3.71647226e-03] [-3.94074456e-03 1.06232250e-03 9.99991671e-01 5.25502256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17255784400004 meters 0.2845525030916886 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99987114e-01 -3.28911274e-03 3.86686345e-03 2.91865783e+00] [ 3.29468603e-03 9.99993542e-01 -1.43581126e-03 5.33261706e-03] [-3.86211593e-03 1.44853286e-03 9.99991493e-01 5.25067889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20255784400007 meters 0.28523971835654877 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.52 [[ 9.99987002e-01 -3.39386950e-03 3.80496912e-03 2.91889934e+00] [ 3.40035212e-03 9.99992776e-01 -1.69855186e-03 6.42738802e-03] [-3.79917697e-03 1.71146802e-03 9.99991319e-01 5.24872819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23255784400004 meters 0.284234567656016 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.52 [[ 9.99986896e-01 -3.43772948e-03 3.79328511e-03 2.91896618e+00] [ 3.44461803e-03 9.99992428e-01 -1.81094816e-03 6.89590363e-03] [-3.78703084e-03 1.82399084e-03 9.99991166e-01 5.24782779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26255784400007 meters 0.2852778876852826 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.52 [[ 9.99986900e-01 -3.50293714e-03 3.73210175e-03 2.91915736e+00] [ 3.51034327e-03 9.99991879e-01 -1.97974015e-03 7.59356969e-03] [-3.72513654e-03 1.99281517e-03 9.99991076e-01 5.24688485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29255784400004 meters 0.28587245793977306 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.52 [[ 9.99986960e-01 -3.53083338e-03 3.68949393e-03 2.91929869e+00] [ 3.53840886e-03 9.99991641e-01 -2.04875225e-03 7.87848721e-03] [-3.68222929e-03 2.06178047e-03 9.99991095e-01 5.24618680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3225578440001 meters 0.28495141119843564 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.52 [[ 9.99987859e-01 4.51913416e-03 1.96433840e-03 2.89963949e+00] [-4.51290654e-03 9.99984814e-01 -3.16329618e-03 4.46742553e-03] [-1.97860393e-03 3.15439290e-03 9.99993067e-01 5.24090590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35255784400005 meters 0.2850770892094132 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.52 [[ 9.99988383e-01 4.43389308e-03 1.89088736e-03 2.89987107e+00] [-4.42748237e-03 9.99984483e-01 -3.38113275e-03 5.37116613e-03] [-1.90584960e-03 3.37272160e-03 9.99992496e-01 5.23987625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3825578440001 meters 0.28485126037912545 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.52 [[ 9.99988707e-01 4.34386808e-03 1.92810261e-03 2.89980091e+00] [-4.33687472e-03 9.99984056e-01 -3.61654973e-03 6.35306088e-03] [-1.94378168e-03 3.60814695e-03 9.99991601e-01 5.23921832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41255784400005 meters 0.2845584583590269 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.52 [[ 9.99989154e-01 4.19881180e-03 2.01560891e-03 2.89955405e+00] [-4.19076469e-03 9.99983298e-01 -3.98015804e-03 7.89015108e-03] [-2.03228718e-03 3.97166793e-03 9.99990048e-01 5.23946764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4425578440001 meters 0.285027070614599 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99988978e-01 -3.62778392e-03 2.98054826e-03 2.91861808e+00] [ 3.63572533e-03 9.99989844e-01 -2.66332909e-03 1.25519281e-02] [-2.97085601e-03 2.67413619e-03 9.99992011e-01 5.25470865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47255784400005 meters 0.28495080430921543 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99989347e-01 -3.56485223e-03 2.93226037e-03 2.91866499e+00] [ 3.57217966e-03 9.99990501e-01 -2.49747199e-03 1.18667221e-02] [-2.92332940e-03 2.50791995e-03 9.99992582e-01 5.25655547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5025578440001 meters 0.28538784570695436 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99989683e-01 -3.51945639e-03 2.87169478e-03 2.91878534e+00] [ 3.52627690e-03 9.99990966e-01 -2.37348601e-03 1.13513312e-02] [-2.86331546e-03 2.38358791e-03 9.99993060e-01 5.25744096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53255784400005 meters 0.28520975960820655 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99989982e-01 -3.44150296e-03 2.86215111e-03 2.91880176e+00] [ 3.44771372e-03 9.99991707e-01 -2.16786647e-03 1.04963499e-02] [-2.85466665e-03 2.17771263e-03 9.99993554e-01 5.25775773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters 0.28477357138915005 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99989935e-01 -3.33558910e-03 3.00061876e-03 2.91831818e+00] [ 3.34123634e-03 9.99992653e-01 -1.87898528e-03 9.29071829e-03] [-2.99432919e-03 1.88899215e-03 9.99993733e-01 5.26129830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59255784400005 meters 0.28454826690592616 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99989892e-01 -3.28882711e-03 3.06597902e-03 2.91812480e+00] [ 3.29423666e-03 9.99993023e-01 -1.76100181e-03 8.80059563e-03] [-3.06016600e-03 1.77108407e-03 9.99993749e-01 5.26191458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters 0.28490738249091707 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99990293e-01 -3.16907484e-03 3.06105598e-03 2.91822361e+00] [ 3.17355010e-03 9.99993901e-01 -1.45825128e-03 7.51188711e-03] [-3.05641601e-03 1.46795154e-03 9.99994252e-01 5.26022773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65255784400006 meters 0.2846505089815679 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.53 [[ 9.99990814e-01 -3.07114309e-03 2.99005716e-03 2.91849658e+00] [ 3.07475580e-03 9.99994548e-01 -1.20439456e-03 6.43446674e-03] [-2.98634199e-03 1.21357719e-03 9.99994804e-01 5.25839126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters 0.2860542784925214 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.53 [[ 9.99979571e-01 5.49297223e-03 3.26876290e-03 2.93899156e+00] [-5.48534582e-03 9.99982223e-01 -2.33752968e-03 3.00222675e-03] [-3.28154478e-03 2.31955163e-03 9.99991926e-01 5.26979299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71255784400006 meters 0.28491444590740395 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99994235e-01 -3.10537748e-03 1.37363971e-03 2.92004474e+00] [ 3.10686932e-03 9.99994585e-01 -1.08525718e-03 4.48037404e-03] [-1.37026214e-03 1.08951865e-03 9.99998468e-01 5.25882985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters 0.2854470405829233 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99994659e-01 -3.00643515e-03 1.28155099e-03 2.92040260e+00] [ 3.00750187e-03 9.99995132e-01 -8.31253830e-04 3.38974921e-03] [-1.27904564e-03 8.35103658e-04 9.99998833e-01 5.25628279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77255784400006 meters 0.28552134295883697 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99994881e-01 -2.94288310e-03 1.25563918e-03 2.92041734e+00] [ 2.94371775e-03 9.99995447e-01 -6.63393821e-04 2.69550219e-03] [-1.25368117e-03 6.67086673e-04 9.99998992e-01 5.25759755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters 0.286174061885818 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99994922e-01 -2.88630207e-03 1.35106846e-03 2.92015057e+00] [ 2.88700588e-03 9.99995698e-01 -5.19267564e-04 2.09882117e-03] [-1.34956388e-03 5.23165470e-04 9.99998952e-01 5.25820923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83255784400006 meters 0.2857366724963863 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.53 [[ 9.99995057e-01 -2.80730556e-03 1.41582840e-03 2.91989583e+00] [ 2.80775670e-03 9.99996008e-01 -3.16754331e-04 1.26033695e-03] [-1.41493352e-03 3.20728067e-04 9.99998948e-01 5.26036407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters 0.2860994951965651 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99995734e-01 -2.63364610e-03 1.26325180e-03 2.92043145e+00] [ 2.63342643e-03 9.99996517e-01 1.75517807e-04 -8.27258359e-04] [-1.26370965e-03 -1.72190377e-04 9.99999187e-01 5.25736121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89255784400007 meters 0.28719956943692104 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99996290e-01 -2.51028094e-03 1.05756506e-03 2.92113712e+00] [ 2.50973959e-03 9.99996719e-01 5.12902572e-04 -2.29461394e-03] [-1.05884912e-03 -5.10246456e-04 9.99999309e-01 5.25357019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92255784400004 meters 0.2870601451795761 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.53 [[ 9.99996747e-01 -2.37955622e-03 9.18610500e-04 2.92153869e+00] [ 2.37876825e-03 9.99996803e-01 8.57923309e-04 -3.74884974e-03] [-9.20649040e-04 -8.55735356e-04 9.99999210e-01 5.25302732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95255784400007 meters 0.2864731446005039 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.53 [[ 9.99997082e-01 -2.23690673e-03 9.12450836e-04 2.92141077e+00] [ 2.23578489e-03 9.99996746e-01 1.22865880e-03 -5.29041968e-03] [-9.15196262e-04 -1.22661517e-03 9.99998829e-01 5.25645175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98255784400004 meters 0.28616853212293614 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.53 [[ 9.99997476e-01 -1.99943903e-03 1.02463439e-03 2.92079100e+00] [ 1.99753527e-03 9.99996283e-01 1.85564957e-03 -7.99207088e-03] [-1.02834084e-03 -1.85359814e-03 9.99997753e-01 5.26488346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01255784400007 meters 0.28488483050008356 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.52 [[ 9.99982369e-01 5.81008137e-03 1.22649757e-03 2.90106003e+00] [-5.81096040e-03 9.99982861e-01 7.14354730e-04 -1.36657295e-02] [-1.22232609e-03 -7.21469264e-04 9.99998993e-01 5.24793876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04255784400004 meters 0.28447786708207484 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.52 [[ 9.99982123e-01 5.84612132e-03 1.25550633e-03 2.90104857e+00] [-5.84713986e-03 9.99982578e-01 8.09120540e-04 -1.40608383e-02] [-1.25075424e-03 -8.16447197e-04 9.99998885e-01 5.24658600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0725578440001 meters 0.2860682473124582 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99995728e-01 -2.62397345e-03 1.28785129e-03 2.92247462e+00] [ 2.62207452e-03 9.99995476e-01 1.47397403e-03 -9.47044802e-03] [-1.29171313e-03 -1.47059089e-03 9.99998084e-01 5.24355545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10255784400005 meters 0.2865038063090924 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99995898e-01 -2.61565337e-03 1.16692102e-03 2.92297637e+00] [ 2.61389984e-03 9.99995456e-01 1.50170263e-03 -9.61325570e-03] [-1.17084365e-03 -1.49864626e-03 9.99998192e-01 5.23872251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1325578440001 meters 0.2863810536241958 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99996142e-01 -2.60643919e-03 9.60174281e-04 2.92365763e+00] [ 2.60496735e-03 9.99995435e-01 1.53096392e-03 -9.76667905e-03] [-9.64160262e-04 -1.52845679e-03 9.99998367e-01 5.23382929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16255784400005 meters 0.2855864319104975 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99995904e-01 -2.64596643e-03 1.09104995e-03 2.92325552e+00] [ 2.64442393e-03 9.99995505e-01 1.41281018e-03 -9.25548619e-03] [-1.09478329e-03 -1.40991919e-03 9.99998407e-01 5.23549720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1925578440001 meters 0.28540092785021925 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99995620e-01 -2.68057892e-03 1.25473622e-03 2.92274560e+00] [ 2.67894175e-03 9.99995561e-01 1.30465346e-03 -8.77718509e-03] [-1.25822788e-03 -1.30128638e-03 9.99998362e-01 5.23794460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22255784400005 meters 0.2860797597632088 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99978658e-01 3.88649765e-03 5.25161623e-03 2.94311775e+00] [-3.87883800e-03 9.99991400e-01 -1.46792966e-03 -4.42257910e-03] [-5.25727617e-03 1.44752816e-03 9.99985133e-01 5.22366948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2525578440001 meters 0.28542122791056806 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99980550e-01 -4.71584633e-03 4.08161985e-03 2.92319550e+00] [ 4.71700768e-03 9.99988837e-01 -2.74951012e-04 -2.08988730e-03] [-4.08027766e-03 2.94198696e-04 9.99991632e-01 5.21281842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28255784400005 meters 0.2853371256674087 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99980492e-01 -4.72137707e-03 4.08957517e-03 2.92315858e+00] [ 4.72260745e-03 9.99988806e-01 -2.91253839e-04 -2.02073922e-03] [-4.08815428e-03 3.10561616e-04 9.99991595e-01 5.21319358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.312557844 meters 0.2866893957038109 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99980509e-01 -4.74166910e-03 4.06175155e-03 2.92315170e+00] [ 4.74310679e-03 9.99988692e-01 -3.44398230e-04 -1.79468304e-03] [-4.06007259e-03 3.63656838e-04 9.99991692e-01 5.21490377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34255784400005 meters 0.2870623745184465 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.52 [[ 9.99980728e-01 -4.80894629e-03 3.92665360e-03 2.92349439e+00] [ 4.81101483e-03 9.99988293e-01 -5.17518937e-04 -1.07887545e-03] [-3.92411891e-03 5.36400152e-04 9.99992157e-01 5.21483260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.372557844 meters 0.2870408213322434 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.52 [[ 9.99992401e-01 3.13651220e-03 2.31507728e-03 2.90416048e+00] [-3.13251506e-03 9.99993600e-01 -1.72818174e-03 -4.90824932e-03] [-2.32048293e-03 1.72091659e-03 9.99995827e-01 5.20874984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40255784400006 meters 0.2852602708236147 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.52 [[ 9.99984992e-01 -5.39095804e-03 9.76008088e-04 2.88428494e+00] [ 5.39152807e-03 9.99985296e-01 -5.82359253e-04 -1.71546907e-03] [-9.72854263e-04 5.87612688e-04 9.99999354e-01 5.20073481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43255784400003 meters 0.2851738955719945 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.52 [[ 9.99984691e-01 -5.43889627e-03 1.01749204e-03 2.88410536e+00] [ 5.43962056e-03 9.99984953e-01 -7.10432620e-04 -1.17016556e-03] [-1.01361276e-03 7.15956515e-04 9.99999230e-01 5.20233248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46255784400006 meters 0.2862154911609056 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.52 [[ 9.99984330e-01 -5.51122998e-03 9.83150645e-04 2.88416320e+00] [ 5.51211713e-03 9.99984401e-01 -9.01942413e-04 -3.71609462e-04] [-9.78164497e-04 9.07347521e-04 9.99999110e-01 5.20281764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49255784400003 meters 0.2850714475382225 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99996952e-01 2.43300070e-03 4.19391248e-04 2.86521240e+00] [-2.43204845e-03 9.99994497e-01 -2.25630375e-03 -4.72650893e-03] [-4.24878528e-04 2.25527689e-03 9.99997367e-01 5.18887842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52255784400006 meters 0.2853541450196206 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99996935e-01 2.42854161e-03 4.81111903e-04 2.86502269e+00] [-2.42744293e-03 9.99994475e-01 -2.27119118e-03 -4.65749206e-03] [-4.86624927e-04 2.27001635e-03 9.99997305e-01 5.18967612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55255784400003 meters 0.2856565269453058 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.52 [[ 9.99991095e-01 -2.95072614e-03 3.01727492e-03 2.88638596e+00] [ 2.94679683e-03 9.99994806e-01 1.30588666e-03 -4.75637338e-03] [-3.02111256e-03 -1.29698373e-03 9.99994595e-01 5.18096518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58255784400006 meters 0.286607552539457 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:0.52 [[ 9.99990947e-01 -2.92031115e-03 3.09492425e-03 2.88614441e+00] [ 2.91604484e-03 9.99994793e-01 1.38210391e-03 -5.06506485e-03] [-3.09894430e-03 -1.37306646e-03 9.99994256e-01 5.18200608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61255784400004 meters 0.2851895824097799 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:0.52 [[ 9.99991304e-01 -2.87395930e-03 3.02183160e-03 2.88634325e+00] [ 2.86942059e-03 9.99994750e-01 1.50523643e-03 -5.58231584e-03] [-3.02614173e-03 -1.49655244e-03 9.99994301e-01 5.18188755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64255784400007 meters 0.2852345453022836 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:0.52 [[ 9.99991621e-01 -2.89285938e-03 2.89630765e-03 2.88680803e+00] [ 2.88864814e-03 9.99994766e-01 1.45713225e-03 -5.41214641e-03] [-2.90050778e-03 -1.44875363e-03 9.99994744e-01 5.17801052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67255784400004 meters 0.2849712535634465 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.52 [[ 9.99991275e-01 -2.93590762e-03 2.97161880e-03 2.88657227e+00] [ 2.93195398e-03 9.99994812e-01 1.33394842e-03 -4.89630315e-03] [-2.97551973e-03 -1.32522414e-03 9.99994695e-01 5.17895907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70255784400007 meters 0.285309635536641 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.52 [[ 9.99990675e-01 -2.98174817e-03 3.12385875e-03 2.88612147e+00] [ 2.97801935e-03 9.99994849e-01 1.19763195e-03 -4.32277719e-03] [-3.12741370e-03 -1.18831787e-03 9.99994404e-01 5.18072131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73255784400004 meters 0.28660883939655174 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.52 [[ 9.99969438e-01 5.75367169e-03 5.29327580e-03 2.90488093e+00] [-5.75204441e-03 9.99983405e-01 -3.22597125e-04 -2.29913458e-03] [-5.29504408e-03 2.92140108e-04 9.99985938e-01 5.19506953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76255784400007 meters 0.28617971262768505 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99970299e-01 5.65039523e-03 5.24166913e-03 2.90514218e+00] [-5.64726804e-03 9.99983867e-01 -6.11211175e-04 -1.13262661e-03] [-5.24503815e-03 5.81591911e-04 9.99986076e-01 5.19166164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79255784400004 meters 0.28611936174880065 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99970928e-01 5.53565921e-03 5.24396203e-03 2.90526603e+00] [-5.53083717e-03 9.99984269e-01 -9.33597508e-04 1.83380580e-04] [-5.24904762e-03 9.04566867e-04 9.99985815e-01 5.18828392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8225578440001 meters 0.28594375229179503 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99971644e-01 5.43511534e-03 5.21264727e-03 2.90547358e+00] [-5.42888402e-03 9.99984533e-01 -1.20882875e-03 1.30604274e-03] [-5.21913677e-03 1.18049561e-03 9.99985683e-01 5.18504870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85255784400005 meters 0.2865825753722718 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99972359e-01 5.27031361e-03 5.24447045e-03 2.90561102e+00] [-5.26163946e-03 9.99984769e-01 -1.66638597e-03 3.19240087e-03] [-5.25317295e-03 1.63874540e-03 9.99984859e-01 5.17979496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8825578440001 meters 0.28611684218284594 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99972934e-01 5.19436648e-03 5.21056538e-03 2.90569518e+00] [-5.18470569e-03 9.99984819e-01 -1.86587545e-03 4.02112187e-03] [-5.22017832e-03 1.83880970e-03 9.99984684e-01 5.17968419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91255784400005 meters 0.28593822006694036 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99973648e-01 5.12567335e-03 5.14107065e-03 2.90586712e+00] [-5.11520469e-03 9.99984821e-01 -2.04736790e-03 4.76878472e-03] [-5.15148675e-03 2.02101632e-03 9.99984689e-01 5.17956347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9425578440001 meters 0.2860202569796235 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.52 [[ 9.99974622e-01 5.05748063e-03 5.01772178e-03 2.90619714e+00] [-5.04636178e-03 9.99984789e-01 -2.22610651e-03 5.49671096e-03] [-5.02890395e-03 2.20072878e-03 9.99984933e-01 5.17888440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97255784400005 meters 0.2860202569796235 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.52 [[ 9.99974622e-01 5.05748063e-03 5.01772178e-03 2.90619714e+00] [-5.04636178e-03 9.99984789e-01 -2.22610651e-03 5.49671096e-03] [-5.02890395e-03 2.20072878e-03 9.99984933e-01 5.17888440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0025578440001 meters 0.28676437795744686 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.52 [[ 9.99975428e-01 5.01137050e-03 4.90209575e-03 2.90648191e+00] [-4.99991404e-03 9.99984747e-01 -2.34652414e-03 5.98677391e-03] [-4.91378028e-03 2.32195643e-03 9.99985232e-01 5.17887018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03255784400005 meters 0.28568693456207006 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.52 [[ 9.99975468e-01 4.94645993e-03 4.95941228e-03 2.90634225e+00] [-4.93400767e-03 9.99984653e-01 -2.51993236e-03 6.70640231e-03] [-4.97180091e-03 2.49540076e-03 9.99984527e-01 5.17857813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.062557844 meters 0.28703859892722633 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.52 [[ 9.99973780e-01 -7.43170022e-04 7.20328646e-03 2.92817707e+00] [ 7.38112509e-04 9.99999479e-01 7.04744813e-04 8.41361447e-03] [-7.20380645e-03 -6.99409499e-04 9.99973808e-01 5.16766400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09255784400005 meters 0.28606479665349677 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.52 [[ 9.99973508e-01 -7.53332442e-04 7.23983451e-03 2.92797422e+00] [ 7.48463083e-04 9.99999492e-01 6.75264736e-04 8.55295749e-03] [-7.24033953e-03 -6.69828098e-04 9.99973564e-01 5.17016916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters 0.2853201999533824 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.52 [[ 9.99973980e-01 -7.39743202e-04 7.17581000e-03 2.92807554e+00] [ 7.34653365e-04 9.99999477e-01 7.11914776e-04 8.40096431e-03] [-7.17633288e-03 -7.06624519e-04 9.99974000e-01 5.17161599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15255784400006 meters 0.28781547004414065 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.52 [[ 9.99985107e-01 -1.15683347e-03 5.33357257e-03 2.96909267e+00] [ 1.15850521e-03 9.99999281e-01 -3.10357803e-04 1.06973522e-02] [-5.33320970e-03 3.16532152e-04 9.99985728e-01 5.19652283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters 0.2865846041677238 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.52 [[ 9.99985391e-01 -1.09828764e-03 5.29261280e-03 2.96919013e+00] [ 1.09915037e-03 9.99999383e-01 -1.60101283e-04 1.00684368e-02] [-5.29243370e-03 1.65916321e-04 9.99985981e-01 5.19679240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21255784400006 meters 0.2861760756740611 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.52 [[ 9.99985349e-01 -1.07150515e-03 5.30594192e-03 2.96914404e+00] [ 1.07201187e-03 9.99999421e-01 -9.26578832e-05 9.78584343e-03] [-5.30583957e-03 9.83445584e-05 9.99985919e-01 5.19711630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters 0.2861627559524931 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.52 [[ 9.99985467e-01 -1.00771937e-03 5.29628157e-03 2.96908499e+00] [ 1.00735316e-03 9.99999490e-01 7.18112458e-05 9.10707195e-03] [-5.29635124e-03 -6.64749762e-05 9.99985972e-01 5.19914954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27255784400006 meters 0.2866783139323533 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.52 [[ 9.99986105e-01 -8.35456668e-04 5.20493769e-03 2.96941765e+00] [ 8.32676820e-04 9.99999510e-01 5.36223270e-04 7.15820057e-03] [-5.20538313e-03 -5.31881788e-04 9.99986310e-01 5.19723506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters 0.28563723764477594 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.52 [[ 9.99987224e-01 4.21263739e-03 2.79397263e-03 2.94746464e+00] [-4.20428392e-03 9.99986695e-01 -2.98898245e-03 5.32815064e-03] [-2.80652695e-03 2.97719761e-03 9.99991630e-01 5.20855967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33255784400006 meters 0.28599341044699184 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.52 [[ 9.99987198e-01 4.31694115e-03 2.63980877e-03 2.94802925e+00] [-4.30980481e-03 9.99987059e-01 -2.70309511e-03 4.10513285e-03] [-2.65144372e-03 2.69168344e-03 9.99992862e-01 5.20472277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36255784400004 meters 0.2861062196578582 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.52 [[ 9.99986327e-01 4.54241009e-03 2.59086816e-03 2.94819135e+00] [-4.53691455e-03 9.99987454e-01 -2.12306791e-03 1.68132191e-03] [-2.60047950e-03 2.11128433e-03 9.99994390e-01 5.20409808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39255784400007 meters 0.28641600811417867 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:0.52 [[ 9.99985566e-01 4.67087626e-03 2.65512865e-03 2.94796148e+00] [-4.66611156e-03 9.99987497e-01 -1.79789828e-03 3.19722742e-04] [-2.66349322e-03 1.78548321e-03 9.99994859e-01 5.20573956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42255784400004 meters 0.2858434725277292 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99985361e-01 4.74483720e-03 2.60085109e-03 2.94802260e+00] [-4.74067216e-03 9.99987475e-01 -1.60524369e-03 -4.78176948e-04] [-2.60843514e-03 1.59289040e-03 9.99995329e-01 5.20762297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45255784400007 meters 0.28676623926423433 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99985164e-01 4.81009127e-03 2.55615783e-03 2.94824661e+00] [-4.80643394e-03 9.99987419e-01 -1.43501674e-03 -1.20188589e-03] [-2.56302823e-03 1.42270945e-03 9.99995703e-01 5.20527978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48255784400004 meters 0.2866201699227343 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99985227e-01 4.82756282e-03 2.49797942e-03 2.94851159e+00] [-4.82410622e-03 9.99987401e-01 -1.38793859e-03 -1.41093775e-03] [-2.50464831e-03 1.37586757e-03 9.99995917e-01 5.20277037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51255784400007 meters 0.28610806403646255 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99985042e-01 4.85581615e-03 2.51710915e-03 2.94849576e+00] [-4.85251858e-03 9.99987362e-01 -1.31451744e-03 -1.71942256e-03] [-2.52346039e-03 1.30228345e-03 9.99995968e-01 5.20206356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54255784400004 meters 0.28622150150340464 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99984349e-01 4.96146421e-03 2.58557528e-03 2.94817896e+00] [-4.95877952e-03 9.99987161e-01 -1.04371264e-03 -2.84915144e-03] [-2.59072042e-03 1.03087501e-03 9.99996113e-01 5.20545667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5725578440001 meters 0.2866954650799021 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99984145e-01 5.01216703e-03 2.56686971e-03 2.94821748e+00] [-5.00984282e-03 9.99987036e-01 -9.11094016e-04 -3.40262863e-03] [-2.57140299e-03 8.98219956e-04 9.99996291e-01 5.20575904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60255784400005 meters 0.2854319316727106 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99993868e-01 -3.44406439e-03 6.34392967e-04 2.92840029e+00] [ 3.44381416e-03 9.99993992e-01 3.95113522e-04 -2.38750436e-03] [-6.35749952e-04 -3.92926368e-04 9.99999721e-01 5.20014485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6325578440001 meters 0.2862501159914028 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99994050e-01 -3.39034679e-03 6.36347774e-04 2.92839302e+00] [ 3.39000678e-03 9.99994111e-01 5.34629982e-04 -2.96813481e-03] [-6.38156608e-04 -5.32469578e-04 9.99999655e-01 5.20034190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66255784400005 meters 0.2848993992440482 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99994244e-01 -3.31004535e-03 7.44985660e-04 2.92788245e+00] [ 3.30948072e-03 9.99994236e-01 7.57867758e-04 -3.85259297e-03] [-7.47489943e-04 -7.55397880e-04 9.99999435e-01 5.20670974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6925578440001 meters 0.2846718900436527 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99994346e-01 -3.26318964e-03 8.12419944e-04 2.92751777e+00] [ 3.26246930e-03 9.99994285e-01 8.86413863e-04 -4.35521775e-03] [-8.15307837e-04 -8.83758356e-04 9.99999277e-01 5.21183947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72255784400005 meters 0.28624219594868255 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994517e-01 -3.18647817e-03 9.01784457e-04 2.92713644e+00] [ 3.18548852e-03 9.99994325e-01 1.09675722e-03 -5.22368325e-03] [-9.05274132e-04 -1.09387858e-03 9.99998992e-01 5.21595214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7525578440001 meters 0.28443166222359106 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994670e-01 -3.08943204e-03 1.05626321e-03 2.92662115e+00] [ 3.08793953e-03 9.99994236e-01 1.41173936e-03 -6.49164584e-03] [-1.06061859e-03 -1.40847015e-03 9.99998446e-01 5.22001153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78255784400005 meters 0.2839967991681836 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99995110e-01 -3.01136604e-03 8.43486189e-04 2.92722715e+00] [ 3.00997264e-03 9.99994111e-01 1.64838672e-03 -7.48410482e-03] [-8.48445118e-04 -1.64583978e-03 9.99998286e-01 5.21815620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.812557844 meters 0.2852992863218035 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99980335e-01 6.15317574e-03 1.21203000e-03 2.94753250e+00] [-6.15452985e-03 9.99980437e-01 1.11668079e-03 -1.25129345e-02] [-1.20513516e-03 -1.12411831e-03 9.99998642e-01 5.22462988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84255784400005 meters 0.28440391429924783 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99997745e-01 1.77782273e-03 1.16202319e-03 2.94748493e+00] [-1.77398822e-03 9.99993006e-01 -3.29260028e-03 -1.20477055e-02] [-1.16786873e-03 3.29053144e-03 9.99993904e-01 5.22683529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.872557844 meters 0.28667506015377375 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99997393e-01 1.91840707e-03 1.23857624e-03 2.94717091e+00] [-1.91483550e-03 9.99994024e-01 -2.87838803e-03 -1.37302015e-02] [-1.24409075e-03 2.87600886e-03 9.99995090e-01 5.22993275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90255784400006 meters 0.2845347696576433 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:0.52 [[ 9.99996908e-01 2.06837576e-03 1.38085115e-03 2.94670084e+00] [-2.06499071e-03 9.99994871e-01 -2.44835743e-03 -1.54995495e-02] [-1.38590819e-03 2.44549841e-03 9.99996049e-01 5.23269290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93255784400003 meters 0.28365364036842716 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:0.52 [[ 9.99996490e-01 2.26773712e-03 1.37023271e-03 2.94672481e+00] [-2.26528278e-03 9.99995832e-01 -1.79008722e-03 -1.81122472e-02] [-1.37428644e-03 1.78697697e-03 9.99997459e-01 5.23249442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96255784400006 meters 0.28378604840727817 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:0.52 [[ 9.99996391e-01 2.40037472e-03 1.20638790e-03 2.94730167e+00] [-2.39867287e-03 9.99996129e-01 -1.41016718e-03 -1.97092372e-02] [-1.20976816e-03 1.40726836e-03 9.99998278e-01 5.22826257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99255784400003 meters 0.2855396023682617 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.02, Z:0.52 [[ 9.99987760e-01 -3.92244449e-03 3.01561497e-03 2.97037774e+00] [ 3.91794465e-03 9.99991205e-01 1.49664162e-03 -2.18215315e-02] [-3.02145895e-03 -1.48480829e-03 9.99994333e-01 5.20596851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02255784400006 meters 0.2858342562499525 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.02, Z:0.52 [[ 9.99989021e-01 -3.75531826e-03 2.80286756e-03 2.97111774e+00] [ 3.74976977e-03 9.99991005e-01 1.98221292e-03 -2.38736927e-02] [-2.81028619e-03 -1.97168104e-03 9.99994107e-01 5.20127426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05255784400003 meters 0.285665531979002 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.03, Z:0.52 [[ 9.99990594e-01 -3.49847387e-03 2.56353278e-03 2.97180798e+00] [ 3.49126478e-03 9.99989954e-01 2.81126923e-03 -2.72280201e-02] [-2.57334218e-03 -2.80229282e-03 9.99992763e-01 5.19902902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08255784400006 meters 0.2851057751947982 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.03, Z:0.52 [[ 9.99991037e-01 -3.36367255e-03 2.57122515e-03 2.97174310e+00] [ 3.35549602e-03 9.99989321e-01 3.17774081e-03 -2.87291998e-02] [-2.58188657e-03 -3.16908459e-03 9.99991645e-01 5.20026638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11255784400004 meters 0.2836714223966164 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:0.52 [[ 9.99998068e-01 1.83155471e-03 7.13451469e-04 2.94789512e+00] [-1.83153803e-03 9.99998322e-01 -2.40286981e-05 -2.97011004e-02] [-7.13494282e-04 2.27219381e-05 9.99999745e-01 5.22057648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14255784400007 meters 0.28638024578064536 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:0.52 [[ 9.99996670e-01 1.66486163e-03 1.97171392e-03 2.98967412e+00] [-1.66366912e-03 9.99998432e-01 -6.06295775e-04 -3.07945791e-02] [-1.97272023e-03 6.03013477e-04 9.99997872e-01 5.22760712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17255784400004 meters 0.2842454757621363 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99995759e-01 -5.73342783e-04 2.85555554e-03 2.94985570e+00] [ 5.77229443e-04 9.99998908e-01 -1.36044893e-03 -3.56905735e-02] [-2.85477242e-03 1.36209147e-03 9.99994997e-01 5.20384562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20255784400007 meters 0.28498613192237165 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996018e-01 -4.43082322e-04 2.78715070e-03 2.95008808e+00] [ 4.45893771e-04 9.99999392e-01 -1.00817762e-03 -3.71622723e-02] [-2.78670230e-03 1.00941638e-03 9.99995608e-01 5.20241116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23255784400004 meters 0.2863526825489969 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996276e-01 -3.32577807e-04 2.70867301e-03 2.95040062e+00] [ 3.34508842e-04 9.99999690e-01 -7.12486134e-04 -3.83998175e-02] [-2.70843521e-03 7.13389555e-04 9.99996078e-01 5.19985901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26255784400007 meters 0.2873031877412488 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996587e-01 -2.40986270e-04 2.60156202e-03 2.95079219e+00] [ 2.42195739e-04 9.99999863e-01 -4.64595957e-04 -3.94365217e-02] [-2.60144970e-03 4.65224458e-04 9.99996508e-01 5.19702836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29255784400004 meters 0.2865027535959874 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996809e-01 -1.51798363e-04 2.52171532e-03 2.95097763e+00] [ 1.52326740e-04 9.99999966e-01 -2.09340013e-04 -4.04734013e-02] [-2.52168346e-03 2.09723469e-04 9.99996799e-01 5.19724511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3225578440001 meters 0.2858306581378194 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996792e-01 -1.45272195e-04 2.52881449e-03 2.95088576e+00] [ 1.45761863e-04 9.99999971e-01 -1.93452310e-04 -4.05347357e-02] [-2.52878632e-03 1.93820294e-04 9.99996784e-01 5.19885255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35255784400005 meters 0.2848684132316495 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996720e-01 -1.53100898e-04 2.55680133e-03 2.95080804e+00] [ 1.53651226e-04 9.99999965e-01 -2.15045802e-04 -4.04461870e-02] [-2.55676831e-03 2.15437953e-04 9.99996708e-01 5.19899760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3825578440001 meters 0.28583626448327487 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996794e-01 -1.89522072e-04 2.52494216e-03 2.95087668e+00] [ 1.90301169e-04 9.99999934e-01 -3.08323484e-04 -4.00560164e-02] [-2.52488356e-03 3.08802995e-04 9.99996765e-01 5.19930830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41255784400005 meters 0.2844474541233504 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996579e-01 -2.52502024e-04 2.60351050e-03 2.95066024e+00] [ 2.53731191e-04 9.99999857e-01 -4.71799768e-04 -3.93788397e-02] [-2.60339099e-03 4.72458746e-04 9.99996500e-01 5.19971225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4425578440001 meters 0.2843623198341571 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996410e-01 -2.58782289e-04 2.66717103e-03 2.95038628e+00] [ 2.60094392e-04 9.99999845e-01 -4.91610333e-04 -3.92939514e-02] [-2.66704340e-03 4.92302284e-04 9.99996322e-01 5.20231833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47255784400005 meters 0.2856237703259413 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99996094e-01 -2.73493007e-04 2.78164024e-03 2.94994930e+00] [ 2.74976371e-04 9.99999820e-01 -5.32901148e-04 -3.91249271e-02] [-2.78149399e-03 5.33663951e-04 9.99995989e-01 5.20600608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5025578440001 meters 0.2857613924539323 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:0.52 [[ 9.99995877e-01 -2.91125864e-04 2.85692804e-03 2.94958706e+00] [ 2.92788212e-04 9.99999788e-01 -5.81464853e-04 -3.89106164e-02] [-2.85675816e-03 5.82298930e-04 9.99995750e-01 5.21001765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53255784400005 meters 0.2831440765409223 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:0.52 [[ 9.99991988e-01 -8.08849216e-04 3.92053512e-03 2.91038846e+00] [ 8.10561841e-04 9.99999577e-01 -4.35265338e-04 -3.72853109e-02] [-3.92018139e-03 4.38439687e-04 9.99992220e-01 5.18141001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters 0.283999759209201 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:0.52 [[ 9.99992133e-01 -8.53523991e-04 3.87356283e-03 2.91065385e+00] [ 8.55667432e-04 9.99999482e-01 -5.51727719e-04 -3.68111266e-02] [-3.87308991e-03 5.55037861e-04 9.99992346e-01 5.17812928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59255784400005 meters 0.28419034938396254 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:0.52 [[ 9.99992341e-01 -9.38620052e-04 3.79962260e-03 2.91093215e+00] [ 9.41568461e-04 9.99999257e-01 -7.74259682e-04 -3.58902245e-02] [-3.79889304e-03 7.77831356e-04 9.99992482e-01 5.17618091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters 0.28470914780782164 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:0.52 [[ 9.99992780e-01 -1.00666132e-03 3.66431174e-03 2.91132955e+00] [ 1.01014445e-03 9.99999040e-01 -9.48827040e-04 -3.51655381e-02] [-3.66335307e-03 9.52521673e-04 9.99992836e-01 5.17508469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65255784400006 meters 0.2849289453627292 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993050e-01 -1.16523707e-03 3.54161304e-03 2.91160119e+00] [ 1.17004370e-03 9.99998397e-01 -1.35541761e-03 -3.34721051e-02] [-3.54002798e-03 1.35955203e-03 9.99992810e-01 5.17618207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters 0.2846590748734367 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99992979e-01 -1.23550152e-03 3.53762077e-03 2.91160013e+00] [ 1.24094839e-03 9.99998047e-01 -1.53791650e-03 -3.27102790e-02] [-3.53571376e-03 1.54229571e-03 9.99992560e-01 5.17647325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71255784400006 meters 0.28407177996450056 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993021e-01 -1.32959365e-03 3.49148464e-03 2.91177043e+00] [ 1.33583355e-03 9.99997514e-01 -1.78545095e-03 -3.16866023e-02] [-3.48910203e-03 1.79010253e-03 9.99992311e-01 5.17536668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters 0.28481387288572113 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993082e-01 -1.43101300e-03 3.43346699e-03 2.91204506e+00] [ 1.43806776e-03 9.99996858e-01 -2.05311895e-03 -3.05851966e-02] [-3.43051816e-03 2.05804231e-03 9.99991998e-01 5.17256683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77255784400006 meters 0.28430542323594854 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993276e-01 -1.53596639e-03 3.33002318e-03 2.91241929e+00] [ 1.54375053e-03 9.99996079e-01 -2.33625206e-03 -2.94151946e-02] [-3.32642172e-03 2.34137708e-03 9.99991726e-01 5.17001475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters 0.2855440918492925 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993752e-01 -1.75455421e-03 3.06883872e-03 2.91330109e+00] [ 1.76377356e-03 9.99993932e-01 -3.00406163e-03 -2.66522151e-02] [-3.06354931e-03 3.00945560e-03 9.99990779e-01 5.16448172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83255784400006 meters 0.28428134309955766 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993680e-01 -1.86300373e-03 3.02796477e-03 2.91340475e+00] [ 1.87296769e-03 9.99992830e-01 -3.29114920e-03 -2.54643410e-02] [-3.02181163e-03 3.29679968e-03 9.99990000e-01 5.16464438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters 0.28428134309955766 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.52 [[ 9.99993680e-01 -1.86300373e-03 3.02796477e-03 2.91340475e+00] [ 1.87296769e-03 9.99992830e-01 -3.29114920e-03 -2.54643410e-02] [-3.02181163e-03 3.29679968e-03 9.99990000e-01 5.16464438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89255784400007 meters 0.2848231960473286 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99993739e-01 -1.93806732e-03 2.96066910e-03 2.91357665e+00] [ 1.94839279e-03 9.99992017e-01 -3.48865226e-03 -2.46456846e-02] [-2.95388422e-03 3.49439897e-03 9.99989532e-01 5.16469580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92255784400004 meters 0.2861027486078361 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99993852e-01 -1.96757158e-03 2.90253707e-03 2.91378709e+00] [ 1.97791534e-03 9.99991689e-01 -3.56514047e-03 -2.43291416e-02] [-2.89549827e-03 3.57085953e-03 9.99989432e-01 5.16340948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95255784400007 meters 0.2845413129516879 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.51 [[ 9.99993663e-01 -1.71317791e-03 3.12070309e-03 2.87586163e+00] [ 1.72262598e-03 9.99993934e-01 -3.02737934e-03 -2.39660191e-02] [-3.11549772e-03 3.03273596e-03 9.99990548e-01 5.12863211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98255784400004 meters 0.28343354329722076 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.02, Z:0.51 [[ 9.99993828e-01 -1.72367981e-03 3.06160057e-03 2.87598489e+00] [ 1.73303212e-03 9.99993833e-01 -3.05468854e-03 -2.38516883e-02] [-3.05631639e-03 3.05997553e-03 9.99990648e-01 5.12923230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01255784400007 meters 0.2856167064586912 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.52 [[ 9.99998143e-01 -2.79548345e-04 1.90677445e-03 2.91500198e+00] [ 2.84020163e-04 9.99997209e-01 -2.34535911e-03 -2.47082278e-02] [-1.90611349e-03 2.34589631e-03 9.99995432e-01 5.16408564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04255784400004 meters 0.28452589935545725 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998216e-01 -2.87067666e-04 1.86694849e-03 2.91497311e+00] [ 2.91481195e-04 9.99997163e-01 -2.36419159e-03 -2.46264123e-02] [-1.86626451e-03 2.36473155e-03 9.99995463e-01 5.16712270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0725578440001 meters 0.2853658515744267 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998181e-01 -3.21226466e-04 1.88033894e-03 2.91484256e+00] [ 3.25863231e-04 9.99996906e-01 -2.46613318e-03 -2.42069582e-02] [-1.87954094e-03 2.46674143e-03 9.99995191e-01 5.16949904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10255784400005 meters 0.284630386274155 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998177e-01 -3.34890076e-04 1.87991302e-03 2.91488749e+00] [ 3.39595670e-04 9.99996809e-01 -2.50333069e-03 -2.40570343e-02] [-1.87906868e-03 2.50396453e-03 9.99995100e-01 5.16842613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1325578440001 meters 0.2846582628243536 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998061e-01 -3.76060713e-04 1.93298731e-03 2.91471543e+00] [ 3.81121104e-04 9.99996500e-01 -2.61821114e-03 -2.35882214e-02] [-1.93199593e-03 2.61894277e-03 9.99994704e-01 5.16939044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16255784400005 meters 0.28444774597915573 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997972e-01 -4.17797607e-04 1.97011254e-03 2.91457756e+00] [ 4.23181431e-04 9.99996175e-01 -2.73312481e-03 -2.31187431e-02] [-1.96896311e-03 2.73395299e-03 9.99994324e-01 5.17046672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1925578440001 meters 0.2840527110740917 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997935e-01 -4.57809592e-04 1.98023932e-03 2.91441211e+00] [ 4.63435746e-04 9.99995855e-01 -2.84162340e-03 -2.26697654e-02] [-1.97893019e-03 2.84253524e-03 9.99994002e-01 5.17381551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22255784400005 meters 0.2847763526702918 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998162e-01 -4.97421344e-04 1.85171321e-03 2.91469557e+00] [ 5.02895173e-04 9.99995502e-01 -2.95679822e-03 -2.22024896e-02] [-1.85023410e-03 2.95772401e-03 9.99993914e-01 5.17463699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2525578440001 meters 0.2846602849382385 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998220e-01 -4.89608721e-04 1.82241796e-03 2.91477948e+00] [ 4.94957800e-04 9.99995568e-01 -2.93586200e-03 -2.22949850e-02] [-1.82097245e-03 2.93675879e-03 9.99994030e-01 5.17441658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28255784400005 meters 0.28665586662649495 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998192e-01 -4.77339641e-04 1.84045596e-03 2.91475468e+00] [ 4.82685845e-04 9.99995663e-01 -2.90547639e-03 -2.24289174e-02] [-1.83906108e-03 2.90635950e-03 9.99994085e-01 5.17395700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.312557844 meters 0.28505741238999094 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998080e-01 -4.77127813e-04 1.90081040e-03 2.91456859e+00] [ 4.82649433e-04 9.99995663e-01 -2.90547782e-03 -2.24269395e-02] [-1.89941587e-03 2.90638967e-03 9.99993973e-01 5.17462976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34255784400005 meters 0.284151960792262 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998018e-01 -4.38796347e-04 1.94178888e-03 2.91429976e+00] [ 4.44245606e-04 9.99995962e-01 -2.80676767e-03 -2.28266004e-02] [-1.94054944e-03 2.80762474e-03 9.99994176e-01 5.17843029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.372557844 meters 0.284931297564584 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998054e-01 -3.89156047e-04 1.93383135e-03 2.91418603e+00] [ 3.94338486e-04 9.99996330e-01 -2.68022350e-03 -2.33531317e-02] [-1.93278123e-03 2.68098087e-03 9.99994538e-01 5.18143987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40255784400006 meters 0.2850037201291867 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998058e-01 -3.59527019e-04 1.93750886e-03 2.91405613e+00] [ 3.64576020e-04 9.99996537e-01 -2.60620111e-03 -2.36634504e-02] [-1.93656516e-03 2.60690241e-03 9.99994727e-01 5.18410538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43255784400003 meters 0.2846532368041222 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99998072e-01 -3.95297423e-04 1.92372127e-03 2.91399850e+00] [ 4.00489168e-04 9.99996277e-01 -2.69916655e-03 -2.32715541e-02] [-1.92264713e-03 2.69993177e-03 9.99994507e-01 5.18614101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46255784400006 meters 0.28367218163189106 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:0.52 [[ 9.99980936e-01 -6.16318806e-03 -3.77751949e-04 2.89196501e+00] [ 6.16353618e-03 9.99980575e-01 9.27425414e-04 -2.34653801e-02] [ 3.72028714e-04 -9.29736022e-04 9.99999499e-01 5.20023323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49255784400003 meters 0.284693385447591 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99996314e-01 2.55717812e-03 9.12314744e-04 2.91219050e+00] [-2.55687351e-03 9.99996675e-01 -3.34902780e-04 -2.37518594e-02] [-9.13168117e-04 3.32568872e-04 9.99999528e-01 5.20849987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52255784400006 meters 0.28446054224415046 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99996549e-01 2.46425730e-03 9.10477973e-04 2.91219475e+00] [-2.46371787e-03 9.99996789e-01 -5.93110200e-04 -2.26915657e-02] [-9.11936625e-04 5.90864992e-04 9.99999410e-01 5.20843830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55255784400003 meters 0.2836113998714713 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99996857e-01 2.34172284e-03 8.95578396e-04 2.91227098e+00] [-2.34088763e-03 9.99996825e-01 -9.32510813e-04 -2.13001565e-02] [-8.97759234e-04 9.30411434e-04 9.99999164e-01 5.20742351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58255784400006 meters 0.2848027931465151 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997437e-01 2.17829725e-03 6.16949310e-04 2.91303915e+00] [-2.17739803e-03 9.99996572e-01 -1.45447735e-03 -1.91983267e-02] [-6.20115479e-04 1.45313028e-03 9.99998752e-01 5.20482953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61255784400004 meters 0.28423506537848636 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997612e-01 2.10125046e-03 6.00910877e-04 2.91305492e+00] [-2.10025295e-03 9.99996424e-01 -1.65583915e-03 -1.83660351e-02] [-6.04388060e-04 1.65457313e-03 9.99998449e-01 5.20539273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64255784400007 meters 0.285416219173781 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997698e-01 2.07015237e-03 5.64840830e-04 2.91314697e+00] [-2.06917127e-03 9.99996359e-01 -1.73204631e-03 -1.80446519e-02] [-5.68424374e-04 1.73087357e-03 9.99998340e-01 5.20542383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67255784400004 meters 0.28428182518085604 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:0.52 [[ 9.99979479e-01 -6.39006341e-03 -4.57115159e-04 2.89378519e+00] [ 6.38993357e-03 9.99979544e-01 -2.84948396e-04 -1.57461510e-02] [ 4.58926647e-04 2.82021613e-04 9.99999855e-01 5.19219224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70255784400007 meters 0.2838852919355574 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:0.52 [[ 9.99979658e-01 -6.36528537e-03 -4.07955027e-04 2.89371887e+00] [ 6.36519464e-03 9.99979717e-01 -2.23326006e-04 -1.60066949e-02] [ 4.09368286e-04 2.20724750e-04 9.99999892e-01 5.19091571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73255784400004 meters 0.28548790385471146 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997725e-01 2.13271588e-03 2.41820985e-05 2.91442943e+00] [-2.13267789e-03 9.99996638e-01 -1.47529861e-03 -1.98713725e-02] [-2.73284100e-05 1.47524368e-03 9.99998911e-01 5.19882399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76255784400007 meters 0.28498433758948105 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997715e-01 2.13753758e-03 -4.18864532e-05 2.91462360e+00] [-2.13759649e-03 9.99996648e-01 -1.46092373e-03 -1.99366969e-02] [ 3.87635335e-05 1.46100992e-03 9.99998932e-01 5.19826161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79255784400004 meters 0.28585600735734273 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997747e-01 2.12028914e-03 -9.69563444e-05 2.91486173e+00] [-2.12043243e-03 9.99996623e-01 -1.50246967e-03 -1.97638374e-02] [ 9.37703469e-05 1.50267187e-03 9.99998867e-01 5.19608783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8225578440001 meters 0.2850033834151764 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.52 [[ 9.99997837e-01 2.07703122e-03 -1.05073918e-04 2.91494284e+00] [-2.07719817e-03 9.99996539e-01 -1.61446241e-03 -1.93014467e-02] [ 1.01720265e-04 1.61467718e-03 9.99998691e-01 5.19464624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85255784400005 meters 0.28653265482363705 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:0.52 [[ 9.99993120e-01 -3.69569501e-03 3.17786597e-04 2.93877164e+00] [ 3.69523060e-03 9.99992122e-01 1.44976508e-03 -1.67769720e-02] [-3.23141983e-04 -1.44858081e-03 9.99998899e-01 5.17792722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8825578440001 meters 0.2875871724718385 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:0.52 [[ 9.99993084e-01 -3.71321264e-03 2.09843522e-04 2.93925654e+00] [ 3.71291428e-03 9.99992120e-01 1.40475438e-03 -1.66108289e-02] [-2.15058020e-04 -1.40396553e-03 9.99998991e-01 5.17298467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91255784400005 meters 0.2855651427769348 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.52 [[ 9.99993652e-01 -3.20118767e-03 -1.56452025e-03 2.89851373e+00] [ 3.20501070e-03 9.99991869e-01 2.44721518e-03 -2.09206681e-02] [ 1.55667354e-03 -2.45221395e-03 9.99995782e-01 5.16324702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9425578440001 meters 0.2858399423840318 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99992517e-01 3.63742567e-03 1.31694234e-03 2.92024842e+00] [-3.63697386e-03 9.99993327e-01 -3.45309071e-04 -1.81203302e-02] [-1.31818958e-03 3.40516803e-04 9.99999073e-01 5.14494434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97255784400005 meters 0.2863354815047184 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99992787e-01 3.57340632e-03 1.28750501e-03 2.92035152e+00] [-3.57275602e-03 9.99993489e-01 -5.07026076e-04 -1.74452219e-02] [-1.28930844e-03 5.02422477e-04 9.99999043e-01 5.14423173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0025578440001 meters 0.28993742499362324 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99993076e-01 3.50279784e-03 1.25613363e-03 2.92045443e+00] [-3.50193449e-03 9.99993631e-01 -6.88847823e-04 -1.66871661e-02] [-1.25853852e-03 6.84444156e-04 9.99998974e-01 5.14365358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03255784400005 meters 0.28771878407769913 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:0.51 [[ 9.99992973e-01 -2.38031836e-03 2.89632937e-03 2.94264484e+00] [ 2.37384032e-03 9.99994678e-01 2.23802186e-03 -1.43972516e-02] [-2.90164116e-03 -2.23113071e-03 9.99993301e-01 5.13079704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters 0.2847334170716949 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.52 [[ 9.99996087e-01 -2.77660754e-03 3.40193687e-04 2.89786346e+00] [ 2.77577006e-03 9.99993176e-01 2.43799094e-03 -1.65666308e-02] [-3.46960709e-04 -2.43703710e-03 9.99996970e-01 5.15315621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09255784400005 meters 0.2872867302565159 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:0.52 [[ 9.99998683e-01 -1.54569576e-03 4.94028374e-04 2.93784797e+00] [ 1.54446287e-03 9.99995716e-01 2.48631272e-03 -1.09920010e-02] [-4.97869341e-04 -2.48554644e-03 9.99996787e-01 5.17630764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters 0.2855441543640204 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.52 [[ 9.99991480e-01 3.81493559e-03 -1.57705265e-03 2.91453306e+00] [-3.81647524e-03 9.99992242e-01 -9.74427630e-04 -1.03145806e-02] [ 1.57332304e-03 9.80438110e-04 9.99998282e-01 5.19983859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15255784400006 meters 0.28669451638032917 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99992016e-01 -3.94108574e-03 -6.60303459e-04 2.93356694e+00] [ 3.94126968e-03 9.99992195e-01 2.77490450e-04 -5.29701530e-03] [ 6.59204691e-04 -2.80090669e-04 9.99999743e-01 5.21783053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters 0.2874596885996799 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99987351e-01 4.95302382e-03 8.74576163e-04 2.95300485e+00] [-4.95235338e-03 9.99987443e-01 -7.67102186e-04 -7.05282913e-03] [-8.78364657e-04 7.62761273e-04 9.99999323e-01 5.22526780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21255784400006 meters 0.28531396460544856 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99993768e-01 -3.47713588e-03 -6.11399920e-04 2.93298687e+00] [ 3.47757257e-03 9.99993698e-01 7.14637108e-04 -6.08553451e-03] [ 6.08911176e-04 -7.16758842e-04 9.99999558e-01 5.21667649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters 0.2853725364182716 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99993931e-01 -3.43185602e-03 -6.00158828e-04 2.93283933e+00] [ 3.43235557e-03 9.99993762e-01 8.33323817e-04 -6.56230975e-03] [ 5.97295237e-04 -8.35378719e-04 9.99999473e-01 5.21953819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27255784400006 meters 0.28461019191827525 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994084e-01 -3.39508971e-03 -5.52933864e-04 2.93255343e+00] [ 3.39560138e-03 9.99993805e-01 9.27095800e-04 -6.94061317e-03] [ 5.49782865e-04 -9.28967858e-04 9.99999417e-01 5.22351373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters 0.2837902523845079 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994304e-01 -3.33775361e-03 -5.01695865e-04 2.93228524e+00] [ 3.33829241e-03 9.99993848e-01 1.07699672e-03 -7.55236064e-03] [ 4.98098029e-04 -1.07866539e-03 9.99999294e-01 5.22681940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33255784400006 meters 0.2844484559297203 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994434e-01 -3.28521005e-03 -5.83185604e-04 2.93251439e+00] [ 3.28591403e-03 9.99993869e-01 1.21029583e-03 -8.12644599e-03] [ 5.79205952e-04 -1.21220539e-03 9.99999098e-01 5.22638393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters 0.28455204294928915 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994343e-01 -3.29481719e-03 -6.76971052e-04 2.93284569e+00] [ 3.29562158e-03 9.99993861e-01 1.19055788e-03 -8.05485830e-03] [ 6.73044226e-04 -1.19278219e-03 9.99999062e-01 5.22434054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39255784400007 meters 0.28531604186990556 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994189e-01 -3.32283664e-03 -7.61674674e-04 2.93311851e+00] [ 3.32368827e-03 9.99993850e-01 1.11957150e-03 -7.76825219e-03] [ 7.57949836e-04 -1.12209657e-03 9.99999083e-01 5.22304712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42255784400004 meters 0.2850937413703052 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994045e-01 -3.35388609e-03 -8.13525907e-04 2.93331435e+00] [ 3.35473063e-03 9.99993833e-01 1.03899704e-03 -7.43995275e-03] [ 8.10036212e-04 -1.04172002e-03 9.99999129e-01 5.22153185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45255784400007 meters 0.2853643964283758 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994126e-01 -3.32787319e-03 -8.20953016e-04 2.93338902e+00] [ 3.32878096e-03 9.99993847e-01 1.10688425e-03 -7.72700333e-03] [ 8.17264394e-04 -1.10961052e-03 9.99999050e-01 5.22032473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48255784400004 meters 0.28758504753387765 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994192e-01 -3.30559891e-03 -8.29658876e-04 2.93336122e+00] [ 3.30656454e-03 9.99993854e-01 1.16522214e-03 -7.96321293e-03] [ 8.25802020e-04 -1.16795869e-03 9.99998977e-01 5.22151447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51255784400007 meters 0.28432818953970296 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994287e-01 -3.27036696e-03 -8.54516430e-04 2.93344449e+00] [ 3.27144127e-03 9.99993856e-01 1.25886195e-03 -8.35577948e-03] [ 8.50394240e-04 -1.26165026e-03 9.99998843e-01 5.22112587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54255784400004 meters 0.2859602120728459 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99994416e-01 -3.21994461e-03 -8.94617358e-04 2.93362715e+00] [ 3.22118805e-03 9.99993843e-01 1.39196432e-03 -8.92042765e-03] [ 8.90129802e-04 -1.39483828e-03 9.99998631e-01 5.21934588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5725578440001 meters 0.2852072829211366 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99991169e-01 4.07811784e-03 1.01548348e-03 2.95390620e+00] [-4.07712423e-03 9.99991210e-01 -9.78615902e-04 -1.06107474e-02] [-1.01946546e-03 9.74467008e-04 9.99999006e-01 5.21793516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60255784400005 meters 0.28553111927385105 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99990938e-01 4.14259839e-03 9.81241157e-04 2.95377829e+00] [-4.14178785e-03 9.99991081e-01 -8.26630551e-04 -1.12499660e-02] [-9.84656804e-04 8.22558967e-04 9.99999177e-01 5.22264667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6325578440001 meters 0.28480248963005667 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.52 [[ 9.99990950e-01 4.12387299e-03 1.04582877e-03 2.95348442e+00] [-4.12295710e-03 9.99991117e-01 -8.76401808e-04 -1.10200265e-02] [-1.04943365e-03 8.72081969e-04 9.99999069e-01 5.22568292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66255784400005 meters 0.28597432343462953 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99989326e-01 -4.61914489e-03 1.03456985e-04 2.93411788e+00] [ 4.61911124e-03 9.99989280e-01 3.23133024e-04 -7.66065836e-03] [-1.04948474e-04 -3.22651696e-04 9.99999942e-01 5.21592516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6925578440001 meters 0.2862119653479834 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.52 [[ 9.99988762e-01 -4.73978837e-03 -1.04265954e-04 2.93483844e+00] [ 4.73977965e-03 9.99988764e-01 -8.37682821e-05 -6.03305618e-03] [ 1.04661827e-04 8.32731430e-05 9.99999991e-01 5.20944879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72255784400005 meters 0.2881443390932639 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99988336e-01 -4.82919565e-03 -7.70196488e-05 2.93480900e+00] [ 4.82916934e-03 9.99988282e-01 -3.38207055e-04 -4.99607342e-03] [ 7.86520143e-05 3.37831169e-04 9.99999940e-01 5.20817769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7525578440001 meters 0.28567266625636406 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99987743e-01 -4.95116843e-03 -1.83774595e-06 2.93456511e+00] [ 4.95116603e-03 9.99987511e-01 -6.80311098e-04 -3.57760348e-03] [ 5.20605783e-06 6.80293661e-04 9.99999769e-01 5.20913734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78255784400005 meters 0.28567266625636406 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99987743e-01 -4.95116843e-03 -1.83774595e-06 2.93456511e+00] [ 4.95116603e-03 9.99987511e-01 -6.80311098e-04 -3.57760348e-03] [ 5.20605783e-06 6.80293661e-04 9.99999769e-01 5.20913734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.812557844 meters 0.2875780848363892 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99987265e-01 -5.04438187e-03 1.52410712e-04 2.93405227e+00] [ 5.04452286e-03 9.99986835e-01 -9.39244642e-04 -2.48034966e-03] [-1.47670797e-04 9.40001520e-04 9.99999547e-01 5.21174100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84255784400005 meters 0.2863293841887811 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99990027e-01 3.46814395e-03 2.81397467e-03 2.95383063e+00] [-3.46227569e-03 9.99991827e-01 -2.08759642e-03 -1.76633580e-03] [-2.82119176e-03 2.07783284e-03 9.99993862e-01 5.21459036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.872557844 meters 0.28645412639795953 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:0.52 [[ 9.99990176e-01 3.39074169e-03 2.85496116e-03 2.95370048e+00] [-3.38421406e-03 9.99991656e-01 -2.28814902e-03 -9.25883692e-04] [-2.86269586e-03 2.27846474e-03 9.99993307e-01 5.21496279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90255784400006 meters 0.2862334216854027 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99992756e-01 -3.80622015e-03 2.35566808e-05 2.93395074e+00] [ 3.80621882e-03 9.99992755e-01 5.60724335e-05 -3.21056189e-04] [-2.37699342e-05 -5.59823654e-05 9.99999998e-01 5.21538366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93255784400003 meters 0.2862233490037033 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99992826e-01 -3.78770410e-03 -2.13078588e-05 2.93401780e+00] [ 3.78770622e-03 9.99992822e-01 1.00539165e-04 -5.10776557e-04] [ 2.09268932e-05 -1.00619151e-04 9.99999995e-01 5.21650184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96255784400006 meters 0.2855514944490655 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99992999e-01 -3.74159529e-03 -4.83990164e-05 2.93396525e+00] [ 3.74160601e-03 9.99992975e-01 2.23510004e-04 -1.00982849e-03] [ 4.75623925e-05 -2.23689529e-04 9.99999974e-01 5.21952040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99255784400003 meters 0.2860905757230633 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99993248e-01 -3.67291701e-03 -1.19375202e-04 2.93395891e+00] [ 3.67296609e-03 9.99993169e-01 4.13615302e-04 -1.78844738e-03] [ 1.17855212e-04 -4.14050970e-04 9.99999907e-01 5.22405483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02255784400006 meters 0.28583495120200725 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.52 [[ 9.99993429e-01 -3.60783464e-03 -3.53524029e-04 2.93440147e+00] [ 3.60805806e-03 9.99993290e-01 6.33415786e-04 -2.68429993e-03] [ 3.51236398e-04 -6.34687160e-04 9.99999737e-01 5.22733165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05255784400003 meters 0.2858678729198155 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99993432e-01 -3.58001109e-03 -5.64350099e-04 2.93503199e+00] [ 3.58041343e-03 9.99993336e-01 7.13548386e-04 -3.04871601e-03] [ 5.61791827e-04 -7.15564307e-04 9.99999586e-01 5.22497752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08255784400006 meters 0.2861824390416128 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99993467e-01 -3.54250301e-03 -7.18189475e-04 2.93561262e+00] [ 3.54308696e-03 9.99993392e-01 8.13454531e-04 -3.50467689e-03] [ 7.15303064e-04 -8.15993825e-04 9.99999411e-01 5.22080578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11255784400004 meters 0.2867704578164856 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.52 [[ 9.99988509e-01 4.11560827e-03 -2.45850752e-03 2.91752459e+00] [-4.11703668e-03 9.99991359e-01 -5.76229805e-04 -8.21809535e-03] [ 2.45611474e-03 5.86344948e-04 9.99996812e-01 5.20423729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14255784400007 meters 0.2863095689357677 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:0.52 [[ 9.99981419e-01 -5.78172231e-03 -1.93230372e-03 2.89426383e+00] [ 5.78082113e-03 9.99983180e-01 -4.71636209e-04 -7.18398253e-03] [ 1.93499809e-03 4.60457143e-04 9.99998022e-01 5.21257111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17255784400004 meters 0.286612388924948 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:0.52 [[ 9.99991666e-01 -3.96589460e-03 9.69228528e-04 2.93633522e+00] [ 3.96524936e-03 9.99991916e-01 6.66738938e-04 -5.31374143e-03] [-9.71864910e-04 -6.62890148e-04 9.99999308e-01 5.21086298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20255784400007 meters 0.28709369224355125 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996728e-01 1.90760228e-03 -1.70444902e-03 2.91365911e+00] [-1.91137755e-03 9.99995718e-01 -2.21607103e-03 -4.75252315e-03] [ 1.70021434e-03 2.21932162e-03 9.99996092e-01 5.23417314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23255784400004 meters 0.2863923280065831 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996559e-01 1.77270306e-03 -1.93366935e-03 2.91454814e+00] [-1.77777875e-03 9.99994971e-01 -2.62634317e-03 -3.10428209e-03] [ 1.92900390e-03 2.62977177e-03 9.99994682e-01 5.22469607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26255784400007 meters 0.28652765244264955 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996559e-01 1.68378460e-03 -2.01168653e-03 2.91490833e+00] [-1.68953602e-03 9.99994481e-01 -2.86073152e-03 -2.14787766e-03] [ 2.00685857e-03 2.86412049e-03 9.99993885e-01 5.22068289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29255784400004 meters 0.28826542730384164 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996697e-01 1.61204028e-03 -2.00162476e-03 2.91497480e+00] [-1.61814667e-03 9.99994031e-01 -3.05285197e-03 -1.35616553e-03] [ 1.99669149e-03 3.05608081e-03 9.99993337e-01 5.21848983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3225578440001 meters 0.2868887763924462 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.52 [[ 9.99980961e-01 -4.88579348e-03 -3.76928741e-03 2.89262647e+00] [ 4.88591226e-03 9.99988064e-01 2.23060977e-05 -1.77358507e-03] [ 3.76913344e-03 -4.07220806e-05 9.99992896e-01 5.23120151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35255784400005 meters 0.2868838656654032 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998899e-01 1.45238525e-03 -3.03517800e-04 2.91332480e+00] [-1.45329216e-03 9.99994416e-01 -3.00944280e-03 1.26278703e-03] [ 2.99145235e-04 3.00988059e-03 9.99995426e-01 5.22188789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3825578440001 meters 0.28595562759848275 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998889e-01 1.45686433e-03 -3.14621319e-04 2.91319261e+00] [-1.45780116e-03 9.99994443e-01 -2.99821623e-03 1.22906847e-03] [ 3.10251576e-04 2.99867156e-03 9.99995456e-01 5.22549119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41255784400005 meters 0.2864702740533217 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998892e-01 1.44289549e-03 -3.65290908e-04 2.91319810e+00] [-1.44399650e-03 9.99994361e-01 -3.03195491e-03 1.37899827e-03] [ 3.60914054e-04 3.03247903e-03 9.99995337e-01 5.22820754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4425578440001 meters 0.28671718326948603 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998877e-01 1.44367406e-03 -4.02837605e-04 2.91328882e+00] [-1.44488790e-03 9.99994368e-01 -3.02937075e-03 1.36486270e-03] [ 3.98461912e-04 3.02994940e-03 9.99995330e-01 5.22831448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47255784400005 meters 0.28573534353362035 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998861e-01 1.43690807e-03 -4.62754737e-04 2.91344747e+00] [-1.43830987e-03 9.99994335e-01 -3.04331575e-03 1.42216748e-03] [ 4.58379150e-04 3.04397786e-03 9.99995262e-01 5.22816645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5025578440001 meters 0.28696533171360095 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.52 [[ 9.99992399e-01 -3.50335466e-03 1.71151560e-03 2.93618085e+00] [ 3.50211077e-03 9.99993602e-01 7.29236547e-04 1.37610026e-03] [-1.71405942e-03 -7.23237087e-04 9.99998269e-01 5.21339232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53255784400005 meters 0.28749620300347123 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.52 [[ 9.99992507e-01 -3.49289291e-03 1.66872689e-03 2.93621055e+00] [ 3.49163152e-03 9.99993617e-01 7.58217397e-04 1.25940045e-03] [-1.67136461e-03 -7.52385137e-04 9.99998320e-01 5.21520847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters 0.28658745315447076 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99997148e-01 2.31218309e-03 -5.97910954e-04 2.91322939e+00] [-2.31347928e-03 9.99994956e-01 -2.17632910e-03 4.39396416e-04] [ 5.92875867e-04 2.17770615e-03 9.99997453e-01 5.23882272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59255784400005 meters 0.286903659887469 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.52 [[ 9.99995059e-01 -2.94135713e-03 1.10904036e-03 2.93643231e+00] [ 2.93982971e-03 9.99994731e-01 1.37636932e-03 1.12073239e-03] [-1.11308291e-03 -1.37310213e-03 9.99998438e-01 5.22199804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters 0.2874648457929219 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:0.52 [[ 9.99995365e-01 -2.83412375e-03 1.11257102e-03 2.93633963e+00] [ 2.83229862e-03 9.99994646e-01 1.63861807e-03 2.15112177e-05] [-1.11720911e-03 -1.63545934e-03 9.99998039e-01 5.22400821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65255784400006 meters 0.2859107495760921 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996665e-01 2.58217219e-03 -4.52984040e-05 2.91350727e+00] [-2.58225131e-03 9.99994967e-01 -1.84360182e-03 -1.77654468e-03] [ 4.05376786e-05 1.84371264e-03 9.99998300e-01 5.23672498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters 0.2865425321992132 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:0.52 [[ 9.99984963e-01 -5.30943148e-03 1.37238880e-03 2.93300937e+00] [ 5.31029856e-03 9.99985702e-01 -6.28934412e-04 1.82771418e-03] [-1.36902990e-03 6.36212749e-04 9.99998860e-01 5.24484017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71255784400006 meters 0.28822443729423713 Centerline is valid? [False, False] Translation: X:2.93, Y:0.00, Z:0.52 [[ 9.99985114e-01 -5.28250907e-03 1.36646446e-03 2.93297968e+00] [ 5.28328005e-03 9.99985886e-01 -5.61223167e-04 1.54571606e-03] [-1.36348051e-03 5.68434227e-04 9.99998909e-01 5.24588961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters 0.2852433932748258 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99991647e-01 3.57499447e-03 1.98117517e-03 2.91064438e+00] [-3.57377074e-03 9.99993421e-01 -6.20874447e-04 -3.81136529e-03] [-1.98338175e-03 6.13788995e-04 9.99997845e-01 5.24864080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77255784400006 meters 0.28535472494919945 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99991492e-01 3.62062833e-03 1.97664126e-03 2.91061161e+00] [-3.61964119e-03 9.99993323e-01 -5.02755104e-04 -4.30256242e-03] [-1.97844836e-03 4.95596095e-04 9.99997920e-01 5.24974702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters 0.28569558768257447 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.53 [[ 9.99991562e-01 3.64534924e-03 1.89420444e-03 2.91080533e+00] [-3.64452684e-03 9.99993263e-01 -4.37434797e-04 -4.57874475e-03] [-1.89578629e-03 4.30527627e-04 9.99998110e-01 5.25018618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83255784400006 meters 0.2855004888623767 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99991722e-01 3.66532330e-03 1.76657224e-03 2.91119663e+00] [-3.66465596e-03 9.99993213e-01 -3.80850008e-04 -4.82761067e-03] [-1.76795619e-03 3.74372976e-04 9.99998367e-01 5.24878896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters 0.2866839703551132 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99991811e-01 3.66889880e-03 1.70776874e-03 2.91148245e+00] [-3.66827252e-03 9.99993204e-01 -3.69713535e-04 -4.88992900e-03] [-1.70911357e-03 3.63445946e-04 9.99998473e-01 5.24584152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89255784400007 meters 0.28571691766733154 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.52 [[ 9.99991506e-01 3.74067523e-03 1.73089262e-03 2.91127279e+00] [-3.74035997e-03 9.99992988e-01 -1.85337230e-04 -5.64351110e-03] [-1.73157377e-03 1.78861494e-04 9.99998485e-01 5.24932961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92255784400004 meters 0.2855842045265701 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99991421e-01 3.74509448e-03 1.76954599e-03 2.91107664e+00] [-3.74479028e-03 9.99992973e-01 -1.75191083e-04 -5.67136913e-03] [-1.77018966e-03 1.68563001e-04 9.99998419e-01 5.25144848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95255784400007 meters 0.2856061947878727 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99991548e-01 3.73248750e-03 1.72385656e-03 2.91117766e+00] [-3.73214254e-03 9.99993015e-01 -2.03280518e-04 -5.54923079e-03] [-1.72460326e-03 1.96845121e-04 9.99998493e-01 5.25179521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98255784400004 meters 0.28686669409078924 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.52 [[ 9.99991855e-01 3.69866162e-03 1.61525132e-03 2.91158028e+00] [-3.69820346e-03 9.99993121e-01 -2.86539204e-04 -5.20666578e-03] [-1.61630002e-03 2.80563342e-04 9.99998654e-01 5.24888717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01255784400007 meters 0.28847347405773754 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99992175e-01 3.67580863e-03 1.46257841e-03 2.91215991e+00] [-3.67531569e-03 9.99993188e-01 -3.39581195e-04 -4.99908357e-03] [-1.46381669e-03 3.34203100e-04 9.99998873e-01 5.24402764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04255784400004 meters 0.28662418149124597 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.52 [[ 9.99986229e-01 -5.24464790e-03 1.88691204e-04 2.89189269e+00] [ 5.24453416e-03 9.99986068e-01 5.98346352e-04 -3.26496685e-03] [-1.91826692e-04 -5.97348515e-04 9.99999803e-01 5.24117641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0725578440001 meters 0.28651708932672326 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99992489e-01 1.90557737e-03 3.37504596e-03 2.91274897e+00] [-1.90024526e-03 9.99996943e-01 -1.58236532e-03 -1.77269106e-03] [-3.37805096e-03 1.57594002e-03 9.99993053e-01 5.22906903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10255784400005 meters 0.28753770049691807 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99992388e-01 1.91705401e-03 3.39846208e-03 2.91258612e+00] [-1.91178449e-03 9.99996966e-01 -1.55313031e-03 -1.88329367e-03] [-3.40142921e-03 1.54662136e-03 9.99993019e-01 5.23134856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1325578440001 meters 0.287134801686278 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99992416e-01 1.92453831e-03 3.38573916e-03 2.91255890e+00] [-1.91935366e-03 9.99996982e-01 -1.53390121e-03 -1.95992570e-03] [-3.38868099e-03 1.52739115e-03 9.99993092e-01 5.23268412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16255784400005 meters 0.2850627116465619 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99988872e-01 1.34059873e-03 4.52316663e-03 2.87280827e+00] [-1.33448355e-03 9.99998192e-01 -1.35471598e-03 -4.64671879e-03] [-4.52497458e-03 1.34866481e-03 9.99988853e-01 5.20801323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1925578440001 meters 0.28519593692316586 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99988686e-01 1.28914926e-03 4.57893872e-03 2.87266269e+00] [-1.28231002e-03 9.99998058e-01 -1.49625349e-03 -4.05597819e-03] [-4.58085873e-03 1.49036494e-03 9.99988397e-01 5.20799821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22255784400005 meters 0.28612101135771717 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99988306e-01 1.22059384e-03 4.67957443e-03 2.87239937e+00] [-1.21271261e-03 9.99997842e-01 -1.68664442e-03 -3.25688846e-03] [-4.68162304e-03 1.68094971e-03 9.99987628e-01 5.20813683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2525578440001 meters 0.2873016776913071 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.52 [[ 9.99977145e-01 -3.85289305e-03 5.55553046e-03 2.89584953e+00] [ 3.84214978e-03 9.99990731e-01 1.94317521e-03 -7.16475772e-04] [-5.56296581e-03 -1.92178562e-03 9.99982680e-01 5.19466550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28255784400005 meters 0.2867945256336078 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.52 [[ 9.99993529e-01 1.80531124e-03 3.11174830e-03 2.87349761e+00] [-1.80142783e-03 9.99997596e-01 -1.25033264e-03 -2.78935060e-04] [-3.11399805e-03 1.24471896e-03 9.99994377e-01 5.21484033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.312557844 meters 0.2861187435267199 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99997846e-01 1.64450705e-03 1.26596729e-03 2.91338965e+00] [-1.64108969e-03 9.99995020e-01 -2.69573028e-03 3.48845654e-03] [-1.27039414e-03 2.69364691e-03 9.99995565e-01 5.24714015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34255784400005 meters 0.28612179101581786 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99997785e-01 1.70362358e-03 1.23614582e-03 2.91344074e+00] [-1.70047320e-03 9.99995315e-01 -2.54514059e-03 2.85668138e-03] [-1.24047599e-03 2.54303292e-03 9.99995997e-01 5.24785136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.372557844 meters 0.2871462041993866 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99997626e-01 1.77628420e-03 1.26231090e-03 2.91331283e+00] [-1.77329783e-03 9.99995636e-01 -2.36298636e-03 2.09981657e-03] [-1.26650273e-03 2.36074230e-03 9.99996411e-01 5.24938019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40255784400006 meters 0.2862600602265683 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:0.52 [[ 9.99976309e-01 -6.87677439e-03 3.02663702e-04 2.89286794e+00] [ 6.87706245e-03 9.99975891e-01 -9.61219301e-04 2.19504419e-03] [-2.96046317e-04 9.63277966e-04 9.99999492e-01 5.24187318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43255784400003 meters 0.2874150483577933 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996415e-01 2.32409479e-03 1.32964515e-03 2.91389052e+00] [-2.32233474e-03 9.99996427e-01 -1.32371104e-03 -1.71271175e-03] [-1.33271683e-03 1.32061841e-03 9.99998240e-01 5.24368833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46255784400006 meters 0.28646134457412026 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996370e-01 2.39446074e-03 1.23544289e-03 2.91422033e+00] [-2.39305209e-03 9.99996486e-01 -1.14041964e-03 -2.50342329e-03] [-1.23816924e-03 1.13745902e-03 9.99998587e-01 5.24192143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49255784400003 meters 0.2865154725642657 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996413e-01 2.44132937e-03 1.10135717e-03 2.91457179e+00] [-2.44021274e-03 9.99996509e-01 -1.01407031e-03 -3.04497061e-03] [-1.10382900e-03 1.01137913e-03 9.99998879e-01 5.24189031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52255784400006 meters 0.28611465438607947 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99996359e-01 2.50881870e-03 9.93893597e-04 2.91481665e+00] [-2.50798515e-03 9.99996503e-01 -8.39029374e-04 -3.78037430e-03] [-9.95995094e-04 8.36533649e-04 9.99999154e-01 5.24271254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55255784400003 meters 0.28568861098284404 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.52 [[ 9.99995960e-01 2.63978580e-03 1.05473140e-03 2.91450864e+00] [-2.63925900e-03 9.99996392e-01 -5.00545506e-04 -5.18843162e-03] [-1.05604893e-03 4.97759774e-04 9.99999318e-01 5.24648190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58255784400006 meters 0.28658736869839363 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99987763e-01 -3.60643173e-03 3.38642429e-03 2.93515075e+00] [ 3.59885574e-03 9.99991014e-01 2.24060196e-03 -3.42690923e-03] [-3.39447444e-03 -2.22838729e-03 9.99991756e-01 5.23717899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61255784400004 meters 0.2866458245436948 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:0.52 [[ 9.99987672e-01 -3.60273881e-03 3.41709270e-03 2.93514366e+00] [ 3.59506576e-03 9.99991009e-01 2.24898176e-03 -3.46825059e-03] [-3.42516447e-03 -2.23666936e-03 9.99991633e-01 5.23562176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64255784400007 meters 0.2841378953103306 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.53 [[ 9.99997863e-01 1.83562316e-03 9.51319983e-04 2.91278408e+00] [-1.83459428e-03 9.99997733e-01 -1.08127505e-03 -3.23101080e-03] [-9.53302639e-04 1.07952745e-03 9.99998963e-01 5.25392853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67255784400004 meters 0.2841378953103306 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.53 [[ 9.99997863e-01 1.83562316e-03 9.51319983e-04 2.91278408e+00] [-1.83459428e-03 9.99997733e-01 -1.08127505e-03 -3.23101080e-03] [-9.53302639e-04 1.07952745e-03 9.99998963e-01 5.25392853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70255784400007 meters 0.28548686304384285 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.53 [[ 9.99998019e-01 1.78941257e-03 8.71897716e-04 2.91307946e+00] [-1.78836849e-03 9.99997685e-01 -1.19679478e-03 -2.76325019e-03] [-8.74037257e-04 1.19523313e-03 9.99998904e-01 5.25171191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73255784400004 meters 0.285715733431974 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99998113e-01 1.75987615e-03 8.22648510e-04 2.91328528e+00] [-1.75883041e-03 9.99997647e-01 -1.27019034e-03 -2.46315981e-03] [-8.24881951e-04 1.26874104e-03 9.99998855e-01 5.24982705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76255784400007 meters 0.2863971901334253 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99998329e-01 1.66313876e-03 7.58269651e-04 2.91371542e+00] [-1.66198552e-03 9.99997465e-01 -1.51897588e-03 -1.43051464e-03] [-7.60793996e-04 1.51771311e-03 9.99998559e-01 5.24333571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79255784400004 meters 0.2867644542266429 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99998415e-01 1.61567018e-03 7.47499882e-04 2.91373584e+00] [-1.61444325e-03 9.99997353e-01 -1.63908053e-03 -9.21084530e-04] [-7.50146117e-04 1.63787114e-03 9.99998377e-01 5.24339977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8225578440001 meters 0.29012868322467744 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.52 [[ 9.99998476e-01 1.55093801e-03 8.01404319e-04 2.91346131e+00] [-1.54948894e-03 9.99997169e-01 -1.80563182e-03 -2.03740136e-04] [-8.04202474e-04 1.80438730e-03 9.99998049e-01 5.24626041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85255784400005 meters 0.28643947020121724 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.52 [[ 9.99998536e-01 1.48099568e-03 8.56942681e-04 2.91323081e+00] [-1.47929130e-03 9.99996933e-01 -1.98614013e-03 5.72990254e-04] [-8.59881519e-04 1.98486956e-03 9.99997660e-01 5.24804983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8825578440001 meters 0.2866932184415197 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.53 [[ 9.99978470e-01 -6.28767538e-03 1.87726080e-03 2.93098200e+00] [ 6.28955721e-03 9.99979722e-01 -9.98219132e-04 9.12337084e-03] [-1.87094625e-03 1.01000478e-03 9.99997740e-01 5.26566836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91255784400005 meters 0.2859419067256503 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.53 [[ 9.99977723e-01 -6.36846488e-03 1.99884171e-03 2.93057403e+00] [ 6.37088954e-03 9.99978975e-01 -1.20901879e-03 1.00253687e-02] [-1.99110009e-03 1.22172625e-03 9.99997271e-01 5.26750943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9425578440001 meters 0.28516606473363454 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.53 [[ 9.99977189e-01 -6.42303980e-03 2.08950899e-03 2.93021616e+00] [ 6.42587190e-03 9.99978441e-01 -1.35151432e-03 1.06432397e-02] [-2.08078311e-03 1.36491041e-03 9.99996904e-01 5.27008433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97255784400005 meters 0.2867888667718982 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:0.53 [[ 9.99996510e-01 1.88961113e-03 1.84633941e-03 2.90979117e+00] [-1.88557832e-03 9.99995838e-01 -2.18352469e-03 6.28176009e-03] [-1.85045774e-03 2.18003565e-03 9.99995912e-01 5.26320508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0025578440001 meters 0.2868193004593663 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.53 [[ 9.99997367e-01 2.27688934e-03 2.85951752e-04 2.94954555e+00] [-2.27607466e-03 9.99993440e-01 -2.81774862e-03 9.83827078e-03] [-2.92365578e-04 2.81709036e-03 9.99995989e-01 5.29411439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03255784400005 meters 0.289439443278279 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.53 [[ 9.99997343e-01 2.30223685e-03 1.12757503e-04 2.95001477e+00] [-2.30191858e-03 9.99993581e-01 -2.74579486e-03 9.52275955e-03] [-1.19078250e-04 2.74552801e-03 9.99996224e-01 5.29371545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters 0.2871039623612309 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.53 [[ 9.99998718e-01 1.55740723e-03 3.72291932e-04 2.91231147e+00] [-1.55653290e-03 9.99996057e-01 -2.33735982e-03 4.88879932e-03] [-3.75930685e-04 2.33677734e-03 9.99997199e-01 5.26221428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09255784400005 meters 0.28737939130528656 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.53 [[ 9.99998689e-01 1.59887409e-03 2.57173925e-04 2.91253581e+00] [-1.59829751e-03 9.99996243e-01 -2.22680317e-03 4.42459427e-03] [-2.60733337e-04 2.22638921e-03 9.99997488e-01 5.26385029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters 0.2858727886247813 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:0.53 [[ 9.99998590e-01 1.66449264e-03 2.21738791e-04 2.91257937e+00] [-1.66403368e-03 9.99996506e-01 -2.05418533e-03 3.70702173e-03] [-2.25157192e-04 2.05381345e-03 9.99997866e-01 5.26502252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15255784400006 meters 0.28545330691168985 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:0.53 [[ 9.99983837e-01 -4.99884849e-03 -2.70879524e-03 2.89136032e+00] [ 5.00147844e-03 9.99987027e-01 9.64991609e-04 -6.94573151e-06] [ 2.70393625e-03 -9.78523993e-04 9.99995866e-01 5.28131694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters 0.2864145538553585 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.53 [[ 9.99993193e-01 3.57775844e-03 -9.02325954e-04 2.91010452e+00] [-3.57782483e-03 9.99993597e-01 -7.19775783e-05 -3.87786222e-03] [ 9.02062658e-04 7.52054525e-05 9.99999590e-01 5.29303864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21255784400006 meters 0.2859704959556128 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.53 [[ 9.99990967e-01 -4.22116145e-03 4.97085093e-04 2.92977769e+00] [ 4.22049381e-03 9.99990200e-01 1.33658277e-03 -1.80600387e-03] [-5.02722153e-04 -1.33447275e-03 9.99998983e-01 5.30583214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters 0.2856683705889884 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:0.53 [[ 9.99998279e-01 1.44148148e-03 1.16791091e-03 2.90523363e+00] [-1.43962471e-03 9.99997701e-01 -1.58910431e-03 -6.99437457e-03] [-1.17019889e-03 1.58742022e-03 9.99998055e-01 5.32500178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27255784400006 meters 0.2865205066353455 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.53 [[ 9.99982486e-01 -4.07319969e-03 4.29374964e-03 2.92627050e+00] [ 4.06511402e-03 9.99989951e-01 1.89017567e-03 -9.44159454e-03] [-4.30140555e-03 -1.87268799e-03 9.99988995e-01 5.31192742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters 0.28425471834470967 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.53 [[ 9.99988917e-01 3.70913668e-03 2.89954312e-03 2.90787902e+00] [-3.71165485e-03 9.99992739e-01 8.63572193e-04 -1.61544017e-02] [-2.89631896e-03 -8.74324725e-04 9.99995423e-01 5.29878950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33255784400006 meters 0.28631779994238893 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.53 [[ 9.99983537e-01 -4.53455039e-03 3.51630319e-03 2.92902744e+00] [ 4.52804680e-03 9.99988027e-01 1.85531212e-03 -1.37988044e-02] [-3.52467410e-03 -1.83935959e-03 9.99992097e-01 5.29803937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters 0.2848073414117671 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:0.53 [[ 9.99999157e-01 8.18721606e-04 1.00754475e-03 2.90686902e+00] [-8.17432035e-04 9.99998847e-01 -1.27966117e-03 -1.54859293e-02] [-1.00859127e-03 1.27883650e-03 9.99998674e-01 5.31231916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39255784400007 meters 0.288453849655767 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:0.53 [[ 9.99998724e-01 1.22533064e-03 -1.02493476e-03 2.94750223e+00] [-1.22705760e-03 9.99997826e-01 -1.68601792e-03 -1.44103642e-02] [ 1.02286660e-03 1.68727342e-03 9.99998053e-01 5.33862016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42255784400004 meters 0.2845865073010076 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:0.54 [[ 9.99972580e-01 -4.84961145e-03 -5.59644205e-03 2.92699547e+00] [ 4.85655470e-03 9.99987453e-01 1.22773259e-03 -2.02881086e-02] [ 5.59041781e-03 -1.25487835e-03 9.99983586e-01 5.36089972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45255784400007 meters 0.28735460168283705 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:0.54 [[ 9.99972530e-01 -4.78579457e-03 -5.65995253e-03 2.92720457e+00] [ 4.79372796e-03 9.99987545e-01 1.38893641e-03 -2.09723918e-02] [ 5.65323487e-03 -1.41603053e-03 9.99983018e-01 5.36002826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48255784400004 meters 0.28784471436291365 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:0.54 [[ 9.99972819e-01 -4.71040505e-03 -5.67224182e-03 2.92727039e+00] [ 4.71940709e-03 9.99987624e-01 1.57469577e-03 -2.17579140e-02] [ 5.66475416e-03 -1.60142258e-03 9.99982673e-01 5.35946685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51255784400007 meters 0.28805780890117866 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:0.54 [[ 9.99972585e-01 -4.63703981e-03 -5.77299457e-03 2.92761997e+00] [ 4.64723917e-03 9.99987662e-01 1.75457784e-03 -2.25444984e-02] [ 5.76478730e-03 -1.78135823e-03 9.99981797e-01 5.35773106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54255784400004 meters 0.2872027856853677 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99971675e-01 2.98992290e-03 -6.90714223e-03 2.90904399e+00] [-2.98714378e-03 9.99995453e-01 4.12635797e-04 -2.72111388e-02] [ 6.90834457e-03 -3.91991482e-04 9.99976060e-01 5.33947713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5725578440001 meters 0.28722987055392013 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99971704e-01 2.98138977e-03 -6.90676465e-03 2.90912304e+00] [-2.97875093e-03 9.99995487e-01 3.92321509e-04 -2.71297720e-02] [ 6.90790314e-03 -3.71736877e-04 9.99976071e-01 5.33773242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60255784400005 meters 0.28773195929916784 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99972312e-01 2.97549253e-03 -6.82063813e-03 2.90889171e+00] [-2.97301235e-03 9.99995511e-01 3.73737829e-04 -2.70478121e-02] [ 6.82171956e-03 -3.53449639e-04 9.99976669e-01 5.33791286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6325578440001 meters 0.28737928300315496 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99972783e-01 2.96658651e-03 -6.75514943e-03 2.90863925e+00] [-2.96430556e-03 9.99995546e-01 3.47648279e-04 -2.69228208e-02] [ 6.75615068e-03 -3.27614490e-04 9.99977123e-01 5.33970719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66255784400005 meters 0.28743234035853343 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99973352e-01 2.95850516e-03 -6.67395052e-03 2.90832288e+00] [-2.95641184e-03 9.99995577e-01 3.23499850e-04 -2.68004070e-02] [ 6.67487808e-03 -3.03760284e-04 9.99977677e-01 5.34208707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6925578440001 meters 0.28713735834784676 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99973838e-01 3.00960533e-03 -6.57770312e-03 2.90785079e+00] [-3.00670237e-03 9.99995378e-01 4.51177839e-04 -2.72944529e-02] [ 6.57903059e-03 -4.31388840e-04 9.99978265e-01 5.34733525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72255784400005 meters 0.286054632753288 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.03, Z:0.53 [[ 9.99973499e-01 3.07463786e-03 -6.59914312e-03 2.90781727e+00] [-3.07064719e-03 9.99995097e-01 6.14772825e-04 -2.79680515e-02] [ 6.60100096e-03 -5.94492892e-04 9.99978036e-01 5.34933972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7525578440001 meters 0.28647696024466707 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:0.53 [[ 9.99985916e-01 1.37066622e-03 -5.12736528e-03 2.86766852e+00] [-1.36966265e-03 9.99999042e-01 1.99233613e-04 -3.10411056e-02] [ 5.12763345e-03 -1.92208047e-04 9.99986835e-01 5.32170931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78255784400005 meters 0.28496015745590564 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:0.53 [[ 9.99985350e-01 1.44464996e-03 -5.21662094e-03 2.86788612e+00] [-1.44261638e-03 9.99998882e-01 3.93570601e-04 -3.18556383e-02] [ 5.21718368e-03 -3.86039252e-04 9.99986316e-01 5.32196679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.812557844 meters 0.28642189844919913 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:0.53 [[ 9.99984534e-01 1.58082345e-03 -5.33219062e-03 2.86830018e+00] [-1.57682582e-03 9.99998473e-01 7.53837938e-04 -3.33837286e-02] [ 5.33337416e-03 -7.45418343e-04 9.99985500e-01 5.31939775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84255784400005 meters 0.28612886464272896 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.03, Z:0.53 [[ 9.99988099e-01 -4.14216645e-03 -2.57768889e-03 2.88961416e+00] [ 4.15230104e-03 9.99983622e-01 3.93880646e-03 -3.44186007e-02] [ 2.56133148e-03 -3.94946292e-03 9.99988921e-01 5.30636413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.872557844 meters 0.2850049545397409 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99990381e-01 1.07426683e-03 -4.25244653e-03 2.86612915e+00] [-1.07148279e-03 9.99999210e-01 6.56916230e-04 -3.61248809e-02] [ 4.25314888e-03 -6.52353488e-04 9.99990743e-01 5.32695005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90255784400006 meters 0.286318453845049 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99990068e-01 1.15559666e-03 -4.30454302e-03 2.86621087e+00] [-1.15189473e-03 9.99998965e-01 8.62383958e-04 -3.69842067e-02] [ 4.30553513e-03 -8.57417012e-04 9.99990364e-01 5.32823270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93255784400003 meters 0.28630081153732323 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99989756e-01 1.22539737e-03 -4.35741094e-03 2.86639125e+00] [-1.22089390e-03 9.99998718e-01 1.03603177e-03 -3.77208386e-02] [ 4.35867490e-03 -1.03070122e-03 9.99989970e-01 5.32743432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96255784400006 meters 0.2860029922684212 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99989306e-01 1.34794370e-03 -4.42401692e-03 2.86671958e+00] [-1.34204295e-03 9.99998206e-01 1.33649624e-03 -3.90060273e-02] [ 4.42581051e-03 -1.33054473e-03 9.99989321e-01 5.32435402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99255784400003 meters 0.2852664999478322 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:0.53 [[ 9.99996057e-01 4.18587408e-04 -2.77667674e-03 2.82679899e+00] [-4.13739410e-04 9.99998390e-01 1.74631597e-03 -4.25151108e-02] [ 2.77740325e-03 -1.74516027e-03 9.99994620e-01 5.29485531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02255784400006 meters 0.2863870086511143 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:0.53 [[ 9.99995594e-01 9.10883395e-04 -2.82535122e-03 2.86362578e+00] [-9.06967050e-04 9.99998627e-01 1.38711614e-03 -4.11562761e-02] [ 2.82661084e-03 -1.38454753e-03 9.99995047e-01 5.33770968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05255784400003 meters 0.28600340381676237 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:0.53 [[ 9.99995791e-01 1.03812858e-03 -2.70935885e-03 2.86315417e+00] [-1.03349986e-03 9.99998005e-01 1.70926313e-03 -4.24886461e-02] [ 2.71112788e-03 -1.70645581e-03 9.99994869e-01 5.34212988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08255784400006 meters 0.2853137811801366 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:0.53 [[ 9.99995825e-01 1.17678585e-03 -2.63921423e-03 2.86283781e+00] [-1.17136613e-03 9.99997204e-01 2.05414415e-03 -4.39240834e-02] [ 2.64162414e-03 -2.05104409e-03 9.99994408e-01 5.34546078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11255784400004 meters 0.2858183197291124 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99995116e-01 1.48653842e-03 -2.74933019e-03 2.86301916e+00] [-1.47879336e-03 9.99994939e-01 2.81696379e-03 -4.70969980e-02] [ 2.75350380e-03 -2.81288434e-03 9.99992253e-01 5.34839161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14255784400007 meters 0.2882811889756882 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99994638e-01 1.63956580e-03 -2.83459109e-03 2.86337541e+00] [-1.63049160e-03 9.99993549e-01 3.20058950e-03 -4.87412405e-02] [ 2.83982038e-03 -3.19595056e-03 9.99990861e-01 5.34567122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17255784400004 meters 0.28679535855087945 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99994116e-01 1.78287020e-03 -2.93068419e-03 2.86381731e+00] [-1.77241953e-03 9.99992076e-01 3.56468504e-03 -5.03126046e-02] [ 2.93701634e-03 -3.55946967e-03 9.99989352e-01 5.34171102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20255784400007 meters 0.2853100305051394 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99993614e-01 1.89946135e-03 -3.02717144e-03 2.86422256e+00] [-1.88777794e-03 9.99990777e-01 3.85770696e-03 -5.15770787e-02] [ 3.03447109e-03 -3.85196770e-03 9.99987977e-01 5.33849202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23255784400004 meters 0.2873715824912145 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99993051e-01 2.03431976e-03 -3.12388359e-03 2.86457503e+00] [-2.02119637e-03 9.99989144e-01 4.19841057e-03 -5.30208395e-02] [ 3.13239059e-03 -4.19206741e-03 9.99986307e-01 5.33637506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26255784400007 meters 0.28806173594068346 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99992722e-01 2.11463097e-03 -3.17571908e-03 2.86467935e+00] [-2.10065609e-03 9.99988125e-01 4.39744614e-03 -5.38534778e-02] [ 3.18498034e-03 -4.39074304e-03 9.99985289e-01 5.33712644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29255784400004 meters 0.2885402385047982 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.53 [[ 9.99992305e-01 2.18582756e-03 -3.25765369e-03 2.86493361e+00] [-2.17091482e-03 9.99987181e-01 4.57428098e-03 -5.46091892e-02] [ 3.26761052e-03 -4.56717369e-03 9.99984232e-01 5.33644947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3225578440001 meters 0.28857120359793714 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:0.53 [[ 9.99991891e-01 2.25826233e-03 -3.33434110e-03 2.86518871e+00] [-2.24238749e-03 9.99986171e-01 4.75710035e-03 -5.53916526e-02] [ 3.34503777e-03 -4.74958489e-03 9.99983126e-01 5.33543335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35255784400005 meters 0.2875983803019574 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.54 [[ 9.99965655e-01 4.38829476e-03 -7.03071279e-03 2.84179369e+00] [-4.39739635e-03 9.99989513e-01 -1.27961255e-03 -5.19384413e-02] [ 7.02502374e-03 1.31048543e-03 9.99974466e-01 5.36898482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3825578440001 meters 0.28649114745495335 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:0.54 [[ 9.99965722e-01 4.44444012e-03 -6.98577789e-03 2.84176585e+00] [-4.45251348e-03 9.99989437e-01 -1.14055814e-03 -5.25368933e-02] [ 6.98063496e-03 1.17162332e-03 9.99974949e-01 5.36718956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41255784400005 meters 0.2872325126890054 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:0.54 [[ 9.99981620e-01 -3.66475851e-03 -4.83008305e-03 2.86278134e+00] [ 3.66393548e-03 9.99993272e-01 -1.79235575e-04 -5.41573758e-02] [ 4.83070741e-03 1.61535168e-04 9.99988319e-01 5.36833598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4425578440001 meters 0.28566997415349654 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:0.54 [[ 9.99979247e-01 3.90694078e-03 -5.12265317e-03 2.84446057e+00] [-3.91307013e-03 9.99991639e-01 -1.18704241e-03 -6.24203398e-02] [ 5.11797264e-03 1.20706307e-03 9.99986175e-01 5.35290423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47255784400005 meters 0.28817430643729497 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:0.54 [[ 9.99981738e-01 -4.11773563e-03 -4.42351153e-03 2.86579796e+00] [ 4.11728536e-03 9.99991518e-01 -1.10893531e-04 -6.16384186e-02] [ 4.42393064e-03 9.26786470e-05 9.99990210e-01 5.36109105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5025578440001 meters 0.2868741577120273 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:0.54 [[ 9.99981943e-01 -3.91971695e-03 -4.55510565e-03 2.86608512e+00] [ 3.92168779e-03 9.99992220e-01 4.23813251e-04 -6.38626296e-02] [ 4.55340899e-03 -4.41669301e-04 9.99989536e-01 5.36240827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53255784400005 meters 0.2876588232376111 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99983296e-01 -3.58195787e-03 -4.53620390e-03 2.86595160e+00] [ 3.58838367e-03 9.99992569e-01 1.40921263e-03 -6.78863516e-02] [ 4.53112245e-03 -1.42546673e-03 9.99988718e-01 5.36484705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters 0.28561348090687866 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99984113e-01 -3.41744465e-03 -4.48282995e-03 2.86568941e+00] [ 3.42564608e-03 9.99992471e-01 1.82312003e-03 -6.96089096e-02] [ 4.47656579e-03 -1.83844765e-03 9.99988290e-01 5.36772842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59255784400005 meters 0.28561348090687866 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99984113e-01 -3.41744465e-03 -4.48282995e-03 2.86568941e+00] [ 3.42564608e-03 9.99992471e-01 1.82312003e-03 -6.96089096e-02] [ 4.47656579e-03 -1.83844765e-03 9.99988290e-01 5.36772842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters 0.2851940100044186 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.53 [[ 9.99982192e-01 4.06413036e-03 -4.37015709e-03 2.84695759e+00] [-4.06096894e-03 9.99991486e-01 7.32042295e-04 -7.66744385e-02] [ 4.37309500e-03 -7.14282187e-04 9.99990183e-01 5.34903235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65255784400006 meters 0.2860532557338695 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99981404e-01 4.21278947e-03 -4.40960154e-03 2.84699585e+00] [-4.20794664e-03 9.99990534e-01 1.10694919e-03 -7.82326225e-02] [ 4.41422314e-03 -1.08837324e-03 9.99989665e-01 5.35049934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters 0.28592836386430254 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99980370e-01 4.33144930e-03 -4.52749882e-03 2.84729438e+00] [-4.32510817e-03 9.99989653e-01 1.40943494e-03 -7.95069852e-02] [ 4.53355687e-03 -1.38982535e-03 9.99988758e-01 5.35070698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71255784400006 meters 0.2875470215563679 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:0.54 [[ 9.99988501e-01 -3.49046024e-03 -3.28850045e-03 2.86753781e+00] [ 3.49849687e-03 9.99990900e-01 2.44128414e-03 -7.66330749e-02] [ 3.27994932e-03 -2.45276088e-03 9.99991613e-01 5.35737575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters 0.2854539738216083 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99979958e-01 2.13582272e-03 -5.96008554e-03 2.84652194e+00] [-2.13852280e-03 9.99997614e-01 -4.46689743e-04 -7.81393331e-02] [ 5.95911726e-03 4.59426570e-04 9.99982139e-01 5.36603107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77255784400006 meters 0.28617124405530225 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99980117e-01 2.10939819e-03 -5.94268058e-03 2.84658305e+00] [-2.11248998e-03 9.99997637e-01 -5.14039440e-04 -7.78712285e-02] [ 5.94158222e-03 5.26583072e-04 9.99982210e-01 5.36369408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters 0.28742801093772125 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99980505e-01 2.04030824e-03 -5.90147616e-03 2.84652093e+00] [-2.04439134e-03 9.99997675e-01 -6.85927531e-04 -7.71494557e-02] [ 5.90006293e-03 6.97979085e-04 9.99982351e-01 5.36266984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83255784400006 meters 0.28703739293924674 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:0.54 [[ 9.99982103e-01 1.89801523e-03 -5.67366590e-03 2.84583332e+00] [-1.90419515e-03 9.99997599e-01 -1.08402449e-03 -7.54296665e-02] [ 5.67159479e-03 1.09480886e-03 9.99983317e-01 5.36515041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters 0.2863095295084418 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.07, Z:0.54 [[ 9.99982818e-01 1.78869368e-03 -5.58243472e-03 2.84548037e+00] [-1.79636731e-03 9.99997448e-01 -1.36989121e-03 -7.42007860e-02] [ 5.57997015e-03 1.37989578e-03 9.99983480e-01 5.36767333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89255784400007 meters 0.28614968442574146 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99988835e-01 -3.16194855e-03 -3.51157779e-03 2.86745868e+00] [ 3.16879319e-03 9.99993087e-01 1.94531254e-03 -7.15890965e-02] [ 3.50540254e-03 -1.95641829e-03 9.99991942e-01 5.35980244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92255784400004 meters 0.2881917187552183 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99988684e-01 -3.31961159e-03 -3.40768956e-03 2.86707582e+00] [ 3.32488185e-03 9.99993284e-01 1.54207911e-03 -6.98659906e-02] [ 3.40254756e-03 -1.55339183e-03 9.99993005e-01 5.36200661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95255784400007 meters 0.2862257023988638 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:0.54 [[ 9.99988427e-01 -3.47914947e-03 -3.32283393e-03 2.86679608e+00] [ 3.48291822e-03 9.99993297e-01 1.12908623e-03 -6.81170464e-02] [ 3.31888340e-03 -1.14064632e-03 9.99993842e-01 5.36298611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98255784400004 meters 0.28889991914387964 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.06, Z:0.54 [[ 9.99992641e-01 3.82392649e-03 -3.10556560e-04 2.88675625e+00] [-3.82441919e-03 9.99991404e-01 -1.60173010e-03 -6.46509157e-02] [ 3.04428993e-04 1.60290601e-03 9.99998669e-01 5.35532289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01255784400007 meters 0.2869205969199516 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.06, Z:0.53 [[ 9.99994089e-01 3.42908477e-03 -2.52719813e-04 2.88698225e+00] [-3.42974000e-03 9.99990635e-01 -2.63953531e-03 -6.03559485e-02] [ 2.43666256e-04 2.64038647e-03 9.99996484e-01 5.34697227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04255784400004 meters 0.28754647730185345 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:0.53 [[ 9.99985030e-01 -5.34207042e-03 -1.18390374e-03 2.86790508e+00] [ 5.34008915e-03 9.99984346e-01 -1.67040123e-03 -5.44163404e-02] [ 1.19280861e-03 1.66405407e-03 9.99997904e-01 5.33327545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0725578440001 meters 0.28523290300052284 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:0.53 [[ 9.99998580e-01 -1.07936241e-03 -1.29397286e-03 2.86806471e+00] [ 1.08252524e-03 9.99996422e-01 2.44607722e-03 -5.35391368e-02] [ 1.29132803e-03 -2.44747450e-03 9.99996171e-01 5.33473609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10255784400005 meters 0.28836850491005783 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:0.53 [[ 9.99998353e-01 -1.32410695e-03 -1.24135224e-03 2.86797789e+00] [ 1.32634318e-03 9.99997496e-01 1.80235509e-03 -5.08554095e-02] [ 1.23896262e-03 -1.80399858e-03 9.99997605e-01 5.33339929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1325578440001 meters 0.2872032346070751 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:0.53 [[ 9.99998156e-01 -1.50549932e-03 -1.19223169e-03 2.86781757e+00] [ 1.50708768e-03 9.99997977e-01 1.33248513e-03 -4.88884112e-02] [ 1.19022323e-03 -1.33427947e-03 9.99998402e-01 5.33394079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16255784400005 meters 0.2871760847619977 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:0.53 [[ 9.99997917e-01 -1.69118019e-03 -1.14267423e-03 2.86765191e+00] [ 1.69216915e-03 9.99998194e-01 8.65061186e-04 -4.69095254e-02] [ 1.14120920e-03 -8.66992982e-04 9.99998973e-01 5.33442023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1925578440001 meters 0.28693323373573265 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99997271e-01 -2.05116281e-03 -1.11864132e-03 2.86774948e+00] [ 2.05106878e-03 9.99997893e-01 -8.51973598e-05 -4.30076783e-02] [ 1.11881372e-03 8.29027170e-05 9.99999371e-01 5.33035920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22255784400005 meters 0.28605933066593525 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99996897e-01 -2.21279689e-03 -1.14405935e-03 2.86792995e+00] [ 2.21223090e-03 9.99997430e-01 -4.95746416e-04 -4.13078591e-02] [ 1.14515339e-03 4.93213955e-04 9.99999223e-01 5.32743120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2525578440001 meters 0.2874101947067345 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99996521e-01 -2.33593813e-03 -1.22563025e-03 2.86823038e+00] [ 2.33495332e-03 9.99996951e-01 -8.04330938e-04 -4.00357959e-02] [ 1.22750538e-03 8.01466350e-04 9.99998925e-01 5.32507373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28255784400005 meters 0.28660977667242604 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99996062e-01 -2.47979108e-03 -1.31390951e-03 2.86851952e+00] [ 2.47826263e-03 9.99996252e-01 -1.16363600e-03 -3.85398779e-02] [ 1.31679016e-03 1.16037521e-03 9.99998460e-01 5.32333600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.312557844 meters 0.28890137960776874 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:0.53 [[ 9.99997524e-01 1.64502656e-03 -1.49846626e-03 2.86911134e+00] [-1.64110588e-03 9.99995237e-01 2.61394395e-03 -3.62857791e-02] [ 1.50275913e-03 -2.61147834e-03 9.99995461e-01 5.31942195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34255784400005 meters 0.28620671939327164 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:0.53 [[ 9.99997900e-01 1.43650603e-03 -1.46179571e-03 2.86904707e+00] [-1.43344990e-03 9.99996789e-01 2.08957227e-03 -3.40768206e-02] [ 1.46479270e-03 -2.08747247e-03 9.99996748e-01 5.31840090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.372557844 meters 0.2869166896837415 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:0.53 [[ 9.99999878e-01 4.60414546e-04 1.77679118e-04 2.82862111e+00] [-4.60729547e-04 9.99998315e-01 1.77691241e-03 -3.34514022e-02] [-1.76860702e-04 -1.77699405e-03 9.99998406e-01 5.29335571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40255784400006 meters 0.28711517198144576 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:0.53 [[ 9.99999964e-01 1.16202138e-04 2.40296715e-04 2.82838793e+00] [-1.16415611e-04 9.99999598e-01 8.88549484e-04 -2.97338363e-02] [-2.40193367e-04 -8.88577426e-04 9.99999576e-01 5.29421316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43255784400003 meters 0.2866100637265021 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:0.53 [[ 9.99999066e-01 6.61703617e-04 -1.19602720e-03 2.86706040e+00] [-6.61972713e-04 9.99999756e-01 -2.24609517e-04 -2.29467824e-02] [ 1.19587829e-03 2.25401044e-04 9.99999260e-01 5.32927081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46255784400006 meters 0.28701899395979963 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:0.53 [[ 9.99999992e-01 -2.67023190e-05 -1.25618575e-04 2.82873278e+00] [ 2.67056458e-05 9.99999999e-01 2.64817326e-05 -2.50598937e-02] [ 1.25617868e-04 -2.64850871e-05 9.99999992e-01 5.29350631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49255784400003 meters 0.28803043404518114 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99981451e-01 -5.69472463e-03 2.16069184e-03 2.85057613e+00] [ 5.68813569e-03 9.99979191e-01 3.04344775e-03 -2.36339586e-02] [-2.17797848e-03 -3.03110099e-03 9.99993034e-01 5.27938184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52255784400006 meters 0.2867156563877876 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:0.53 [[ 9.99996621e-01 2.09907256e-03 1.53369592e-03 2.83169336e+00] [-2.10156105e-03 9.99996475e-01 1.62273950e-03 -2.78640168e-02] [-1.53028427e-03 -1.62595717e-03 9.99997507e-01 5.26746835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55255784400003 meters 0.28854148605587276 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:0.53 [[ 9.99982620e-01 -5.72701507e-03 1.40056218e-03 2.85206320e+00] [ 5.72346872e-03 9.99980438e-01 2.52311760e-03 -2.14746541e-02] [-1.41498472e-03 -2.51505768e-03 9.99995836e-01 5.28114104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58255784400006 meters 0.28717126302583657 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:0.53 [[ 9.99997374e-01 2.29190953e-03 2.51924308e-06 2.83321710e+00] [-2.29191080e-03 9.99996371e-01 1.41600417e-03 -2.53599706e-02] [ 7.26119501e-07 -1.41600622e-03 9.99998997e-01 5.27050242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61255784400004 meters 0.2858262883609939 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99997480e-01 2.24284365e-03 -9.79312400e-05 2.83355851e+00] [-2.24271474e-03 9.99996644e-01 1.29718755e-03 -2.48718637e-02] [ 1.00840300e-04 -1.29696465e-03 9.99999154e-01 5.26847491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64255784400007 meters 0.2872545777834961 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99997487e-01 2.24009842e-03 -8.94030287e-05 2.83347742e+00] [-2.23998130e-03 9.99996660e-01 1.28931127e-03 -2.48266127e-02] [ 9.22909142e-05 -1.28910777e-03 9.99999165e-01 5.26984011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67255784400004 meters 0.28839784394187884 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99997528e-01 2.22231161e-03 -6.75584643e-05 2.83332322e+00] [-2.22222582e-03 9.99996757e-01 1.24440838e-03 -2.46179991e-02] [ 7.03237084e-05 -1.24425517e-03 9.99999223e-01 5.27198667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70255784400007 meters 0.2855345918887367 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:0.53 [[ 9.99978900e-01 -6.37758782e-03 -1.23503577e-03 2.81349938e+00] [ 6.38060345e-03 9.99976634e-01 2.45337835e-03 -2.18933365e-02] [ 1.21936027e-03 -2.46120686e-03 9.99996228e-01 5.26399000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73255784400004 meters 0.28617922214428704 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99997462e-01 2.25269635e-03 -3.49516157e-05 2.83320100e+00] [-2.25265639e-03 9.99996853e-01 1.10393879e-03 -2.30145556e-02] [ 3.74383445e-05 -1.10385725e-03 9.99999390e-01 5.27384348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76255784400007 meters 0.2867956401538023 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99997773e-01 2.10464370e-03 -1.53777126e-04 2.83361489e+00] [-2.10453192e-03 9.99997524e-01 7.23481102e-04 -2.14296649e-02] [ 1.55299415e-04 -7.23155863e-04 9.99999726e-01 5.27078862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79255784400004 meters 0.2871682835977304 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99998006e-01 1.98787441e-03 -1.89326235e-04 2.83369855e+00] [-1.98779318e-03 9.99997933e-01 4.28269764e-04 -2.01842055e-02] [ 1.90177190e-04 -4.27892568e-04 9.99999890e-01 5.27078762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8225578440001 meters 0.28853471908003075 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99998230e-01 1.87822320e-03 -1.08737473e-04 2.83345587e+00] [-1.87820816e-03 9.99998227e-01 1.38270134e-04 -1.89499467e-02] [ 1.08996982e-04 -1.38065658e-04 9.99999985e-01 5.27135938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85255784400005 meters 0.28557794635059214 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:0.53 [[ 9.99989386e-01 -4.43216396e-03 -1.25810777e-03 2.80952331e+00] [ 4.43634876e-03 9.99984571e-01 3.34319534e-03 -1.90394000e-02] [ 1.24327077e-03 -3.34874126e-03 9.99993620e-01 5.29290809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8825578440001 meters 0.28784396499976117 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99994191e-01 2.05447108e-03 2.71964847e-03 2.82931696e+00] [-2.05548207e-03 9.99997819e-01 3.68991911e-04 -1.40875201e-02] [-2.71888446e-03 -3.74579956e-04 9.99996234e-01 5.28296665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91255784400005 meters 0.28768564640426236 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99994064e-01 1.82748586e-03 2.92107228e-03 2.82886626e+00] [-1.82648440e-03 9.99998272e-01 -3.45473205e-04 -1.11899137e-02] [-2.92169858e-03 3.40135861e-04 9.99995674e-01 5.28150975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9425578440001 meters 0.28867080255837135 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99994509e-01 1.69221706e-03 2.84911748e-03 2.82918760e+00] [-1.69021636e-03 9.99998323e-01 -7.04477761e-04 -9.71033987e-03] [-2.85030483e-03 6.99658268e-04 9.99995693e-01 5.27815429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97255784400005 meters 0.28767689483839154 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99994822e-01 1.54361593e-03 2.82351296e-03 2.82930940e+00] [-1.54055457e-03 9.99998224e-01 -1.08609243e-03 -8.11462258e-03] [-2.82518445e-03 1.08173703e-03 9.99995424e-01 5.27665858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0025578440001 meters 0.28721145691681704 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99994888e-01 1.37199011e-03 2.88821643e-03 2.82890387e+00] [-1.36762078e-03 9.99997918e-01 -1.51424544e-03 -6.24571427e-03] [-2.89028795e-03 1.51028771e-03 9.99994683e-01 5.28143119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03255784400005 meters 0.28665693001751724 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99977385e-01 -4.03786078e-03 5.37814484e-03 2.85062836e+00] [ 4.02801756e-03 9.99990195e-01 1.83980165e-03 -5.45262889e-03] [-5.38552097e-03 -1.81809678e-03 9.99983845e-01 5.27063977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters 0.2867984977245001 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99977301e-01 -4.00488180e-03 5.41829469e-03 2.85036016e+00] [ 3.99452686e-03 9.99990178e-01 1.92058087e-03 -5.77370569e-03] [-5.42593317e-03 -1.89889375e-03 9.99983477e-01 5.27454183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09255784400005 meters 0.28707574050356616 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99977971e-01 -3.97084386e-03 5.31882029e-03 2.85056022e+00] [ 3.96017596e-03 9.99990129e-01 2.01472142e-03 -6.16061247e-03] [-5.32676793e-03 -1.99361357e-03 9.99983825e-01 5.27578278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters 0.2862330189224097 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99993567e-01 1.12693043e-03 3.40515469e-03 2.82743076e+00] [-1.12202095e-03 9.99998329e-01 -1.44334789e-03 -7.52827136e-03] [-3.40677555e-03 1.43951795e-03 9.99993161e-01 5.29406654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15255784400006 meters 0.2865076729732528 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99993868e-01 1.21958291e-03 3.28272387e-03 2.82765072e+00] [-1.21571705e-03 9.99998566e-01 -1.17937759e-03 -8.62103010e-03] [-3.28415751e-03 1.17537949e-03 9.99993916e-01 5.29620517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18255784400003 meters 0.2877955140442764 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99966879e-01 -6.50247818e-03 4.89479455e-03 2.84698223e+00] [ 6.50178722e-03 9.99978851e-01 1.57061751e-04 -5.60493905e-03] [-4.89571232e-03 -1.25231636e-04 9.99988008e-01 5.30848469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21255784400006 meters 0.2877300937428907 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:0.53 [[ 9.99967114e-01 -6.43342470e-03 4.93790144e-03 2.84672941e+00] [ 6.43185981e-03 9.99979260e-01 3.32727115e-04 -6.33818817e-03] [-4.93993960e-03 -3.00956283e-04 9.99987753e-01 5.31186029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24255784400003 meters 0.2873690010894717 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99987160e-01 1.57099180e-03 4.81789580e-03 2.82749384e+00] [-1.56748722e-03 9.99998504e-01 -7.31097758e-04 -1.18455792e-02] [-4.81903715e-03 7.23536381e-04 9.99988127e-01 5.29997799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27255784400006 meters 0.2869137553901937 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:0.53 [[ 9.99987938e-01 1.59957641e-03 4.64390307e-03 2.82816440e+00] [-1.59655692e-03 9.99998512e-01 -6.53839823e-04 -1.22293235e-02] [-4.64494203e-03 6.46417681e-04 9.99989003e-01 5.29459871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30255784400003 meters 0.28557163726026746 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99990108e-01 -4.33354435e-03 1.00180209e-03 2.80802255e+00] [ 4.33090195e-03 9.99987176e-01 2.62493628e-03 -1.39684939e-02] [-1.01316452e-03 -2.62057160e-03 9.99996053e-01 5.30372962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33255784400006 meters 0.2879216391813441 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99989929e-01 -4.40339348e-03 8.67479008e-04 2.80854248e+00] [ 4.40126333e-03 9.99987332e-01 2.44235226e-03 -1.32203042e-02] [-8.78222656e-04 -2.43850966e-03 9.99996641e-01 5.29926435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters 0.2877508489067487 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99989637e-01 -4.47155845e-03 8.54506269e-04 2.80863644e+00] [ 4.46961180e-03 9.99987442e-01 2.26659394e-03 -1.24856735e-02] [-8.64630746e-04 -2.26275114e-03 9.99997066e-01 5.29767944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39255784400007 meters 0.2872591680831724 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99988999e-01 -4.58734872e-03 9.79088023e-04 2.80816113e+00] [ 4.58543334e-03 9.99987586e-01 1.94965813e-03 -1.11493222e-02] [-9.88019631e-04 -1.94514714e-03 9.99997620e-01 5.30119791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42255784400004 meters 0.28711883979506747 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99988879e-01 -4.61023451e-03 9.94016639e-04 2.80797276e+00] [ 4.60834960e-03 9.99987595e-01 1.89027930e-03 -1.08813951e-02] [-1.00271894e-03 -1.88567750e-03 9.99997719e-01 5.30448774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45255784400007 meters 0.28782190126646123 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99988900e-01 -4.59699816e-03 1.03319869e-03 2.80784267e+00] [ 4.59500542e-03 9.99987594e-01 1.92287968e-03 -1.10119141e-02] [-1.04202535e-03 -1.91811079e-03 9.99997618e-01 5.30514816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48255784400004 meters 0.28782190126646123 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99988900e-01 -4.59699816e-03 1.03319869e-03 2.80784267e+00] [ 4.59500542e-03 9.99987594e-01 1.92287968e-03 -1.10119141e-02] [-1.04202535e-03 -1.91811079e-03 9.99997618e-01 5.30514816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51255784400007 meters 0.2880222794220582 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99998813e-01 1.12601120e-03 -1.05184318e-03 2.78526073e+00] [-1.12718697e-03 9.99998740e-01 -1.11788831e-03 -1.15307260e-02] [ 1.05058310e-03 1.11907261e-03 9.99998822e-01 5.32264575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54255784400004 meters 0.28893458644287506 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99987292e-01 -4.79547856e-03 1.55565093e-03 2.80733948e+00] [ 4.79270937e-03 9.99986933e-01 1.77894963e-03 -1.18848150e-02] [-1.56416151e-03 -1.77147124e-03 9.99997208e-01 5.30092277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5725578440001 meters 0.2884801404438735 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99995875e-01 2.81840464e-03 5.53937982e-04 2.78844032e+00] [-2.81858363e-03 9.99995976e-01 3.22610378e-04 -1.65915071e-02] [-5.53026507e-04 -3.24170368e-04 9.99999795e-01 5.28646610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60255784400005 meters 0.2871715093261894 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99996001e-01 2.76425592e-03 5.96818053e-04 2.78830641e+00] [-2.76436737e-03 9.99996162e-01 1.86003511e-04 -1.59989190e-02] [-5.96301601e-04 -1.87652592e-04 9.99999805e-01 5.28691047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6325578440001 meters 0.287866571237639 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99996147e-01 2.68725473e-03 6.96308816e-04 2.78799455e+00] [-2.68724385e-03 9.99996389e-01 -1.65520931e-05 -1.51201422e-02] [-6.96350782e-04 1.46808777e-05 9.99999757e-01 5.28798751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66255784400005 meters 0.2892304212092456 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99996378e-01 2.58437364e-03 7.51273052e-04 2.78780556e+00] [-2.58415763e-03 9.99996619e-01 -2.88351269e-04 -1.39672020e-02] [-7.52015720e-04 2.86408817e-04 9.99999676e-01 5.28879451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6925578440001 meters 0.2921980358443398 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99996933e-01 2.38621237e-03 6.62980739e-04 2.78831760e+00] [-2.38562297e-03 9.99996760e-01 -8.88397147e-04 -1.15323060e-02] [-6.65098495e-04 8.86812800e-04 9.99999386e-01 5.28088064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72255784400005 meters 0.28814804280217665 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99997206e-01 2.27764041e-03 6.33387899e-04 2.78856905e+00] [-2.27689332e-03 9.99996714e-01 -1.17773447e-03 -1.03404174e-02] [-6.36068274e-04 1.17628902e-03 9.99999106e-01 5.27658855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7525578440001 meters 0.2909029236644385 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99991040e-01 -3.97519989e-03 -1.45519506e-03 2.76705096e+00] [ 3.97804318e-03 9.99990174e-01 1.95623905e-03 -9.98563818e-03] [ 1.44740432e-03 -1.96201035e-03 9.99997028e-01 5.28267585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78255784400005 meters 0.28909095477160607 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99990062e-01 -4.22840416e-03 -1.41264642e-03 2.76696090e+00] [ 4.23021493e-03 9.99990232e-01 1.28130488e-03 -7.18456048e-03] [ 1.40721475e-03 -1.28726794e-03 9.99998181e-01 5.28173280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.812557844 meters 0.2901944964987626 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99989772e-01 -4.30225379e-03 -1.39536557e-03 2.76683031e+00] [ 4.30377752e-03 9.99990144e-01 1.09083809e-03 -6.38048582e-03] [ 1.39065876e-03 -1.09683227e-03 9.99998432e-01 5.28340278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84255784400005 meters 0.28843309156685115 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.53 [[ 9.99995513e-01 2.49984546e-03 1.65085261e-03 2.78762300e+00] [-2.49724385e-03 9.99995640e-01 -1.57610450e-03 -3.68932682e-03] [-1.65478543e-03 1.57197485e-03 9.99997395e-01 5.27254145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.872557844 meters 0.2880111609928313 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.53 [[ 9.99995487e-01 2.47782780e-03 1.69901234e-03 2.78741924e+00] [-2.47504860e-03 9.99995599e-01 -1.63593136e-03 -3.42872559e-03] [-1.70305842e-03 1.63171884e-03 9.99997219e-01 5.27429207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90255784400006 meters 0.2872662179611166 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.53 [[ 9.99995413e-01 2.47450254e-03 1.74644635e-03 2.78724660e+00] [-2.47162661e-03 9.99995589e-01 -1.64697163e-03 -3.37469685e-03] [-1.75051408e-03 1.64264752e-03 9.99997119e-01 5.27549719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93255784400003 meters 0.28780935929068935 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.53 [[ 9.99995079e-01 2.53945838e-03 1.84224803e-03 2.78702492e+00] [-2.53676159e-03 9.99995710e-01 -1.46472149e-03 -4.10101225e-03] [-1.84595973e-03 1.46004094e-03 9.99997230e-01 5.27560812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96255784400006 meters 0.2875845465445568 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.53 [[ 9.99995033e-01 2.59140115e-03 1.79409187e-03 2.78708163e+00] [-2.58902291e-03 9.99995768e-01 -1.32664770e-03 -4.66686428e-03] [-1.79752216e-03 1.32199616e-03 9.99997511e-01 5.27716805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99255784400003 meters 0.2869322015396706 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994927e-01 2.66826140e-03 1.73952370e-03 2.78717581e+00] [-2.66631069e-03 9.99995815e-01 -1.12276196e-03 -5.51351084e-03] [-1.74251224e-03 1.11811816e-03 9.99997857e-01 5.27826796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02255784400006 meters 0.2913459666085937 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994823e-01 2.74501816e-03 1.67882449e-03 2.78728574e+00] [-2.74347381e-03 9.99995812e-01 -9.21515875e-04 -6.35305237e-03] [-1.68134704e-03 9.16905293e-04 9.99998166e-01 5.27945983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05255784400003 meters 0.28919663401885626 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994774e-01 2.79178125e-03 1.63052088e-03 2.78748702e+00] [-2.79047825e-03 9.99995786e-01 -8.00857492e-04 -6.86584250e-03] [-1.63274983e-03 7.96303374e-04 9.99998350e-01 5.27785773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08255784400006 meters 0.2882243634219387 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994825e-01 2.81021365e-03 1.56585006e-03 2.78779392e+00] [-2.80904247e-03 9.99995774e-01 -7.49647875e-04 -7.09306642e-03] [-1.56795011e-03 7.45245457e-04 9.99998493e-01 5.27473364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11255784400004 meters 0.289603175510578 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994878e-01 2.81067459e-03 1.53128386e-03 2.78799500e+00] [-2.80953726e-03 9.99995776e-01 -7.44371559e-04 -7.12581172e-03] [-1.53336957e-03 7.40065547e-04 9.99998551e-01 5.27217528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14255784400007 meters 0.28973783095519057 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99994984e-01 2.76513182e-03 1.54460977e-03 2.78797773e+00] [-2.76380143e-03 9.99995808e-01 -8.62779910e-04 -6.62963984e-03] [-1.54698900e-03 8.58506588e-04 9.99998435e-01 5.27166807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17255784400004 meters 0.2887405194896712 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99994530e-01 -2.99135535e-03 -1.41134189e-03 2.76504892e+00] [ 2.99472666e-03 9.99992653e-01 2.39268723e-03 -9.51440059e-03] [ 1.40417414e-03 -2.39690072e-03 9.99996142e-01 5.29633234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20255784400007 meters 0.29117134129081057 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.53 [[ 9.99998609e-01 -1.61967636e-03 -3.97372065e-04 2.80656150e+00] [ 1.62081703e-03 9.99994518e-01 2.88721493e-03 -5.73211284e-03] [ 3.92693533e-04 -2.88785499e-03 9.99995753e-01 5.30264057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23255784400004 meters 0.2901109681013588 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99980371e-01 6.21290712e-03 -8.11198357e-04 2.78721946e+00] [-6.21157688e-03 9.99979376e-01 1.63219768e-03 -1.02803265e-02] [ 8.21322319e-04 -1.62712682e-03 9.99998339e-01 5.28537949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26255784400007 meters 0.29045563697198307 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99980263e-01 6.22516911e-03 -8.49302956e-04 2.78736786e+00] [-6.22374947e-03 9.99979248e-01 1.66406680e-03 -1.04246400e-02] [ 8.59644429e-04 -1.65874811e-03 9.99998255e-01 5.28432335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29255784400004 meters 0.29072347546103255 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99998118e-01 1.80205427e-03 -7.18129859e-04 2.78707848e+00] [-1.80411807e-03 9.99994215e-01 -2.88365354e-03 -9.32425220e-03] [ 7.12929204e-04 2.88494370e-03 9.99995584e-01 5.28273708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3225578440001 meters 0.2904870475798585 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99972817e-01 -7.05996376e-03 -2.12642467e-03 2.76696661e+00] [ 7.05597837e-03 9.99973347e-01 -1.87592508e-03 -8.86777037e-03] [ 2.13961196e-03 1.86087008e-03 9.99995980e-01 5.27598649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35255784400005 meters 0.2909532386201498 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99997994e-01 1.70515378e-03 -1.05075488e-03 2.78698022e+00] [-1.70815838e-03 9.99994436e-01 -2.86523569e-03 -1.15630802e-02] [ 1.04586337e-03 2.86702479e-03 9.99995343e-01 5.28459975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3825578440001 meters 0.2907660043125587 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99997871e-01 1.81624846e-03 -9.79625030e-04 2.78675461e+00] [-1.81877492e-03 9.99995007e-01 -2.58430888e-03 -1.27289575e-02] [ 9.74926392e-04 2.58608509e-03 9.99996181e-01 5.28585450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41255784400005 meters 0.2906865216444069 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.53 [[ 9.99997709e-01 1.89825062e-03 -9.89764295e-04 2.78679318e+00] [-1.90059651e-03 9.99995374e-01 -2.37461831e-03 -1.36064683e-02] [ 9.85252096e-04 2.37649401e-03 9.99996691e-01 5.28576310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4425578440001 meters 0.2892959227995918 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.53 [[ 9.99975057e-01 -6.54141792e-03 -2.66369591e-03 2.76716673e+00] [ 6.53905639e-03 9.99978220e-01 -8.94310389e-04 -1.40265195e-02] [ 2.66948795e-03 8.76870025e-04 9.99996052e-01 5.27641625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47255784400005 meters 0.29212233738572996 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99993099e-01 2.58102497e-03 -2.67227675e-03 2.78732558e+00] [-2.58483401e-03 9.99995647e-01 -1.42291858e-03 -1.86783320e-02] [ 2.66859253e-03 1.42981615e-03 9.99995417e-01 5.29145058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5025578440001 meters 0.28767033301955885 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.53 [[ 9.99975379e-01 -3.91371376e-03 -5.82436700e-03 2.76576837e+00] [ 3.92370592e-03 9.99990848e-01 1.70514247e-03 -2.43566861e-02] [ 5.81764026e-03 -1.72795359e-03 9.99981584e-01 5.30761332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53255784400005 meters 0.290840786633581 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99991056e-01 2.36445878e-03 -3.50670697e-03 2.78863109e+00] [-2.36819781e-03 9.99996631e-01 -1.06248094e-03 -2.46079282e-02] [ 3.50418297e-03 1.07077601e-03 9.99993287e-01 5.29115187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters 0.2883756902396163 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.53 [[ 9.99967677e-01 -7.07095373e-03 -3.82706384e-03 2.76622842e+00] [ 7.06974899e-03 9.99974955e-01 -3.28231505e-04 -2.61809503e-02] [ 3.82928891e-03 3.01164515e-04 9.99992623e-01 5.28967841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59255784400005 meters 0.28822380081460947 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.53 [[ 9.99998710e-01 1.50529647e-03 -5.59820807e-04 2.78319509e+00] [-1.50571268e-03 9.99998590e-01 -7.43794467e-04 -3.17553327e-02] [ 5.58700386e-04 7.44636437e-04 9.99999567e-01 5.30697455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters 0.28750367805348664 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.53 [[ 9.99998558e-01 1.60780139e-03 -5.47279655e-04 2.78304372e+00] [-1.60805360e-03 9.99998601e-01 -4.60714039e-04 -3.29124075e-02] [ 5.46538153e-04 4.61593430e-04 9.99999744e-01 5.30988212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65255784400006 meters 0.28780049288059145 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.53 [[ 9.99998366e-01 1.69539610e-03 -6.27539504e-04 2.78324049e+00] [-1.69553596e-03 9.99998538e-01 -2.22405039e-04 -3.39028571e-02] [ 6.27161522e-04 2.23468691e-04 9.99999778e-01 5.30999951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters 0.28670417718136354 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.53 [[ 9.99998179e-01 1.76718387e-03 -7.20377124e-04 2.78350879e+00] [-1.76720429e-03 9.99998438e-01 -2.77023123e-05 -3.47222665e-02] [ 7.20327044e-04 2.89753154e-05 9.99999740e-01 5.30923852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71255784400006 meters 0.28762618329936285 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.53 [[ 9.99998014e-01 1.85259422e-03 -7.34417019e-04 2.78357634e+00] [-1.85244627e-03 9.99998264e-01 2.02087224e-04 -3.56791814e-02] [ 7.34790129e-04 -2.00726355e-04 9.99999710e-01 5.30857659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters 0.2874677548785997 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.53 [[ 9.99997805e-01 2.01574023e-03 -5.70853825e-04 2.78292768e+00] [-2.01535344e-03 9.99997740e-01 6.77320713e-04 -3.76449059e-02] [ 5.72217837e-04 -6.76168754e-04 9.99999608e-01 5.31505230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77255784400006 meters 0.28642769309449495 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.53 [[ 9.99997661e-01 2.08887326e-03 -5.61277205e-04 2.78277862e+00] [-2.08838594e-03 9.99997443e-01 8.67428228e-04 -3.84321818e-02] [ 5.63087718e-04 -8.66254035e-04 9.99999466e-01 5.31795212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters 0.28756537818706435 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.04, Z:0.53 [[ 9.99990285e-01 -3.86328090e-03 2.12268981e-03 2.80477602e+00] [ 3.85532469e-03 9.99985576e-01 3.73957144e-03 -3.95894305e-02] [-2.13710620e-03 -3.73135145e-03 9.99990755e-01 5.29910526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83255784400006 meters 0.28697467260721893 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99992348e-01 3.81228742e-03 8.78171857e-04 2.78644180e+00] [-3.81438024e-03 9.99989860e-01 2.39393837e-03 -4.43089298e-02] [-8.69036571e-04 -2.39726974e-03 9.99996749e-01 5.28033618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters 0.28676733900293516 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99992148e-01 3.87887550e-03 8.11144125e-04 2.78678026e+00] [-3.88094620e-03 9.99989174e-01 2.56702186e-03 -4.50590375e-02] [-8.01178186e-04 -2.57014971e-03 9.99996376e-01 5.27659572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89255784400007 meters 0.28686296985483367 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.05, Z:0.53 [[ 9.99992087e-01 3.90669686e-03 7.50465166e-04 2.78694922e+00] [-3.90866561e-03 9.99988876e-01 2.64007346e-03 -4.53672083e-02] [-7.40142851e-04 -2.64298589e-03 9.99996233e-01 5.27634644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92255784400004 meters 0.28557500756277937 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988109e-01 -4.84319493e-03 -5.70255849e-04 2.76682624e+00] [ 4.84526353e-03 9.99981476e-01 3.68377861e-03 -4.30492628e-02] [ 5.52404027e-04 -3.68649784e-03 9.99993052e-01 5.26972415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95255784400007 meters 0.28627048210417 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988092e-01 -4.84727890e-03 -5.64868580e-04 2.76684790e+00] [ 4.84932224e-03 9.99981493e-01 3.67396965e-03 -4.30089562e-02] [ 5.47049370e-04 -3.67666513e-03 9.99993091e-01 5.26892918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98255784400004 meters 0.2859231622738079 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988102e-01 -4.85158329e-03 -5.08634545e-04 2.76673055e+00] [ 4.85341378e-03 9.99981518e-01 3.66158301e-03 -4.29543029e-02] [ 4.90860670e-04 -3.66400806e-03 9.99993167e-01 5.26838534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01255784400007 meters 0.286103129865879 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988242e-01 -4.82604107e-03 -4.73578773e-04 2.76668798e+00] [ 4.82777228e-03 9.99981408e-01 3.72520799e-03 -4.32261527e-02] [ 4.55591962e-04 -3.72745052e-03 9.99992949e-01 5.26736499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04255784400004 meters 0.28668644258321313 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988153e-01 -4.83458259e-03 -5.66452932e-04 2.76696002e+00] [ 4.83664852e-03 9.99981442e-01 3.70435801e-03 -4.31470045e-02] [ 5.48533395e-04 -3.70705386e-03 9.99992978e-01 5.26646402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0725578440001 meters 0.28559125947409303 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99988091e-01 -4.83288292e-03 -6.79736203e-04 2.76736301e+00] [ 4.83537388e-03 9.99981420e-01 3.71198189e-03 -4.31966701e-02] [ 6.61784000e-04 -3.71522446e-03 9.99992880e-01 5.26368434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10255784400005 meters 0.28749022483883463 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:0.53 [[ 9.99987793e-01 -4.87040971e-03 -8.32365808e-04 2.76795950e+00] [ 4.87339422e-03 9.99981566e-01 3.62197118e-03 -4.28409631e-02] [ 8.14709980e-04 -3.62598341e-03 9.99993094e-01 5.25841903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1325578440001 meters 0.28720893468828274 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.52 [[ 9.99985568e-01 4.95301566e-03 -2.08111702e-03 2.79153496e+00] [-4.94616838e-03 9.99982380e-01 3.28255883e-03 -4.38001413e-02] [ 2.09733891e-03 -3.27221790e-03 9.99992447e-01 5.24867162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16255784400005 meters 0.2889192934926164 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.52 [[ 9.99986022e-01 4.85282631e-03 -2.09908702e-03 2.79153073e+00] [-4.84644356e-03 9.99983650e-01 3.03520038e-03 -4.27505044e-02] [ 2.11378200e-03 -3.02498485e-03 9.99993191e-01 5.24970205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1925578440001 meters 0.2884131479423763 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99986571e-01 4.77426317e-03 -2.01597527e-03 2.79113072e+00] [-4.76854899e-03 9.99984626e-01 2.82980429e-03 -4.18728337e-02] [ 2.02945451e-03 -2.82015301e-03 9.99993964e-01 5.25403184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22255784400005 meters 0.28660635209262736 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99986949e-01 4.71015893e-03 -1.97898610e-03 2.79083801e+00] [-4.70488004e-03 9.99985384e-01 2.66371280e-03 -4.11453145e-02] [ 1.99150368e-03 -2.65436714e-03 9.99994494e-01 5.25863794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2525578440001 meters 0.2853883421862473 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99987563e-01 4.64775094e-03 -1.80910623e-03 2.79020365e+00] [-4.64326685e-03 9.99986157e-01 2.47498162e-03 -4.03886549e-02] [ 1.82058429e-03 -2.46655068e-03 9.99995301e-01 5.26415478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28255784400005 meters 0.2857515817386484 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99987640e-01 4.61349056e-03 -1.85376430e-03 2.79035654e+00] [-4.60907781e-03 9.99986551e-01 2.37768637e-03 -3.99869464e-02] [ 1.86470881e-03 -2.36911283e-03 9.99995455e-01 5.26307091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.312557844 meters 0.28664854679188567 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99987779e-01 4.58651147e-03 -1.84570142e-03 2.79034914e+00] [-4.58226888e-03 9.99986865e-01 2.29633392e-03 -3.96576977e-02] [ 1.85620934e-03 -2.28784835e-03 9.99995660e-01 5.26280084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34255784400005 meters 0.2850340465623808 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99988053e-01 4.55829349e-03 -1.76522572e-03 2.79014737e+00] [-4.55437753e-03 9.99987173e-01 2.21609071e-03 -3.93212901e-02] [ 1.77530467e-03 -2.20802473e-03 9.99995986e-01 5.26298191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.372557844 meters 0.2860353574241735 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99988982e-01 4.46145170e-03 -1.46023808e-03 2.78925211e+00] [-4.45858587e-03 9.99988140e-01 1.95998111e-03 -3.82414723e-02] [ 1.46896513e-03 -1.95344892e-03 9.99997013e-01 5.26716540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40255784400006 meters 0.2860353574241735 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99988982e-01 4.46145170e-03 -1.46023808e-03 2.78925211e+00] [-4.45858587e-03 9.99988140e-01 1.95998111e-03 -3.82414723e-02] [ 1.46896513e-03 -1.95344892e-03 9.99997013e-01 5.26716540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43255784400003 meters 0.2853379373968303 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99989592e-01 4.33491994e-03 -1.42262750e-03 2.78914690e+00] [-4.33258553e-03 9.99989270e-01 1.63991331e-03 -3.68979993e-02] [ 1.42972113e-03 -1.63373259e-03 9.99997643e-01 5.26748991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46255784400006 meters 0.285280002247243 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.04, Z:0.53 [[ 9.99990216e-01 4.18796283e-03 -1.42418586e-03 2.78918013e+00] [-4.18615245e-03 9.99990429e-01 1.27178393e-03 -3.53522112e-02] [ 1.42949841e-03 -1.26580962e-03 9.99998177e-01 5.26684359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49255784400003 meters 0.2859514193574767 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99991064e-01 3.98732859e-03 -1.40452607e-03 2.78915979e+00] [-3.98626027e-03 9.99991764e-01 7.62612900e-04 -3.32200737e-02] [ 1.40755529e-03 -7.57007279e-04 9.99998723e-01 5.26621226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52255784400006 meters 0.28443529639120785 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99991977e-01 3.77584197e-03 -1.33775382e-03 2.78899647e+00] [-3.77556124e-03 9.99992850e-01 2.12312672e-04 -3.09207240e-02] [ 1.33854591e-03 -2.07260197e-04 9.99999083e-01 5.26627814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55255784400003 meters 0.28436181856442017 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99992654e-01 3.60183955e-03 -1.31094356e-03 2.78889326e+00] [-3.60214736e-03 9.99993485e-01 -2.32515141e-04 -2.90618105e-02] [ 1.31009753e-03 2.37235645e-04 9.99999114e-01 5.26711777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58255784400006 meters 0.2847644520352989 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99993433e-01 3.39693082e-03 -1.26313103e-03 2.78880504e+00] [-3.39787281e-03 9.99993950e-01 -7.44362197e-04 -2.69202560e-02] [ 1.26059485e-03 7.48649267e-04 9.99998925e-01 5.26640899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61255784400004 meters 0.28682308081049945 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99993523e-01 3.35500100e-03 -1.30320421e-03 2.78901164e+00] [-3.35611267e-03 9.99994005e-01 -8.51774819e-04 -2.64749089e-02] [ 1.30033869e-03 8.56143002e-04 9.99998788e-01 5.26399660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64255784400007 meters 0.2860597609996707 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.52 [[ 9.99981421e-01 -4.88381276e-03 -3.64773685e-03 2.77078714e+00] [ 4.88580988e-03 9.99987919e-01 5.38783930e-04 -2.42271945e-02] [ 3.64506146e-03 -5.56596068e-04 9.99993202e-01 5.24600308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67255784400004 meters 0.28423663132964677 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.52 [[ 9.99981295e-01 -4.83814396e-03 -3.74184655e-03 2.77103705e+00] [ 4.84064841e-03 9.99988066e-01 6.60542702e-04 -2.47259472e-02] [ 3.73860609e-03 -6.78643311e-04 9.99992781e-01 5.24557339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70255784400007 meters 0.28660804044640464 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.52 [[ 9.99995913e-01 1.75144701e-03 -2.25954485e-03 2.79392908e+00] [-1.75608051e-03 9.99996356e-01 -2.05027985e-03 -2.53899941e-02] [ 2.25594566e-03 2.05423942e-03 9.99995345e-01 5.23010901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73255784400004 meters 0.28670237715938096 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.52 [[ 9.99995664e-01 1.82077225e-03 -2.31462137e-03 2.79417146e+00] [-1.82510630e-03 9.99996583e-01 -1.87173403e-03 -2.61442855e-02] [ 2.31120546e-03 1.87595034e-03 9.99995570e-01 5.22770852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76255784400007 meters 0.2877573200772301 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99978598e-01 -4.36930040e-03 -4.86959792e-03 2.77286289e+00] [ 4.37589271e-03 9.99989523e-01 1.34393792e-03 -2.71924443e-02] [ 4.86367483e-03 -1.36521800e-03 9.99987240e-01 5.23817347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79255784400004 meters 0.2855403471457348 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99978576e-01 -4.35112045e-03 -4.89036907e-03 2.77296907e+00] [ 4.35797475e-03 9.99989535e-01 1.39181093e-03 -2.73932736e-02] [ 4.88426196e-03 -1.41309322e-03 9.99987073e-01 5.23694578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8225578440001 meters 0.28680654406587575 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99978916e-01 -4.37221031e-03 -4.80122249e-03 2.77273333e+00] [ 4.37864916e-03 9.99989527e-01 1.33139467e-03 -2.71463294e-02] [ 4.79535107e-03 -1.35238947e-03 9.99987588e-01 5.23752373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85255784400005 meters 0.2868043700389796 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99986830e-01 3.66577937e-03 -3.59191390e-03 2.79208371e+00] [-3.66683714e-03 9.99993236e-01 -2.87944416e-04 -2.98033647e-02] [ 3.59083406e-03 3.01111587e-04 9.99993508e-01 5.25385846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8825578440001 meters 0.28580771024153234 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99975453e-01 -5.04439441e-03 -4.86282672e-03 2.77249164e+00] [ 5.04732113e-03 9.99987088e-01 5.89772849e-04 -2.67252070e-02] [ 4.85978889e-03 -6.14302620e-04 9.99988002e-01 5.24519440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91255784400005 meters 0.2840303536571197 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99975758e-01 -5.03176955e-03 -4.81297427e-03 2.77244939e+00] [ 5.03482952e-03 9.99987131e-01 6.23869612e-04 -2.68682998e-02] [ 4.80977317e-03 -6.48086994e-04 9.99988223e-01 5.24329406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9425578440001 meters 0.28481820585682077 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99976559e-01 -4.93581834e-03 -4.74537684e-03 2.77242630e+00] [ 4.93999740e-03 9.99987420e-01 8.69343354e-04 -2.79016407e-02] [ 4.74102622e-03 -8.92765126e-04 9.99988363e-01 5.24003019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97255784400005 meters 0.2846920834093986 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99977217e-01 -4.85492648e-03 -4.68981631e-03 2.77232556e+00] [ 4.86002869e-03 9.99987610e-01 1.07715122e-03 -2.87671241e-02] [ 4.68452872e-03 -1.09991932e-03 9.99988423e-01 5.23922048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0025578440001 meters 0.2857259739777095 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99987580e-01 3.56768601e-03 -3.48007305e-03 2.79134198e+00] [-3.56775765e-03 9.99993635e-01 -1.43792716e-05 -3.31850652e-02] [ 3.47999960e-03 2.67951503e-05 9.99993944e-01 5.25254267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03255784400005 meters 0.2845528425356853 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99987483e-01 3.61400860e-03 -3.46020181e-03 2.79125304e+00] [-3.61366863e-03 9.99993465e-01 1.04499132e-04 -3.36799827e-02] [ 3.46055686e-03 -9.19938014e-05 9.99994008e-01 5.25333603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters 0.28456447787658257 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99987239e-01 3.61102472e-03 -3.53289869e-03 2.79154850e+00] [-3.61069860e-03 9.99993477e-01 9.86822583e-05 -3.36569007e-02] [ 3.53323199e-03 -8.59247667e-05 9.99993754e-01 5.25065873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09255784400005 meters 0.2856527261262873 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.52 [[ 9.99987471e-01 3.54874423e-03 -3.53041185e-03 2.79163119e+00] [-3.54896983e-03 9.99993701e-01 -5.76389356e-05 -3.30027468e-02] [ 3.53018506e-03 7.01675386e-05 9.99993766e-01 5.24875715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters 0.2864385350740932 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.52 [[ 9.99987782e-01 3.46393588e-03 -3.52648220e-03 2.79168099e+00] [-3.46490046e-03 9.99993961e-01 -2.67450882e-04 -3.21183605e-02] [ 3.52553448e-03 2.79666525e-04 9.99993746e-01 5.24747472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15255784400006 meters 0.28604366131068487 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.52 [[ 9.99988264e-01 3.37178927e-03 -3.47896529e-03 2.79159656e+00] [-3.37354338e-03 9.99994185e-01 -4.98461782e-04 -3.11438229e-02] [ 3.47726435e-03 5.10192372e-04 9.99993824e-01 5.24676314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters 0.2843979480936837 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.53 [[ 9.99985470e-01 -3.20732929e-03 -4.33283527e-03 2.76942579e+00] [ 3.21767914e-03 9.99991982e-01 2.38384685e-03 -2.90893339e-02] [ 4.32515475e-03 -2.39775389e-03 9.99987772e-01 5.25105834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21255784400006 meters 0.2856941191371062 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99985237e-01 -3.35924194e-03 -4.27089588e-03 2.76935369e+00] [ 3.36764379e-03 9.99992406e-01 1.96156776e-03 -2.73511163e-02] [ 4.26427406e-03 -1.97592166e-03 9.99988956e-01 5.24914621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters 0.285281621034013 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.52 [[ 9.99984887e-01 -3.41300139e-03 -4.31019247e-03 2.76948858e+00] [ 3.42089567e-03 9.99992482e-01 1.82549478e-03 -2.67777128e-02] [ 4.30392965e-03 -1.84021191e-03 9.99989045e-01 5.24837478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27255784400006 meters 0.2850326498018741 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99983102e-01 4.90756143e-03 -3.11620156e-03 2.78933684e+00] [-4.90616852e-03 9.99987861e-01 4.54476505e-04 -2.86172027e-02] [ 3.11839411e-03 -4.39180216e-04 9.99995041e-01 5.25966048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters 0.285134194493692 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99983476e-01 4.80299776e-03 -3.15886804e-03 2.78939736e+00] [-4.80242013e-03 9.99988450e-01 1.90419299e-04 -2.75107877e-02] [ 3.15974614e-03 -1.75245941e-04 9.99994993e-01 5.26075676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33255784400006 meters 0.28502454551848566 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.53 [[ 9.99984576e-01 4.57721117e-03 -3.14605565e-03 2.78922130e+00] [-4.57852122e-03 9.99989435e-01 -4.09333560e-04 -2.50178577e-02] [ 3.14414880e-03 4.23731529e-04 9.99994967e-01 5.26393307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36255784400004 meters 0.28662545301369535 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.53 [[ 9.99985374e-01 4.41588785e-03 -3.12277773e-03 2.78917240e+00] [-4.41850058e-03 9.99989894e-01 -8.30265026e-04 -2.32751868e-02] [ 3.11907981e-03 8.44050878e-04 9.99994779e-01 5.26376396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39255784400007 meters 0.28632647889735974 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:0.53 [[ 9.99983688e-01 5.66958723e-03 -6.92250711e-04 2.83225937e+00] [-5.66960795e-03 9.99983927e-01 -2.79752647e-05 -2.05066704e-02] [ 6.92080977e-04 3.18995985e-05 9.99999760e-01 5.25801487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42255784400004 meters 0.28497813063800786 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99995141e-01 -2.66779595e-03 -1.61301971e-03 2.81379473e+00] [ 2.66950900e-03 9.99995874e-01 1.06079666e-03 -1.48069747e-02] [ 1.61018306e-03 -1.06509748e-03 9.99998136e-01 5.24042671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45255784400007 meters 0.285422405113997 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99994414e-01 -2.89602065e-03 -1.66897500e-03 2.81400715e+00] [ 2.89664962e-03 9.99995735e-01 3.74561826e-04 -1.20357359e-02] [ 1.66788315e-03 -3.79394169e-04 9.99998537e-01 5.23861969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48255784400004 meters 0.28554360593323513 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99994187e-01 -2.98134474e-03 -1.65473308e-03 2.81397547e+00] [ 2.98161116e-03 9.99995542e-01 1.58562234e-04 -1.11365528e-02] [ 1.65425297e-03 -1.63495082e-04 9.99998618e-01 5.23844525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51255784400007 meters 0.2841370062749316 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99994005e-01 -3.06556536e-03 -1.60978507e-03 2.81390159e+00] [ 3.06548167e-03 9.99995300e-01 -5.44533068e-05 -1.02480729e-02] [ 1.60994443e-03 4.95182138e-05 9.99998703e-01 5.23753068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54255784400004 meters 0.2848448336295965 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99993983e-01 -3.12885128e-03 -1.49798054e-03 2.81365595e+00] [ 3.12853441e-03 9.99995083e-01 -2.13822299e-04 -9.58088476e-03] [ 1.49864219e-03 2.09134529e-04 9.99998855e-01 5.23665915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5725578440001 meters 0.2851158416131584 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99994199e-01 -3.09012488e-03 -1.43259782e-03 2.81347013e+00] [ 3.08995843e-03 9.99995219e-01 -1.18388420e-04 -9.98594250e-03] [ 1.43295680e-03 1.13961066e-04 9.99998967e-01 5.23710052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60255784400005 meters 0.2849094357636968 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.52 [[ 9.99994234e-01 -3.06887344e-03 -1.45415504e-03 2.81351894e+00] [ 3.06878144e-03 9.99995289e-01 -6.54925501e-05 -1.02110306e-02] [ 1.45434918e-03 6.10296884e-05 9.99998941e-01 5.23725078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6325578440001 meters 0.2837684678268588 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.52 [[ 9.99983134e-01 4.97917114e-03 -2.99005723e-03 2.79411953e+00] [-4.98291484e-03 9.99986809e-01 -1.24590981e-03 -1.35100801e-02] [ 2.98381419e-03 1.26078800e-03 9.99994754e-01 5.22513049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66255784400005 meters 0.28403108504730046 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.52 [[ 9.99982749e-01 4.98281767e-03 -3.11005256e-03 2.79460376e+00] [-4.98667468e-03 9.99986805e-01 -1.23365634e-03 -1.35582663e-02] [ 3.10386444e-03 1.24914388e-03 9.99994403e-01 5.22092068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6925578440001 meters 0.28722919948150166 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.52 [[ 9.99982388e-01 4.97979224e-03 -3.22896253e-03 2.79507621e+00] [-4.98381120e-03 9.99986815e-01 -1.23781087e-03 -1.35443878e-02] [ 3.22275591e-03 1.25388161e-03 9.99994021e-01 5.21669403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72255784400005 meters 0.2857488657506306 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.52 [[ 9.99981442e-01 4.91100127e-03 -3.60511941e-03 2.79627147e+00] [-4.91622535e-03 9.99986876e-01 -1.44164578e-03 -1.27010096e-02] [ 3.59799218e-03 1.45934260e-03 9.99992462e-01 5.20887523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7525578440001 meters 0.282390205939743 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.52 [[ 9.99988850e-01 4.24441990e-03 -2.06982781e-03 2.75587532e+00] [-4.24865025e-03 9.99988886e-01 -2.04372182e-03 -1.17422994e-02] [ 2.06113039e-03 2.05249301e-03 9.99995769e-01 5.18246479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78255784400005 meters 0.2858990606093115 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.52 [[ 9.99989618e-01 4.32097004e-03 1.44663777e-03 2.79863490e+00] [-4.31752058e-03 9.99987849e-01 -2.37915897e-03 -8.75581482e-03] [-1.45690046e-03 2.37288838e-03 9.99996123e-01 5.17500103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8125578440001 meters 0.28463730015155264 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.52 [[ 9.99986654e-01 -4.80346225e-03 1.90212598e-03 2.77731037e+00] [ 4.80696944e-03 9.99986747e-01 -1.84356774e-03 -4.51925502e-03] [-1.89324527e-03 1.85268659e-03 9.99996492e-01 5.17216540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84255784400005 meters 0.28413371459795583 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.52 [[ 9.99985774e-01 -4.90814679e-03 2.08843637e-03 2.77667183e+00] [ 4.91269922e-03 9.99985556e-01 -2.18030560e-03 -3.13268832e-03] [-2.07770494e-03 2.19053445e-03 9.99995442e-01 5.17667133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.872557844 meters 0.285014078400827 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.52 [[ 9.99985409e-01 -4.99279638e-03 2.06254950e-03 2.77679647e+00] [ 4.99777794e-03 9.99984590e-01 -2.41719097e-03 -2.16198072e-03] [-2.05044917e-03 2.42746387e-03 9.99994952e-01 5.17507940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90255784400006 meters 0.2845539858657055 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.52 [[ 9.99985067e-01 -5.07617126e-03 2.02439443e-03 2.77697919e+00] [ 5.08152086e-03 9.99983588e-01 -2.64623905e-03 -1.22150933e-03] [-2.01092844e-03 2.65648654e-03 9.99994450e-01 5.17280891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93255784400003 meters 0.28468208572614306 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.52 [[ 9.99984558e-01 -5.18438933e-03 2.00140349e-03 2.77712027e+00] [ 5.19032965e-03 9.99982107e-01 -2.97438359e-03 9.93723325e-05] [-1.98594731e-03 2.98472561e-03 9.99993574e-01 5.17046855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96255784400006 meters 0.28632785493847895 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:0.52 [[ 9.99989162e-01 3.81619703e-03 2.66688691e-03 2.79901290e+00] [-3.80654990e-03 9.99986228e-01 -3.61313878e-03 -1.81645570e-03] [-2.68063863e-03 3.60294798e-03 9.99989916e-01 5.17022625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99255784400003 meters 0.28585465325854964 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:0.52 [[ 9.99989172e-01 3.78339323e-03 2.70965683e-03 2.79888234e+00] [-3.77336500e-03 9.99986049e-01 -3.69652220e-03 -1.46163353e-03] [-2.72360443e-03 3.68625765e-03 9.99989497e-01 5.17066155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02255784400006 meters 0.28487220550831216 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:0.52 [[ 9.99989092e-01 3.76797422e-03 2.75994792e-03 2.79870700e+00] [-3.75765037e-03 9.99985960e-01 -3.73627621e-03 -1.28597114e-03] [-2.77398736e-03 3.72586454e-03 9.99989211e-01 5.17168707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05255784400003 meters 0.28530595176040585 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:0.52 [[ 9.99989138e-01 3.77966668e-03 2.72731461e-03 2.79879036e+00] [-3.76954427e-03 9.99986024e-01 -3.70713668e-03 -1.41324403e-03] [-2.74128823e-03 3.69681568e-03 9.99989409e-01 5.17168237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08255784400006 meters 0.28452022543739014 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.52 [[ 9.99989107e-01 -4.33934101e-03 1.71924158e-03 2.77950520e+00] [ 4.34302329e-03 9.99988271e-01 -2.14389308e-03 1.06153850e-03] [-1.70991833e-03 2.15133643e-03 9.99996224e-01 5.15171790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11255784400004 meters 0.2854739613048941 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.51 [[ 9.99989074e-01 -4.34136047e-03 1.73335595e-03 2.77955941e+00] [ 4.34508451e-03 9.99988248e-01 -2.15050045e-03 1.07994230e-03] [-1.72399948e-03 2.15800853e-03 9.99996185e-01 5.14970415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14255784400007 meters 0.28498590526128526 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.51 [[ 9.99989014e-01 -4.34067688e-03 1.76923291e-03 2.77953497e+00] [ 4.34447855e-03 9.99988250e-01 -2.15062112e-03 1.07504921e-03] [-1.75987697e-03 2.15828388e-03 9.99996122e-01 5.14820379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17255784400004 meters 0.28516593402452844 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.51 [[ 9.99988955e-01 -4.34519449e-03 1.79162846e-03 2.77951190e+00] [ 4.34906458e-03 9.99988206e-01 -2.16188843e-03 1.12198049e-03] [-1.78221351e-03 2.16965646e-03 9.99996058e-01 5.14743673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20255784400007 meters 0.28564134204499997 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.51 [[ 9.99989106e-01 -4.31890203e-03 1.77038587e-03 2.77958972e+00] [ 4.32260301e-03 9.99988469e-01 -2.09202488e-03 8.31412476e-04] [-1.76133020e-03 2.09965476e-03 9.99996245e-01 5.14695043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23255784400004 meters 0.28580045570526813 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.51 [[ 9.99989355e-01 -4.26816300e-03 1.75262309e-03 2.77966411e+00] [ 4.27160123e-03 9.99988950e-01 -1.96273163e-03 2.91354438e-04] [-1.74422647e-03 1.97019724e-03 9.99996538e-01 5.14637376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26255784400007 meters 0.28600529642453143 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99989676e-01 -4.21671782e-03 1.69327637e-03 2.77987022e+00] [ 4.21982238e-03 9.99989415e-01 -1.83409668e-03 -2.54805927e-04] [-1.68552457e-03 1.84122307e-03 9.99996884e-01 5.14527248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29255784400004 meters 0.28600529642453143 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99989676e-01 -4.21671782e-03 1.69327637e-03 2.77987022e+00] [ 4.21982238e-03 9.99989415e-01 -1.83409668e-03 -2.54805927e-04] [-1.68552457e-03 1.84122307e-03 9.99996884e-01 5.14527248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3225578440001 meters 0.2854434150287864 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99989802e-01 -4.19305136e-03 1.67762057e-03 2.78003383e+00] [ 4.19602670e-03 9.99989623e-01 -1.77397252e-03 -5.19379808e-04] [-1.67016480e-03 1.78099377e-03 9.99997019e-01 5.14259527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35255784400005 meters 0.28753351305662955 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99990079e-01 -4.14991138e-03 1.61846759e-03 2.78046785e+00] [ 4.15260298e-03 9.99989995e-01 -1.66325202e-03 -1.01438153e-03] [-1.61154905e-03 1.66995637e-03 9.99997307e-01 5.13629534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3825578440001 meters 0.2852742094801449 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99991616e-01 4.06204474e-03 5.17598226e-04 2.76039947e+00] [-4.06068825e-03 9.99988387e-01 -2.59538175e-03 -5.27575720e-03] [-5.28134772e-04 2.59325818e-03 9.99996498e-01 5.12784387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41255784400005 meters 0.28577873169161205 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99991688e-01 4.05356498e-03 4.39826785e-04 2.76058295e+00] [-4.05240195e-03 9.99988373e-01 -2.61372100e-03 -5.19752092e-03] [-4.50416559e-04 2.61191691e-03 9.99996488e-01 5.12815216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4425578440001 meters 0.28486945212999815 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99991713e-01 4.05468562e-03 3.64225925e-04 2.76082789e+00] [-4.05372218e-03 9.99988383e-01 -2.60804987e-03 -5.22878006e-03] [-3.74796516e-04 2.60655179e-03 9.99996533e-01 5.12693843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47255784400005 meters 0.2873030278324102 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.51 [[ 9.99997876e-01 -1.70066706e-03 1.16458108e-03 2.78598529e+00] [ 1.70005237e-03 9.99998415e-01 5.28613182e-04 -4.91058970e-03] [-1.16547823e-03 -5.26632210e-04 9.99999182e-01 5.09935963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5025578440001 meters 0.2871282672176972 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.51 [[ 9.99997879e-01 -1.72142056e-03 1.13041859e-03 2.78617802e+00] [ 1.72088341e-03 9.99998406e-01 4.75982475e-04 -4.69130030e-03] [-1.13123616e-03 -4.74036148e-04 9.99999248e-01 5.09691325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53255784400005 meters 0.28565029626123356 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.51 [[ 9.99997840e-01 -1.70888670e-03 1.18280417e-03 2.78611855e+00] [ 1.70828895e-03 9.99998413e-01 5.06190035e-04 -4.82532954e-03] [-1.18366731e-03 -5.04168370e-04 9.99999172e-01 5.09526294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5625578440001 meters 0.28732596018282697 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.51 [[ 9.99997743e-01 -1.69850499e-03 1.27614117e-03 2.78591152e+00] [ 1.69783161e-03 9.99998419e-01 5.28563119e-04 -4.92388473e-03] [-1.27703692e-03 -5.26395253e-04 9.99999046e-01 5.09458569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59255784400005 meters 0.2852615235610807 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.51 [[ 9.99992098e-01 3.96960078e-03 -2.15978479e-04 2.76202650e+00] [-3.97018304e-03 9.99988294e-01 -2.76578002e-03 -4.85149618e-03] [ 2.04996908e-04 2.76661563e-03 9.99996152e-01 5.11863172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters 0.28460085896786985 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.51 [[ 9.99992131e-01 3.96442814e-03 -1.47351884e-04 2.76184325e+00] [-3.96482262e-03 9.99988273e-01 -2.78088629e-03 -4.78607398e-03] [ 1.36325532e-04 2.78144863e-03 9.99996122e-01 5.11886370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65255784400006 meters 0.2852959164445704 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99998027e-01 -1.31481714e-03 1.48925278e-03 2.78490909e+00] [ 1.31382647e-03 9.99998915e-01 6.65995794e-04 -2.75826193e-03] [-1.49012683e-03 -6.64037860e-04 9.99998669e-01 5.10328675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters 0.28820129465733696 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99997814e-01 -1.38243750e-03 1.56882449e-03 2.78467877e+00] [ 1.38166822e-03 9.99998925e-01 4.91331985e-04 -2.01810524e-03] [-1.56950204e-03 -4.89163316e-04 9.99998649e-01 5.10373440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71255784400006 meters 0.28724814560824746 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.51 [[ 9.99997627e-01 -1.47475202e-03 1.60345542e-03 2.78445402e+00] [ 1.47433804e-03 9.99998880e-01 2.59332018e-04 -1.02621337e-03] [-1.60383607e-03 -2.56967367e-04 9.99998681e-01 5.10645626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters 0.28446805993678026 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.51 [[ 9.99991001e-01 4.22678133e-03 -3.62699383e-04 2.76137714e+00] [-4.22789467e-03 9.99986177e-01 -3.12579228e-03 -2.75347470e-04] [ 3.49482329e-04 3.12729761e-03 9.99995049e-01 5.12880337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77255784400006 meters 0.28464137883720875 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:0.51 [[ 9.99991406e-01 4.13164486e-03 -3.41553059e-04 2.76119011e+00] [-4.13277259e-03 9.99985782e-01 -3.36978176e-03 7.64860249e-04] [ 3.27625461e-04 3.37116437e-03 9.99994264e-01 5.13170316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters 0.2851236500040738 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:0.51 [[ 9.99991442e-01 4.11628992e-03 -4.13877147e-04 2.76148974e+00] [-4.11767683e-03 9.99985715e-01 -3.40795537e-03 9.05489075e-04] [ 3.99843103e-04 3.40963042e-03 9.99994107e-01 5.12902387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83255784400006 meters 0.2865438935763633 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:0.51 [[ 9.99998346e-01 -1.66906456e-03 7.22299122e-04 2.78515982e+00] [ 1.66918924e-03 9.99998592e-01 -1.72047093e-04 2.11282052e-03] [-7.22010948e-04 1.73252463e-04 9.99999724e-01 5.10903559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters 0.2857055030600439 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99997568e-01 -1.56774667e-03 1.55109060e-03 2.74760088e+00] [ 1.56712811e-03 9.99998692e-01 3.99929645e-04 -8.27588096e-04] [-1.55171556e-03 -3.97497915e-04 9.99998717e-01 5.06667799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89255784400007 meters 0.28413209850081167 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99997476e-01 -1.59630330e-03 1.58085188e-03 2.74739512e+00] [ 1.59579126e-03 9.99998674e-01 3.25107880e-04 -4.99850079e-04] [-1.58136876e-03 -3.22584350e-04 9.99998698e-01 5.06958014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92255784400004 meters 0.28500204796841294 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.51 [[ 9.99977849e-01 4.76287144e-03 4.64944562e-03 2.76849494e+00] [-4.75077823e-03 9.99985313e-01 -2.60858909e-03 1.87555525e-03] [-4.66180171e-03 2.58644282e-03 9.99985789e-01 5.05867174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95255784400007 meters 0.28568208435029807 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.51 [[ 9.99978200e-01 4.73045960e-03 4.60672697e-03 2.76858033e+00] [-4.71810459e-03 9.99985254e-01 -2.68913422e-03 2.21430822e-03] [-4.61937988e-03 2.66734058e-03 9.99985773e-01 5.05920706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98255784400004 meters 0.28593867894326536 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99999076e-01 -1.22987456e-03 5.79970217e-04 2.74825666e+00] [ 1.22979505e-03 9.99999234e-01 1.37444092e-04 -4.62611176e-04] [-5.80138812e-04 -1.36730720e-04 9.99999822e-01 5.06762193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01255784400007 meters 0.2866051531868702 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99999146e-01 -1.23611677e-03 4.23142284e-04 2.74887717e+00] [ 1.23606465e-03 9.99999228e-01 1.23417816e-04 -4.27043717e-04] [-4.23294516e-04 -1.22894680e-04 9.99999903e-01 5.06209814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04255784400004 meters 0.2838647289248766 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99999199e-01 -1.20423608e-03 3.90883192e-04 2.74908908e+00] [ 1.20415504e-03 9.99999253e-01 2.07513152e-04 -7.89028122e-04] [-3.91132795e-04 -2.07042302e-04 9.99999902e-01 5.05925092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0725578440001 meters 0.2871011795357536 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99999233e-01 -1.18060053e-03 3.75284924e-04 2.74918913e+00] [ 1.18049889e-03 9.99999267e-01 2.70920111e-04 -1.05777069e-03] [-3.75604497e-04 -2.70476880e-04 9.99999893e-01 5.05796917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10255784400005 meters 0.2847629909992003 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99999251e-01 -1.16170245e-03 3.85179731e-04 2.74916643e+00] [ 1.16158011e-03 9.99999275e-01 3.17685205e-04 -1.26371681e-03] [-3.85548507e-04 -3.17237550e-04 9.99999875e-01 5.05795052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1325578440001 meters 0.2853603996377789 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.50 [[ 9.99983177e-01 5.08742997e-03 2.78647507e-03 2.77187499e+00] [-5.07974767e-03 9.99983297e-01 -2.75716927e-03 7.42448263e-04] [-2.80045543e-03 2.74296830e-03 9.99992317e-01 5.03914931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16255784400005 meters 0.2867098869178919 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.50 [[ 9.99983162e-01 5.11887811e-03 2.73351301e-03 2.77212391e+00] [-5.11156289e-03 9.99983354e-01 -2.67643910e-03 3.83416878e-04] [-2.74716787e-03 2.66242152e-03 9.99992682e-01 5.03677144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1925578440001 meters 0.2881214746557422 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:0.50 [[ 9.99982894e-01 5.16350642e-03 2.74780356e-03 2.77223991e+00] [-5.15645337e-03 9.99983409e-01 -2.56771997e-03 -9.37016824e-05] [-2.76101641e-03 2.55350712e-03 9.99992928e-01 5.03357052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22255784400005 meters 0.28630658474336473 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:0.50 [[ 9.99982681e-01 5.20342915e-03 2.74997840e-03 2.77218314e+00] [-5.19664868e-03 9.99983454e-01 -2.46706482e-03 -5.15317690e-04] [-2.76277010e-03 2.45273142e-03 9.99993176e-01 5.03478358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2525578440001 meters 0.28568775603115976 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.50 [[ 9.99981455e-01 -4.25248629e-03 4.35964190e-03 2.74707906e+00] [ 4.26064241e-03 9.99989188e-01 -1.86324575e-03 -1.20876115e-03] [-4.35167133e-03 1.88178607e-03 9.99988761e-01 5.04952396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28255784400005 meters 0.28525977846024186 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.51 [[ 0.99997265 0.00411536 0.00614519 2.76568507] [-0.00409726 0.99998724 -0.00295577 -0.00519266] [-0.00615727 0.00293051 0.99997675 0.50674583] [ 0. 0. 0. 1. ]] SLAMing on 392.3125578440001 meters 0.2864182171157095 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.51 [[ 9.99958087e-01 -2.41285399e-03 8.83192589e-03 2.78574338e+00] [ 2.41557440e-03 9.99997038e-01 -2.97365705e-04 -4.77972883e-03] [-8.83118223e-03 3.18687416e-04 9.99960954e-01 5.06120450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34255784400005 meters 0.28652559661853083 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.51 [[ 9.99958355e-01 -2.29548927e-03 8.83279293e-03 2.78583985e+00] [ 2.29557100e-03 9.99997365e-01 8.85120619e-07 -6.04080770e-03] [-8.83277169e-03 1.93912195e-05 9.99960990e-01 5.05928877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.372557844 meters 0.28419085169353653 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 0.9999731 0.00309642 0.00664912 2.76343917] [-0.00307483 0.99998997 -0.00325545 -0.00799592] [-0.00665914 0.00323492 0.9999726 0.50752069] [ 0. 0. 0. 1. ]] SLAMing on 392.40255784400006 meters 0.28704569152735193 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 0.99997303 0.00316326 0.0066277 2.76350043] [-0.00314288 0.99999031 -0.00308194 -0.00872259] [-0.00663739 0.00306103 0.99997329 0.50751731] [ 0. 0. 0. 1. ]] SLAMing on 392.43255784400003 meters 0.28670578065506597 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.51 [[ 9.99958468e-01 -2.47932465e-03 8.77013460e-03 2.78609238e+00] [ 2.47763320e-03 9.99996910e-01 2.03724352e-04 -8.42343869e-03] [-8.77061260e-03 -1.81986714e-04 9.99961521e-01 5.05664016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46255784400006 meters 0.28390697942578386 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 0.99997205 0.00326603 0.00672554 2.76293945] [-0.00324637 0.99999043 -0.0029319 -0.00869138] [-0.00673505 0.00290999 0.99997309 0.50807424] [ 0. 0. 0. 1. ]] SLAMing on 392.49255784400003 meters 0.2855758374298325 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 0.99997132 0.0032837 0.00682498 2.76243771] [-0.00326404 0.9999905 -0.00288931 -0.00883048] [-0.0068344 0.00286695 0.99997254 0.5086762 ] [ 0. 0. 0. 1. ]] SLAMing on 392.52255784400006 meters 0.2845814932516958 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 0.99997159 0.00330926 0.00677315 2.76258471] [-0.0032902 0.9999906 -0.00282236 -0.00911406] [-0.00678242 0.00279999 0.99997308 0.5086538 ] [ 0. 0. 0. 1. ]] SLAMing on 392.55255784400003 meters 0.2840814831162771 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99972211e-01 3.36208346e-03 6.65389774e-03 2.76301299e+00] [-3.34431624e-03 9.99990818e-01 -2.67952504e-03 -9.73215857e-03] [-6.66284542e-03 2.65719783e-03 9.99974273e-01 5.08376938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58255784400006 meters 0.2864824423543228 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99973067e-01 3.48880130e-03 6.45700630e-03 2.76377642e+00] [-3.47381502e-03 9.99991250e-01 -2.33069409e-03 -1.12436985e-02] [-6.46508113e-03 2.30820087e-03 9.99976437e-01 5.07745843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61255784400004 meters 0.286694100558238 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99972834e-01 3.56476578e-03 6.45156962e-03 2.76375268e+00] [-3.55104588e-03 9.99991412e-01 -2.13680642e-03 -1.20554291e-02] [-6.45913143e-03 2.11383855e-03 9.99976905e-01 5.07837189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64255784400007 meters 0.2840353188469471 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99972375e-01 3.66539402e-03 6.46636252e-03 2.76360501e+00] [-3.65328320e-03 9.99991553e-01 -1.88371425e-03 -1.31175648e-02] [-6.47321245e-03 1.86003876e-03 9.99977319e-01 5.08091683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67255784400004 meters 0.2847280686602839 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.51 [[ 9.99972332e-01 3.72955580e-03 6.43629249e-03 2.76359393e+00] [-3.71852707e-03 9.99991599e-01 -1.72463950e-03 -1.37862498e-02] [-6.44267056e-03 1.70065825e-03 9.99977800e-01 5.08296183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70255784400007 meters 0.28495185117762944 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99994397e-01 -2.11310687e-03 2.59620271e-03 2.74293050e+00] [ 2.10905793e-03 9.99996557e-01 1.56131445e-03 -1.76215144e-02] [-2.59949299e-03 -1.55583016e-03 9.99995411e-01 5.09848964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73255784400004 meters 0.2867003750277193 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99994596e-01 -2.11939603e-03 2.51316834e-03 2.74332364e+00] [ 2.11551241e-03 9.99996566e-01 1.54696142e-03 -1.75788172e-02] [-2.51643833e-03 -1.54163642e-03 9.99995645e-01 5.09413171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76255784400007 meters 0.28843513260559706 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.51 [[ 9.99975316e-01 5.04458465e-03 4.89076710e-03 2.76449123e+00] [-5.04044559e-03 9.99986929e-01 -8.58257915e-04 -1.64046072e-02] [-4.89503272e-03 8.33585084e-04 9.99987672e-01 5.08293571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79255784400004 meters 0.2861129101047859 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.51 [[ 9.99975724e-01 5.04136424e-03 4.80996968e-03 2.76494032e+00] [-5.03725541e-03 9.99986938e-01 -8.65964473e-04 -1.63982920e-02] [-4.81427249e-03 8.41714405e-04 9.99988057e-01 5.07724939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8225578440001 meters 0.28680826212082683 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99997920e-01 -1.57084471e-03 1.30071646e-03 2.74362938e+00] [ 1.56858982e-03 9.99997268e-01 1.73278076e-03 -1.92631643e-02] [-1.30343483e-03 -1.73073687e-03 9.99997653e-01 5.09711524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85255784400005 meters 0.28406064115436447 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99997952e-01 -1.54677791e-03 1.30541033e-03 2.74355990e+00] [ 1.54443358e-03 9.99997196e-01 1.79496319e-03 -1.95144776e-02] [-1.30818308e-03 -1.79294339e-03 9.99997537e-01 5.09847064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8825578440001 meters 0.2851634055780302 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99998118e-01 -1.50012645e-03 1.23020574e-03 2.74383089e+00] [ 1.49776437e-03 9.99997038e-01 1.91874827e-03 -2.00467888e-02] [-1.23308046e-03 -1.91690210e-03 9.99997402e-01 5.09683303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91255784400005 meters 0.2855715231972649 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.51 [[ 9.99993958e-01 3.39180116e-03 -7.61243658e-04 2.72176320e+00] [-3.39313259e-03 9.99992704e-01 -1.75459449e-03 -2.28597669e-02] [ 7.55286869e-04 1.75716688e-03 9.99998171e-01 5.10677987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9425578440001 meters 0.2850220883777479 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99994509e-01 -2.41774615e-03 2.26650134e-03 2.74371534e+00] [ 2.41477824e-03 9.99996225e-01 1.31129055e-03 -2.48477834e-02] [-2.26966315e-03 -1.30581025e-03 9.99996572e-01 5.08762219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97255784400005 meters 0.2858531343023682 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.03, Z:0.51 [[ 9.99994766e-01 -2.34752689e-03 2.22662102e-03 2.74366336e+00] [ 2.34420638e-03 9.99996138e-01 1.49271713e-03 -2.55984520e-02] [-2.23011662e-03 -1.48748966e-03 9.99996407e-01 5.09122152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0025578440001 meters 0.2859086059770461 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.03, Z:0.51 [[ 9.99994963e-01 -2.32615436e-03 2.15946955e-03 2.74375304e+00] [ 2.32281433e-03 9.99996104e-01 1.54790902e-03 -2.58298275e-02] [-2.16306181e-03 -1.54288517e-03 9.99996470e-01 5.09312734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03255784400005 meters 0.2851478028356102 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.03, Z:0.51 [[ 9.99994854e-01 -2.36470428e-03 2.16807558e-03 2.74374465e+00] [ 2.36156050e-03 9.99996158e-01 1.45144697e-03 -2.54231247e-02] [-2.17149949e-03 -1.44631946e-03 9.99996596e-01 5.09269753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0625578440001 meters 0.2847560281244266 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99994699e-01 -2.41548078e-03 2.18348666e-03 2.74367922e+00] [ 2.41260752e-03 9.99996222e-01 1.31758224e-03 -2.48636298e-02] [-2.18666101e-03 -1.31230736e-03 9.99996748e-01 5.09312089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09255784400005 meters 0.28533231199026327 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99994439e-01 -2.48914791e-03 2.21932336e-03 2.74356494e+00] [ 2.48665988e-03 9.99996278e-01 1.12313193e-03 -2.40480742e-02] [-2.22211074e-03 -1.11760699e-03 9.99996907e-01 5.09343074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.122557844 meters 0.2846706876954623 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99993751e-01 -2.65466747e-03 2.33482816e-03 2.74309748e+00] [ 2.65321886e-03 9.99996286e-01 6.23313257e-04 -2.19738957e-02] [-2.33647417e-03 -6.17114552e-04 9.99997080e-01 5.09714976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15255784400006 meters 0.2847665700223437 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99993380e-01 -2.76176707e-03 2.36908885e-03 2.74299915e+00] [ 2.76097933e-03 9.99996132e-01 3.35712217e-04 -2.07687741e-02] [-2.37000685e-03 -3.29168989e-04 9.99997137e-01 5.09720303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18255784400003 meters 0.28442463138255536 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99993032e-01 -2.85926401e-03 2.40008914e-03 2.74291909e+00] [ 2.85907717e-03 9.99995910e-01 8.12733897e-05 -1.97059357e-02] [-2.40031171e-03 -7.44107833e-05 9.99997116e-01 5.09699722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21255784400006 meters 0.28442463138255536 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99993032e-01 -2.85926401e-03 2.40008914e-03 2.74291909e+00] [ 2.85907717e-03 9.99995910e-01 8.12733897e-05 -1.97059357e-02] [-2.40031171e-03 -7.44107833e-05 9.99997116e-01 5.09699722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24255784400003 meters 0.28657505271776446 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.51 [[ 9.99992665e-01 -2.95559818e-03 2.43614960e-03 2.74279290e+00] [ 2.95601862e-03 9.99995617e-01 -1.68998614e-04 -1.86539926e-02] [-2.43563943e-03 1.76198678e-04 9.99997018e-01 5.09746302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27255784400006 meters 0.2852952318784955 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.51 [[ 9.99997618e-01 -3.90724621e-04 2.14762715e-03 2.78024313e+00] [ 3.88371917e-04 9.99999324e-01 1.09579782e-03 -1.07291579e-02] [-2.14805385e-03 -1.09496113e-03 9.99997093e-01 5.13465205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters 0.2865324570898719 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.52 [[ 9.99986195e-01 5.22977908e-03 -5.09457464e-04 2.75753130e+00] [-5.23093375e-03 9.99983692e-01 -2.29213600e-03 -8.15647634e-03] [ 4.97461790e-04 2.29476930e-03 9.99997243e-01 5.16050507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33255784400006 meters 0.2856153550588801 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.00, Z:0.52 [[ 9.99999194e-01 -5.31652616e-04 1.15264707e-03 2.77944092e+00] [ 5.30806111e-04 9.99999589e-01 7.34582563e-04 -4.56152983e-03] [-1.15303714e-03 -7.33970139e-04 9.99999066e-01 5.15239657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36255784400004 meters 0.2840051696736778 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.52 [[ 9.99986789e-01 5.06273591e-03 -8.88991989e-04 2.75754941e+00] [-5.06530425e-03 9.99982934e-01 -2.91096087e-03 -3.67244048e-03] [ 8.74239392e-04 2.91542542e-03 9.99995368e-01 5.16706062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39255784400007 meters 0.2867128940179196 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.52 [[ 9.99999745e-01 -6.43145485e-04 3.11230816e-04 2.78027599e+00] [ 6.43119132e-04 9.99999790e-01 8.47671176e-05 1.43640668e-03] [-3.11285268e-04 -8.45669375e-05 9.99999948e-01 5.15796307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42255784400004 meters 0.28427987037847724 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.51 [[ 9.99998856e-01 -9.14464506e-04 1.20454998e-03 2.74197009e+00] [ 9.14063921e-04 9.99999527e-01 3.33067831e-04 -9.84024886e-04] [-1.20485399e-03 -3.31966415e-04 9.99999219e-01 5.12131824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45255784400007 meters 0.2856732712958436 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.51 [[ 9.99983606e-01 5.24684644e-03 2.29316104e-03 2.76591637e+00] [-5.23954932e-03 9.99981228e-01 -3.17662974e-03 1.76731600e-03] [-2.30978528e-03 3.16456253e-03 9.99992325e-01 5.10309741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48255784400004 meters 0.2862089853581162 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.51 [[ 9.99983785e-01 5.25348249e-03 2.19772767e-03 2.76609119e+00] [-5.24653098e-03 9.99981254e-01 -3.15693878e-03 1.68665361e-03] [-2.21427139e-03 3.14535715e-03 9.99992602e-01 5.10467457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51255784400007 meters 0.28476318313385146 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998514e-01 -1.71430965e-03 -1.82413919e-04 2.74546235e+00] [ 1.71420552e-03 9.99998369e-01 -5.69453473e-04 1.41310715e-03] [ 1.83389841e-04 5.69139932e-04 9.99999821e-01 5.11367955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54255784400004 meters 0.2843809652167741 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998450e-01 -1.74870864e-03 -2.06169585e-04 2.74549679e+00] [ 1.74857314e-03 9.99998256e-01 -6.55562652e-04 1.77341642e-03] [ 2.07315614e-04 6.55201133e-04 9.99999764e-01 5.11417008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5725578440001 meters 0.2847527535734755 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998316e-01 -1.80627408e-03 -3.24521608e-04 2.74602938e+00] [ 1.80601385e-03 9.99998049e-01 -8.00409090e-04 2.36888326e-03] [ 3.25966733e-04 7.99821652e-04 9.99999627e-01 5.10864663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60255784400005 meters 0.28495849333612355 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998358e-01 -1.77947243e-03 -3.43650083e-04 2.74622991e+00] [ 1.77921971e-03 9.99998148e-01 -7.34298269e-04 2.07044160e-03] [ 3.44956110e-04 7.33685634e-04 9.99999671e-01 5.10539440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6325578440001 meters 0.28528386987453214 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998417e-01 -1.75048275e-03 -3.20345081e-04 2.74610871e+00] [ 1.75027006e-03 9.99998248e-01 -6.63038521e-04 1.77098443e-03] [ 3.21505158e-04 6.62476780e-04 9.99999729e-01 5.10679487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66255784400005 meters 0.28457232762983986 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998491e-01 -1.71428053e-03 -2.81663290e-04 2.74587169e+00] [ 1.71411889e-03 9.99998367e-01 -5.73107339e-04 1.39871354e-03] [ 2.82645297e-04 5.72623670e-04 9.99999796e-01 5.10993595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6925578440001 meters 0.2847835367359403 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99998672e-01 -1.58632218e-03 -3.72652798e-04 2.74591404e+00] [ 1.58623051e-03 9.99998712e-01 -2.46156991e-04 3.34170615e-05] [ 3.73042802e-04 2.45565551e-04 9.99999900e-01 5.11442623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72255784400005 meters 0.28340039537801165 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.51 [[ 9.99988960e-01 4.29751313e-03 -1.90009611e-03 2.72413803e+00] [-4.30389856e-03 9.99985062e-01 -3.36936607e-03 -2.96107433e-03] [ 1.88558783e-03 3.37750670e-03 9.99992518e-01 5.12415018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7525578440001 meters 0.2843671175853883 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:0.51 [[ 9.99991048e-01 -3.99335399e-03 -1.39865415e-03 2.74430149e+00] [ 3.99014523e-03 9.99989418e-01 -2.28950564e-03 1.69473905e-04] [ 1.40778216e-03 2.28390432e-03 9.99996401e-01 5.13339565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78255784400005 meters 0.28487811883037956 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.51 [[ 9.99991345e-01 -3.91862057e-03 -1.39771850e-03 2.74433721e+00] [ 3.91567642e-03 9.99990122e-01 -2.10294774e-03 -6.12170746e-04] [ 1.40594534e-03 2.09745652e-03 9.99996812e-01 5.13271386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8125578440001 meters 0.2862310179184023 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.51 [[ 9.99991525e-01 -3.86198652e-03 -1.42658835e-03 2.74444312e+00] [ 3.85918540e-03 9.99990630e-01 -1.96107192e-03 -1.21547167e-03] [ 1.43414862e-03 1.95554983e-03 9.99997060e-01 5.13217419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84255784400005 meters 0.2848763208775125 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.51 [[ 9.99991609e-01 -3.83359806e-03 -1.44414676e-03 2.74452183e+00] [ 3.83087042e-03 9.99990882e-01 -1.88681270e-03 -1.52887667e-03] [ 1.45136688e-03 1.88126453e-03 9.99997177e-01 5.13149918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.872557844 meters 0.2850655637616735 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.51 [[ 9.99991483e-01 -3.83968907e-03 -1.51362274e-03 2.74478333e+00] [ 3.83680956e-03 9.99990833e-01 -1.90073018e-03 -1.48466008e-03] [ 1.52090708e-03 1.89490651e-03 9.99997048e-01 5.12964075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90255784400006 meters 0.2848500758464566 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99991077e-01 -3.89408031e-03 -1.63774688e-03 2.74526189e+00] [ 3.89070926e-03 9.99990317e-01 -2.05652112e-03 -8.67633773e-04] [ 1.64573928e-03 2.05013077e-03 9.99996544e-01 5.12496336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93255784400003 meters 0.2855881031672568 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:0.51 [[ 9.99990709e-01 -3.97175557e-03 -1.67567060e-03 2.74538535e+00] [ 3.96795665e-03 9.99989564e-01 -2.26436684e-03 -1.37327663e-05] [ 1.68464662e-03 2.25769681e-03 9.99996032e-01 5.12406082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96255784400006 meters 0.2860637733364686 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:0.51 [[ 9.99990382e-01 -4.07466152e-03 -1.62264998e-03 2.74524379e+00] [ 4.07052260e-03 9.99988475e-01 -2.54590341e-03 1.14379979e-03] [ 1.63300498e-03 2.53927389e-03 9.99995443e-01 5.12390905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99255784400003 meters 0.2866656779134762 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:0.51 [[ 9.99990156e-01 -4.20127299e-03 -1.42698870e-03 2.74465023e+00] [ 4.19712756e-03 9.99986999e-01 -2.89570040e-03 2.62254716e-03] [ 1.43913578e-03 2.88968264e-03 9.99994789e-01 5.12591257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02255784400006 meters 0.2857960629839222 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:0.52 [[ 9.99996488e-01 -2.64699973e-03 -1.30915146e-04 2.73876291e+00] [ 2.64679745e-03 9.99995339e-01 -1.52193113e-03 3.44666742e-03] [ 1.34943087e-04 1.52157928e-03 9.99998833e-01 5.16310349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05255784400003 meters 0.28622951621020576 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:0.52 [[ 9.99996146e-01 -2.77526883e-03 -8.14022637e-05 2.73866065e+00] [ 2.77511434e-03 9.99994456e-01 -1.84014618e-03 4.77154899e-03] [ 8.65087128e-05 1.83991319e-03 9.99998304e-01 5.16217233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08255784400006 meters 0.28654350633245856 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:0.52 [[ 9.99995845e-01 -2.88133803e-03 -9.00258261e-05 2.73880343e+00] [ 2.88114293e-03 9.99993651e-01 -2.09697738e-03 5.84073290e-03] [ 9.60673552e-05 2.09670929e-03 9.99997797e-01 5.15934307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11255784400004 meters 0.28505127352239107 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:0.51 [[ 9.99995841e-01 -2.82903289e-03 5.60467935e-04 2.70114033e+00] [ 2.82999618e-03 9.99994507e-01 -1.72546109e-03 3.32627905e-03] [-5.55583470e-04 1.72704004e-03 9.99998354e-01 5.12070799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14255784400007 meters 0.2858288965321576 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:0.51 [[ 9.99995466e-01 -2.98615160e-03 3.89544513e-04 2.70141329e+00] [ 2.98697475e-03 9.99993271e-01 -2.12993247e-03 4.97782002e-03] [-3.83181591e-04 2.13108638e-03 9.99997656e-01 5.12357196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17255784400004 meters 0.284472648069415 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:0.51 [[ 9.99995215e-01 -3.08131400e-03 2.75258559e-04 2.70164962e+00] [ 3.08195533e-03 9.99992464e-01 -2.36071409e-03 5.93602667e-03] [-2.67982383e-04 2.36155113e-03 9.99997176e-01 5.12450814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20255784400007 meters 0.28631396691116817 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99999115e-01 -9.80263654e-04 -8.99338478e-04 2.70725631e+00] [ 9.79828999e-04 9.99999403e-01 -4.83618629e-04 7.42575342e-03] [ 8.99812015e-04 4.82737003e-04 9.99999479e-01 5.09032066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23255784400004 meters 0.28653985804857246 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99998888e-01 -1.11046133e-03 -9.95770379e-04 2.70757073e+00] [ 1.10966155e-03 9.99999062e-01 -8.03374294e-04 8.74747317e-03] [ 9.96661560e-04 8.02268432e-04 9.99999182e-01 5.08850495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26255784400007 meters 0.2856080522339466 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99998602e-01 -1.38869241e-03 -9.30943538e-04 2.70742785e+00] [ 1.38731610e-03 9.99997946e-01 -1.47742488e-03 1.15602268e-02] [ 9.32993315e-04 1.47613130e-03 9.99998475e-01 5.08713330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29255784400004 meters 0.28643133553800826 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99997417e-01 6.07480529e-04 -2.19034175e-03 2.71289530e+00] [-6.06716218e-04 9.99999755e-01 3.49593422e-04 1.27616826e-02] [ 2.19055358e-03 -3.48263603e-04 9.99997540e-01 5.05670529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3225578440001 meters 0.2857643709513827 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99997590e-01 4.48746836e-04 -2.14900053e-03 2.71270359e+00] [-4.48821268e-04 9.99999899e-01 -3.41533818e-05 1.43723010e-02] [ 2.14898498e-03 3.51178167e-05 9.99997690e-01 5.05807700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35255784400005 meters 0.2861047306249214 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997379e-01 2.89717895e-04 -2.27121239e-03 2.71282093e+00] [-2.90707150e-04 9.99999863e-01 -4.35244095e-04 1.60285512e-02] [ 2.27108598e-03 4.35903211e-04 9.99997326e-01 5.06164750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3825578440001 meters 0.2848183436912095 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997243e-01 2.77909637e-04 -2.33173530e-03 2.71286995e+00] [-2.79000261e-04 9.99999852e-01 -4.67418305e-04 1.61628584e-02] [ 2.33160506e-03 4.68067571e-04 9.99997172e-01 5.06400574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41255784400005 meters 0.28613610002194173 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996997e-01 2.63022121e-04 -2.43675598e-03 2.71315046e+00] [-2.64250755e-04 9.99999838e-01 -5.03900453e-04 1.63097776e-02] [ 2.43662305e-03 5.04542854e-04 9.99996904e-01 5.06362442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4425578440001 meters 0.28567714367004715 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996609e-01 2.86205422e-04 -2.58857960e-03 2.71354441e+00] [-2.87347163e-04 9.99999862e-01 -4.40707061e-04 1.60356440e-02] [ 2.58845311e-03 4.41449388e-04 9.99996553e-01 5.06357578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47255784400005 meters 0.28604028715643687 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996468e-01 3.26587606e-04 -2.63750124e-03 2.71377447e+00] [-3.27479407e-04 9.99999889e-01 -3.37698733e-04 1.56077578e-02] [ 2.63739066e-03 3.38561268e-04 9.99996465e-01 5.06140453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5025578440001 meters 0.28600995068992524 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996572e-01 3.53365326e-04 -2.59425580e-03 2.71360989e+00] [-3.54069359e-04 9.99999901e-01 -2.70927310e-04 1.53301957e-02] [ 2.59415980e-03 2.71844928e-04 9.99996598e-01 5.06258643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53255784400005 meters 0.284620580196397 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996679e-01 3.47486775e-04 -2.55369465e-03 2.71337111e+00] [-3.48216797e-04 9.99999899e-01 -2.85429898e-04 1.53997712e-02] [ 2.55359521e-03 2.86318190e-04 9.99996699e-01 5.06555864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5625578440001 meters 0.2854820207698405 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996943e-01 3.69607660e-04 -2.44492286e-03 2.71296178e+00] [-3.70162090e-04 9.99999906e-01 -2.26319400e-04 1.51640297e-02] [ 2.44483898e-03 2.27223725e-04 9.99996986e-01 5.06900348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59255784400005 meters 0.2854893566160291 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997114e-01 3.80973996e-04 -2.37206538e-03 2.71290921e+00] [-3.81439542e-04 9.99999908e-01 -1.95812807e-04 1.50407702e-02] [ 2.37199056e-03 1.96717042e-04 9.99997167e-01 5.06606106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters 0.28639970671964876 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996958e-01 3.78403666e-04 -2.43724590e-03 2.71321969e+00] [-3.78894604e-04 9.99999908e-01 -2.00972950e-04 1.50613509e-02] [ 2.43716963e-03 2.01895798e-04 9.99997010e-01 5.06290218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65255784400006 meters 0.285696172533856 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996907e-01 3.93040441e-04 -2.45610332e-03 2.71340938e+00] [-3.93439377e-04 9.99999909e-01 -1.61945517e-04 1.48905224e-02] [ 2.45603945e-03 1.62911344e-04 9.99996971e-01 5.05975780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters 0.28715842590802687 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996873e-01 3.78822943e-04 -2.47192680e-03 2.71350117e+00] [-3.79310200e-04 9.99999909e-01 -1.96650411e-04 1.50322681e-02] [ 2.47185208e-03 1.97587424e-04 9.99996925e-01 5.05856753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71255784400006 meters 0.2869808757387992 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996942e-01 3.78081702e-04 -2.44407935e-03 2.71334172e+00] [-3.78567879e-04 9.99999909e-01 -1.98460824e-04 1.50474243e-02] [ 2.44400409e-03 1.99385467e-04 9.99996994e-01 5.06045098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters 0.28596176116383004 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997040e-01 3.66757863e-04 -2.40523165e-03 2.71315979e+00] [-3.67307529e-04 9.99999907e-01 -2.28091394e-04 1.51790514e-02] [ 2.40514777e-03 2.28974179e-04 9.99997081e-01 5.06217911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77255784400006 meters 0.28549240529929565 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997032e-01 2.33993462e-04 -2.42530275e-03 2.71339263e+00] [-2.35368161e-04 9.99999812e-01 -5.66545531e-04 1.65735825e-02] [ 2.42516973e-03 5.67114688e-04 9.99996898e-01 5.05780104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters 0.28635065296925954 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996974e-01 1.29591498e-04 -2.45660939e-03 2.71366736e+00] [-1.31641893e-04 9.99999643e-01 -8.34500900e-04 1.76694526e-02] [ 2.45650037e-03 8.34821768e-04 9.99996634e-01 5.05324048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83255784400006 meters 0.28614485903311265 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997042e-01 4.16791250e-05 -2.43177590e-03 2.71366413e+00] [-4.42570733e-05 9.99999437e-01 -1.06006514e-03 1.86046792e-02] [ 2.43173035e-03 1.06016962e-03 9.99996481e-01 5.05164254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters 0.28528127878838533 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99997044e-01 -6.09313546e-05 -2.43078385e-03 2.71365765e+00] [ 5.77112156e-05 9.99999121e-01 -1.32478088e-03 1.96996037e-02] [ 2.43086244e-03 1.32463668e-03 9.99996168e-01 5.05140287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89255784400007 meters 0.2867101382453928 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996674e-01 -3.32412208e-04 -2.55778977e-03 2.71372838e+00] [ 3.27416861e-04 9.99998039e-01 -1.95316462e-03 2.23602467e-02] [ 2.55843401e-03 1.95232066e-03 9.99994821e-01 5.05620404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92255784400004 meters 0.2858613479753835 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99996548e-01 -4.24850606e-04 -2.59311166e-03 2.71372113e+00] [ 4.19184855e-04 9.99997525e-01 -2.18507639e-03 2.33214021e-02] [ 2.59403358e-03 2.18398185e-03 9.99994251e-01 5.05802523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95255784400007 meters 0.2869474145761256 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.50 [[ 9.99979427e-01 -6.40801016e-03 -2.87578642e-04 2.73538589e+00] [ 6.40824932e-03 9.99979115e-01 8.38581036e-04 2.54280743e-02] [ 2.82199000e-04 -8.40406660e-04 9.99999607e-01 5.04440128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98255784400004 meters 0.2863252202473512 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.50 [[ 9.99978744e-01 -6.51736997e-03 -1.90533818e-04 2.73495969e+00] [ 6.51747135e-03 9.99978617e-01 5.36399474e-04 2.66476824e-02] [ 1.87033830e-04 -5.37629870e-04 9.99999838e-01 5.04835358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01255784400007 meters 0.2863403888921965 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.51 [[ 9.99997284e-01 -2.28683859e-03 -4.50498030e-04 2.73540162e+00] [ 2.28885198e-03 9.99987163e-01 4.52061472e-03 2.77923528e-02] [ 4.40154331e-04 -4.52163356e-03 9.99989680e-01 5.05066500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04255784400004 meters 0.2865911640386048 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.51 [[ 9.99997123e-01 -2.33061675e-03 -5.66761434e-04 2.73564541e+00] [ 2.33309342e-03 9.99987558e-01 4.40918282e-03 2.82475559e-02] [ 5.56478267e-04 -4.41049244e-03 9.99990119e-01 5.05163096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0725578440001 meters 0.28524873284678526 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:0.51 [[ 9.99990992e-01 3.69582820e-03 -2.08739354e-03 2.71378440e+00] [-3.69355210e-03 9.99992581e-01 1.09320568e-03 2.70530969e-02] [ 2.09141836e-03 -1.08548594e-03 9.99997224e-01 5.06239063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10255784400005 meters 0.28524873284678526 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:0.51 [[ 9.99990992e-01 3.69582820e-03 -2.08739354e-03 2.71378440e+00] [-3.69355210e-03 9.99992581e-01 1.09320568e-03 2.70530969e-02] [ 2.09141836e-03 -1.08548594e-03 9.99997224e-01 5.06239063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1325578440001 meters 0.2869583951567093 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.51 [[ 9.99983786e-01 -5.50921531e-03 -1.44080709e-03 2.73534615e+00] [ 5.51107121e-03 9.99983985e-01 1.28731588e-03 3.02623934e-02] [ 1.43369191e-03 -1.29523540e-03 9.99998133e-01 5.07082135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16255784400005 meters 0.28681788465344993 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.51 [[ 9.99983838e-01 -5.48670070e-03 -1.48985295e-03 2.73542597e+00] [ 5.48870153e-03 9.99984036e-01 1.34221970e-03 3.00271683e-02] [ 1.48246481e-03 -1.35037537e-03 9.99997989e-01 5.07188928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1925578440001 meters 0.28556471325656285 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.51 [[ 9.99984061e-01 -5.46552623e-03 -1.41639701e-03 2.73514067e+00] [ 5.46750392e-03 9.99984078e-01 1.39619264e-03 2.98080583e-02] [ 1.40874353e-03 -1.40391455e-03 9.99998022e-01 5.07410764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22255784400005 meters 0.285525631336053 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.51 [[ 9.99984491e-01 -5.41494956e-03 -1.30203024e-03 2.73469345e+00] [ 5.41693484e-03 9.99984164e-01 1.52609684e-03 2.92727428e-02] [ 1.29374588e-03 -1.53312619e-03 9.99997988e-01 5.07803446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2525578440001 meters 0.2852163856936497 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.51 [[ 9.99984737e-01 -5.37300324e-03 -1.28739936e-03 2.73469381e+00] [ 5.37510373e-03 9.99984219e-01 1.63371094e-03 2.88257404e-02] [ 1.27860111e-03 -1.64060591e-03 9.99997837e-01 5.07728785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28255784400005 meters 0.2847226626273915 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.51 [[ 9.99995193e-01 2.57330459e-03 -1.72997910e-03 2.71556174e+00] [-2.57292558e-03 9.99996666e-01 2.21268917e-04 2.36208729e-02] [ 1.73054273e-03 -2.16816746e-04 9.99998479e-01 5.05911372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3125578440001 meters 0.28482656990438354 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99995410e-01 2.63506587e-03 -1.49512989e-03 2.71493663e+00] [-2.63449361e-03 9.99996456e-01 3.84595759e-04 2.29632494e-02] [ 1.49613803e-03 -3.80655084e-04 9.99998808e-01 5.06072118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34255784400005 meters 0.28582842808085657 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.51 [[ 9.99995348e-01 2.64137921e-03 -1.52546407e-03 2.71507214e+00] [-2.64076524e-03 9.99996431e-01 4.04356414e-04 2.28894683e-02] [ 1.52652668e-03 -4.00326140e-04 9.99998755e-01 5.05940318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.372557844 meters 0.2849440649197925 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 0.99998375 -0.00331299 -0.00464019 2.69250931] [ 0.00332809 0.99998918 0.00325036 0.01971305] [ 0.00462937 -0.00326575 0.99998395 0.50779159] [ 0. 0. 0. 1. ]] SLAMing on 395.40255784400006 meters 0.2872344106473409 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99992494e-01 3.00780978e-03 -2.44227034e-03 2.71463641e+00] [-3.00694612e-03 9.99995415e-01 3.57222401e-04 2.02336550e-02] [ 2.44333360e-03 -3.49875944e-04 9.99996954e-01 5.06532159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43255784400003 meters 0.28605085107055467 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99992450e-01 3.09471370e-03 -2.34988076e-03 2.71440815e+00] [-3.09338345e-03 9.99995053e-01 5.69518624e-04 1.93579932e-02] [ 2.35163164e-03 -5.62245242e-04 9.99997077e-01 5.06540852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46255784400006 meters 0.28476357412266473 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 0.99998589 -0.00326991 -0.00418748 2.69144469] [ 0.00328483 0.99998826 0.00356123 0.01726761] [ 0.00417579 -0.00357494 0.99998489 0.50798873] [ 0. 0. 0. 1. ]] SLAMing on 395.49255784400003 meters 0.2854858711830535 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99982606e-01 5.24198310e-03 -2.70369002e-03 2.71186104e+00] [-5.23447862e-03 9.99982449e-01 2.77529258e-03 1.47805536e-02] [ 2.71819061e-03 -2.76109190e-03 9.99992494e-01 5.08651069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52255784400006 meters 0.28675782252661647 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.51 [[ 9.99990213e-01 -3.87844448e-03 -2.12888418e-03 2.73353333e+00] [ 3.88539950e-03 9.99987097e-01 3.27262074e-03 1.60910942e-02] [ 2.11616404e-03 -3.28086028e-03 9.99992379e-01 5.08638280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55255784400003 meters 0.28515067286378537 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99993586e-01 1.50110778e-03 -3.25182118e-03 2.71063768e+00] [-1.50218830e-03 9.99998817e-01 -3.29863638e-04 1.32332533e-02] [ 3.25132217e-03 3.34746370e-04 9.99994658e-01 5.09763365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58255784400006 meters 0.28483709331453594 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99993350e-01 1.59248626e-03 -3.28073554e-03 2.71083273e+00] [-1.59279292e-03 9.99998727e-01 -9.08604885e-05 1.22361377e-02] [ 3.28058667e-03 9.60854167e-05 9.99994614e-01 5.09507275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61255784400004 meters 0.2859497587028544 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99993089e-01 1.66228409e-03 -3.32535076e-03 2.71109986e+00] [-1.66198129e-03 9.99998615e-01 9.38172409e-05 1.14624426e-02] [ 3.32550211e-03 -8.82899218e-05 9.99994467e-01 5.09171061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64255784400007 meters 0.28659264590430567 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:0.51 [[ 9.99987044e-01 -4.84541727e-03 -1.56031047e-03 2.73473830e+00] [ 4.84984565e-03 9.99984187e-01 2.84697530e-03 1.05124618e-02] [ 1.54649101e-03 -2.85450567e-03 9.99994730e-01 5.06415799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67255784400004 meters 0.2856039942702245 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:0.51 [[ 9.99991769e-01 3.26719131e-03 -2.40577492e-03 2.71608945e+00] [-3.26329829e-03 9.99993363e-01 1.62034622e-03 5.36079374e-03] [ 2.41105293e-03 -1.61248212e-03 9.99995793e-01 5.05114865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70255784400007 meters 0.2868634316657257 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:0.51 [[ 9.99989464e-01 -4.52464348e-03 -7.73735081e-04 2.73486153e+00] [ 4.52707324e-03 9.99984735e-01 3.16791856e-03 9.27256532e-03] [ 7.59389568e-04 -3.17138794e-03 9.99994683e-01 5.06556524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73255784400004 meters 0.2853666539777489 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99990830e-01 4.25621900e-03 -4.74003138e-04 2.71398877e+00] [-4.25492889e-03 9.99987329e-01 2.69025898e-03 4.05277708e-03] [ 4.85447463e-04 -2.68821746e-03 9.99996269e-01 5.06175915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76255784400007 meters 0.28617956667874683 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99990255e-01 4.35331328e-03 -7.34450672e-04 2.71474108e+00] [-4.35112347e-03 9.99986161e-01 2.95726981e-03 2.89949126e-03] [ 7.47314430e-04 -2.95404531e-03 9.99995358e-01 5.05947784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79255784400004 meters 0.2867265172833158 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.51 [[ 9.99990007e-01 4.38080618e-03 -8.91666559e-04 2.71542511e+00] [-4.37808547e-03 9.99985824e-01 3.03067999e-03 2.54741960e-03] [ 9.04930740e-04 -3.02674591e-03 9.99995010e-01 5.05249443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8225578440001 meters 0.2875784671000827 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.50 [[ 9.99989878e-01 4.39133134e-03 -9.79725470e-04 2.71580790e+00] [-4.38831077e-03 9.99985677e-01 3.06421341e-03 2.41213294e-03] [ 9.93167414e-04 -3.05988306e-03 9.99994825e-01 5.04873284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85255784400005 meters 0.2874166131922941 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.51 [[ 9.99989903e-01 4.41331733e-03 -8.46801341e-04 2.71533812e+00] [-4.41065538e-03 9.99985406e-01 3.12006738e-03 2.20720522e-03] [ 8.60558830e-04 -3.11630093e-03 9.99994774e-01 5.05209715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8825578440001 meters 0.286084692157952 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99989874e-01 4.45090532e-03 -6.63911387e-04 2.71466075e+00] [-4.44874927e-03 9.99984938e-01 3.21436945e-03 1.83671355e-03] [ 6.78208242e-04 -3.21138333e-03 9.99994614e-01 5.05758571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91255784400005 meters 0.28597325208674834 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99989898e-01 4.45805639e-03 -5.73711725e-04 2.71431325e+00] [-4.45617934e-03 9.99984847e-01 3.23248474e-03 1.76324868e-03] [ 5.88113631e-04 -3.22989553e-03 9.99994611e-01 5.06034202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9425578440001 meters 0.2888039413060984 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:0.51 [[ 9.99987134e-01 -4.93120571e-03 -1.18970822e-03 2.73649419e+00] [ 4.93489944e-03 9.99982950e-01 3.12204136e-03 7.22550892e-03] [ 1.17429251e-03 -3.12787228e-03 9.99994419e-01 5.05545700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97255784400005 meters 0.28861384259781925 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99992379e-01 1.04180435e-03 -3.76265670e-03 2.71425214e+00] [-1.04172868e-03 9.99999457e-01 2.20711207e-05 8.31961302e-03] [ 3.76267766e-03 -1.81512851e-05 9.99992921e-01 5.07111827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0025578440001 meters 0.2874081352265455 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99992649e-01 9.38365269e-04 -3.71775156e-03 2.71415016e+00] [-9.39317858e-04 9.99999526e-01 -2.54489205e-04 9.46351048e-03] [ 3.71751099e-03 2.57979484e-04 9.99993057e-01 5.07063235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03255784400005 meters 0.28821651912735685 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:0.51 [[ 0.99997414 -0.00506595 -0.00510369 2.69041443] [ 0.00508099 0.99998277 0.00293994 0.00886975] [ 0.00508871 -0.0029658 0.99998265 0.50872071] [ 0. 0. 0. 1. ]] SLAMing on 396.0625578440001 meters 0.2878798910668781 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99998505e-01 1.26495436e-03 -1.17875124e-03 2.71062995e+00] [-1.26503955e-03 9.99999197e-01 -7.15273037e-05 1.52831271e-02] [ 1.17865981e-03 7.30183638e-05 9.99999303e-01 5.07762620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09255784400005 meters 0.2869919845172222 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99998678e-01 1.16775742e-03 -1.13158648e-03 2.71054075e+00] [-1.16811830e-03 9.99999267e-01 -3.18308815e-04 1.63082978e-02] [ 1.13121394e-03 3.19630221e-04 9.99999309e-01 5.07673179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.122557844 meters 0.2866757221898541 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99998743e-01 1.11572959e-03 -1.12623736e-03 2.71052087e+00] [-1.11623576e-03 9.99999276e-01 -4.48904311e-04 1.68554729e-02] [ 1.12573569e-03 4.50160893e-04 9.99999265e-01 5.07671147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15255784400006 meters 0.2858231117383006 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 9.99974281e-01 -6.31497810e-03 -3.39970311e-03 2.69010784e+00] [ 6.32037798e-03 9.99978778e-01 1.57994503e-03 1.65990888e-02] [ 3.38965365e-03 -1.60139180e-03 9.99992973e-01 5.07844083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters 0.288112332604737 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 9.99974452e-01 -6.28279996e-03 -3.40909703e-03 2.68989224e+00] [ 6.28850887e-03 9.99978839e-01 1.66648251e-03 1.62601789e-02] [ 3.39855471e-03 -1.68787807e-03 9.99992800e-01 5.08425420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21255784400006 meters 0.28582104175312345 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 9.99974728e-01 -6.26007578e-03 -3.36979816e-03 2.68970594e+00] [ 6.26591308e-03 9.99978882e-01 1.72447998e-03 1.60239455e-02] [ 3.35893162e-03 -1.74555126e-03 9.99992835e-01 5.08647154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters 0.28663372822686933 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996351e-01 2.32532304e-03 -1.37499917e-03 2.70945160e+00] [-2.32394819e-03 9.99996799e-01 1.00063950e-03 1.32619411e-02] [ 1.37732157e-03 -9.97440425e-04 9.99998554e-01 5.09070738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27255784400006 meters 0.28612907224578454 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996186e-01 2.33623490e-03 -1.47340730e-03 2.70986070e+00] [-2.33471620e-03 9.99996742e-01 1.03161565e-03 1.31279283e-02] [ 1.47581259e-03 -1.02817172e-03 9.99998382e-01 5.08685116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters 0.2863207467347597 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996149e-01 2.31166507e-03 -1.53532813e-03 2.71013784e+00] [-2.31017773e-03 9.99996861e-01 9.69814402e-04 1.33816501e-02] [ 1.53756520e-03 -9.66263787e-04 9.99998351e-01 5.08402623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33255784400006 meters 0.286480619812243 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996179e-01 2.25228554e-03 -1.60273986e-03 2.71039920e+00] [-2.25097002e-03 9.99997129e-01 8.22124300e-04 1.39978209e-02] [ 1.60458691e-03 -8.18513440e-04 9.99998378e-01 5.08187483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters 0.28618146729405475 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996337e-01 2.16311517e-03 -1.62682416e-03 2.71048006e+00] [-2.16213478e-03 9.99997480e-01 6.04160076e-04 1.49236422e-02] [ 1.62812693e-03 -6.00640450e-04 9.99998494e-01 5.08132894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39255784400007 meters 0.28597949598168027 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996424e-01 2.17186719e-03 -1.56053881e-03 2.71036052e+00] [-2.17089585e-03 9.99997449e-01 6.23861008e-04 1.48399240e-02] [ 1.56188977e-03 -6.20471010e-04 9.99998588e-01 5.08022861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42255784400004 meters 0.2860385078516758 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996435e-01 2.21680630e-03 -1.48852603e-03 2.71014838e+00] [-2.21571320e-03 9.99997275e-01 7.35597282e-04 1.43722509e-02] [ 1.49015265e-03 -7.32296513e-04 9.99998622e-01 5.08092840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45255784400007 meters 0.286860266675719 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99996354e-01 2.24707353e-03 -1.49743149e-03 2.71021544e+00] [-2.24585445e-03 9.99997146e-01 8.15301749e-04 1.40396129e-02] [ 1.49925926e-03 -8.11935763e-04 9.99998546e-01 5.08000936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48255784400004 meters 0.28560709036234155 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:0.51 [[ 9.99978977e-01 -5.84325822e-03 -2.81105988e-03 2.69067282e+00] [ 5.84983881e-03 9.99980155e-01 2.33846695e-03 1.53468280e-02] [ 2.79733983e-03 -2.35486204e-03 9.99993315e-01 5.06463443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51255784400007 meters 0.2868584737053836 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99995995e-01 2.60139276e-03 -1.11508099e-03 2.71038753e+00] [-2.59984352e-03 9.99995656e-01 1.38855270e-03 1.29553996e-02] [ 1.11868832e-03 -1.38564810e-03 9.99998414e-01 5.07125376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54255784400004 meters 0.28641101978642053 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99995882e-01 2.64480921e-03 -1.11364456e-03 2.71030807e+00] [-2.64313798e-03 9.99995383e-01 1.49949837e-03 1.24966786e-02] [ 1.11760531e-03 -1.49654868e-03 9.99998256e-01 5.07302675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5725578440001 meters 0.28601796137997054 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99995615e-01 2.74916382e-03 -1.10102169e-03 2.71016022e+00] [-2.74719265e-03 9.99994628e-01 1.78783925e-03 1.13215847e-02] [ 1.10593084e-03 -1.78480669e-03 9.99997796e-01 5.07587796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60255784400005 meters 0.28510261779607987 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99995364e-01 2.79538983e-03 -1.20730671e-03 2.71044038e+00] [-2.79308033e-03 9.99994275e-01 1.91040788e-03 1.08048934e-02] [ 1.21264014e-03 -1.90702692e-03 9.99997446e-01 5.07574311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6325578440001 meters 0.28638689014562063 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99995008e-01 2.85302481e-03 -1.35813117e-03 2.71094393e+00] [-2.85021012e-03 9.99993796e-01 2.06991983e-03 1.01294200e-02] [ 1.36402828e-03 -2.06603853e-03 9.99996935e-01 5.07292706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66255784400005 meters 0.28542158197013817 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99994260e-01 3.05597949e-03 -1.46293627e-03 2.71134462e+00] [-3.05214051e-03 9.99991912e-01 2.61923730e-03 7.84399577e-03] [ 1.47092877e-03 -2.61475718e-03 9.99995500e-01 5.07015818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6925578440001 meters 0.28558857394650655 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99993916e-01 3.18642601e-03 -1.41914502e-03 2.71108422e+00] [-3.18222081e-03 9.99990569e-01 2.95566160e-03 6.44305433e-03] [ 1.42854964e-03 -2.95112758e-03 9.99994625e-01 5.07371632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72255784400005 meters 0.2859514935447594 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99993562e-01 3.33102743e-03 -1.33417356e-03 2.71069642e+00] [-3.32656317e-03 9.99988908e-01 3.33444647e-03 4.86650819e-03] [ 1.34526590e-03 -3.32998679e-03 9.99993551e-01 5.07793077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7525578440001 meters 0.2850231445402094 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99993044e-01 3.50328554e-03 -1.28040843e-03 2.71032180e+00] [-3.49842711e-03 9.99986747e-01 3.77718424e-03 3.03007255e-03] [ 1.29362402e-03 -3.77267855e-03 9.99992047e-01 5.08365188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78255784400005 meters 0.28532066935751355 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99992885e-01 3.53067271e-03 -1.32840723e-03 2.71052258e+00] [-3.52553815e-03 9.99986382e-01 3.84788619e-03 2.73516799e-03] [ 1.34197476e-03 -3.84317546e-03 9.99991715e-01 5.08200416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8125578440001 meters 0.2860964938545134 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99992790e-01 3.51988282e-03 -1.42509027e-03 2.71093972e+00] [-3.51441226e-03 9.99986516e-01 3.82322275e-03 2.83497795e-03] [ 1.43852835e-03 -3.81818683e-03 9.99991676e-01 5.07818634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84255784400005 meters 0.2870754384879758 Centerline is valid? [False, False] Translation: X:2.71, Y:0.00, Z:0.51 [[ 9.99992859e-01 3.43330138e-03 -1.57929075e-03 2.71149681e+00] [-3.42762734e-03 9.99987712e-01 3.58156256e-03 3.82988954e-03] [ 1.59156793e-03 -3.57612376e-03 9.99992339e-01 5.07327191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.872557844 meters 0.28729717448284425 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.51 [[ 9.99988592e-01 4.42575095e-03 -1.79685521e-03 2.75107165e+00] [-4.41849524e-03 9.99982150e-01 4.02209422e-03 7.82396518e-03] [ 1.81462393e-03 -4.01410894e-03 9.99990297e-01 5.10047809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90255784400006 meters 0.2865074090715335 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:0.51 [[ 9.99985034e-01 -4.88705999e-03 -2.45924522e-03 2.72958680e+00] [ 4.89742545e-03 9.99979075e-01 4.22667378e-03 1.11231762e-02] [ 2.43853775e-03 -4.23865450e-03 9.99988044e-01 5.09952094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93255784400003 meters 0.2858889554514534 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99990375e-01 1.65351661e-03 -4.06384657e-03 2.70736781e+00] [-1.64861212e-03 9.99997909e-01 1.20991317e-03 1.26226731e-02] [ 4.06583868e-03 -1.20320181e-03 9.99991011e-01 5.10709687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96255784400006 meters 0.2879705597850559 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:0.51 [[ 9.99990834e-01 1.53825445e-03 -3.99565445e-03 2.70721411e+00] [-1.53462138e-03 9.99998406e-01 9.12161333e-04 1.38594697e-02] [ 3.99705122e-03 -9.06021156e-04 9.99991601e-01 5.10644611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99255784400003 meters 0.2859626569944996 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99991191e-01 1.40563784e-03 -3.95501059e-03 2.70714579e+00] [-1.40336436e-03 9.99998849e-01 5.77551618e-04 1.52568344e-02] [ 3.95581787e-03 -5.71996209e-04 9.99992012e-01 5.10538732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02255784400006 meters 0.2859626569944996 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99991191e-01 1.40563784e-03 -3.95501059e-03 2.70714579e+00] [-1.40336436e-03 9.99998849e-01 5.77551618e-04 1.52568344e-02] [ 3.95581787e-03 -5.71996209e-04 9.99992012e-01 5.10538732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05255784400003 meters 0.286174229336956 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99991473e-01 1.27993283e-03 -3.92618104e-03 2.70706131e+00] [-1.27889017e-03 9.99999146e-01 2.68065318e-04 1.65620796e-02] [ 3.92652079e-03 -2.63041878e-04 9.99992257e-01 5.10539408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08255784400006 meters 0.28531950120074534 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.51 [[ 9.99992270e-01 1.11846152e-03 -3.76951375e-03 2.70654123e+00] [-1.11895569e-03 9.99999366e-01 -1.28990470e-04 1.82674685e-02] [ 3.76936708e-03 1.33207392e-04 9.99992887e-01 5.10762167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11255784400004 meters 0.2864978259642936 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.51 [[ 9.99987800e-01 -4.80356499e-03 -1.15128607e-03 2.72717708e+00] [ 4.80703153e-03 9.99983864e-01 3.02740335e-03 1.98106147e-02] [ 1.13672516e-03 -3.03290068e-03 9.99994755e-01 5.09966302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14255784400007 meters 0.2872003830153722 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99993400e-01 3.55884153e-03 7.30658070e-04 2.74601875e+00] [-3.56015211e-03 9.99992042e-01 1.80031546e-03 1.78785431e-02] [-7.24245218e-04 -1.80290483e-03 9.99998112e-01 5.11125437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17255784400004 meters 0.2865476832775913 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.51 [[ 9.99988146e-01 -4.80879916e-03 -7.64096037e-04 2.72548244e+00] [ 4.81100918e-03 9.99984172e-01 2.91730615e-03 1.87909222e-02] [ 7.50055203e-04 -2.92094764e-03 9.99995453e-01 5.10344604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20255784400007 meters 0.28559983763879804 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.51 [[ 9.99988609e-01 -4.70279292e-03 -8.16412097e-04 2.72572250e+00] [ 4.70540216e-03 9.99983732e-01 3.22403658e-03 1.75181092e-02] [ 8.01236840e-04 -3.22784140e-03 9.99994470e-01 5.10113804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23255784400004 meters 0.2846836363264671 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.51 [[ 9.99988911e-01 -4.61585044e-03 -9.33658446e-04 2.72607061e+00] [ 4.61905191e-03 9.99983359e-01 3.45636349e-03 1.65406389e-02] [ 9.17688852e-04 -3.46063778e-03 9.99993591e-01 5.10014475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26255784400007 meters 0.28578925219860485 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998689e-01 1.35789575e-03 8.82300030e-04 2.74861029e+00] [-1.35813923e-03 9.99999040e-01 2.75421343e-04 1.70638015e-02] [-8.81925189e-04 -2.76619268e-04 9.99999573e-01 5.09042545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29255784400004 meters 0.28486071871291635 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998579e-01 1.43995398e-03 8.76856698e-04 2.74856566e+00] [-1.44037323e-03 9.99998849e-01 4.77683574e-04 1.62188827e-02] [-8.76167846e-04 -4.78945896e-04 9.99999501e-01 5.09180396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3225578440001 meters 0.28563836716114943 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998528e-01 1.42648189e-03 9.53349862e-04 2.74843195e+00] [-1.42690540e-03 9.99998884e-01 4.43702185e-04 1.63622523e-02] [-9.52715864e-04 -4.45061872e-04 9.99999447e-01 5.09039739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35255784400005 meters 0.28552931867442943 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998372e-01 1.45785535e-03 1.06320452e-03 2.74822621e+00] [-1.45840894e-03 9.99998801e-01 5.20096453e-04 1.60416437e-02] [-1.06244502e-03 -5.21646193e-04 9.99999300e-01 5.08878462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3825578440001 meters 0.28535182626972333 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998421e-01 1.43193489e-03 1.05225924e-03 2.74827907e+00] [-1.43241818e-03 9.99998869e-01 4.58681737e-04 1.63004541e-02] [-1.05160125e-03 -4.60188288e-04 9.99999341e-01 5.08817432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41255784400005 meters 0.2850408481934945 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998638e-01 1.39567175e-03 8.81291613e-04 2.74901593e+00] [-1.39598963e-03 9.99998961e-01 3.60187966e-04 1.67040561e-02] [-8.80787993e-04 -3.61417749e-04 9.99999547e-01 5.07994725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4425578440001 meters 0.286972768906199 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.51 [[ 9.99989768e-01 -4.46038292e-03 7.54642910e-04 2.77245845e+00] [ 4.45751741e-03 9.99983007e-01 3.75717189e-03 1.96094604e-02] [-7.71388511e-04 -3.75376961e-03 9.99992657e-01 5.06865670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47255784400005 meters 0.2863892246263871 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998178e-01 1.14095408e-03 -1.53060810e-03 2.75043789e+00] [-1.14058782e-03 9.99999321e-01 2.40143301e-04 1.97211052e-02] [ 1.53088106e-03 -2.38397071e-04 9.99998800e-01 5.08189076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5025578440001 meters 0.28706247165514726 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.51 [[ 9.99998340e-01 1.11658770e-03 -1.44020662e-03 2.75018872e+00] [-1.11633555e-03 9.99999361e-01 1.75870567e-04 1.99985037e-02] [ 1.44040207e-03 -1.74262521e-04 9.99998947e-01 5.08227841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53255784400005 meters 0.28638859672006683 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.51 [[ 9.99988179e-01 -4.55988515e-03 1.68772748e-03 2.77181895e+00] [ 4.55432920e-03 9.99984245e-01 3.28130101e-03 2.01194509e-02] [-1.70266325e-03 -3.27357576e-03 9.99993192e-01 5.06449019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5625578440001 meters 0.28573899797370284 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99994505e-01 3.20515762e-03 8.47025100e-04 2.75346702e+00] [-3.20653535e-03 9.99993530e-01 1.63023818e-03 1.56191948e-02] [-8.41794450e-04 -1.63294524e-03 9.99998312e-01 5.04595078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59255784400005 meters 0.28576054298835446 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99994764e-01 3.16914113e-03 6.53970893e-04 2.75415332e+00] [-3.17015094e-03 9.99993776e-01 1.54889631e-03 1.59485585e-02] [-6.49058151e-04 -1.55096138e-03 9.99998587e-01 5.04114931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters 0.28631474816635905 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99994712e-01 3.19484894e-03 6.06858647e-04 2.75433803e+00] [-3.19582541e-03 9.99993589e-01 1.61495230e-03 1.56656138e-02] [-6.01695228e-04 -1.61688317e-03 9.99998512e-01 5.03986269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65255784400006 meters 0.2851210124681358 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.50 [[ 9.99994493e-01 3.25923396e-03 6.24846874e-04 2.75415849e+00] [-3.26034048e-03 9.99993104e-01 1.77810864e-03 1.49931530e-02] [-6.19047293e-04 -1.78013607e-03 9.99998224e-01 5.04301431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters 0.2853115098674613 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.50 [[ 9.99994052e-01 3.38389251e-03 6.67877135e-04 2.75388317e+00] [-3.38529386e-03 9.99992047e-01 2.10836024e-03 1.36260968e-02] [-6.60737359e-04 -2.11060865e-03 9.99997554e-01 5.04719956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71255784400006 meters 0.28551913951715696 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.51 [[ 9.99992959e-01 3.68440136e-03 7.12351006e-04 2.75353895e+00] [-3.68658935e-03 9.99988415e-01 3.09499431e-03 9.64746990e-03] [-7.00939552e-04 -3.09759866e-03 9.99994957e-01 5.05288010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters 0.2867835154592694 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:0.50 [[ 9.99992190e-01 3.91141603e-03 5.65999258e-04 2.75409463e+00] [-3.91349038e-03 9.99985455e-01 3.71145300e-03 7.06315469e-03] [-5.51473988e-04 -3.71363904e-03 9.99992952e-01 5.04908453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77255784400006 meters 0.2846061957955173 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.50 [[ 9.99998214e-01 1.81863155e-03 5.14872358e-04 2.71583268e+00] [-1.81992848e-03 9.99995144e-01 2.52978416e-03 1.68777645e-03] [-5.10269113e-04 -2.53071668e-03 9.99996668e-01 5.01424877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters 0.28507262064484173 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99997815e-01 2.05358523e-03 3.91820437e-04 2.71632523e+00] [-2.05481020e-03 9.99992921e-01 3.15198248e-03 -9.13983579e-04] [-3.85344799e-04 -3.15278071e-03 9.99994956e-01 5.01039466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83255784400006 meters 0.2848901288920299 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99996806e-01 2.50827304e-03 3.12190263e-04 2.71652605e+00] [-2.50958217e-03 9.99987751e-01 4.26608753e-03 -5.55668867e-03] [-3.01485927e-04 -4.26685737e-03 9.99990851e-01 5.01090899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters 0.28500661671903244 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99996300e-01 2.69822204e-03 3.47129861e-04 2.71639308e+00] [-2.69983349e-03 9.99985175e-01 4.72868041e-03 -7.49450688e-03] [-3.34365685e-04 -4.72960010e-03 9.99988759e-01 5.01209694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89255784400007 meters 0.28549488703599857 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99995830e-01 2.86337476e-03 3.75634499e-04 2.71631929e+00] [-2.86526688e-03 9.99982700e-01 5.13718724e-03 -9.20153283e-03] [-3.60918308e-04 -5.13824211e-03 9.99986734e-01 5.01241679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92255784400004 meters 0.28579594827158794 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99999207e-01 -1.13856596e-03 5.37433216e-04 2.71629233e+00] [ 1.13762469e-03 9.99997824e-01 1.74848318e-03 -1.23126787e-02] [-5.39422810e-04 -1.74787040e-03 9.99998327e-01 5.00668506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95255784400007 meters 0.28483452716171176 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99978336e-01 6.58088352e-03 -1.41524015e-04 2.69723650e+00] [-6.58080848e-03 9.99978209e-01 5.24353317e-04 -1.83364771e-02] [ 1.44971639e-04 -5.23410614e-04 9.99999853e-01 4.98663163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98255784400004 meters 0.2859128362709425 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99997867e-01 -1.76594804e-03 1.07145774e-03 2.71703710e+00] [ 1.76422784e-03 9.99997157e-01 1.60429923e-03 -1.52873291e-02] [-1.07428781e-03 -1.60240552e-03 9.99998139e-01 4.99229927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01255784400007 meters 0.28514391602212535 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99998288e-01 -1.49443487e-03 1.09147525e-03 2.71691379e+00] [ 1.49197409e-03 9.99996351e-01 2.25189190e-03 -1.80283042e-02] [-1.09483657e-03 -2.25025959e-03 9.99996869e-01 4.99447744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04255784400004 meters 0.2860647998207769 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99998430e-01 -1.36914925e-03 1.12528097e-03 2.71679968e+00] [ 1.36625959e-03 9.99995778e-01 2.56471812e-03 -1.93418122e-02] [-1.12878770e-03 -2.56317667e-03 9.99996078e-01 4.99538616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0725578440001 meters 0.2843268189516786 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:0.50 [[ 9.99991716e-01 4.06881884e-03 -1.13230485e-04 2.69484531e+00] [-4.06892244e-03 9.99991289e-01 -9.30271419e-04 -2.21502658e-02] [ 1.09444393e-04 9.30724439e-04 9.99999561e-01 5.00078177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10255784400005 meters 0.2864641313376617 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99991394e-01 4.14458857e-03 -1.87197354e-04 2.69510625e+00] [-4.14472475e-03 9.99991142e-01 -7.33018775e-04 -2.29832379e-02] [ 1.84157634e-04 7.33788348e-04 9.99999714e-01 4.99924235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1325578440001 meters 0.2859626351715282 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99989403e-01 -4.45000435e-03 -1.17931395e-03 2.71685766e+00] [ 4.45007469e-03 9.99990097e-01 5.70317606e-05 -2.02761674e-02] [ 1.17904848e-03 -6.22791915e-05 9.99999303e-01 5.00484826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16255784400005 meters 0.28591811583254567 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99989451e-01 -4.41942904e-03 -1.25162720e-03 2.71712743e+00] [ 4.41960449e-03 9.99990224e-01 1.37441663e-04 -2.06260282e-02] [ 1.25100755e-03 -1.42971910e-04 9.99999207e-01 5.00305926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1925578440001 meters 0.2882042226816179 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99989605e-01 -4.39571124e-03 -1.21161432e-03 2.71704679e+00] [ 4.39594935e-03 9.99990319e-01 1.93931819e-04 -2.08720682e-02] [ 1.21075012e-03 -1.99255998e-04 9.99999247e-01 5.00259463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22255784400005 meters 0.287499108147538 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99989690e-01 -4.41285596e-03 -1.07089151e-03 2.71668865e+00] [ 4.41301186e-03 9.99990252e-01 1.43262948e-04 -2.06564704e-02] [ 1.07024887e-03 -1.47987328e-04 9.99999416e-01 5.00248634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2525578440001 meters 0.28717646103981476 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99991979e-01 3.97196395e-03 5.15202793e-04 2.73640651e+00] [-3.97115410e-03 9.99990893e-01 -1.56351139e-03 -1.97989252e-02] [-5.21408312e-04 1.56145290e-03 9.99998645e-01 5.01388902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28255784400005 meters 0.28799519308414123 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99992412e-01 3.87271473e-03 4.21884041e-04 2.73671472e+00] [-3.87194703e-03 9.99990874e-01 -1.80557905e-03 -1.87797615e-02] [-4.28872684e-04 1.80393184e-03 9.99998281e-01 5.01237530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3125578440001 meters 0.28620884487779363 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99989741e-01 -4.32463559e-03 -1.34758177e-03 2.71822854e+00] [ 4.32398815e-03 9.99990535e-01 -4.82994247e-04 -1.46934168e-02] [ 1.34965779e-03 4.77162364e-04 9.99998975e-01 4.99596997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34255784400005 meters 0.2858219800004349 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988646e-01 -4.56280564e-03 -1.37459502e-03 2.71837466e+00] [ 4.56134366e-03 9.99989030e-01 -1.06482912e-03 -1.22466528e-02] [ 1.37943855e-03 1.05854703e-03 9.99998488e-01 4.99384814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.372557844 meters 0.28643393484994956 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988167e-01 -4.67904333e-03 -1.33143245e-03 2.71825904e+00] [ 4.67724270e-03 9.99988147e-01 -1.35231514e-03 -1.10376073e-02] [ 1.33774421e-03 1.34607171e-03 9.99998199e-01 4.99365495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40255784400006 meters 0.2863455630116176 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99998756e-01 -4.18921709e-04 -1.52061011e-03 2.71865038e+00] [ 4.23065766e-04 9.99996195e-01 2.72596200e-03 -1.01407465e-02] [ 1.51946236e-03 -2.72660193e-03 9.99995128e-01 4.99472442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43255784400003 meters 0.28576872504905915 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99998611e-01 -5.41689275e-04 -1.57643770e-03 2.71878009e+00] [ 5.45514901e-04 9.99996905e-01 2.42733607e-03 -8.88477189e-03] [ 1.57511796e-03 -2.42819267e-03 9.99995811e-01 4.99475295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46255784400006 meters 0.28593129852293825 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99998446e-01 -6.73297746e-04 -1.62953740e-03 2.71881473e+00] [ 6.76694655e-04 9.99997598e-01 2.08493192e-03 -7.43853038e-03] [ 1.62812971e-03 -2.08603138e-03 9.99996499e-01 4.99671129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49255784400003 meters 0.2871463111304034 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99998402e-01 -7.24870266e-04 -1.63406741e-03 2.71872491e+00] [ 7.28063856e-04 9.99997825e-01 1.95463363e-03 -6.88276652e-03] [ 1.63264700e-03 -1.95582021e-03 9.99996755e-01 4.99884921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52255784400006 meters 0.2854287438831629 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:0.50 [[ 9.99982532e-01 4.84334591e-03 -3.38772843e-03 2.69610153e+00] [-4.84887057e-03 9.99986925e-01 -1.62447555e-03 -6.48529699e-03] [ 3.37981624e-03 1.64087383e-03 9.99992942e-01 5.01484133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55255784400003 meters 0.2858805397250511 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:0.50 [[ 9.99983170e-01 4.73105405e-03 -3.35799786e-03 2.69602126e+00] [-4.73745669e-03 9.99986971e-01 -1.90129747e-03 -5.30592566e-03] [ 3.34895896e-03 1.91717384e-03 9.99992554e-01 5.01479095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58255784400006 meters 0.28603100034841966 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:0.50 [[ 9.99984362e-01 4.53547729e-03 -3.27174390e-03 2.69575276e+00] [-4.54339828e-03 9.99986756e-01 -2.41767345e-03 -3.11544794e-03] [ 3.26073527e-03 2.43250048e-03 9.99991725e-01 5.01565371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61255784400004 meters 0.28567998925715454 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:0.50 [[ 9.99984777e-01 4.47953664e-03 -3.22175844e-03 2.69549509e+00] [-4.48779722e-03 9.99986649e-01 -2.56135479e-03 -2.49049002e-03] [ 3.21024175e-03 2.57577440e-03 9.99991530e-01 5.01846341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64255784400007 meters 0.285188397977096 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:0.50 [[ 9.99985713e-01 4.35168935e-03 -3.10417543e-03 2.69500918e+00] [-4.36070159e-03 9.99986280e-01 -2.90242783e-03 -1.01908877e-03] [ 3.09150237e-03 2.91592275e-03 9.99990970e-01 5.02255164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67255784400004 meters 0.28532670457499104 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:0.50 [[ 9.99985807e-01 4.28740537e-03 -3.16301145e-03 2.69525953e+00] [-4.29708390e-03 9.99986087e-01 -3.05948350e-03 -3.59969735e-04] [ 3.14985019e-03 3.07303180e-03 9.99990317e-01 5.02029998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70255784400007 meters 0.28565605713865083 Centerline is valid? [False, False] Translation: X:2.70, Y:0.00, Z:0.50 [[ 9.99985604e-01 4.23898758e-03 -3.28974913e-03 2.69578134e+00] [-4.24943710e-03 9.99985928e-01 -3.17592471e-03 1.18019511e-04] [ 3.27624013e-03 3.18985857e-03 9.99989545e-01 5.01568267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73255784400004 meters 0.28747292500246785 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.50 [[ 0.99997855 -0.00502276 -0.00420435 2.71911069] [ 0.00500893 0.99998203 -0.00329279 0.0039217 ] [ 0.00422081 0.00327166 0.99998574 0.50107743] [ 0. 0. 0. 1. ]] SLAMing on 398.76255784400007 meters 0.286152554775234 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:0.50 [[ 9.99984184e-01 3.29370922e-03 -4.55886368e-03 2.69976301e+00] [-3.31321340e-03 9.99985363e-01 -4.27737947e-03 -1.32154093e-03] [ 4.54470851e-03 4.29241631e-03 9.99980460e-01 4.99783716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79255784400004 meters 0.2862229825835944 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.50 [[ 9.99984844e-01 -4.30443981e-03 -3.43275230e-03 2.71850107e+00] [ 4.29579151e-03 9.99987591e-01 -2.52275645e-03 2.12629345e-03] [ 3.44356875e-03 2.50797182e-03 9.99990926e-01 5.01747419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8225578440001 meters 0.28706263227243534 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:0.50 [[ 9.99985355e-01 -4.16072656e-03 -3.46106825e-03 2.71843295e+00] [ 4.15336251e-03 9.99989102e-01 -2.13215253e-03 5.01323183e-04] [ 3.46990183e-03 2.11774624e-03 9.99991737e-01 5.02094636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85255784400005 meters 0.28663405392253266 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99985233e-01 -4.06271071e-03 -3.60932315e-03 2.71888073e+00] [ 4.05594564e-03 9.99990008e-01 -1.87967764e-03 -5.78793205e-04] [ 3.61692367e-03 1.86501067e-03 9.99991720e-01 5.01969891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8825578440001 meters 0.28683642091254213 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99985291e-01 -3.96490480e-03 -3.70105074e-03 2.71919071e+00] [ 3.95886740e-03 9.99990823e-01 -1.63716938e-03 -1.61896717e-03] [ 3.70750800e-03 1.62249332e-03 9.99991811e-01 5.01837862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91255784400005 meters 0.28683642091254213 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99985291e-01 -3.96490480e-03 -3.70105074e-03 2.71919071e+00] [ 3.95886740e-03 9.99990823e-01 -1.63716938e-03 -1.61896717e-03] [ 3.70750800e-03 1.62249332e-03 9.99991811e-01 5.01837862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9425578440001 meters 0.2863806062311104 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99985667e-01 -3.87292319e-03 -3.69679018e-03 2.71922478e+00] [ 3.86773187e-03 9.99991526e-01 -1.41039699e-03 -2.57897319e-03] [ 3.70222121e-03 1.39607858e-03 9.99992172e-01 5.01754165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97255784400005 meters 0.28636490580112395 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99986740e-01 -3.70212018e-03 -3.57964107e-03 2.71889486e+00] [ 3.69856181e-03 9.99992660e-01 -1.00016738e-03 -4.32152227e-03] [ 3.58331754e-03 9.86914590e-04 9.99993093e-01 5.01840657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0025578440001 meters 0.28790436839949063 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99987127e-01 -3.60205542e-03 -3.57375379e-03 2.71888453e+00] [ 3.59935403e-03 9.99993232e-01 -7.62041730e-04 -5.34343746e-03] [ 3.57647452e-03 7.49168715e-04 9.99993324e-01 5.01850698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03255784400005 meters 0.28678807429150344 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99987220e-01 -3.55041230e-03 -3.59909697e-03 2.71895170e+00] [ 3.54813675e-03 9.99993502e-01 -6.38442236e-04 -5.87529246e-03] [ 3.60134032e-03 6.25663989e-04 9.99993319e-01 5.01861660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0625578440001 meters 0.2872777781024925 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99987563e-01 -3.57686490e-03 -3.47563511e-03 2.71872904e+00] [ 3.57439173e-03 9.99993354e-01 -7.17525066e-04 -5.55678974e-03] [ 3.47817850e-03 7.05092861e-04 9.99993703e-01 5.01658672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09255784400005 meters 0.2869538919986372 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99987756e-01 -3.61391072e-03 -3.38055085e-03 2.71846051e+00] [ 3.61117039e-03 9.99993146e-01 -8.16368966e-04 -5.13033893e-03] [ 3.38347797e-03 8.04151225e-04 9.99993953e-01 5.01707646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.122557844 meters 0.28665328127994 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99988318e-01 -3.67545949e-03 -3.13934850e-03 2.71778020e+00] [ 3.67237254e-03 9.99992768e-01 -9.88507593e-04 -4.39440429e-03] [ 3.14295902e-03 9.76967188e-04 9.99994584e-01 5.01882515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15255784400006 meters 0.28640463752341805 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99988340e-01 -3.66045971e-03 -3.14967339e-03 2.71782520e+00] [ 3.65747743e-03 9.99992858e-01 -9.52094059e-04 -4.55508940e-03] [ 3.15313599e-03 9.40563099e-04 9.99994587e-01 5.01846477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18255784400003 meters 0.2872962233933446 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99987924e-01 -3.67194444e-03 -3.26632448e-03 2.71818399e+00] [ 3.66877261e-03 9.99992793e-01 -9.76533277e-04 -4.46558037e-03] [ 3.26988672e-03 9.64538083e-04 9.99994189e-01 5.01701430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21255784400006 meters 0.28644096418966297 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99987846e-01 -3.66762558e-03 -3.29482170e-03 2.71826257e+00] [ 3.66446269e-03 9.99992820e-01 -9.65483862e-04 -4.51529762e-03] [ 3.29833908e-03 9.53398377e-04 9.99994106e-01 5.01691894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24255784400003 meters 0.2861500812084297 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:0.50 [[ 9.99988172e-01 -3.62847903e-03 -3.23870533e-03 2.71806701e+00] [ 3.62568178e-03 9.99993049e-01 -8.69147803e-04 -4.91544955e-03] [ 3.24183650e-03 8.57395008e-04 9.99994378e-01 5.01814819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27255784400006 meters 0.2869258309169409 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988646e-01 -3.54944900e-03 -3.17937538e-03 2.71783486e+00] [ 3.54732499e-03 9.99993481e-01 -6.73447093e-04 -5.74604134e-03] [ 3.18174502e-03 6.62161169e-04 9.99994719e-01 5.02004263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters 0.2867684451346618 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99989094e-01 -3.43928410e-03 -3.15947197e-03 2.71777447e+00] [ 3.43806032e-03 9.99994013e-01 -3.92687672e-04 -6.93246239e-03] [ 3.16080361e-03 3.81820934e-04 9.99994932e-01 5.02038556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33255784400006 meters 0.2877596014011749 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988899e-01 -3.43197948e-03 -3.22867445e-03 2.71804194e+00] [ 3.43079703e-03 9.99994046e-01 -3.71701628e-04 -7.03656844e-03] [ 3.22993090e-03 3.60620575e-04 9.99994719e-01 5.01849023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters 0.28776520666562067 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988816e-01 -3.41475239e-03 -3.27217193e-03 2.71813194e+00] [ 3.41369417e-03 9.99994119e-01 -3.28930833e-04 -7.22254142e-03] [ 3.27327591e-03 3.17756960e-04 9.99994592e-01 5.01901804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39255784400007 meters 0.2870769177663003 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99988932e-01 -3.40734922e-03 -3.24442858e-03 2.71798942e+00] [ 3.40635332e-03 9.99994150e-01 -3.12432403e-04 -7.29073248e-03] [ 3.24547417e-03 3.01377275e-04 9.99994688e-01 5.02054500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42255784400004 meters 0.289113344155756 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:0.50 [[ 9.99995450e-01 3.01241135e-03 1.61741287e-04 2.73932108e+00] [-3.01189303e-03 9.99990614e-01 -3.11450416e-03 -4.20349833e-03] [-1.71121937e-04 3.11400284e-03 9.99995137e-01 5.00726671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45255784400007 meters 0.2877477478234774 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99991187e-01 -3.51915216e-03 -2.28922069e-03 2.71827912e+00] [ 3.51897804e-03 9.99993805e-01 -8.00871232e-05 -5.27240373e-03] [ 2.28948835e-03 7.20307001e-05 9.99997377e-01 5.01705258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48255784400004 meters 0.28827330829253056 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99991143e-01 -3.50380339e-03 -2.33200877e-03 2.71852174e+00] [ 3.50371754e-03 9.99993861e-01 -4.08958208e-05 -5.45502239e-03] [ 2.33213775e-03 3.27247585e-05 9.99997280e-01 5.01418461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51255784400007 meters 0.28647202141380157 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:0.50 [[ 9.99992423e-01 1.91940958e-03 -3.38681251e-03 2.69620469e+00] [-1.93095764e-03 9.99992322e-01 -3.40974271e-03 -9.31683945e-03] [ 3.38024181e-03 3.41625667e-03 9.99988452e-01 5.01754772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54255784400004 meters 0.2869836124687742 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:0.50 [[ 9.99992224e-01 2.05027421e-03 -3.36882644e-03 2.69608408e+00] [-2.06060056e-03 9.99993181e-01 -3.06466231e-03 -1.07491608e-02] [ 3.36252007e-03 3.07158029e-03 9.99989629e-01 5.01935170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5725578440001 meters 0.28672380891270544 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:0.50 [[ 9.99991893e-01 2.18314313e-03 -3.38345498e-03 2.69604012e+00] [-2.19232922e-03 9.99993915e-01 -2.71367640e-03 -1.22094716e-02] [ 3.37751005e-03 2.72107205e-03 9.99990594e-01 5.02133567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60255784400005 meters 0.28878642319399295 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.50 [[ 9.99993269e-01 -3.57203020e-03 -8.38646027e-04 2.71710577e+00] [ 3.57265071e-03 9.99993345e-01 7.39561832e-04 -1.35765818e-02] [ 8.35998708e-04 -7.42553044e-04 9.99999375e-01 5.01293492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6325578440001 meters 0.28849291206614963 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99993425e-01 -3.40382400e-03 -1.25019160e-03 2.71836643e+00] [ 3.40541590e-03 9.99993391e-01 1.27340709e-03 -1.59275086e-02] [ 1.24584888e-03 -1.27765614e-03 9.99998408e-01 5.00678334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66255784400005 meters 0.2863100519270339 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99992384e-01 1.76240870e-03 -3.48225645e-03 2.69599013e+00] [-1.76990352e-03 9.99996122e-01 -2.15038087e-03 -1.75889442e-02] [ 3.47845309e-03 2.15652775e-03 9.99991625e-01 5.01741583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6925578440001 meters 0.2871702060190899 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99991788e-01 1.88585578e-03 -3.58713607e-03 2.69638460e+00] [-1.89242875e-03 9.99996535e-01 -1.82986158e-03 -1.89574679e-02] [ 3.58367278e-03 1.83663495e-03 9.99991892e-01 5.01479608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72255784400005 meters 0.2869494358761892 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99991260e-01 2.14298116e-03 -3.59001146e-03 2.69636122e+00] [-2.14726499e-03 9.99996987e-01 -1.18983476e-03 -2.16502896e-02] [ 3.58745085e-03 1.19753307e-03 9.99992848e-01 5.01580518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7525578440001 meters 0.28718622993431486 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.02, Z:0.50 [[ 9.99991294e-01 2.25542544e-03 -3.51074248e-03 2.69606907e+00] [-2.25863689e-03 9.99997034e-01 -9.11053564e-04 -2.28266509e-02] [ 3.50867725e-03 9.18975125e-04 9.99993422e-01 5.01799377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78255784400005 meters 0.2866221343581616 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:0.50 [[ 9.99967531e-01 -6.85704683e-03 -4.23295861e-03 2.67507952e+00] [ 6.85726869e-03 9.99976488e-01 3.79018635e-05 -2.23483844e-02] [ 4.23259919e-03 -6.69271674e-05 9.99991040e-01 5.01580992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8125578440001 meters 0.28718298274821746 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.50 [[ 9.99989446e-01 1.83511316e-03 -4.21192061e-03 2.69594374e+00] [-1.83800272e-03 9.99998078e-01 -6.82275348e-04 -2.75368205e-02] [ 4.21066046e-03 6.90009669e-04 9.99990897e-01 5.02940496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84255784400005 meters 0.28686314068036406 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.50 [[ 9.99988952e-01 1.94841447e-03 -4.27780024e-03 2.69634832e+00] [-1.95011390e-03 9.99998021e-01 -3.93133429e-04 -2.87904381e-02] [ 4.27702579e-03 4.01471283e-04 9.99990773e-01 5.02419408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.872557844 meters 0.28760538327028107 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.50 [[ 9.99988454e-01 2.03366671e-03 -4.35374189e-03 2.69678851e+00] [-2.03445641e-03 9.99997915e-01 -1.76963044e-04 -2.97419499e-02] [ 4.35337293e-03 1.85818499e-04 9.99990507e-01 5.01890962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90255784400006 meters 0.28868097773471935 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.50 [[ 9.99987837e-01 2.23166141e-03 -4.39824307e-03 2.69696594e+00] [-2.23040243e-03 9.99997470e-01 2.91129827e-04 -3.17384797e-02] [ 4.39888165e-03 -2.81316434e-04 9.99990285e-01 5.01811538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93255784400003 meters 0.2867251103923087 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.50 [[ 9.99995998e-01 1.06730523e-03 -2.62012176e-03 2.65590816e+00] [-1.06685225e-03 9.99999416e-01 1.74276390e-04 -3.51515871e-02] [ 2.62030624e-03 -1.71480410e-04 9.99996552e-01 4.99419109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96255784400006 meters 0.28864903093805266 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:0.50 [[ 9.99992103e-01 -3.97260402e-03 -1.08036551e-04 2.67818489e+00] [ 3.97298348e-03 9.99984986e-01 3.77399796e-03 -3.53788620e-02] [ 9.30423295e-05 -3.77439738e-03 9.99992873e-01 4.97922647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99255784400003 meters 0.28973619526644095 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.50 [[ 9.99991575e-01 -4.10425905e-03 -7.45416953e-05 2.67820731e+00] [ 4.10448958e-03 9.99985752e-01 3.41307882e-03 -3.38727351e-02] [ 6.05324736e-05 -3.41335602e-03 9.99994173e-01 4.97630741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02255784400006 meters 0.2909896968136947 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.50 [[ 9.99991125e-01 -4.21295613e-03 -2.24527169e-05 2.67814714e+00] [ 4.21300580e-03 9.99986217e-01 3.13315884e-03 -3.27009354e-02] [ 9.25254667e-06 -3.13322563e-03 9.99995091e-01 4.97439719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05255784400003 meters 0.28762518184385183 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.50 [[ 9.99993008e-01 3.69915826e-03 -5.48540542e-04 2.65811957e+00] [-3.69818856e-03 9.99991616e-01 1.75838348e-03 -3.54784049e-02] [ 5.55040482e-04 -1.75634258e-03 9.99998304e-01 4.96124820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08255784400006 meters 0.2868108519588066 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.50 [[ 9.99993530e-01 3.57136240e-03 -4.30198302e-04 2.65747536e+00] [-3.57074681e-03 9.99992612e-01 1.42330753e-03 -3.39347561e-02] [ 4.35278271e-04 -1.42176219e-03 9.99998895e-01 4.96894079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11255784400004 meters 0.2873375257043987 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.50 [[ 9.99993576e-01 3.56521285e-03 -3.70800856e-04 2.65709382e+00] [-3.56468945e-03 9.99992663e-01 1.40276575e-03 -3.38163825e-02] [ 3.75799294e-04 -1.40143495e-03 9.99998947e-01 4.97424465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14255784400007 meters 0.28769988338678004 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.50 [[ 9.99993479e-01 3.58423499e-03 -4.42908400e-04 2.65714341e+00] [-3.58358663e-03 9.99992519e-01 1.45609008e-03 -3.40235269e-02] [ 4.48124056e-04 -1.45449338e-03 9.99998842e-01 4.97729454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17255784400004 meters 0.2871921503134971 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.50 [[ 9.99993284e-01 3.62755785e-03 -5.22698237e-04 2.65722225e+00] [-3.62672589e-03 9.99992169e-01 1.58392132e-03 -3.45238941e-02] [ 5.28439910e-04 -1.58201499e-03 9.99998609e-01 4.98017546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20255784400007 meters 0.2870872572707938 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.50 [[ 9.99993016e-01 3.71766870e-03 -3.83220811e-04 2.65665524e+00] [-3.71694335e-03 9.99991332e-01 1.87641766e-03 -3.56558451e-02] [ 3.90193388e-04 -1.87498014e-03 9.99998166e-01 4.98634355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23255784400004 meters 0.28552480629644184 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.50 [[ 9.99992700e-01 3.80403642e-03 -3.60058049e-04 2.65647959e+00] [-3.80326285e-03 9.99990509e-01 2.12530635e-03 -3.66706845e-02] [ 3.68139374e-04 -2.12392144e-03 9.99997677e-01 4.98927860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26255784400007 meters 0.2861531881142162 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.50 [[ 9.99992292e-01 3.90878673e-03 -3.70375524e-04 2.65639645e+00] [-3.90787943e-03 9.99989437e-01 2.41950703e-03 -3.78692356e-02] [ 3.79828949e-04 -2.41804099e-03 9.99997004e-01 4.99191296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29255784400004 meters 0.2878628253775727 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:0.50 [[ 9.99989270e-01 -4.43753617e-03 -1.32995029e-03 2.67948225e+00] [ 4.44217583e-03 9.99983987e-01 3.50618657e-03 -3.68322553e-02] [ 1.31437016e-03 -3.51205682e-03 9.99992969e-01 4.99244201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3225578440001 meters 0.2877443642172401 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:0.50 [[ 9.99989494e-01 -4.32600192e-03 -1.51550641e-03 2.68010274e+00] [ 4.33174509e-03 9.99983371e-01 3.80704532e-03 -3.81260727e-02] [ 1.49901192e-03 -3.81357012e-03 9.99991605e-01 4.98922269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35255784400005 meters 0.2870071229270119 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.50 [[ 9.99998795e-01 3.90632527e-04 -1.50223866e-03 2.65779117e+00] [-3.90273063e-04 9.99999895e-01 2.39571335e-04 -4.59814761e-02] [ 1.50233209e-03 -2.38984763e-04 9.99998843e-01 4.99221330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3825578440001 meters 0.28674900154672844 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.50 [[ 9.99998716e-01 5.90764325e-04 -1.48972228e-03 2.65760756e+00] [-5.89597965e-04 9.99999519e-01 7.83255616e-04 -4.82195893e-02] [ 1.49018428e-03 -7.82376273e-04 9.99998584e-01 4.99571613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41255784400005 meters 0.2864526862203071 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.50 [[ 9.99998547e-01 8.00896178e-04 -1.50478487e-03 2.65752444e+00] [-7.98852220e-04 9.99998758e-01 1.35841631e-03 -5.05860697e-02] [ 1.50587095e-03 -1.35721224e-03 9.99997945e-01 4.99866196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4425578440001 meters 0.28765628608746857 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:0.50 [[ 9.99996931e-01 4.57749815e-04 -2.43482980e-03 2.69646043e+00] [-4.55007302e-04 9.99999262e-01 1.12680208e-03 -5.48665496e-02] [ 2.43534379e-03 -1.12569075e-03 9.99996401e-01 5.03307583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47255784400005 meters 0.28735157888234764 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.50 [[ 9.99996802e-01 6.04002398e-04 -2.45585127e-03 2.69649932e+00] [-6.00325049e-04 9.99998698e-01 1.49784418e-03 -5.64104202e-02] [ 2.45675277e-03 -1.49636508e-03 9.99995863e-01 5.03348983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5025578440001 meters 0.28696025219331134 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.50 [[ 9.99996548e-01 7.25915394e-04 -2.52521715e-03 2.69671254e+00] [-7.21342755e-04 9.99998100e-01 1.81123029e-03 -5.77279415e-02] [ 2.52652715e-03 -1.80940249e-03 9.99995171e-01 5.03278030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53255784400005 meters 0.28557990192905625 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.50 [[ 9.99996280e-01 8.56006571e-04 -2.59000867e-03 2.69691978e+00] [-8.50441858e-04 9.99997330e-01 2.14886981e-03 -5.91407895e-02] [ 2.59184120e-03 -2.14665916e-03 9.99994337e-01 5.03185098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5625578440001 meters 0.28699577650352914 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.50 [[ 9.99995594e-01 1.10353023e-03 -2.75587291e-03 2.69733648e+00] [-1.09571555e-03 9.99995380e-01 2.83554853e-03 -6.19935359e-02] [ 2.75898929e-03 -2.83251638e-03 9.99992182e-01 5.03192770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59255784400005 meters 0.2878855087657249 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.50 [[ 9.99995220e-01 1.26099495e-03 -2.82309852e-03 2.69746432e+00] [-1.25182442e-03 9.99993942e-01 3.24780726e-03 -6.36963658e-02] [ 2.82717688e-03 -3.24425771e-03 9.99990741e-01 5.03295264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters 0.2877289962258033 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.50 [[ 9.99995003e-01 1.45373656e-03 -2.80725222e-03 2.69729582e+00] [-1.44316666e-03 9.99991876e-01 3.76357657e-03 -6.58046118e-02] [ 2.81270066e-03 -3.75950643e-03 9.99988977e-01 5.03584807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65255784400006 meters 0.28786684220798653 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.50 [[ 9.99994815e-01 1.66175998e-03 -2.75819532e-03 2.69705041e+00] [-1.64984131e-03 9.99989317e-01 4.31784831e-03 -6.80985562e-02] [ 2.76534108e-03 -4.31327534e-03 9.99986874e-01 5.03865094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68255784400003 meters 0.28667477993052937 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.50 [[ 9.99994523e-01 2.04221194e-03 -2.60429552e-03 2.69646428e+00] [-2.02809682e-03 9.99983303e-01 5.41111157e-03 -7.25614153e-02] [ 2.61530267e-03 -5.40580017e-03 9.99981969e-01 5.04213926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71255784400006 meters 0.28577841229179846 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.50 [[ 9.99994221e-01 2.16843170e-03 -2.61851068e-03 2.69653550e+00] [-2.15339813e-03 9.99981262e-01 5.73050594e-03 -7.38967353e-02] [ 2.63088782e-03 -5.72483413e-03 9.99980152e-01 5.04141017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74255784400003 meters 0.2861653096136048 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99993777e-01 2.32338341e-03 -2.65480520e-03 2.69679485e+00] [-2.30712810e-03 9.99978674e-01 6.10972164e-03 -7.55098181e-02] [ 2.66894380e-03 -6.10355865e-03 9.99977811e-01 5.03796702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77255784400006 meters 0.28743478821696067 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99993628e-01 2.31623532e-03 -2.71650053e-03 2.69698127e+00] [-2.29963880e-03 9.99978770e-01 6.09681514e-03 -7.54543901e-02] [ 2.73056452e-03 -6.09052932e-03 9.99977724e-01 5.03732862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters 0.2866446912361827 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99993736e-01 2.33146065e-03 -2.66327095e-03 2.69677179e+00] [-2.31508793e-03 9.99978506e-01 6.13422898e-03 -7.55913379e-02] [ 2.67751542e-03 -6.12802485e-03 9.99977639e-01 5.03894983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83255784400006 meters 0.2866446912361827 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99993736e-01 2.33146065e-03 -2.66327095e-03 2.69677179e+00] [-2.31508793e-03 9.99978506e-01 6.13422898e-03 -7.55913379e-02] [ 2.67751542e-03 -6.12802485e-03 9.99977639e-01 5.03894983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86255784400004 meters 0.28702526825785823 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99994862e-01 -1.96807783e-03 -2.53019457e-03 2.69643623e+00] [ 1.97302415e-03 9.99996145e-01 1.95390921e-03 -7.60611976e-02] [ 2.52633937e-03 -1.95889131e-03 9.99994890e-01 5.03916795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89255784400007 meters 0.28630003710562674 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.50 [[ 9.99977142e-01 5.50509521e-03 -3.92536402e-03 2.67842638e+00] [-5.50265948e-03 9.99984661e-01 6.31040468e-04 -8.17938353e-02] [ 3.92877775e-03 -6.09426102e-04 9.99992097e-01 5.01954608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92255784400004 meters 0.28754055509046783 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99984752e-01 -2.88497414e-03 -4.70874950e-03 2.70089197e+00] [ 2.89122899e-03 9.99994946e-01 1.32207912e-03 -7.95807888e-02] [ 4.70491154e-03 -1.33567303e-03 9.99988040e-01 5.02335133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95255784400007 meters 0.28880165572077005 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99983826e-01 -2.64079204e-03 -5.03716190e-03 2.70182266e+00] [ 2.65124400e-03 9.99994344e-01 2.06942229e-03 -8.27032144e-02] [ 5.03166849e-03 -2.08274356e-03 9.99985172e-01 5.02068617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98255784400004 meters 0.2885400573161685 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99984492e-01 -2.50021838e-03 -4.97641259e-03 2.70153417e+00] [ 2.51234647e-03 9.99993886e-01 2.43235818e-03 -8.41992331e-02] [ 4.97030074e-03 -2.44482293e-03 9.99984659e-01 5.02374029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01255784400007 meters 0.28611874862873227 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99980658e-01 2.69757789e-03 -5.60416282e-03 2.67798659e+00] [-2.70305020e-03 9.99995877e-01 -9.69128563e-04 -8.65529202e-02] [ 5.60152542e-03 9.84258152e-04 9.99983827e-01 5.03401310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04255784400004 meters 0.2874248025257239 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99979472e-01 2.89124250e-03 -5.71813400e-03 2.67822402e+00] [-2.89413876e-03 9.99995688e-01 -4.98296132e-04 -8.85271741e-02] [ 5.71666865e-03 5.14834976e-04 9.99983527e-01 5.03517918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0725578440001 meters 0.2887183302791134 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99978873e-01 2.92663819e-03 -5.80409342e-03 2.67851486e+00] [-2.92903711e-03 9.99995628e-01 -4.04857352e-04 -8.89286520e-02] [ 5.80288318e-03 4.21849204e-04 9.99983074e-01 5.03367025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10255784400005 meters 0.28897465754453006 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99979205e-01 2.93415825e-03 -5.74279175e-03 2.67842662e+00] [-2.93642283e-03 9.99995614e-01 -3.85942722e-04 -8.90130753e-02] [ 5.74163415e-03 4.02797961e-04 9.99983436e-01 5.03216620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1325578440001 meters 0.28758961249224074 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99979776e-01 2.95139086e-03 -5.63363051e-03 2.67815386e+00] [-2.95337289e-03 9.99995580e-01 -3.43533347e-04 -8.91830384e-02] [ 5.63259170e-03 3.60164611e-04 9.99984072e-01 5.03221754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16255784400005 meters 0.2882032136883556 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99981684e-01 2.97510786e-03 -5.27065516e-03 2.67721542e+00] [-2.97672549e-03 9.99995525e-01 -2.99094734e-04 -8.93484125e-02] [ 5.26974173e-03 3.14778550e-04 9.99986065e-01 5.03384706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1925578440001 meters 0.28643011546624425 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99981870e-01 2.95473784e-03 -5.24682155e-03 2.67706775e+00] [-2.95660981e-03 9.99995568e-01 -3.49061847e-04 -8.91264298e-02] [ 5.24576691e-03 3.64568323e-04 9.99986174e-01 5.03580068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22255784400005 meters 0.28896664375090764 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.50 [[ 9.99991681e-01 -2.11935404e-03 -3.48524471e-03 2.70090428e+00] [ 2.12969048e-03 9.99993337e-01 2.96473847e-03 -8.93108760e-02] [ 3.47893816e-03 -2.97213630e-03 9.99989532e-01 5.01845162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2525578440001 meters 0.28874785249514534 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.50 [[ 9.99991492e-01 -2.16545120e-03 -3.51085063e-03 2.70107361e+00] [ 2.17547204e-03 9.99993564e-01 2.85294602e-03 -8.88524538e-02] [ 3.50465011e-03 -2.86055951e-03 9.99989767e-01 5.01611702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28255784400005 meters 0.28704730951518337 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.50 [[ 9.99991525e-01 -2.23991040e-03 -3.45447319e-03 2.70101097e+00] [ 2.24908973e-03 9.99993945e-01 2.65564076e-03 -8.80383553e-02] [ 3.44850388e-03 -2.66338767e-03 9.99990507e-01 5.01422022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3125578440001 meters 0.28762055415315524 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.50 [[ 9.99991752e-01 -2.27412125e-03 -3.36519786e-03 2.70066453e+00] [ 2.28275987e-03 9.99994104e-01 2.56543681e-03 -8.76290829e-02] [ 3.35934390e-03 -2.57309758e-03 9.99991047e-01 5.01688884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34255784400005 meters 0.28710181878626695 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.50 [[ 9.99991889e-01 -2.30520805e-03 -3.30259485e-03 2.70035319e+00] [ 2.31342551e-03 9.99994233e-01 2.48652754e-03 -8.72607044e-02] [ 3.29684384e-03 -2.49414768e-03 9.99991455e-01 5.02031807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.372557844 meters 0.2867484890167073 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.50 [[ 9.99976142e-01 5.38815924e-03 -4.32238040e-03 2.68040881e+00] [-5.38293424e-03 9.99984768e-01 1.21954721e-03 -8.96580461e-02] [ 4.32888568e-03 -1.19625103e-03 9.99989915e-01 5.00811887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40255784400006 meters 0.2868668622074116 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99986077e-01 -2.53707814e-03 -4.62701226e-03 2.70062894e+00] [ 2.54676291e-03 9.99994576e-01 2.08840499e-03 -8.48690703e-02] [ 4.62168872e-03 -2.10015982e-03 9.99987115e-01 5.02036019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43255784400003 meters 0.28692611611450175 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99985732e-01 -2.57236256e-03 -4.68165006e-03 2.70082195e+00] [ 2.58175723e-03 9.99994664e-01 2.00176655e-03 -8.45140961e-02] [ 4.67647581e-03 -2.01382487e-03 9.99987037e-01 5.01910402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46255784400006 meters 0.2863567334386231 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99985627e-01 -2.60835693e-03 -4.68425480e-03 2.70077814e+00] [ 2.61733224e-03 9.99994749e-01 1.91095134e-03 -8.41241974e-02] [ 4.67924576e-03 -1.92318412e-03 9.99987203e-01 5.02015851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49255784400003 meters 0.28597336407236756 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99986055e-01 -2.62103277e-03 -4.58474792e-03 2.70053137e+00] [ 2.62964413e-03 9.99994788e-01 1.87324390e-03 -8.39619213e-02] [ 4.57981420e-03 -1.88527403e-03 9.99987735e-01 5.02000418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52255784400006 meters 0.2868109376679288 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99986180e-01 -2.58262736e-03 -4.57921814e-03 2.70058002e+00] [ 2.59166212e-03 9.99994705e-01 1.96815595e-03 -8.43760356e-02] [ 4.57411088e-03 -1.97999653e-03 9.99987578e-01 5.01868867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55255784400003 meters 0.28643246531352534 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.50 [[ 9.99986120e-01 -2.56305725e-03 -4.60325844e-03 2.70075646e+00] [ 2.57237896e-03 9.99994651e-01 2.02024463e-03 -8.46175568e-02] [ 4.59805581e-03 -2.03205791e-03 9.99987364e-01 5.01611984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58255784400006 meters 0.28889346682999184 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.50 [[ 9.99988248e-01 4.38352434e-03 -2.07110053e-03 2.72229362e+00] [-4.38516233e-03 9.99990075e-01 -7.86999524e-04 -8.32681910e-02] [ 2.06763014e-03 7.96072387e-04 9.99997546e-01 5.00129586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61255784400004 meters 0.28793557423789007 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.50 [[ 9.99988227e-01 4.39373463e-03 -2.05956901e-03 2.72220284e+00] [-4.39530580e-03 9.99990053e-01 -7.58961154e-04 -8.33690800e-02] [ 2.05621385e-03 7.68004654e-04 9.99997591e-01 5.00268155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64255784400007 meters 0.2883203254260218 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.50 [[ 9.99988464e-01 4.36978102e-03 -1.99442303e-03 2.72195730e+00] [-4.37142710e-03 9.99990108e-01 -8.21728219e-04 -8.30809861e-02] [ 1.99081253e-03 8.30437214e-04 9.99997674e-01 5.00439298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67255784400004 meters 0.2869529737275665 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.50 [[ 9.99988817e-01 4.33492600e-03 -1.89056999e-03 2.72166601e+00] [-4.33666060e-03 9.99990179e-01 -9.14368171e-04 -8.26693679e-02] [ 1.88658770e-03 9.22556707e-04 9.99997795e-01 5.00496267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70255784400007 meters 0.2879338954961294 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.50 [[ 9.99989055e-01 4.28466073e-03 -1.87945409e-03 2.72166935e+00] [-4.28662032e-03 9.99990272e-01 -1.03984935e-03 -8.21410124e-02] [ 1.87498040e-03 1.04789448e-03 9.99997693e-01 5.00424307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73255784400004 meters 0.2871501607618918 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:0.50 [[ 9.99993434e-01 3.03443080e-03 -1.98109480e-03 2.68611901e+00] [-3.03656375e-03 9.99994812e-01 -1.07453507e-03 -8.40984546e-02] [ 1.97782392e-03 1.08054374e-03 9.99997460e-01 4.95427516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76255784400007 meters 0.2894788660256735 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.50 [[ 9.99991236e-01 3.33751057e-03 -2.52758125e-03 2.72756956e+00] [-3.34341975e-03 9.99991679e-01 -2.33727406e-03 -7.98332317e-02] [ 2.51975954e-03 2.34570434e-03 9.99994074e-01 4.96815237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79255784400004 meters 0.28889754184113214 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:0.50 [[ 9.99975357e-01 -5.34158562e-03 -4.55558625e-03 2.70875408e+00] [ 5.33693369e-03 9.99985225e-01 -1.03269520e-03 -7.78999080e-02] [ 4.56103517e-03 1.00835689e-03 9.99989090e-01 4.95849609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8225578440001 meters 0.28947001786288745 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:0.50 [[ 9.99975967e-01 -5.27916754e-03 -4.49401705e-03 2.70836267e+00] [ 5.27527933e-03 9.99985701e-01 -8.76611284e-04 -7.85153177e-02] [ 4.49858057e-03 8.52883021e-04 9.99989518e-01 4.96401095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85255784400005 meters 0.287461074144635 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:0.50 [[ 9.99989694e-01 2.58366609e-03 -3.73309657e-03 2.68826123e+00] [-2.59039165e-03 9.99995029e-01 -1.79789231e-03 -8.36010412e-02] [ 3.72843286e-03 1.80754396e-03 9.99991416e-01 4.95133462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8825578440001 meters 0.2874451736500858 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.08, Z:0.50 [[ 9.99989570e-01 2.66760793e-03 -3.70738813e-03 2.68811382e+00] [-2.67347878e-03 9.99995179e-01 -1.57950154e-03 -8.45022937e-02] [ 3.70315677e-03 1.58939669e-03 9.99991880e-01 4.95330475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91255784400005 meters 0.28740373998069546 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99989238e-01 2.72838693e-03 -3.75225376e-03 2.68823254e+00] [-2.73372197e-03 9.99995259e-01 -1.41743031e-03 -8.51773113e-02] [ 3.74836867e-03 1.42767267e-03 9.99991956e-01 4.95320389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9425578440001 meters 0.2875910545375061 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988846e-01 2.84662452e-03 -3.76887726e-03 2.68824928e+00] [-2.85082087e-03 9.99995322e-01 -1.10851976e-03 -8.64686999e-02] [ 3.76570409e-03 1.11925179e-03 9.99992283e-01 4.95382897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97255784400005 meters 0.2874635031883906 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988655e-01 2.89487738e-03 -3.78270692e-03 2.68823464e+00] [-2.89862505e-03 9.99995313e-01 -9.85631294e-04 -8.69769702e-02] [ 3.77983591e-03 9.96584762e-04 9.99992360e-01 4.95494431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0025578440001 meters 0.28762812641661417 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988433e-01 2.97655264e-03 -3.77796359e-03 2.68807252e+00] [-2.97954518e-03 9.99995252e-01 -7.86722971e-04 -8.77959337e-02] [ 3.77560393e-03 7.97970485e-04 9.99992554e-01 4.95821039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03255784400005 meters 0.2873513574381349 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988477e-01 2.95010220e-03 -3.78722243e-03 2.68815515e+00] [-2.95334521e-03 9.99995277e-01 -8.50995938e-04 -8.75309856e-02] [ 3.78469401e-03 8.62171107e-04 9.99992466e-01 4.95688067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0625578440001 meters 0.2869215185638559 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988414e-01 2.91717281e-03 -3.82903544e-03 2.68822461e+00] [-2.92075764e-03 9.99995301e-01 -9.30965843e-04 -8.71879974e-02] [ 3.82630166e-03 9.42138742e-04 9.99992236e-01 4.95768072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09255784400005 meters 0.2872018033620326 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99988649e-01 2.89973384e-03 -3.78055912e-03 2.68817869e+00] [-2.90343518e-03 9.99995311e-01 -9.73924545e-04 -8.70088456e-02] [ 3.77771727e-03 9.84890098e-04 9.99992379e-01 4.95598681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters 0.2874541417005973 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99989011e-01 2.90210765e-03 -3.68180019e-03 2.68790319e+00] [-2.90570896e-03 9.99995305e-01 -9.73165422e-04 -8.69984406e-02] [ 3.67895868e-03 9.83852968e-04 9.99992749e-01 4.95646523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15255784400006 meters 0.2880758284513551 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99989110e-01 2.94588577e-03 -3.61950266e-03 2.68771840e+00] [-2.94903949e-03 9.99995276e-01 -8.66284823e-04 -8.74387551e-02] [ 3.61693358e-03 8.76949445e-04 9.99993074e-01 4.95704165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters 0.28595922781809074 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.09, Z:0.50 [[ 9.99970995e-01 -3.88265101e-03 -6.55236280e-03 2.66595300e+00] [ 3.89595136e-03 9.99990374e-01 2.01831397e-03 -9.05354571e-02] [ 6.54446332e-03 -2.04378311e-03 9.99976496e-01 4.97691477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21255784400006 meters 0.28885714938342827 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.09, Z:0.50 [[ 9.99987164e-01 2.86920695e-03 -4.17604934e-03 2.68832467e+00] [-2.87224717e-03 9.99995614e-01 -7.22198638e-04 -9.06299016e-02] [ 4.17395889e-03 7.34184014e-04 9.99991019e-01 4.96191195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters 0.28732813789044676 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.09, Z:0.50 [[ 9.99964490e-01 -4.22108598e-03 -7.29392820e-03 2.66754151e+00] [ 4.23621653e-03 9.99988905e-01 2.06019970e-03 -9.40687298e-02] [ 7.28515099e-03 -2.09102520e-03 9.99971277e-01 4.97535954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27255784400006 meters 0.2871498969657263 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.10, Z:0.50 [[ 9.99965117e-01 -4.07414235e-03 -7.29144492e-03 2.66747263e+00] [ 4.09200953e-03 9.99988658e-01 2.43719126e-03 -9.56381730e-02] [ 7.28143276e-03 -2.46694291e-03 9.99970447e-01 4.97701253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters 0.2884064313602026 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:0.50 [[ 9.99974333e-01 4.59047065e-03 -5.50096279e-03 2.68594873e+00] [-4.58339052e-03 9.99988653e-01 1.29898803e-03 -1.00620052e-01] [ 5.50686334e-03 -1.27374163e-03 9.99984026e-01 4.98893122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33255784400006 meters 0.2877805163872441 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:0.50 [[ 9.99973257e-01 4.75005915e-03 -5.56081664e-03 2.68605472e+00] [-4.74051364e-03 9.99987270e-01 1.72848879e-03 -1.02390051e-01] [ 5.56895627e-03 -1.70208144e-03 9.99983045e-01 4.99016039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36255784400004 meters 0.2863824710942972 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:0.50 [[ 9.99953491e-01 -4.98539024e-03 -8.25597492e-03 2.66671994e+00] [ 5.00684262e-03 9.99984138e-01 2.57977964e-03 -1.07253330e-01] [ 8.24298276e-03 -2.62099602e-03 9.99962591e-01 4.98778160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39255784400007 meters 0.28874646177690777 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:0.50 [[ 9.99973397e-01 1.72858165e-03 -7.08643774e-03 2.69001344e+00] [-1.73079692e-03 9.99998455e-01 -3.06486757e-04 -1.08963039e-01] [ 7.08589701e-03 3.18743788e-04 9.99974844e-01 4.97512667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42255784400004 meters 0.2897213302597949 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:0.50 [[ 9.99971522e-01 1.91426639e-03 -7.30003164e-03 2.69045532e+00] [-1.91283923e-03 9.99998150e-01 2.02476527e-04 -1.11052443e-01] [ 7.30040573e-03 -1.88506974e-04 9.99973334e-01 4.97749430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45255784400007 meters 0.28933309975869176 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:0.50 [[ 9.99970353e-01 2.09373166e-03 -7.41009805e-03 2.69066602e+00] [-2.08884987e-03 9.99997596e-01 6.66481045e-04 -1.12971330e-01] [ 7.41147567e-03 -6.50982704e-04 9.99972323e-01 4.97910001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48255784400004 meters 0.28781374465979287 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.12, Z:0.50 [[ 9.99969083e-01 2.36625153e-03 -7.49898010e-03 2.69078752e+00] [-2.35613218e-03 9.99996302e-01 1.35797741e-03 -1.15843873e-01] [ 7.50216569e-03 -1.34026684e-03 9.99970960e-01 4.98129939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51255784400007 meters 0.2885349456013788 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.12, Z:0.50 [[ 9.99968680e-01 2.45316777e-03 -7.52462989e-03 2.69080354e+00] [-2.44140113e-03 9.99995783e-01 1.57253732e-03 -1.16738937e-01] [ 7.52845585e-03 -1.55411742e-03 9.99970453e-01 4.98243247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54255784400004 meters 0.2894446369254583 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.12, Z:0.50 [[ 9.99968523e-01 2.51867989e-03 -7.52385528e-03 2.69083322e+00] [-2.50569786e-03 9.99995357e-01 1.73437659e-03 -1.17422729e-01] [ 7.52818869e-03 -1.71546949e-03 9.99970191e-01 4.98183031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5725578440001 meters 0.2885466504445734 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.12, Z:0.50 [[ 9.99968441e-01 2.55879460e-03 -7.52126327e-03 2.69090305e+00] [-2.54504530e-03 9.99995074e-01 1.83706051e-03 -1.17861485e-01] [ 7.52592688e-03 -1.81786058e-03 9.99970027e-01 4.98020889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60255784400005 meters 0.2876310926465573 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.12, Z:0.50 [[ 9.99968438e-01 2.59003157e-03 -7.51096495e-03 2.69097414e+00] [-2.57557717e-03 9.99994814e-01 1.93347438e-03 -1.18245187e-01] [ 7.51593376e-03 -1.91406828e-03 9.99969923e-01 4.97801715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6325578440001 meters 0.2888642738468602 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.11, Z:0.50 [[ 0.99997329 -0.00494136 -0.00538606 2.70977603] [ 0.00495772 0.99998313 0.00302814 -0.11440227] [ 0.00537101 -0.00305476 0.99998091 0.49861189] [ 0. 0. 0. 1. ]] SLAMing on 402.66255784400005 meters 0.2891542721033446 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.11, Z:0.50 [[ 0.99997401 -0.00493526 -0.00525643 2.70940072] [ 0.00495127 0.99998313 0.00303616 -0.11441843] [ 0.00524136 -0.00306211 0.99998158 0.49871693] [ 0. 0. 0. 1. ]] SLAMing on 402.6925578440001 meters 0.2896054884081355 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.50 [[ 9.99986329e-01 3.68768956e-03 -3.70712742e-03 2.72838056e+00] [-3.68270894e-03 9.99992308e-01 1.34945573e-03 -1.15719586e-01] [ 3.71207528e-03 -1.33578501e-03 9.99992218e-01 5.00036131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72255784400005 meters 0.2896054884081355 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.50 [[ 9.99986329e-01 3.68768956e-03 -3.70712742e-03 2.72838056e+00] [-3.68270894e-03 9.99992308e-01 1.34945573e-03 -1.15719586e-01] [ 3.71207528e-03 -1.33578501e-03 9.99992218e-01 5.00036131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7525578440001 meters 0.28878556000182687 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.50 [[ 9.99986683e-01 3.62648040e-03 -3.67193258e-03 2.72834072e+00] [-3.62210158e-03 9.99992722e-01 1.19845927e-03 -1.15088917e-01] [ 3.67625205e-03 -1.18514319e-03 9.99992540e-01 4.99917833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78255784400005 meters 0.28889322947955864 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.50 [[ 9.99987991e-01 3.46591202e-03 -3.46475882e-03 2.72790596e+00] [-3.46340854e-03 9.99993737e-01 7.28293186e-04 -1.13154928e-01] [ 3.46726132e-03 -7.16284565e-04 9.99993732e-01 4.99701082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8125578440001 meters 0.2877266459586472 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.50 [[ 9.99988818e-01 3.34185245e-03 -3.34597352e-03 2.72762332e+00] [-3.34054635e-03 9.99994342e-01 3.95863174e-04 -1.11758742e-01] [ 3.34727750e-03 -3.84681368e-04 9.99994324e-01 4.99636276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84255784400005 meters 0.286541106215749 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.50 [[ 9.99989714e-01 3.20542534e-03 -3.20904388e-03 2.72724844e+00] [-3.20535334e-03 9.99994862e-01 2.75785427e-05 -1.10205186e-01] [ 3.20911580e-03 -1.72921395e-05 9.99994851e-01 4.99694709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.872557844 meters 0.2901293391480186 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99988800e-01 -4.46407492e-03 -1.57242438e-03 2.74601078e+00] [ 4.46522978e-03 9.99989763e-01 7.31704487e-04 -1.03911825e-01] [ 1.56914190e-03 -7.38717528e-04 9.99998496e-01 5.00738741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90255784400006 meters 0.288510879160298 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99987783e-01 -4.68060097e-03 -1.58942722e-03 2.74627209e+00] [ 4.68084424e-03 9.99989034e-01 1.49374201e-04 -1.01538150e-01] [ 1.58871063e-03 -1.56812237e-04 9.99998726e-01 5.00215611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93255784400003 meters 0.28894546171773067 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99987303e-01 -4.77744494e-03 -1.60317418e-03 2.74641322e+00] [ 4.77730858e-03 9.99988585e-01 -8.88708657e-05 -1.00557881e-01] [ 1.60358045e-03 8.12108795e-05 9.99998711e-01 4.99971644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96255784400006 meters 0.28816165256327975 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99986889e-01 -4.86841636e-03 -1.58739762e-03 2.74639978e+00] [ 4.86791886e-03 9.99988101e-01 -3.17117813e-04 -9.96053410e-02] [ 1.58892260e-03 3.09386333e-04 9.99998690e-01 4.99895341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99255784400003 meters 0.2889096569383347 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99986455e-01 -4.95507204e-03 -1.59286745e-03 2.74639502e+00] [ 4.95422959e-03 9.99987586e-01 -5.32396314e-04 -9.86949996e-02] [ 1.59548574e-03 5.24497671e-04 9.99998590e-01 4.99914107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02255784400006 meters 0.2895304583201296 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99985348e-01 -5.19225318e-03 -1.53132158e-03 2.74624066e+00] [ 5.19055520e-03 9.99985912e-01 -1.11073205e-03 -9.62526735e-02] [ 1.53706721e-03 1.10276736e-03 9.99998211e-01 4.99853087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05255784400003 meters 0.2872393861202728 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.50 [[ 9.99991223e-01 2.77700560e-03 -3.13730148e-03 2.72579662e+00] [-2.78312787e-03 9.99994228e-01 -1.94876531e-03 -9.84527814e-02] [ 3.13187164e-03 1.95747972e-03 9.99993180e-01 4.99538378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08255784400006 meters 0.28974077257909847 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99995526e-01 -2.26990272e-03 -1.94818438e-03 2.74960879e+00] [ 2.27222228e-03 9.99996711e-01 1.18923841e-03 -9.52602978e-02] [ 1.94547852e-03 -1.19365980e-03 9.99997395e-01 4.97802027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11255784400004 meters 0.28826923970917806 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99983759e-01 2.97811984e-03 -4.85918276e-03 2.72848132e+00] [-2.98894756e-03 9.99993063e-01 -2.22256319e-03 -9.34833398e-02] [ 4.85252999e-03 2.23705094e-03 9.99985724e-01 4.98691773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14255784400007 meters 0.2881741334846862 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99983819e-01 2.87796615e-03 -4.90706332e-03 2.72876719e+00] [-2.89010783e-03 9.99992776e-01 -2.46903398e-03 -9.24772607e-02] [ 4.89992207e-03 2.48317597e-03 9.99984912e-01 4.98324647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17255784400004 meters 0.2891683294427794 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99984240e-01 2.67179099e-03 -4.93780558e-03 2.72903840e+00] [-2.68644751e-03 9.99991999e-01 -2.96398015e-03 -9.04074333e-02] [ 4.92984694e-03 2.97719859e-03 9.99983416e-01 4.97908972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20255784400007 meters 0.2890104311857531 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99984606e-01 2.63158625e-03 -4.88485332e-03 2.72881820e+00] [-2.64658937e-03 9.99991793e-01 -3.06743823e-03 -8.99499888e-02] [ 4.87674100e-03 3.08031921e-03 9.99983364e-01 4.98080770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23255784400004 meters 0.2905664833319257 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99984985e-01 2.63160113e-03 -4.80671328e-03 2.72849684e+00] [-2.64638965e-03 9.99991777e-01 -3.07287443e-03 -8.98984373e-02] [ 4.79858718e-03 3.08554873e-03 9.99983726e-01 4.98345667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26255784400007 meters 0.2888505319291281 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.50 [[ 9.99985359e-01 2.59096152e-03 -4.75061015e-03 2.72834620e+00] [-2.60608233e-03 9.99991550e-01 -3.17949682e-03 -8.94448709e-02] [ 4.74233205e-03 3.19183075e-03 9.99983661e-01 4.98354349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29255784400004 meters 0.2901859328087864 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99991423e-01 -2.60537718e-03 -3.21950483e-03 2.75074673e+00] [ 2.60524032e-03 9.99996605e-01 -4.67027355e-05 -8.56214342e-02] [ 3.21961558e-03 3.83147512e-05 9.99994816e-01 4.96935726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3225578440001 meters 0.2887841333801596 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99981393e-01 4.82119193e-03 -3.73748459e-03 2.73132195e+00] [-4.82735475e-03 9.99987001e-01 -1.64165880e-03 -8.79643851e-02] [ 3.72952125e-03 1.65967042e-03 9.99991668e-01 4.94809877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35255784400005 meters 0.28780947233817283 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99982084e-01 4.69565260e-03 -3.71250621e-03 2.73139648e+00] [-4.70299098e-03 9.99987000e-01 -1.97041007e-03 -8.66209744e-02] [ 3.70320559e-03 1.98783466e-03 9.99991167e-01 4.94480470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3825578440001 meters 0.28829379873250205 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99982753e-01 4.55709392e-03 -3.70499685e-03 2.73151105e+00] [-4.56575506e-03 9.99986856e-01 -2.33260222e-03 -8.51342823e-02] [ 3.69431827e-03 2.34947809e-03 9.99990416e-01 4.94174592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41255784400005 meters 0.28852564842374784 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.49 [[ 0.99998365 0.00437769 -0.00367835 2.73149312] [-0.00438801 0.99998645 -0.00280186 -0.08318085] [ 0.00366603 0.00281795 0.99998931 0.49404896] [ 0. 0. 0. 1. ]] SLAMing on 403.4425578440001 meters 0.28993048339941013 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99998824e-01 -8.36565603e-04 -1.28532837e-03 2.75339744e+00] [ 8.37115658e-04 9.99999558e-01 4.27470741e-04 -8.21433832e-02] [ 1.28497020e-03 -4.28546207e-04 9.99999083e-01 4.92874459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47255784400005 meters 0.28903092714858997 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.49 [[ 0.99998766 0.00404525 -0.00288308 2.72982117] [-0.00405463 0.99998648 -0.00325456 -0.08154542] [ 0.00286987 0.00326621 0.99999055 0.49442921] [ 0. 0. 0. 1. ]] SLAMing on 403.5025578440001 meters 0.2881778119378347 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.49 [[ 0.99998794 0.00404516 -0.00278557 2.72957681] [-0.00405424 0.99998646 -0.00326291 -0.08151246] [ 0.00277233 0.00327417 0.9999908 0.49441451] [ 0. 0. 0. 1. ]] SLAMing on 403.53255784400005 meters 0.28823879507939887 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.49 [[ 0.99998806 0.00403854 -0.00275199 2.729501 ] [-0.00404756 0.99998642 -0.00328219 -0.0814298 ] [ 0.00273869 0.00329329 0.99999083 0.49439259] [ 0. 0. 0. 1. ]] SLAMing on 403.5625578440001 meters 0.2891416195356854 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99988773e-01 -4.31861472e-03 -1.95042051e-03 2.75116304e+00] [ 4.31330489e-03 9.99987003e-01 -2.71845384e-03 -7.96476135e-02] [ 1.96213511e-03 2.71001056e-03 9.99994403e-01 4.94515549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59255784400005 meters 0.28802690851934937 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99991919e-01 3.37307574e-03 -2.18726866e-03 2.73234568e+00] [-3.38135006e-03 9.99987100e-01 -3.79034912e-03 -8.58516754e-02] [ 2.17445531e-03 3.79771441e-03 9.99990425e-01 4.93004487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters 0.28889213601017083 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99991141e-01 -4.07051628e-03 -1.07180652e-03 2.75147946e+00] [ 4.06801751e-03 9.99989027e-01 -2.32331076e-03 -8.26229964e-02] [ 1.08125184e-03 2.31893005e-03 9.99996727e-01 4.94686097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65255784400006 meters 0.2888405377820062 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99991708e-01 -3.92830338e-03 -1.07302894e-03 2.75139024e+00] [ 3.92619292e-03 9.99990368e-01 -1.96189567e-03 -8.41247995e-02] [ 1.08072552e-03 1.95766648e-03 9.99997500e-01 4.94908846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters 0.28944689496712855 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99991993e-01 -3.84982990e-03 -1.09237737e-03 2.75148649e+00] [ 3.84789469e-03 9.99991034e-01 -1.76816651e-03 -8.49555866e-02] [ 1.09917472e-03 1.76394900e-03 9.99997840e-01 4.94822937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71255784400006 meters 0.28885494805077194 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99992210e-01 -3.78687944e-03 -1.11290894e-03 2.75158629e+00] [ 3.78508362e-03 9.99991538e-01 -1.61132682e-03 -8.56256102e-02] [ 1.11900143e-03 1.60710182e-03 9.99998083e-01 4.94731993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters 0.28846231664044736 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99992432e-01 -3.74453398e-03 -1.05605914e-03 2.75143170e+00] [ 3.74294036e-03 9.99991860e-01 -1.50698438e-03 -8.60610341e-02] [ 1.06169350e-03 1.50302021e-03 9.99998307e-01 4.94756600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77255784400006 meters 0.28760439167381696 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99992961e-01 -3.61765096e-03 -9.94839463e-04 2.75114862e+00] [ 3.61646664e-03 9.99992753e-01 -1.18969614e-03 -8.73723912e-02] [ 9.99136158e-04 1.18608996e-03 9.99998797e-01 4.95063309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters 0.2881601362610857 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99993351e-01 -3.51661027e-03 -9.64960361e-04 2.75105829e+00] [ 3.51570732e-03 9.99993382e-01 -9.35846551e-04 -8.84389116e-02] [ 9.68244982e-04 9.32447810e-04 9.99999097e-01 4.95114327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83255784400006 meters 0.28883257521792227 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99993839e-01 -3.38675446e-03 -9.22613860e-04 2.75097986e+00] [ 3.38619871e-03 9.99994085e-01 -6.03256890e-04 -8.98353391e-02] [ 9.24651486e-04 6.00129020e-04 9.99999392e-01 4.95067459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86255784400004 meters 0.2886969067357574 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99994372e-01 -3.23989098e-03 -8.71468720e-04 2.75079106e+00] [ 3.23970307e-03 9.99994729e-01 -2.16955570e-04 -9.14379387e-02] [ 8.72167038e-04 2.14131049e-04 9.99999597e-01 4.95218054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89255784400007 meters 0.2879045933692607 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99994908e-01 -3.08879367e-03 -8.02090462e-04 2.75055760e+00] [ 3.08894572e-03 9.99995211e-01 1.88398962e-04 -9.30993966e-02] [ 8.01504695e-04 -1.90875616e-04 9.99999661e-01 4.95372257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92255784400004 meters 0.2883163633418202 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.50 [[ 9.99995302e-01 -2.95823342e-03 -8.02556931e-04 2.75053534e+00] [ 2.95866649e-03 9.99995478e-01 5.38961616e-04 -9.45450521e-02] [ 8.00958928e-04 -5.41333582e-04 9.99999533e-01 4.95449700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95255784400007 meters 0.28806705828810303 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.50 [[ 9.99995558e-01 -2.77423377e-03 -1.08981254e-03 2.75130936e+00] [ 2.77546640e-03 9.99995509e-01 1.13116051e-03 -9.69798472e-02] [ 1.08666954e-03 -1.13418023e-03 9.99998766e-01 4.95305531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98255784400004 meters 0.28703982386126725 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.49 [[ 9.99986536e-01 4.62560006e-03 -2.35175875e-03 2.73333686e+00] [-4.62599840e-03 9.99989287e-01 -1.63965964e-04 -1.02773627e-01] [ 2.35097511e-03 1.74842989e-04 9.99997221e-01 4.93312753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01255784400007 meters 0.2874585190342416 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.49 [[ 9.99986218e-01 4.66177957e-03 -2.41471178e-03 2.73365704e+00] [-4.66195247e-03 9.99989131e-01 -6.59809705e-05 -1.03219665e-01] [ 2.41437795e-03 7.72373327e-05 9.99997082e-01 4.92947842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04255784400004 meters 0.287933974530032 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.49 [[ 9.99985589e-01 4.76598618e-03 -2.47145374e-03 2.73416300e+00] [-4.76548851e-03 9.99988624e-01 2.07216057e-04 -1.04474128e-01] [ 2.47241321e-03 -1.95435387e-04 9.99996924e-01 4.92115135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0725578440001 meters 0.2873022119022227 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.49 [[ 9.99985260e-01 4.84108119e-03 -2.45834929e-03 2.73423114e+00] [-4.84012857e-03 9.99988209e-01 3.93303748e-04 -1.05271144e-01] [ 2.46022432e-03 -3.81399224e-04 9.99996901e-01 4.91898163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10255784400005 meters 0.28791182891223743 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.49 [[ 9.99984835e-01 4.93265279e-03 -2.44920746e-03 2.73420408e+00] [-4.93113783e-03 9.99987647e-01 6.24201532e-04 -1.06231996e-01] [ 2.45225618e-03 -6.12114687e-04 9.99996806e-01 4.91912664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1325578440001 meters 0.2891864032573282 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99996197e-01 -2.66961910e-03 -6.92405648e-04 2.75415332e+00] [ 2.67087441e-03 9.99994780e-01 1.81841966e-03 -1.03766867e-01] [ 6.87547546e-04 -1.82026207e-03 9.99998107e-01 4.92527672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16255784400005 meters 0.28842691386158414 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99996980e-01 -2.38021297e-03 -6.12741749e-04 2.75391996e+00] [ 2.38181240e-03 9.99993724e-01 2.62292737e-03 -1.07053302e-01] [ 6.06494777e-04 -2.62437888e-03 9.99996372e-01 4.92680684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1925578440001 meters 0.28853266954432655 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99997356e-01 -2.19042343e-03 -6.99335670e-04 2.75410935e+00] [ 2.19261219e-03 9.99992652e-01 3.14449567e-03 -1.09192706e-01] [ 6.92442755e-04 -3.14602073e-03 9.99994812e-01 4.92767703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22255784400005 meters 0.28845142623146186 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99997722e-01 -1.98747015e-03 -7.78964118e-04 2.75429835e+00] [ 1.99033478e-03 9.99991196e-01 3.69412423e-03 -1.11443652e-01] [ 7.71615298e-04 -3.69566622e-03 9.99992873e-01 4.92823161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2525578440001 meters 0.2890566907952737 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99998061e-01 -1.78440367e-03 -8.33327464e-04 2.75435670e+00] [ 1.78792415e-03 9.99989399e-01 4.24313961e-03 -1.13680952e-01] [ 8.25747156e-04 -4.24462130e-03 9.99990651e-01 4.93016768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28255784400005 meters 0.2877719263341837 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.49 [[ 9.99998462e-01 -1.58961114e-03 -7.41407773e-04 2.75405751e+00] [ 1.59312010e-03 9.99987419e-01 4.75650281e-03 -1.15778188e-01] [ 7.33837455e-04 -4.75767665e-03 9.99988413e-01 4.93181998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3125578440001 meters 0.28716793098108734 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.49 [[ 9.99999211e-01 -1.12045957e-03 -5.67586842e-04 2.75345481e+00] [ 1.12383232e-03 9.99981505e-01 5.97720672e-03 -1.20848486e-01] [ 5.60879126e-04 -5.97783988e-03 9.99981975e-01 4.93571818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34255784400005 meters 0.28705486900230975 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.49 [[ 9.99999438e-01 -9.06923482e-04 -5.48308670e-04 2.75339370e+00] [ 9.10474747e-04 9.99978385e-01 6.51158175e-03 -1.23060202e-01] [ 5.42391312e-04 -6.51207731e-03 9.99978649e-01 4.93609818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.372557844 meters 0.2878147950252825 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.49 [[ 9.99980707e-01 6.19344460e-03 4.76269820e-04 2.77521337e+00] [-6.19518435e-03 9.99973806e-01 3.74252729e-03 -1.26636595e-01] [-4.53078209e-04 -3.74540566e-03 9.99992883e-01 4.92896757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40255784400006 meters 0.2878628885528459 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:0.49 [[ 9.99997965e-01 1.98437746e-03 3.64912330e-04 2.77558514e+00] [-1.98429668e-03 9.99998007e-01 -2.21587708e-04 -1.28042169e-01] [-3.65351316e-04 2.20863163e-04 9.99999909e-01 4.92522170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43255784400003 meters 0.28864155736211045 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99999691e-01 2.39502051e-05 -7.85651441e-04 2.78053434e+00] [-2.50019484e-05 9.99999104e-01 -1.33870703e-03 -1.35341388e-01] [ 7.85618674e-04 1.33872626e-03 9.99998795e-01 4.89816250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46255784400006 meters 0.2888604354846615 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99999647e-01 2.49800130e-04 -8.02605379e-04 2.78045413e+00] [-2.50429807e-04 9.99999661e-01 -7.84536290e-04 -1.37646900e-01] [ 8.02409130e-04 7.84737009e-04 9.99999370e-01 4.90081400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49255784400003 meters 0.28732062283833837 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:0.49 [[ 9.99986993e-01 4.96981639e-03 -1.14680404e-03 2.75637756e+00] [-4.97459837e-03 9.99978784e-01 -4.20535003e-03 -1.40871042e-01] [ 1.12587990e-03 4.21100022e-03 9.99990500e-01 4.90898514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52255784400006 meters 0.2877400776035964 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:0.49 [[ 9.99986293e-01 5.11550946e-03 -1.11565809e-03 2.75626013e+00] [-5.11975004e-03 9.99979552e-01 -3.83182564e-03 -1.42422088e-01] [ 1.09603354e-03 3.83748501e-03 9.99992036e-01 4.90974575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55255784400003 meters 0.28744646421408915 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99997468e-01 -2.21141271e-03 -4.16262306e-04 2.77584724e+00] [ 2.21050614e-03 9.99995211e-01 -2.16586470e-03 -1.40474440e-01] [ 4.21049933e-04 2.16493907e-03 9.99997568e-01 4.91894365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58255784400006 meters 0.2876458357051094 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99997476e-01 -2.18622090e-03 -5.18887783e-04 2.77623117e+00] [ 2.18512890e-03 9.99995416e-01 -2.09582514e-03 -1.40804564e-01] [ 5.23467341e-04 2.09468601e-03 9.99997669e-01 4.91618914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61255784400004 meters 0.2889137175172502 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99997492e-01 -2.16008663e-03 -5.91142631e-04 2.77649427e+00] [ 2.15888513e-03 9.99995618e-01 -2.02564458e-03 -1.41121132e-01] [ 5.95515608e-04 2.02436329e-03 9.99997774e-01 4.91445195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64255784400007 meters 0.2889137175172502 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99997492e-01 -2.16008663e-03 -5.91142631e-04 2.77649427e+00] [ 2.15888513e-03 9.99995618e-01 -2.02564458e-03 -1.41121132e-01] [ 5.95515608e-04 2.02436329e-03 9.99997774e-01 4.91445195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67255784400004 meters 0.289107823939861 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:0.49 [[ 9.99997551e-01 -2.13711482e-03 -5.75092441e-04 2.77641788e+00] [ 2.13597979e-03 9.99995784e-01 -1.96706374e-03 -1.41358187e-01] [ 5.79293858e-04 1.96583054e-03 9.99997900e-01 4.91525060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70255784400007 meters 0.28735605092637306 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:0.49 [[ 9.99984109e-01 5.54870579e-03 -9.96604531e-04 2.75555637e+00] [-5.55136619e-03 9.99980981e-01 -2.68683706e-03 -1.45772603e-01] [ 9.81677109e-04 2.69232689e-03 9.99995894e-01 4.91044993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73255784400004 meters 0.28804281935977394 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.15, Z:0.49 [[ 9.99996757e-01 5.53497857e-04 2.48601923e-03 2.77646766e+00] [-5.54566074e-04 9.99999754e-01 4.29021162e-04 -1.46815253e-01] [-2.48578116e-03 -4.30398433e-04 9.99996818e-01 4.90016967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76255784400007 meters 0.28650945341943473 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99991715e-01 -1.79580339e-03 3.65304038e-03 2.77081833e+00] [ 1.80226851e-03 9.99996814e-01 -1.76726988e-03 -1.46983113e-01] [-3.64985508e-03 1.77383899e-03 9.99991766e-01 4.93512246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79255784400004 meters 0.28623468548463055 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99992125e-01 -1.74467922e-03 3.56468300e-03 2.77113579e+00] [ 1.75048523e-03 9.99997145e-01 -1.62629062e-03 -1.47598188e-01] [-3.56183547e-03 1.63251773e-03 9.99992324e-01 4.93288020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8225578440001 meters 0.287834382739365 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99992440e-01 -1.70046001e-03 3.49680733e-03 2.77141980e+00] [ 1.70574849e-03 9.99997405e-01 -1.50994955e-03 -1.48115309e-01] [-3.49423064e-03 1.51590281e-03 9.99992746e-01 4.93029036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85255784400005 meters 0.2885952952714571 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99992777e-01 -1.63818085e-03 3.42966329e-03 2.77153482e+00] [ 1.64280295e-03 9.99997746e-01 -1.34529917e-03 -1.48795753e-01] [-3.42745171e-03 1.35092372e-03 9.99993214e-01 4.93158044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8825578440001 meters 0.2876654152929955 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99992875e-01 -1.57963847e-03 3.42858579e-03 2.77137775e+00] [ 1.58375388e-03 9.99998028e-01 -1.19793852e-03 -1.49381943e-01] [-3.42668672e-03 1.20336002e-03 9.99993405e-01 4.93516133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91255784400005 meters 0.2880068050764474 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:0.49 [[ 9.99992975e-01 -1.54934240e-03 3.41313136e-03 2.77131178e+00] [ 1.55317161e-03 9.99998167e-01 -1.11954116e-03 -1.49691469e-01] [-3.41139055e-03 1.12483447e-03 9.99993549e-01 4.93754692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9425578440001 meters 0.28673600727162074 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.50 [[ 9.99993270e-01 3.64673843e-03 4.01860447e-04 2.74897968e+00] [-3.64505497e-03 9.99984898e-01 -4.11317329e-03 -1.48296608e-01] [-4.16854045e-04 4.11168080e-03 9.99991460e-01 4.95867767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97255784400005 meters 0.28689173609891977 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:0.50 [[ 9.99993573e-01 3.55836861e-03 4.37186359e-04 2.74896986e+00] [-3.55642797e-03 9.99984161e-01 -4.36228656e-03 -1.47299349e-01] [-4.52702058e-04 4.36070370e-03 9.99990390e-01 4.95676527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0025578440001 meters 0.28900699408784686 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.14, Z:0.49 [[ 9.99999100e-01 -1.03031523e-03 8.59278942e-04 2.77235416e+00] [ 1.03097801e-03 9.99999171e-01 -7.71227594e-04 -1.43830248e-01] [-8.58483622e-04 7.72112798e-04 9.99999333e-01 4.94821244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03255784400005 meters 0.2876029060960712 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.50 [[ 9.99983891e-01 5.21612012e-03 -2.23816132e-03 2.75052378e+00] [-5.22345908e-03 9.99980959e-01 -3.28579018e-03 -1.38746098e-01] [ 2.22097963e-03 3.29742820e-03 9.99992097e-01 4.95803755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0625578440001 meters 0.2875031015663004 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.50 [[ 9.99984504e-01 5.06722268e-03 -2.30551788e-03 2.75080149e+00] [-5.07575467e-03 9.99980236e-01 -3.71000642e-03 -1.37049679e-01] [ 2.28667289e-03 3.72165117e-03 9.99990460e-01 4.95528781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09255784400005 meters 0.2892819458710204 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.13, Z:0.50 [[ 9.99995945e-01 -2.37801418e-03 -1.56657412e-03 2.76948154e+00] [ 2.37363484e-03 9.99993287e-01 -2.79144244e-03 -1.29812862e-01] [ 1.57320169e-03 2.78771265e-03 9.99994877e-01 4.96755338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters 0.2876694917716595 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:0.49 [[ 9.99996911e-01 -2.37152327e-03 -7.44672647e-04 2.73102410e+00] [ 2.37069824e-03 9.99996577e-01 -1.10684309e-03 -1.31527250e-01] [ 7.47295002e-04 1.10507428e-03 9.99999110e-01 4.93461762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15255784400006 meters 0.2893241048815523 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:0.49 [[ 9.99996191e-01 -2.64006648e-03 -8.04606353e-04 2.73152724e+00] [ 2.63853360e-03 9.99994714e-01 -1.90026610e-03 -1.28349543e-01] [ 8.09618928e-04 1.89813588e-03 9.99997871e-01 4.92607708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters 0.29400691657929356 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99997125e-01 -2.97698243e-04 -2.37941311e-03 2.77130588e+00] [ 2.92389337e-04 9.99997468e-01 -2.23121919e-03 -1.23111550e-01] [ 2.38007132e-03 2.23051706e-03 9.99994680e-01 4.95202769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21255784400006 meters 0.28827375222786805 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99997204e-01 -4.09609697e-04 -2.32913434e-03 2.77122093e+00] [ 4.03746921e-04 9.99996751e-01 -2.51706113e-03 -1.21932819e-01] [ 2.33015779e-03 2.51611371e-03 9.99994120e-01 4.95088387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters 0.28903524911591655 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99997299e-01 -5.15439559e-04 -2.26640054e-03 2.77103072e+00] [ 5.09110007e-04 9.99995971e-01 -2.79246817e-03 -1.20784298e-01] [ 2.26783075e-03 2.79130678e-03 9.99993533e-01 4.95137084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27255784400006 meters 0.28725467666114674 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.50 [[ 9.99958728e-01 -7.60727716e-03 -4.96709280e-03 2.74986629e+00] [ 7.60757913e-03 9.99971061e-01 4.19031123e-05 -1.21479856e-01] [ 4.96663028e-03 -7.96889343e-05 9.99987663e-01 4.96702874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters 0.2887194040097375 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99993998e-01 1.52312135e-03 -3.11207500e-03 2.76893282e+00] [-1.52723070e-03 9.99997965e-01 -1.31850423e-03 -1.21952709e-01] [ 3.11006042e-03 1.32324917e-03 9.99994288e-01 4.97382279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33255784400006 meters 0.28783234146100806 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99993866e-01 1.50969882e-03 -3.16064088e-03 2.76903044e+00] [-1.51397242e-03 9.99997942e-01 -1.35017453e-03 -1.21818179e-01] [ 3.15859602e-03 1.35495137e-03 9.99994094e-01 4.97440030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36255784400004 meters 0.2890027224925886 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99993821e-01 1.43796322e-03 -3.20781612e-03 2.76925234e+00] [-1.44287098e-03 9.99997791e-01 -1.52814947e-03 -1.21095738e-01] [ 3.20561162e-03 1.53276849e-03 9.99993687e-01 4.97211333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39255784400007 meters 0.2878629477537458 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99993729e-01 1.39581137e-03 -3.25473085e-03 2.76947547e+00] [-1.40113182e-03 9.99997685e-01 -1.63297614e-03 -1.20683390e-01] [ 3.25244399e-03 1.63752621e-03 9.99993370e-01 4.96974848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42255784400004 meters 0.28961176938364935 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.12, Z:0.50 [[ 9.99993755e-01 1.17493098e-03 -3.33305645e-03 2.76982672e+00] [-1.18233576e-03 9.99996836e-01 -2.22051826e-03 -1.18297330e-01] [ 3.33043695e-03 2.22444519e-03 9.99991980e-01 4.96577236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45255784400007 meters 0.2881869297110608 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.50 [[ 9.99973208e-01 -5.75989310e-03 -4.51745795e-03 2.74766423e+00] [ 5.76373198e-03 9.99983039e-01 8.37229201e-04 -1.16313832e-01] [ 4.51255898e-03 -8.63244187e-04 9.99989446e-01 4.97483627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48255784400004 meters 0.28839014692876846 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.50 [[ 9.99992477e-01 3.38549782e-03 -1.89310923e-03 2.76681899e+00] [-3.38633392e-03 9.99994170e-01 -4.38625299e-04 -1.13596343e-01] [ 1.89161323e-03 4.45032699e-04 9.99998112e-01 4.97670896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51255784400007 meters 0.2891305540699906 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.50 [[ 9.99993419e-01 3.17729464e-03 -1.75148378e-03 2.76649164e+00] [-3.17905805e-03 9.99994442e-01 -1.00494175e-03 -1.11251251e-01] [ 1.74828105e-03 1.01050321e-03 9.99997961e-01 4.97568738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54255784400004 meters 0.28733480380136833 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.50 [[ 9.99978253e-01 -5.88104640e-03 -2.98440627e-03 2.74734153e+00] [ 5.88063530e-03 9.99982698e-01 -1.46507844e-04 -1.05907613e-01] [ 2.98521626e-03 1.28954453e-04 9.99995536e-01 4.96487445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5725578440001 meters 0.2898259014528811 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99994487e-01 2.95002547e-03 -1.52455702e-03 2.76643066e+00] [-2.95317054e-03 9.99993508e-01 -2.06482783e-03 -1.04371562e-01] [ 1.51845583e-03 2.06931872e-03 9.99996706e-01 4.97469187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60255784400005 meters 0.29083785328348205 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99997243e-01 -2.09901428e-03 -1.05251284e-03 2.79022849e+00] [ 2.09970322e-03 9.99997582e-01 6.53889362e-04 -9.65389434e-02] [ 1.05113777e-03 -6.56097524e-04 9.99999232e-01 4.96061757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6325578440001 meters 0.28878418755031743 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99996852e-01 -2.29679521e-03 -1.00998778e-03 2.79025123e+00] [ 2.29698609e-03 9.99997344e-01 1.87881339e-04 -9.46148764e-02] [ 1.00955357e-03 -1.90200675e-04 9.99999472e-01 4.95745556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66255784400005 meters 0.28795744460964134 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99996492e-01 -2.47924443e-03 -9.32780608e-04 2.79001502e+00] [ 2.47900566e-03 9.99996894e-01 -2.57049689e-04 -9.27622367e-02] [ 9.33415000e-04 2.54736419e-04 9.99999532e-01 4.95778818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6925578440001 meters 0.28786992759182933 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99996160e-01 -2.63492759e-03 -8.58875418e-04 2.78970657e+00] [ 2.63437080e-03 9.99996320e-01 -6.48765885e-04 -9.11067252e-02] [ 8.60581708e-04 6.46500798e-04 9.99999421e-01 4.96010673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72255784400005 meters 0.2868060975614329 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995937e-01 -2.72054743e-03 -8.50924669e-04 2.78957572e+00] [ 2.71981005e-03 9.99995926e-01 -8.66527115e-04 -9.01933081e-02] [ 8.53278630e-04 8.64209241e-04 9.99999263e-01 4.96233590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7525578440001 meters 0.2879999594369254 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995686e-01 -2.77765299e-03 -9.55406741e-04 2.78981316e+00] [ 2.77668311e-03 9.99995630e-01 -1.01497538e-03 -8.96004923e-02] [ 9.58221815e-04 1.01231814e-03 9.99999029e-01 4.96267266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78255784400005 meters 0.28697001566105906 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995212e-01 -2.83403411e-03 -1.24278388e-03 2.79063601e+00] [ 2.83257517e-03 9.99995299e-01 -1.17412338e-03 -8.90166515e-02] [ 1.24610555e-03 1.17059748e-03 9.99998538e-01 4.95904103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8125578440001 meters 0.2887173602071921 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995174e-01 -2.80691694e-03 -1.33183384e-03 2.79096612e+00] [ 2.80545056e-03 9.99995458e-01 -1.10161765e-03 -8.93451138e-02] [ 1.33491994e-03 1.09787594e-03 9.99998506e-01 4.95652952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84255784400005 meters 0.2892980892035072 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995222e-01 -2.79093599e-03 -1.32941121e-03 2.79097444e+00] [ 2.78952304e-03 9.99995544e-01 -1.06351026e-03 -8.95115298e-02] [ 1.33237348e-03 1.05979676e-03 9.99998551e-01 4.95619905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.872557844 meters 0.28793630329161846 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995222e-01 -2.81515231e-03 -1.27725630e-03 2.79080789e+00] [ 2.81371172e-03 9.99995405e-01 -1.12827209e-03 -8.92337307e-02] [ 1.28042669e-03 1.12467287e-03 9.99998548e-01 4.95686631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90255784400006 meters 0.2876996579075233 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99995287e-01 -2.91586369e-03 -9.61404998e-04 2.78978359e+00] [ 2.91444696e-03 9.99994670e-01 -1.47172771e-03 -8.77080368e-02] [ 9.65691231e-04 1.46891881e-03 9.99998455e-01 4.96265563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93255784400003 meters 0.28860565866302745 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994947e-01 -3.02894623e-03 -9.64966789e-04 2.78974101e+00] [ 3.02722260e-03 9.99993829e-01 -1.78267833e-03 -8.64256550e-02] [ 9.70360471e-04 1.77974815e-03 9.99997945e-01 4.96373737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96255784400006 meters 0.2887094842249208 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994626e-01 -3.12660936e-03 -9.85671989e-04 2.78983338e+00] [ 3.12458526e-03 9.99993020e-01 -2.04841497e-03 -8.53440185e-02] [ 9.92069703e-04 2.04532415e-03 9.99997416e-01 4.96268656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99255784400003 meters 0.28678222861091845 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.09, Z:0.50 [[ 9.99986005e-01 4.51791493e-03 -2.75275748e-03 2.76959620e+00] [-4.52664665e-03 9.99984717e-01 -3.17405791e-03 -8.71291284e-02] [ 2.73837528e-03 3.18647425e-03 9.99991174e-01 4.95334503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02255784400006 meters 0.28936350111099274 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99993048e-01 -3.15432546e-03 -1.98842602e-03 2.78871952e+00] [ 3.15007929e-03 9.99992759e-01 -2.13497012e-03 -8.12260882e-02] [ 1.99514601e-03 2.12869158e-03 9.99995744e-01 4.96410253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05255784400003 meters 0.2892210000969885 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99992769e-01 -3.20185604e-03 -2.05198901e-03 2.78900047e+00] [ 3.19723353e-03 9.99992353e-01 -2.25203180e-03 -8.07661309e-02] [ 2.05918400e-03 2.24545483e-03 9.99995359e-01 4.96134893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08255784400006 meters 0.28928967778105547 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99992759e-01 -3.16428434e-03 -2.11384240e-03 2.78909104e+00] [ 3.15973151e-03 9.99992689e-01 -2.15369505e-03 -8.11700129e-02] [ 2.12064185e-03 2.14700029e-03 9.99995447e-01 4.96292681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11255784400004 meters 0.2896090458084583 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99992736e-01 -3.12424513e-03 -2.18353409e-03 2.78915991e+00] [ 3.11976871e-03 9.99993031e-01 -2.05048802e-03 -8.15882004e-02] [ 2.18992510e-03 2.04366101e-03 9.99995514e-01 4.96540724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14255784400007 meters 0.288314760235165 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99992856e-01 -3.07800605e-03 -2.19424402e-03 2.78909517e+00] [ 3.07377079e-03 9.99993412e-01 -1.93093273e-03 -8.20704920e-02] [ 2.20017299e-03 1.92417433e-03 9.99995728e-01 4.96754087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17255784400004 meters 0.2894283072014024 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99992961e-01 -3.02753671e-03 -2.21608528e-03 2.78911998e+00] [ 3.02354761e-03 9.99993807e-01 -1.80120767e-03 -8.26071152e-02] [ 2.22152478e-03 1.79449455e-03 9.99995922e-01 4.96831218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20255784400007 meters 0.2891835992360629 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99993067e-01 -2.97281793e-03 -2.24225630e-03 2.78908990e+00] [ 2.96910475e-03 9.99994219e-01 -1.65751929e-03 -8.31883730e-02] [ 2.24717084e-03 1.65085030e-03 9.99996112e-01 4.97054709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23255784400004 meters 0.2879272688694475 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99993878e-01 -2.88136613e-03 -1.98541940e-03 2.78813342e+00] [ 2.87859170e-03 9.99994878e-01 -1.39884596e-03 -8.42207928e-02] [ 1.98943981e-03 1.39312218e-03 9.99997051e-01 4.97917143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26255784400007 meters 0.289375726555502 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:0.50 [[ 9.99994194e-01 -2.81825207e-03 -1.91536818e-03 2.78786705e+00] [ 2.81587917e-03 9.99995266e-01 -1.24043917e-03 -8.48718931e-02] [ 1.91885498e-03 1.23503852e-03 9.99997396e-01 4.98119881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29255784400004 meters 0.28865798393541997 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994353e-01 -2.75633124e-03 -1.92246055e-03 2.78786760e+00] [ 2.75425112e-03 9.99995620e-01 -1.08382061e-03 -8.55174488e-02] [ 1.92543949e-03 1.07851955e-03 9.99997565e-01 4.98164519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3225578440001 meters 0.2893074710589159 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994097e-01 -2.65164991e-03 -2.18492642e-03 2.78875040e+00] [ 2.64995552e-03 9.99996186e-01 -7.78022966e-04 -8.68709555e-02] [ 2.18698113e-03 7.72228416e-04 9.99997310e-01 4.97621259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35255784400005 meters 0.2891833349886881 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99993988e-01 -2.59283203e-03 -2.30247320e-03 2.78910763e+00] [ 2.59138809e-03 9.99996444e-01 -6.29887552e-04 -8.75124769e-02] [ 2.30409820e-03 6.23917163e-04 9.99997151e-01 4.97505148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3825578440001 meters 0.2893351684739472 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99993913e-01 -2.57272689e-03 -2.35686822e-03 2.78917454e+00] [ 2.57137262e-03 9.99996527e-01 -5.77455095e-04 -8.77241117e-02] [ 2.35834566e-03 5.71391194e-04 9.99997056e-01 4.97666155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41255784400005 meters 0.2898969805113621 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994066e-01 -2.59559455e-03 -2.26497401e-03 2.78881915e+00] [ 2.59415318e-03 9.99996431e-01 -6.39083090e-04 -8.74372562e-02] [ 2.26662472e-03 6.33203608e-04 9.99997231e-01 4.97931492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4425578440001 meters 0.28884619233170167 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994182e-01 -2.65727796e-03 -2.13866352e-03 2.78836265e+00] [ 2.65555833e-03 9.99996149e-01 -8.06508539e-04 -8.67018005e-02] [ 2.14079840e-03 8.00824501e-04 9.99997388e-01 4.98217181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47255784400005 meters 0.288585817807631 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994340e-01 -2.70043934e-03 -2.00694912e-03 2.78796214e+00] [ 2.69859180e-03 9.99995933e-01 -9.22708125e-04 -8.62054593e-02] [ 2.00943268e-03 9.17286966e-04 9.99997560e-01 4.98362546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5025578440001 meters 0.2885821658894614 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994435e-01 -2.69555390e-03 -1.96569350e-03 2.78802628e+00] [ 2.69376216e-03 9.99995954e-01 -9.13583646e-04 -8.62724940e-02] [ 1.96814817e-03 9.08283451e-04 9.99997651e-01 4.97994771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53255784400005 meters 0.2885821658894614 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994435e-01 -2.69555390e-03 -1.96569350e-03 2.78802628e+00] [ 2.69376216e-03 9.99995954e-01 -9.13583646e-04 -8.62724940e-02] [ 1.96814817e-03 9.08283451e-04 9.99997651e-01 4.97994771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5625578440001 meters 0.2885677979234764 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994576e-01 -2.63562320e-03 -1.97511887e-03 2.78809248e+00] [ 2.63411625e-03 9.99996238e-01 -7.65179437e-04 -8.69014481e-02] [ 1.97712816e-03 7.59972594e-04 9.99997757e-01 4.97909647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59255784400005 meters 0.2880299595589005 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99994853e-01 -2.56912467e-03 -1.92179611e-03 2.78792384e+00] [ 2.56797934e-03 9.99996524e-01 -5.98199462e-04 -8.75888814e-02] [ 1.92332628e-03 5.93261250e-04 9.99997974e-01 4.97989192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters 0.2901738812494568 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.09, Z:0.50 [[ 9.99995265e-01 -1.35860421e-03 -2.76133392e-03 2.82597614e+00] [ 1.35709059e-03 9.99998928e-01 -5.49948883e-04 -8.68719358e-02] [ 2.76207812e-03 5.46198899e-04 9.99996036e-01 5.01951842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65255784400006 meters 0.2874735634400836 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99992675e-01 -3.16703675e-03 -2.14921299e-03 2.78798025e+00] [ 3.16650634e-03 9.99994955e-01 -2.50151265e-04 -9.30640631e-02] [ 2.14999439e-03 2.43343936e-04 9.99997659e-01 4.98575528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters 0.28940313782033783 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:0.50 [[ 9.99992538e-01 3.82657237e-03 -5.30541681e-04 2.81041797e+00] [-3.82814160e-03 9.99988206e-01 -2.98900950e-03 -9.36858957e-02] [ 5.19097762e-04 2.99101819e-03 9.99995392e-01 4.97181014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71255784400006 meters 0.2887867074766688 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:0.50 [[ 9.99992229e-01 3.89685907e-03 -5.97453426e-04 2.81057530e+00] [-3.89851983e-03 9.99988469e-01 -2.80423383e-03 -9.44517251e-02] [ 5.86518833e-04 2.80654122e-03 9.99995890e-01 4.97199672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters 0.2873955262645576 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99989348e-01 -3.41634041e-03 -3.10367432e-03 2.79036575e+00] [ 3.41606206e-03 9.99994161e-01 -9.49802297e-05 -9.51455150e-02] [ 3.10398068e-03 8.43768738e-05 9.99995179e-01 4.97775579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77255784400006 meters 0.28781171575023445 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99989483e-01 -3.36304786e-03 -3.11844035e-03 2.79036037e+00] [ 3.36317696e-03 9.99994344e-01 3.61543525e-05 -9.56951358e-02] [ 3.11830112e-03 -4.66418390e-05 9.99995137e-01 4.97870367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters 0.2891002189195361 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.50 [[ 9.99985944e-01 5.16207565e-03 -1.21056764e-03 2.80891170e+00] [-5.16376771e-03 9.99985689e-01 -1.39880955e-03 -9.90760137e-02] [ 1.20332956e-03 1.40504097e-03 9.99998289e-01 4.98983913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83255784400006 meters 0.28934607302265497 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.50 [[ 9.99986003e-01 5.18597688e-03 -1.04839913e-03 2.80838539e+00] [-5.18738260e-03 9.99985644e-01 -1.34258800e-03 -9.92940163e-02] [ 1.04142145e-03 1.34800765e-03 9.99998549e-01 4.99249023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86255784400004 meters 0.2902133213463327 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.50 [[ 9.99986052e-01 5.17529186e-03 -1.05430595e-03 2.80849179e+00] [-5.17673340e-03 9.99985663e-01 -1.36917433e-03 -9.91925931e-02] [ 1.04720496e-03 1.37461309e-03 9.99998507e-01 4.99051244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89255784400007 meters 0.2882977427867242 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99991214e-01 -2.06193191e-03 -3.64964823e-03 2.78806416e+00] [ 2.06669421e-03 9.99997017e-01 1.30157477e-03 -9.96850586e-02] [ 3.64695358e-03 -1.30910604e-03 9.99992493e-01 4.99647164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92255784400004 meters 0.2896110357391312 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99990243e-01 -2.01020086e-03 -3.93365446e-03 2.78886695e+00] [ 2.01598568e-03 9.99996892e-01 1.46718385e-03 -1.00415431e-01] [ 3.93069290e-03 -1.47509973e-03 9.99991187e-01 4.99365242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95255784400007 meters 0.2895400746026144 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99990009e-01 -1.97615672e-03 -4.00949053e-03 2.78908728e+00] [ 1.98241878e-03 9.99996821e-01 1.55843687e-03 -1.00800384e-01] [ 4.00639807e-03 -1.56636979e-03 9.99990748e-01 4.99289834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98255784400004 meters 0.2870223526461434 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99978084e-01 3.48964742e-03 -5.62613214e-03 2.76672806e+00] [-3.49887894e-03 9.99992547e-01 -1.63182266e-03 -1.01398034e-01] [ 5.62039573e-03 1.65147205e-03 9.99982842e-01 4.99974450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01255784400007 meters 0.28912145171985953 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994307e-01 -2.16828185e-03 -2.58560499e-03 2.78847658e+00] [ 2.17144074e-03 9.99996899e-01 1.21954181e-03 -1.02462012e-01] [ 2.58295266e-03 -1.22514935e-03 9.99995914e-01 4.98381822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04255784400004 meters 0.2890972642235074 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994464e-01 -2.19696624e-03 -2.49920013e-03 2.78824202e+00] [ 2.19983180e-03 9.99996926e-01 1.14442018e-03 -1.02147759e-01] [ 2.49667819e-03 -1.14991166e-03 9.99996222e-01 4.98414924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0725578440001 meters 0.2890888614460565 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994379e-01 -2.28862977e-03 -2.45036387e-03 2.78830986e+00] [ 2.29088525e-03 9.99996955e-01 9.18058308e-04 -1.01221767e-01] [ 2.44825531e-03 -9.23666650e-04 9.99996576e-01 4.98007096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10255784400005 meters 0.2902144910072485 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994169e-01 -2.34036320e-03 -2.48706829e-03 2.78848043e+00] [ 2.34232874e-03 9.99996947e-01 7.87689070e-04 -1.00692420e-01] [ 2.48521722e-03 -7.93510008e-04 9.99996597e-01 4.97845257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1325578440001 meters 0.2876171415748259 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984108e-01 3.11441294e-03 -4.69927967e-03 2.76632994e+00] [-3.12619409e-03 9.99991984e-01 -2.50175429e-03 -9.94919003e-02] [ 4.69145051e-03 2.51640539e-03 9.99985829e-01 4.98897394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16255784400005 meters 0.288901803580766 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99983853e-01 3.08364329e-03 -4.77329508e-03 2.76658069e+00] [-3.09598608e-03 9.99991878e-01 -2.58057562e-03 -9.91791745e-02] [ 4.76529873e-03 2.59531201e-03 9.99985278e-01 4.98761778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1925578440001 meters 0.2886126382460403 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984209e-01 3.06218464e-03 -4.71228803e-03 2.76648384e+00] [-3.07466032e-03 9.99991782e-01 -2.64251543e-03 -9.89296082e-02] [ 4.70415744e-03 2.65696238e-03 9.99985406e-01 4.98638199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22255784400005 meters 0.28825576525257846 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984762e-01 3.06728574e-03 -4.58991979e-03 2.76617040e+00] [-3.07938891e-03 9.99991795e-01 -2.63216232e-03 -9.89678802e-02] [ 4.58180854e-03 2.64625635e-03 9.99986002e-01 4.98648603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2525578440001 meters 0.28934114433846564 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99995242e-01 -2.80635944e-03 -1.28037638e-03 2.78572903e+00] [ 2.80676103e-03 9.99996012e-01 3.11963018e-04 -9.96443211e-02] [ 1.27949579e-03 -3.15555245e-04 9.99999132e-01 4.98402227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28255784400005 meters 0.2878610561913429 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99985013e-01 5.10119199e-03 -1.98772285e-03 2.76615379e+00] [-5.10285251e-03 9.99986635e-01 -8.31217840e-04 -1.03003419e-01] [ 1.98345608e-03 8.41348440e-04 9.99997679e-01 4.96920499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3125578440001 meters 0.2893275072078142 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984870e-01 5.10389298e-03 -2.05163091e-03 2.76642967e+00] [-5.10559593e-03 9.99986625e-01 -8.25665373e-04 -1.03032443e-01] [ 2.04738936e-03 8.36127680e-04 9.99997555e-01 4.96636767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34255784400005 meters 0.28850612508880263 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984864e-01 5.07779038e-03 -2.11824677e-03 2.76670247e+00] [-5.07968511e-03 9.99986702e-01 -8.90065240e-04 -1.02764860e-01] [ 2.11369904e-03 9.00811795e-04 9.99997360e-01 4.96415125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.372557844 meters 0.28794769933685677 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.50 [[ 9.99984733e-01 5.08168811e-03 -2.17045195e-03 2.76699479e+00] [-5.08360457e-03 9.99986693e-01 -8.78374855e-04 -1.02824630e-01] [ 2.16595944e-03 8.89395164e-04 9.99997259e-01 4.96054682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40255784400006 meters 0.2890622818067437 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994351e-01 -2.89522280e-03 -1.70778050e-03 2.78752812e+00] [ 2.89538120e-03 9.99995804e-01 9.02859515e-05 -9.96828456e-02] [ 1.70751194e-03 -9.52301170e-05 9.99998538e-01 4.96950030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43255784400003 meters 0.2879893500150808 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994416e-01 -2.92382756e-03 -1.61869720e-03 2.78729080e+00] [ 2.92385453e-03 9.99995725e-01 1.42979432e-05 -9.93702377e-02] [ 1.61864847e-03 -1.90306985e-05 9.99998690e-01 4.96974537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46255784400006 meters 0.289954701919745 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994405e-01 -2.96751716e-03 -1.54371314e-03 2.78709712e+00] [ 2.96736804e-03 9.99995592e-01 -9.88772299e-05 -9.88983424e-02] [ 1.54399976e-03 9.42959116e-05 9.99998804e-01 4.96983049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49255784400003 meters 0.2877709340595686 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99994050e-01 -3.05113588e-03 -1.60977471e-03 2.78724806e+00] [ 3.05064119e-03 9.99995299e-01 -3.09672171e-04 -9.80139796e-02] [ 1.61071200e-03 3.04759483e-04 9.99998656e-01 4.97036477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52255784400006 meters 0.28853232844879523 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99993145e-01 -3.25219160e-03 -1.77029122e-03 2.78783870e+00] [ 3.25069802e-03 9.99994359e-01 -8.45919621e-04 -9.57934791e-02] [ 1.77303232e-03 8.40159140e-04 9.99998075e-01 4.96628276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55255784400003 meters 0.2876715168116647 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99992861e-01 -3.32801156e-03 -1.78950509e-03 2.78791536e+00] [ 3.32615072e-03 9.99993926e-01 -1.04183296e-03 -9.49816036e-02] [ 1.79296145e-03 1.03587336e-03 9.99997856e-01 4.96579294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58255784400006 meters 0.28839983372534267 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.09, Z:0.50 [[ 9.99992718e-01 -3.38324747e-03 -1.76560550e-03 2.78787573e+00] [ 3.38115841e-03 9.99993582e-01 -1.18484819e-03 -9.43872206e-02] [ 1.76960280e-03 1.17886977e-03 9.99997739e-01 4.96541202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61255784400004 meters 0.2893118976562449 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.10, Z:0.50 [[ 9.99985965e-01 5.29661960e-03 1.22525933e-04 2.80657869e+00] [-5.29630593e-03 9.99983016e-01 -2.43250447e-03 -9.77969480e-02] [-1.35407903e-04 2.43182140e-03 9.99997034e-01 4.97220756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64255784400007 meters 0.28762057890488213 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.10, Z:0.50 [[ 9.99996591e-01 -2.26720987e-03 -1.29492394e-03 2.78511315e+00] [ 2.26722605e-03 9.99997430e-01 1.10243560e-05 -9.75914217e-02] [ 1.29489562e-03 -1.39602038e-05 9.99999162e-01 4.97834584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67255784400004 meters 0.28823113877492623 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.50 [[ 9.99996760e-01 -2.20788928e-03 -1.26684796e-03 2.78491875e+00] [ 2.20810146e-03 9.99997548e-01 1.66116477e-04 -9.82357460e-02] [ 1.26647809e-03 -1.68913268e-04 9.99999184e-01 4.98114637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70255784400007 meters 0.28804841126827535 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:0.50 [[ 0.99999028 0.00326053 -0.00296801 2.76207625] [-0.00326965 0.99998993 -0.00307251 -0.09811979] [ 0.00295796 0.00308219 0.99999088 0.49920845] [ 0. 0. 0. 1. ]] SLAMing on 407.73255784400004 meters 0.28820697938077366 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.50 [[ 9.99985586e-01 -4.72630232e-03 -2.54733062e-03 2.78346921e+00] [ 4.72115888e-03 9.99986812e-01 -2.02139534e-03 -9.64623669e-02] [ 2.55685075e-03 2.00933986e-03 9.99994713e-01 5.00156347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76255784400007 meters 0.2889381027713229 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.50 [[ 9.99985732e-01 -4.66817460e-03 -2.59685725e-03 2.78371628e+00] [ 4.66331580e-03 9.99987371e-01 -1.87395147e-03 -9.70938733e-02] [ 2.60557239e-03 1.86181476e-03 9.99994872e-01 4.99860329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79255784400004 meters 0.28869928416330565 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:0.50 [[ 9.99986052e-01 -4.57341503e-03 -2.64191002e-03 2.78388449e+00] [ 4.56911988e-03 9.99988234e-01 -1.62952760e-03 -9.81208696e-02] [ 2.64933144e-03 1.61743367e-03 9.99995182e-01 4.99717678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8225578440001 meters 0.2869767343789858 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:0.50 [[ 9.99991080e-01 3.87461813e-03 -1.68119952e-03 2.76184436e+00] [-3.87829159e-03 9.99990087e-01 -2.18729319e-03 -1.02343831e-01] [ 1.67270793e-03 2.19379386e-03 9.99996195e-01 4.99232827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85255784400005 meters 0.2878401868087636 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.50 [[ 9.99996826e-01 -1.40590651e-03 2.09091007e-03 2.78270563e+00] [ 1.40377331e-03 9.99998493e-01 1.02134606e-03 -1.05360768e-01] [-2.09234283e-03 -1.01840765e-03 9.99997292e-01 4.98091111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8825578440001 meters 0.2887799724499462 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.50 [[ 9.99996829e-01 -1.36936510e-03 2.11337926e-03 2.78259617e+00] [ 1.36701597e-03 9.99998447e-01 1.11259756e-03 -1.05739846e-01] [-2.11489953e-03 -1.10970501e-03 9.99997148e-01 4.98199019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91255784400005 meters 0.28697878767613316 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99996044e-01 -2.05773174e-03 1.91758338e-03 2.74654480e+00] [ 2.05506237e-03 9.99996918e-01 1.39298015e-03 -1.05344266e-01] [-1.92044385e-03 -1.38903389e-03 9.99997191e-01 4.93326900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9425578440001 meters 0.2881389447164382 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.49 [[ 9.99996210e-01 -2.05161073e-03 1.83600090e-03 2.74684239e+00] [ 2.04902554e-03 9.99996908e-01 1.40883258e-03 -1.05416294e-01] [-1.83888560e-03 -1.40506522e-03 9.99997322e-01 4.93123783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97255784400005 meters 0.2895375260521853 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:0.49 [[ 9.99978627e-01 5.07409272e-03 4.12296981e-03 2.76744811e+00] [-5.06916891e-03 9.99986427e-01 -1.20381378e-03 -1.06513923e-01] [-4.12902211e-03 1.18288802e-03 9.99990776e-01 4.92171597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0025578440001 meters 0.28796055585164027 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99986649e-01 -3.70998300e-03 3.59679646e-03 2.74813358e+00] [ 3.71007248e-03 9.99993117e-01 -1.82046961e-05 -1.01334248e-01] [-3.59670417e-03 3.15488287e-05 9.99993531e-01 4.91262847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03255784400005 meters 0.2873267513034779 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99986338e-01 -3.77838134e-03 3.61214940e-03 2.74806032e+00] [ 3.77913154e-03 9.99992839e-01 -2.00886118e-04 -1.00583864e-01] [-3.61136451e-03 2.14534162e-04 9.99993456e-01 4.91363131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0625578440001 meters 0.28869569609327944 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.49 [[ 0.99997733 0.00343369 0.00579234 2.76952211] [-0.00341757 0.99999027 -0.00279006 -0.10049818] [-0.00580186 0.0027702 0.99997933 0.48984656] [ 0. 0. 0. 1. ]] SLAMing on 408.09255784400005 meters 0.2886134762822334 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.49 [[ 0.99997777 0.00336696 0.00575501 2.76969671] [-0.00334999 0.99999002 -0.00295558 -0.09980566] [-0.0057649 0.00293623 0.99997907 0.48968862] [ 0. 0. 0. 1. ]] SLAMing on 408.122557844 meters 0.28925486131212813 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.10, Z:0.49 [[ 0.9999782 0.00334346 0.0056944 2.76985756] [-0.00332632 0.99998992 -0.00301598 -0.09955393] [-0.00570443 0.00299698 0.99997924 0.48968667] [ 0. 0. 0. 1. ]] SLAMing on 408.15255784400006 meters 0.28908447922558267 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99987459e-01 -3.51275606e-03 3.56952080e-03 2.74906799e+00] [ 3.51317182e-03 9.99993823e-01 -1.10211498e-04 -9.83219028e-02] [-3.56911160e-03 1.22750456e-04 9.99993623e-01 4.90530827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters 0.28886017886675874 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99987202e-01 -3.66371279e-03 3.48889337e-03 2.74939337e+00] [ 3.66544352e-03 9.99993162e-01 -4.89803541e-04 -9.67307751e-02] [-3.48707501e-03 5.02585614e-04 9.99993794e-01 4.90289828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21255784400006 meters 0.28739380699437855 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:0.49 [[ 9.99987011e-01 -3.76182058e-03 3.43897593e-03 2.74954331e+00] [ 3.76439542e-03 9.99992639e-01 -7.42557730e-04 -9.56831855e-02] [-3.43615724e-03 7.55493750e-04 9.99993811e-01 4.90256657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters 0.2882243258603895 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99986766e-01 -3.85460840e-03 3.40721999e-03 2.74964218e+00] [ 3.85796888e-03 9.99992078e-01 -9.80259354e-04 -9.46933324e-02] [-3.40341449e-03 9.93391330e-04 9.99993715e-01 4.90241071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27255784400006 meters 0.28835269061683544 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99986279e-01 -3.96410977e-03 3.42446352e-03 2.74958064e+00] [ 3.96843652e-03 9.99991335e-01 -1.25761275e-03 -9.35393913e-02] [-3.41944853e-03 1.27118526e-03 9.99993346e-01 4.90302281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters 0.28775815503516367 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99985814e-01 -4.07020383e-03 3.43584881e-03 2.74961481e+00] [ 4.07544140e-03 9.99990542e-01 -1.51876490e-03 -9.24477329e-02] [-3.42963463e-03 1.53274595e-03 9.99992944e-01 4.90184117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33255784400006 meters 0.28549812628758237 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99992954e-01 3.61511382e-03 1.01099036e-03 2.73079200e+00] [-3.61198594e-03 9.99988737e-01 -3.07877825e-03 -9.22720991e-02] [-1.02210911e-03 3.07510487e-03 9.99994749e-01 4.88980004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36255784400004 meters 0.28902506427461305 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.09, Z:0.49 [[ 9.99993706e-01 3.54080220e-03 -2.24377017e-04 2.77085514e+00] [-3.54167091e-03 9.99985739e-01 -3.99735721e-03 -9.19686830e-02] [ 2.10219966e-04 3.99812672e-03 9.99991985e-01 4.91684094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39255784400007 meters 0.287608646679498 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99991978e-01 -3.37020935e-03 -2.16450149e-03 2.75058697e+00] [ 3.36747467e-03 9.99993529e-01 -1.26582654e-03 -8.90343817e-02] [ 2.16875358e-03 1.25852748e-03 9.99996856e-01 4.91872952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42255784400004 meters 0.28965464414775244 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99991702e-01 -3.43043616e-03 -2.19721050e-03 2.75082948e+00] [ 3.42733294e-03 9.99993126e-01 -1.41455691e-03 -8.84279969e-02] [ 2.20204794e-03 1.40701460e-03 9.99996586e-01 4.91541159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45255784400007 meters 0.28965464414775244 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99991702e-01 -3.43043616e-03 -2.19721050e-03 2.75082948e+00] [ 3.42733294e-03 9.99993126e-01 -1.41455691e-03 -8.84279969e-02] [ 2.20204794e-03 1.40701460e-03 9.99996586e-01 4.91541159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48255784400004 meters 0.288947024520562 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99991402e-01 -3.47814364e-03 -2.25777848e-03 2.75109454e+00] [ 3.47467685e-03 9.99992781e-01 -1.53759859e-03 -8.79291880e-02] [ 2.26311017e-03 1.52974032e-03 9.99996269e-01 4.91297309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51255784400007 meters 0.2889621783301783 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99991283e-01 -3.54690195e-03 -2.20299030e-03 2.75095435e+00] [ 3.54307658e-03 9.99992213e-01 -1.73792855e-03 -8.71343087e-02] [ 2.20913741e-03 1.73010804e-03 9.99996063e-01 4.91332882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54255784400004 meters 0.286819374821608 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.49 [[ 9.99979731e-01 5.36488753e-03 -3.42862422e-03 2.72943407e+00] [-5.37203803e-03 9.99983408e-01 -2.07973304e-03 -8.77212628e-02] [ 3.41740979e-03 2.09810959e-03 9.99991960e-01 4.91376837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5725578440001 meters 0.2901160360015943 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.49 [[ 9.99994107e-01 -2.63056095e-03 -2.20585163e-03 2.75017522e+00] [ 2.62819249e-03 9.99995967e-01 -1.07593215e-03 -8.56671086e-02] [ 2.20867304e-03 1.07012841e-03 9.99996988e-01 4.92172693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60255784400005 meters 0.2874431092153292 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.08, Z:0.49 [[ 9.99976600e-01 5.68633846e-03 -3.80335670e-03 2.72966514e+00] [-5.69415882e-03 9.99981690e-01 -2.04851400e-03 -8.48966753e-02] [ 3.79163851e-03 2.07012298e-03 9.99990669e-01 4.91092548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6325578440001 meters 0.28841127334454936 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99993654e-01 -2.32111729e-03 -2.70276925e-03 2.74922675e+00] [ 2.31846764e-03 9.99996829e-01 -9.83067434e-04 -8.13548283e-02] [ 2.70504249e-03 9.76794912e-04 9.99995864e-01 4.92497767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66255784400005 meters 0.2891625307196931 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99993394e-01 -2.38917005e-03 -2.73917071e-03 2.74922229e+00] [ 2.38601239e-03 9.99996486e-01 -1.15546876e-03 -8.06315384e-02] [ 2.74192170e-03 1.14892543e-03 9.99995581e-01 4.92731566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6925578440001 meters 0.28745876970678674 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99993222e-01 -2.46710357e-03 -2.73293631e-03 2.74908041e+00] [ 2.46340184e-03 9.99996045e-01 -1.35702737e-03 -7.97920342e-02] [ 2.73627343e-03 1.35028585e-03 9.99995345e-01 4.93030063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72255784400005 meters 0.2883324772720991 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99992983e-01 -2.57363179e-03 -2.72230565e-03 2.74892689e+00] [ 2.56916460e-03 9.99995350e-01 -1.64318453e-03 -7.85992693e-02] [ 2.72652194e-03 1.63617895e-03 9.99994944e-01 4.93345369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7525578440001 meters 0.2879609594584873 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99992640e-01 -2.73489803e-03 -2.69079372e-03 2.74885642e+00] [ 2.72907002e-03 9.99993928e-01 -2.16719968e-03 -7.65182204e-02] [ 2.69670445e-03 2.15984036e-03 9.99994031e-01 4.93376968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78255784400005 meters 0.28802292867165025 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:0.49 [[ 9.99992208e-01 -2.85184195e-03 -2.72970629e-03 2.74906192e+00] [ 2.84507840e-03 9.99992881e-01 -2.47844280e-03 -7.52326470e-02] [ 2.73675498e-03 2.47065725e-03 9.99993203e-01 4.93165503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8125578440001 meters 0.28716700960797314 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:0.49 [[ 9.99991822e-01 -2.93875352e-03 -2.77841763e-03 2.74919379e+00] [ 2.93123884e-03 9.99992046e-01 -2.70487558e-03 -7.42952163e-02] [ 2.78634449e-03 2.69670925e-03 9.99992482e-01 4.93169402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84255784400005 meters 0.285255277365924 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:0.49 [[ 9.99997541e-01 -1.67945413e-03 -1.44847959e-03 2.70955615e+00] [ 1.67761966e-03 9.99997790e-01 -1.26676393e-03 -7.14847087e-02] [ 1.45060386e-03 1.26433081e-03 9.99998149e-01 4.89972553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.872557844 meters 0.28610828542084943 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:0.49 [[ 9.99997328e-01 -1.76604672e-03 -1.49175497e-03 2.70973299e+00] [ 1.76382633e-03 9.99997337e-01 -1.48844602e-03 -7.05634590e-02] [ 1.49437966e-03 1.48581085e-03 9.99997780e-01 4.89847306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90255784400006 meters 0.2876963214784279 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:0.49 [[ 9.99997103e-01 -1.86027997e-03 -1.52761822e-03 2.70990097e+00] [ 1.85764018e-03 9.99996782e-01 -1.72765276e-03 -6.95643816e-02] [ 1.53082722e-03 1.72480999e-03 9.99997341e-01 4.89694246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93255784400003 meters 0.28782440539696796 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:0.49 [[ 9.99997067e-01 -1.86574259e-03 -1.54460296e-03 2.71008335e+00] [ 1.86304651e-03 9.99996742e-01 -1.74508673e-03 -6.95032751e-02] [ 1.54785381e-03 1.74220395e-03 9.99997284e-01 4.89380126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96255784400006 meters 0.2889911559225428 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:0.49 [[ 9.99997118e-01 -1.85496741e-03 -1.52448140e-03 2.71015498e+00] [ 1.85234370e-03 9.99996804e-01 -1.72066805e-03 -6.96119969e-02] [ 1.52766831e-03 1.71783923e-03 9.99997358e-01 4.89104573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99255784400003 meters 0.2861565877381631 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.49 [[ 9.99997696e-01 -2.11523866e-03 3.65602860e-04 2.67034837e+00] [ 2.11566745e-03 9.99997070e-01 -1.17643905e-03 -6.78724287e-02] [-3.63113340e-04 1.17720983e-03 9.99999241e-01 4.85757414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02255784400006 meters 0.28614740062023813 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.49 [[ 9.99997655e-01 -2.10721606e-03 4.99664480e-04 2.67004076e+00] [ 2.10779318e-03 9.99997109e-01 -1.15731929e-03 -6.79618346e-02] [-4.97224313e-04 1.15836977e-03 9.99999205e-01 4.85688351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05255784400003 meters 0.28732696725050294 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.49 [[ 9.99997666e-01 -2.06493457e-03 6.36380706e-04 2.66985763e+00] [ 2.06560146e-03 9.99997316e-01 -1.04906999e-03 -6.84205529e-02] [-6.34212737e-04 1.05038205e-03 9.99999247e-01 4.85330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08255784400006 meters 0.28559147373699645 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.07, Z:0.48 [[ 9.99996294e-01 -2.26932932e-03 1.50409317e-03 2.63145311e+00] [ 2.27051721e-03 9.99997111e-01 -7.88531460e-04 -6.63750820e-02] [-1.50229939e-03 7.91943607e-04 9.99998558e-01 4.81577248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11255784400004 meters 0.287016850159607 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.48 [[ 9.99998603e-01 -1.65444918e-03 -2.36566423e-04 2.67161754e+00] [ 1.65433581e-03 9.99998517e-01 -4.78637364e-04 -6.93779568e-02] [ 2.37357953e-04 4.78245335e-04 9.99999857e-01 4.84383530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14255784400007 meters 0.2875571652492282 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.48 [[ 9.99998662e-01 -1.62037206e-03 -2.25233599e-04 2.67170391e+00] [ 1.62028302e-03 9.99998609e-01 -3.94980293e-04 -6.97358194e-02] [ 2.25873301e-04 3.94614822e-04 9.99999897e-01 4.84116541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17255784400004 meters 0.2875374660039733 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.48 [[ 9.99998698e-01 -1.59439609e-03 -2.46883944e-04 2.67183409e+00] [ 1.59431474e-03 9.99998675e-01 -3.29370238e-04 -7.00160783e-02] [ 2.47408764e-04 3.28976198e-04 9.99999915e-01 4.83920921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20255784400007 meters 0.28747150927359916 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.48 [[ 9.99998759e-01 -1.54968702e-03 -2.84883299e-04 2.67191321e+00] [ 1.54962535e-03 9.99998776e-01 -2.16560589e-04 -7.04867002e-02] [ 2.85218551e-04 2.16118858e-04 9.99999936e-01 4.83948584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23255784400004 meters 0.28587405351635425 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:0.49 [[ 0.99998751 0.00397929 -0.00302458 2.64903986] [-0.00398989 0.99998589 -0.0035058 -0.06735997] [ 0.00301059 0.00351783 0.99998928 0.48580033] [ 0. 0. 0. 1. ]] SLAMing on 409.26255784400007 meters 0.2875925654714033 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99991043e-01 -3.95008216e-03 -1.52001971e-03 2.66876317e+00] [ 3.94661101e-03 9.99989613e-01 -2.27988295e-03 -6.49657272e-02] [ 1.52900964e-03 2.27386360e-03 9.99996246e-01 4.87173588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29255784400004 meters 0.2863969050706707 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99990561e-01 -4.10274878e-03 -1.43017528e-03 2.66843042e+00] [ 4.09886855e-03 9.99987940e-01 -2.70556998e-03 -6.32035198e-02] [ 1.44125831e-03 2.69968234e-03 9.99995317e-01 4.87452300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3225578440001 meters 0.28620619526317653 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99990014e-01 -4.23212288e-03 -1.43568529e-03 2.66843750e+00] [ 4.22772536e-03 9.99986405e-01 -3.05234189e-03 -6.17650505e-02] [ 1.44858366e-03 3.04624173e-03 9.99994311e-01 4.87495349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35255784400005 meters 0.28559629997601504 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99989415e-01 -4.36687762e-03 -1.44951154e-03 2.66843892e+00] [ 4.36190950e-03 9.99984662e-01 -3.41308984e-03 -6.02804236e-02] [ 1.46439385e-03 3.40673108e-03 9.99993125e-01 4.87611305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3825578440001 meters 0.28679790583281684 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99988711e-01 -4.51451042e-03 -1.48219908e-03 2.66849332e+00] [ 4.50884978e-03 9.99982613e-01 -3.80046968e-03 -5.86695423e-02] [ 1.49933057e-03 3.79374377e-03 9.99991680e-01 4.87714567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41255784400005 meters 0.2854948832928703 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.49 [[ 9.99987961e-01 -4.67734956e-03 -1.48351047e-03 2.66842627e+00] [ 4.67103471e-03 9.99980136e-01 -4.23197222e-03 -5.68862483e-02] [ 1.50327541e-03 4.22499174e-03 9.99989945e-01 4.87915411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4425578440001 meters 0.2859979769323575 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:0.49 [[ 9.99987108e-01 -4.86357247e-03 -1.45938754e-03 2.66839707e+00] [ 4.85664089e-03 9.99977085e-01 -4.71618577e-03 -5.48778338e-02] [ 1.48229161e-03 4.70903725e-03 9.99987814e-01 4.87882266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47255784400005 meters 0.28537841162363003 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.05, Z:0.48 [[ 9.99995930e-01 -2.81994237e-03 -4.34022391e-04 2.62972811e+00] [ 2.81849737e-03 9.99990601e-01 -3.29468061e-03 -4.66176426e-02] [ 4.43309121e-04 3.29344391e-03 9.99994478e-01 4.84064672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5025578440001 meters 0.2849178272996336 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.05, Z:0.48 [[ 9.99995478e-01 -2.97046475e-03 -4.68953052e-04 2.63004254e+00] [ 2.96872271e-03 9.99988849e-01 -3.67274014e-03 -4.50375197e-02] [ 4.79857568e-04 3.67133134e-03 9.99993146e-01 4.83603737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53255784400005 meters 0.28549343207307193 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:0.48 [[ 9.99994633e-01 -3.23397692e-03 -5.24972960e-04 2.63043037e+00] [ 3.23168545e-03 9.99985496e-01 -4.30860835e-03 -4.24046940e-02] [ 5.38899286e-04 4.30688868e-03 9.99990580e-01 4.83161871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5625578440001 meters 0.2877892650009001 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:0.48 [[ 9.99999465e-01 1.00233331e-03 -2.55616842e-04 2.62984670e+00] [-1.00240294e-03 9.99999460e-01 -2.72432543e-04 -4.15898028e-02] [ 2.55343635e-04 2.72688629e-04 9.99999930e-01 4.83045678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59255784400005 meters 0.28726575690797757 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:0.48 [[ 9.99999605e-01 8.70032937e-04 -1.80364546e-04 2.62966923e+00] [-8.70141624e-04 9.99999439e-01 -6.03392003e-04 -4.02083914e-02] [ 1.79839474e-04 6.03548708e-04 9.99999802e-01 4.83052540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters 0.2870322915824534 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.48 [[ 9.99983258e-01 -5.55884885e-03 -1.60717529e-03 2.60766411e+00] [ 5.56244726e-03 9.99982013e-01 2.24323230e-03 -3.68635230e-02] [ 1.59467660e-03 -2.25213457e-03 9.99996192e-01 4.83905689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65255784400006 meters 0.28577707925444895 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.04, Z:0.48 [[ 9.99982873e-01 -5.63636979e-03 -1.57633361e-03 2.60771116e+00] [ 5.63959200e-03 9.99982002e-01 2.04719793e-03 -3.60449373e-02] [ 1.56476648e-03 -2.05605275e-03 9.99996662e-01 4.83650613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters 0.2886091534453667 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.48 [[ 9.99981734e-01 -5.78566490e-03 -1.74883205e-03 2.60854625e+00] [ 5.78863235e-03 9.99981807e-01 1.69654648e-03 -3.45574340e-02] [ 1.73898458e-03 -1.70663884e-03 9.99997032e-01 4.82850982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71255784400006 meters 0.28420661635708777 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.03, Z:0.48 [[ 9.99987411e-01 -4.81789930e-03 -1.40203574e-03 2.57082170e+00] [ 4.82127406e-03 9.99985465e-01 2.41369839e-03 -2.97934042e-02] [ 1.39038641e-03 -2.42042760e-03 9.99996104e-01 4.78929774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters 0.2857442058591281 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99998279e-01 1.77636264e-03 -5.36078362e-04 2.59290364e+00] [-1.77671699e-03 9.99998203e-01 -6.61258003e-04 -3.06069606e-02] [ 5.34902764e-04 6.62209324e-04 9.99999638e-01 4.78008338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77255784400006 meters 0.2851214084817505 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99998416e-01 1.66905741e-03 -6.17726901e-04 2.59322403e+00] [-1.66963716e-03 9.99998165e-01 -9.39198951e-04 -2.94280358e-02] [ 6.16158191e-04 9.40228844e-04 9.99999368e-01 4.77791487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters 0.2862704109675007 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99998514e-01 1.55335268e-03 -7.48393335e-04 2.59367582e+00] [-1.55427984e-03 9.99998023e-01 -1.23989364e-03 -2.81524921e-02] [ 7.46465864e-04 1.24105501e-03 9.99998951e-01 4.77575604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83255784400006 meters 0.286190007422236 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99998789e-01 1.32972652e-03 -8.09112119e-04 2.59389127e+00] [-1.33118394e-03 9.99997488e-01 -1.80340288e-03 -2.57862032e-02] [ 8.06712053e-04 1.80447777e-03 9.99998047e-01 4.77518928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86255784400004 meters 0.2867585989155275 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99998896e-01 1.24462119e-03 -8.11514096e-04 2.59380908e+00] [-1.24625829e-03 9.99997183e-01 -2.01997016e-03 -2.48906997e-02] [ 8.08997713e-04 2.02097929e-03 9.99997631e-01 4.77747918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89255784400007 meters 0.28618360327111775 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99998982e-01 1.16370189e-03 -8.26132030e-04 2.59380821e+00] [-1.16553919e-03 9.99996841e-01 -2.22698989e-03 -2.40310511e-02] [ 8.23537868e-04 2.22795051e-03 9.99997179e-01 4.77864366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92255784400004 meters 0.286287958849631 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999005e-01 1.09604983e-03 -8.88371780e-04 2.59395191e+00] [-1.09817901e-03 9.99996517e-01 -2.39979005e-03 -2.33012906e-02] [ 8.85738396e-04 2.40076326e-03 9.99996726e-01 4.77926983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95255784400007 meters 0.284820203758952 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999074e-01 9.80295306e-04 -9.44169209e-04 2.59409310e+00] [-9.82832797e-04 9.99995897e-01 -2.69083458e-03 -2.20676348e-02] [ 9.41527522e-04 2.69176005e-03 9.99995934e-01 4.77970604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98255784400004 meters 0.28561384324819294 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999089e-01 9.80890753e-04 -9.26845145e-04 2.59406224e+00] [-9.83379627e-04 9.99995902e-01 -2.68868898e-03 -2.20779982e-02] [ 9.24204037e-04 2.68959797e-03 9.99995956e-01 4.77939971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01255784400007 meters 0.2851647829100679 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:0.48 [[ 9.99970738e-01 -7.54077019e-03 -1.28844229e-03 2.57431757e+00] [ 7.53846480e-03 9.99969992e-01 -1.78486832e-03 -1.70950030e-02] [ 1.30186291e-03 1.77510321e-03 9.99997577e-01 4.76853804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04255784400004 meters 0.2858846654152703 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999709e-01 7.54304632e-04 -1.14543882e-04 2.59375855e+00] [-7.54638074e-04 9.99995395e-01 -2.93944894e-03 -2.16085444e-02] [ 1.12326115e-04 2.93953452e-03 9.99995673e-01 4.77800240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0725578440001 meters 0.284747085429696 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999746e-01 7.04092800e-04 -1.07779719e-04 2.59367524e+00] [-7.04420160e-04 9.99995046e-01 -3.06802101e-03 -2.10712620e-02] [ 1.05619013e-04 3.06809615e-03 9.99995288e-01 4.77964623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10255784400005 meters 0.284685336314994 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99999807e-01 5.74522391e-04 -2.35122611e-04 2.59389222e+00] [-5.75321131e-04 9.99994016e-01 -3.41127115e-03 -1.96369926e-02] [ 2.33161352e-04 3.41140577e-03 9.99994154e-01 4.78256075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1325578440001 meters 0.28650884176517377 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:0.48 [[ 9.99982424e-01 -5.09562462e-03 3.03091054e-03 2.61538260e+00] [ 5.09596915e-03 9.99987010e-01 -1.05960955e-04 -2.19099891e-02] [-3.03033123e-03 1.21404519e-04 9.99995401e-01 4.76796243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16255784400005 meters 0.2852152609357334 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:0.48 [[ 9.99982183e-01 -5.09999760e-03 3.10207351e-03 2.61511880e+00] [ 5.10038003e-03 9.99986986e-01 -1.15386463e-04 -2.18863290e-02] [-3.10144467e-03 1.31206161e-04 9.99995182e-01 4.76974052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1925578440001 meters 0.28350329492731224 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99990559e-01 3.56453363e-03 2.48523739e-03 2.59399455e+00] [-3.56181771e-03 9.99993056e-01 -1.09639398e-03 -2.26951195e-02] [-2.48912827e-03 1.08753166e-03 9.99996311e-01 4.76117652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22255784400005 meters 0.28451739428585876 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99990183e-01 3.58334902e-03 2.60643753e-03 2.59362921e+00] [-3.58063463e-03 9.99993043e-01 -1.04533967e-03 -2.29227265e-02] [-2.61016521e-03 1.03599670e-03 9.99996057e-01 4.76244807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2525578440001 meters 0.2849690642766098 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99989630e-01 3.60711394e-03 2.78006831e-03 2.59325518e+00] [-3.60440744e-03 9.99993026e-01 -9.77933288e-04 -2.32084574e-02] [-2.78357644e-03 9.67902648e-04 9.99995657e-01 4.76082092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28255784400005 meters 0.28462478157726845 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99989722e-01 3.64592765e-03 2.69497292e-03 2.59360526e+00] [-3.64357046e-03 9.99992976e-01 -8.79053955e-04 -2.36129221e-02] [-2.69815896e-03 8.69225596e-04 9.99995982e-01 4.75762843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3125578440001 meters 0.2854192126740975 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99989788e-01 3.71483474e-03 2.57359352e-03 2.59402893e+00] [-3.71303735e-03 9.99992860e-01 -7.02820857e-04 -2.43461731e-02] [-2.57618601e-03 6.93257831e-04 9.99996441e-01 4.75458208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34255784400005 meters 0.2854192126740975 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99989788e-01 3.71483474e-03 2.57359352e-03 2.59402893e+00] [-3.71303735e-03 9.99992860e-01 -7.02820857e-04 -2.43461731e-02] [-2.57618601e-03 6.93257831e-04 9.99996441e-01 4.75458208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.372557844 meters 0.2843775171786605 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.48 [[ 9.99989841e-01 3.77426005e-03 2.46418312e-03 2.59442423e+00] [-3.77291614e-03 9.99992731e-01 -5.49797796e-04 -2.49742188e-02] [-2.46624029e-03 5.40495055e-04 9.99996813e-01 4.75162979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40255784400006 meters 0.285511990115713 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99989812e-01 3.81497194e-03 2.41281820e-03 2.59461694e+00] [-3.81390429e-03 9.99992627e-01 -4.46940654e-04 -2.54008198e-02] [-2.41450548e-03 4.37733843e-04 9.99996989e-01 4.75016634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43255784400003 meters 0.2889947945965736 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99989803e-01 3.82987215e-03 2.39270315e-03 2.59456841e+00] [-3.82890973e-03 9.99992587e-01 -4.06680973e-04 -2.55700669e-02] [-2.39424294e-03 3.97515382e-04 9.99997055e-01 4.75233067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46255784400006 meters 0.28713147321774135 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.48 [[ 9.99990021e-01 3.80488323e-03 2.34095609e-03 2.59469003e+00] [-3.80379267e-03 9.99992655e-01 -4.70137146e-04 -2.52981467e-02] [-2.34272771e-03 4.61227944e-04 9.99997149e-01 4.75268273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49255784400003 meters 0.2847133508203384 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.48 [[ 9.99990342e-01 3.78991023e-03 2.22521137e-03 2.59502971e+00] [-3.78878356e-03 9.99992692e-01 -5.10315662e-04 -2.51118623e-02] [-2.22712916e-03 5.01879889e-04 9.99997394e-01 4.75179589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52255784400006 meters 0.2853288837756177 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99990988e-01 3.73811208e-03 2.01281252e-03 2.59563698e+00] [-3.73680568e-03 9.99992805e-01 -6.52413937e-04 -2.44803825e-02] [-2.01523683e-03 6.44886568e-04 9.99997761e-01 4.75016149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55255784400003 meters 0.28679675988047515 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99991197e-01 3.69626294e-03 1.98590221e-03 2.59568670e+00] [-3.69475549e-03 9.99992884e-01 -7.62209619e-04 -2.40214885e-02] [-1.98870541e-03 7.54865486e-04 9.99997738e-01 4.75074185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58255784400006 meters 0.28629440445524496 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99991422e-01 3.63321674e-03 1.98911295e-03 2.59557399e+00] [-3.63136564e-03 9.99992971e-01 -9.33435820e-04 -2.33161623e-02] [-1.99249034e-03 9.26204616e-04 9.99997586e-01 4.75339974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61255784400004 meters 0.283154260866927 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:0.47 [[ 9.99986785e-01 -4.84640363e-03 1.71503086e-03 2.57642973e+00] [ 4.84641501e-03 9.99988256e-01 -2.48083426e-06 -1.68726499e-02] [-1.71499870e-03 1.07925528e-05 9.99998529e-01 4.74498460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64255784400007 meters 0.28351712724554473 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:0.47 [[ 9.99986596e-01 -4.93801804e-03 1.55708206e-03 2.57673809e+00] [ 4.93843774e-03 9.99987771e-01 -2.65808660e-04 -1.57928685e-02] [-1.55575045e-03 2.73494650e-04 9.99998752e-01 4.74737953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67255784400004 meters 0.28435873115120586 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99986309e-01 -5.04423827e-03 1.39217228e-03 2.57724992e+00] [ 5.04502935e-03 9.99987114e-01 -5.65309177e-04 -1.45374374e-02] [-1.38930279e-03 5.72324987e-04 9.99998871e-01 4.74550932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70255784400007 meters 0.28480455977917757 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99985935e-01 -5.17686508e-03 1.15308183e-03 2.57805079e+00] [ 5.17798169e-03 9.99986126e-01 -9.67496805e-04 -1.28257530e-02] [-1.14805723e-03 9.73453834e-04 9.99998867e-01 4.74052723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73255784400004 meters 0.2860816171074264 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99985544e-01 -5.25952365e-03 1.11734143e-03 2.57818874e+00] [ 5.26084490e-03 9.99985462e-01 -1.18285919e-03 -1.19228676e-02] [-1.11110391e-03 1.18872025e-03 9.99998676e-01 4.73966507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76255784400007 meters 0.2854078183508782 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99985039e-01 -5.36277559e-03 1.07857199e-03 2.57829380e+00] [ 5.36433857e-03 9.99984558e-01 -1.45149150e-03 -1.08014030e-02] [-1.07077131e-03 1.45725561e-03 9.99998365e-01 4.73976470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79255784400004 meters 0.2852009713737123 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99984508e-01 -5.45416066e-03 1.11153606e-03 2.57815679e+00] [ 5.45602863e-03 9.99983697e-01 -1.68449156e-03 -9.83210175e-03] [-1.10233045e-03 1.69053004e-03 9.99997963e-01 4.74114798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8225578440001 meters 0.28553665748119234 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99983465e-01 -5.64868255e-03 1.07811705e-03 2.57832170e+00] [ 5.65101406e-03 9.99981674e-01 -2.17191560e-03 -7.77838936e-03] [-1.06582883e-03 2.17797215e-03 9.99997060e-01 4.73993963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85255784400005 meters 0.28522157361023304 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99998449e-01 -1.30965455e-03 1.17737933e-03 2.57833984e+00] [ 1.30706698e-03 9.99996735e-01 2.19583276e-03 -8.46270633e-03] [-1.18025127e-03 -2.19429044e-03 9.99996896e-01 4.73450616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8825578440001 meters 0.2857559390632228 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99998368e-01 -1.40232567e-03 1.13924049e-03 2.57851771e+00] [ 1.40008862e-03 9.99997095e-01 1.96206415e-03 -7.47766443e-03] [-1.14198863e-03 -1.96046591e-03 9.99997426e-01 4.73294603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91255784400005 meters 0.28696927519929943 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99998127e-01 -1.54957812e-03 1.15932222e-03 2.57843196e+00] [ 1.54770985e-03 9.99997505e-01 1.61068074e-03 -5.98286568e-03] [-1.16181520e-03 -1.60888343e-03 9.99998031e-01 4.73387084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9425578440001 meters 0.285643406248323 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99998010e-01 -1.60798175e-03 1.18115112e-03 2.57828047e+00] [ 1.60625425e-03 9.99997641e-01 1.46205084e-03 -5.36542528e-03] [-1.18349928e-03 -1.46015071e-03 9.99998234e-01 4.73612252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97255784400005 meters 0.28506798084162044 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997919e-01 -1.64468336e-03 1.20738863e-03 2.57811314e+00] [ 1.64303400e-03 9.99997718e-01 1.36577910e-03 -4.97296794e-03] [-1.20963214e-03 -1.36379248e-03 9.99998338e-01 4.73845382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0025578440001 meters 0.28462475783045005 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997827e-01 -1.68766369e-03 1.22352789e-03 2.57804080e+00] [ 1.68612817e-03 9.99997791e-01 1.25494166e-03 -4.51189977e-03] [-1.22564311e-03 -1.25287591e-03 9.99998464e-01 4.73925940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03255784400005 meters 0.28428005929409433 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997684e-01 -1.78750582e-03 1.19847668e-03 2.57802407e+00] [ 1.78629624e-03 9.99997895e-01 1.00957106e-03 -3.46582419e-03] [-1.20027877e-03 -1.00742788e-03 9.99998772e-01 4.74111884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0625578440001 meters 0.28377757182414504 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997572e-01 -1.83822509e-03 1.21531755e-03 2.57793216e+00] [ 1.83715681e-03 9.99997926e-01 8.79544323e-04 -2.92256530e-03] [-1.21693183e-03 -8.77309459e-04 9.99998875e-01 4.74235581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09255784400005 meters 0.2840667293164404 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997508e-01 -1.88018587e-03 1.20407064e-03 2.57786879e+00] [ 1.87925459e-03 9.99997935e-01 7.74107324e-04 -2.48167082e-03] [-1.20552362e-03 -7.71842639e-04 9.99998975e-01 4.74450143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters 0.2832498582870823 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997462e-01 -1.89049663e-03 1.22534199e-03 2.57774995e+00] [ 1.88958012e-03 9.99997934e-01 7.48689678e-04 -2.38465324e-03] [-1.22675485e-03 -7.46372396e-04 9.99998969e-01 4.74595453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15255784400006 meters 0.2824898429251887 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99997412e-01 -1.92691618e-03 1.20979543e-03 2.57767150e+00] [ 1.92612771e-03 9.99997932e-01 6.52560583e-04 -1.98762160e-03] [-1.21105036e-03 -6.50228674e-04 9.99999055e-01 4.74876475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters 0.2837850253096582 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:0.48 [[ 9.99974256e-01 6.76274063e-03 2.39863923e-03 2.59858905e+00] [-6.76305765e-03 9.99977123e-01 1.24079061e-04 -5.25621659e-03] [-2.39774524e-03 -1.40298002e-04 9.99997116e-01 4.75541562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21255784400006 meters 0.28478690934962464 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:0.48 [[ 9.99974060e-01 6.81580912e-03 2.32887237e-03 2.59882066e+00] [-6.81642803e-03 9.99976735e-01 2.57920911e-04 -5.81641975e-03] [-2.32706025e-03 -2.73788811e-04 9.99997255e-01 4.75413168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters 0.28533822343409176 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:0.48 [[ 9.99994674e-01 2.45731373e-03 2.14796726e-03 2.59922177e+00] [-2.44839223e-03 9.99988407e-01 -4.14627206e-03 -5.41780452e-03] [-2.15813105e-03 4.14099091e-03 9.99989097e-01 4.75440499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27255784400006 meters 0.28477518199986845 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.01, Z:0.48 [[ 9.99994100e-01 2.58664335e-03 2.26031438e-03 2.59885521e+00] [-2.57801470e-03 9.99989411e-01 -3.81206506e-03 -6.83116066e-03] [-2.27015090e-03 3.80621544e-03 9.99990180e-01 4.75566895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters 0.2838083523175555 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99981739e-01 -5.74626394e-03 1.87116432e-03 2.57841999e+00] [ 5.75086141e-03 9.99980435e-01 -2.46097209e-03 -5.16350012e-03] [-1.85698632e-03 2.47168796e-03 9.99995221e-01 4.74684996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33255784400006 meters 0.28395133638751086 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99983442e-01 -5.44402663e-03 1.86520211e-03 2.57847073e+00] [ 5.44692861e-03 9.99983957e-01 -1.55432174e-03 -8.87124767e-03] [-1.85671042e-03 1.56445562e-03 9.99997053e-01 4.74519860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36255784400004 meters 0.28513854820332185 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99984682e-01 -5.25716125e-03 1.73176535e-03 2.57897843e+00] [ 5.25899985e-03 9.99985611e-01 -1.05884888e-03 -1.09460374e-02] [-1.72617390e-03 1.06794001e-03 9.99997940e-01 4.74083623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39255784400007 meters 0.2853605740640116 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99986394e-01 -4.89956414e-03 1.79033659e-03 2.57886829e+00] [ 4.89983949e-03 9.99987985e-01 -1.49442746e-04 -1.47616319e-02] [-1.78958288e-03 1.58213075e-04 9.99998386e-01 4.73919548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42255784400004 meters 0.2839240469213263 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:0.47 [[ 9.99986993e-01 -4.75492280e-03 1.84520460e-03 2.57846490e+00] [ 4.75452500e-03 9.99988673e-01 2.19914804e-04 -1.63579620e-02] [-1.84622938e-03 -2.11138872e-04 9.99998273e-01 4.74483182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45255784400007 meters 0.2845192648257114 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:0.48 [[ 9.99987532e-01 -4.63088230e-03 1.86835510e-03 2.57815972e+00] [ 4.62989114e-03 9.99989139e-01 5.34479509e-04 -1.77153890e-02] [-1.87080992e-03 -5.25822565e-04 9.99998112e-01 4.75012127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48255784400004 meters 0.28456028110699155 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:0.48 [[ 9.99988211e-01 -4.49064845e-03 1.84720998e-03 2.57818429e+00] [ 4.48902272e-03 9.99989534e-01 8.83303738e-04 -1.91813090e-02] [-1.85115726e-03 -8.75001157e-04 9.99997904e-01 4.75046553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51255784400007 meters 0.2834339618736526 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99995206e-01 2.86525316e-03 -1.17378499e-03 2.56087290e+00] [-2.86595730e-03 9.99995714e-01 -5.98647007e-04 -2.44916814e-02] [ 1.17206468e-03 6.02008155e-04 9.99999132e-01 4.72836753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54255784400004 meters 0.2835297361990919 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99994852e-01 2.97153309e-03 -1.21041688e-03 2.56111596e+00] [-2.97193259e-03 9.99995530e-01 -3.28382958e-04 -2.56079615e-02] [ 1.20943567e-03 3.31978545e-04 9.99999214e-01 4.72460703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5725578440001 meters 0.28456221760846334 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99994533e-01 3.05805091e-03 -1.25798279e-03 2.56126089e+00] [-3.05819077e-03 9.99995318e-01 -1.09268993e-04 -2.65282266e-02] [ 1.25764275e-03 1.13115547e-04 9.99999203e-01 4.72379809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60255784400005 meters 0.28634209969243124 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 9.99985529e-01 -5.37946274e-03 5.34944934e-05 2.58178621e+00] [ 5.37940145e-03 9.99984941e-01 1.08653347e-03 -2.65548903e-02] [-5.93386541e-05 -1.08622998e-03 9.99999408e-01 4.73255293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6325578440001 meters 0.2845528682940575 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 9.99986185e-01 -5.25520619e-03 1.16553460e-04 2.58149863e+00] [ 5.25503633e-03 9.99985194e-01 1.41267293e-03 -2.79315773e-02] [-1.23975622e-04 -1.41204092e-03 9.99998995e-01 4.73511641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66255784400005 meters 0.28488666886228664 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99994639e-01 2.84973220e-03 1.61268042e-03 2.59853448e+00] [-2.85041073e-03 9.99995850e-01 4.18608986e-04 -3.70089905e-02] [-1.61148080e-03 -4.23203544e-04 9.99998612e-01 4.75723443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6925578440001 meters 0.2836219896391828 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99994133e-01 2.98444583e-03 1.68149842e-03 2.59831960e+00] [-2.98575166e-03 9.99995243e-01 7.74610651e-04 -3.84959084e-02] [-1.67917863e-03 -7.79626643e-04 9.99998286e-01 4.75764238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72255784400005 meters 0.2839184895633672 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99993722e-01 3.09087658e-03 1.73303546e-03 2.59820859e+00] [-3.09270436e-03 9.99994663e-01 1.05298694e-03 -3.96646109e-02] [-1.72977156e-03 -1.05834009e-03 9.99997944e-01 4.75686972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7525578440001 meters 0.28478152008657864 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99993284e-01 3.18341906e-03 1.81608348e-03 2.59796960e+00] [-3.18576270e-03 9.99994095e-01 1.28906258e-03 -4.06668124e-02] [-1.81196913e-03 -1.29483953e-03 9.99997520e-01 4.75713126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78255784400005 meters 0.284934335514697 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99992948e-01 3.24133260e-03 1.89699975e-03 2.59767263e+00] [-3.24406387e-03 9.99993703e-01 1.43848288e-03 -4.13079211e-02] [-1.89232521e-03 -1.44462672e-03 9.99997166e-01 4.75894552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8125578440001 meters 0.2841735660316141 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99992848e-01 3.24934575e-03 1.93512345e-03 2.59734953e+00] [-3.25218601e-03 9.99993636e-01 1.46640909e-03 -4.14070749e-02] [-1.93034626e-03 -1.47269198e-03 9.99997052e-01 4.76432410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84255784400005 meters 0.2840631238324157 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99993254e-01 3.20730967e-03 1.79033592e-03 2.59771300e+00] [-3.20973456e-03 9.99993933e-01 1.35320780e-03 -4.09251528e-02] [-1.78598490e-03 -1.35894517e-03 9.99997482e-01 4.76451732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.872557844 meters 0.28648003612295964 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:0.48 [[ 9.99985192e-01 -5.34673102e-03 1.01382133e-03 2.61870346e+00] [ 5.34429195e-03 9.99982855e-01 2.39345245e-03 -3.81009479e-02] [-1.02660110e-03 -2.38799885e-03 9.99996622e-01 4.77733132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90255784400006 meters 0.28459986246916186 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99995341e-01 2.87170373e-03 -1.03509533e-03 2.59862487e+00] [-2.87032712e-03 9.99994998e-01 1.32897544e-03 -3.84559708e-02] [ 1.03890657e-03 -1.32599818e-03 9.99998581e-01 4.76744671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93255784400003 meters 0.2850305681731398 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99995338e-01 2.83652508e-03 -1.13031906e-03 2.59900316e+00] [-2.83512167e-03 9.99995211e-01 1.24127600e-03 -3.80577127e-02] [ 1.13383456e-03 -1.23806562e-03 9.99998591e-01 4.76460085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96255784400006 meters 0.2849771130091101 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.48 [[ 9.99995184e-01 2.88816981e-03 -1.13596973e-03 2.59900080e+00] [-2.88661279e-03 9.99994895e-01 1.36991186e-03 -3.86013225e-02] [ 1.13992047e-03 -1.36662616e-03 9.99998416e-01 4.76481989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99255784400003 meters 0.2839621615209296 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.04, Z:0.48 [[ 9.99981788e-01 -5.47676727e-03 -2.53559078e-03 2.57958299e+00] [ 5.48331450e-03 9.99981632e-01 2.58242136e-03 -3.50562425e-02] [ 2.52140089e-03 -2.59627777e-03 9.99993451e-01 4.75568151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02255784400006 meters 0.28644638451747095 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.47 [[ 9.99998548e-01 8.91942927e-04 -1.45198198e-03 2.60336579e+00] [-8.92261965e-04 9.99999578e-01 -2.19093253e-04 -3.75823235e-02] [ 1.45178595e-03 2.20388483e-04 9.99998922e-01 4.73458854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05255784400003 meters 0.2855709051910584 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.47 [[ 9.99998464e-01 9.20191835e-04 -1.49194627e-03 2.60360247e+00] [-9.20416256e-04 9.99999565e-01 -1.49741817e-04 -3.78680080e-02] [ 1.49180783e-03 1.51114799e-04 9.99998876e-01 4.73159653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08255784400006 meters 0.287169509014582 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.04, Z:0.47 [[ 9.99998400e-01 8.95471854e-04 -1.54849575e-03 2.60387280e+00] [-8.95799661e-04 9.99999577e-01 -2.11013581e-04 -3.76065735e-02] [ 1.54830614e-03 2.12400385e-04 9.99998779e-01 4.72896643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11255784400004 meters 0.28598147619328 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 0.99998044 -0.00549111 -0.00299536 2.58261754] [ 0.00549941 0.99998104 0.00277052 -0.03418324] [ 0.00298009 -0.00278694 0.99999168 0.47356 ] [ 0. 0. 0. 1. ]] SLAMing on 412.14255784400007 meters 0.28626067728518867 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 9.99979432e-01 -5.57490649e-03 -3.17125721e-03 2.58310161e+00] [ 5.58299048e-03 9.99981174e-01 2.54602740e-03 -3.32339283e-02] [ 3.15700365e-03 -2.56368013e-03 9.99991730e-01 4.73494902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17255784400004 meters 0.28647787766549215 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 9.99977297e-01 -5.74558430e-03 -3.52048472e-03 2.58409132e+00] [ 5.75257679e-03 9.99981495e-01 1.97933234e-03 -3.08927062e-02] [ 3.50904715e-03 -1.99953927e-03 9.99991844e-01 4.73216719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20255784400007 meters 0.28538489873787654 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99986433e-01 2.51130668e-03 -4.56370728e-03 2.56345569e+00] [-2.50825651e-03 9.99996627e-01 6.73954617e-04 -3.12327901e-02] [ 4.56538440e-03 -6.62498525e-04 9.99989359e-01 4.71918291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23255784400004 meters 0.28598212799806993 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99986285e-01 2.44927688e-03 -4.62932044e-03 2.56364561e+00] [-2.44690462e-03 9.99996872e-01 5.18036549e-04 -3.05704103e-02] [ 4.63057477e-03 -5.06701938e-04 9.99989150e-01 4.71882740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26255784400007 meters 0.28598212799806993 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99986285e-01 2.44927688e-03 -4.62932044e-03 2.56364561e+00] [-2.44690462e-03 9.99996872e-01 5.18036549e-04 -3.05704103e-02] [ 4.63057477e-03 -5.06701938e-04 9.99989150e-01 4.71882740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29255784400004 meters 0.2854673502725608 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99986345e-01 2.38153486e-03 -4.65165407e-03 2.56369147e+00] [-2.37994644e-03 9.99997108e-01 3.46980088e-04 -2.98514024e-02] [ 4.65246696e-03 -3.35904663e-04 9.99989121e-01 4.71920300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3225578440001 meters 0.28670077640732894 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99986955e-01 2.19653427e-03 -4.61150893e-03 2.56347540e+00] [-2.19705791e-03 9.99997581e-01 -1.08488051e-04 -2.79010822e-02] [ 4.61125947e-03 1.18618388e-04 9.99989361e-01 4.72191033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35255784400005 meters 0.28589285754955446 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99987294e-01 2.13799759e-03 -4.56515217e-03 2.56325687e+00] [-2.13916908e-03 9.99997680e-01 -2.51750095e-04 -2.72970452e-02] [ 4.56460334e-03 2.61512529e-04 9.99989548e-01 4.72417707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3825578440001 meters 0.2864895615328129 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99987765e-01 2.10191080e-03 -4.47796173e-03 2.56292830e+00] [-2.10346411e-03 9.99997729e-01 -3.42197849e-04 -2.69217267e-02] [ 4.47723230e-03 3.51612893e-04 9.99989915e-01 4.72654431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41255784400005 meters 0.2868619928785459 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99987936e-01 2.09427965e-03 -4.44312466e-03 2.56271667e+00] [-2.09589825e-03 9.99997739e-01 -3.59669604e-04 -2.68496243e-02] [ 4.44236137e-03 3.68977602e-04 9.99990065e-01 4.72919280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4425578440001 meters 0.2854070700269777 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99987992e-01 2.09469120e-03 -4.43026389e-03 2.56257481e+00] [-2.09629503e-03 9.99997739e-01 -3.57404604e-04 -2.68585001e-02] [ 4.42950522e-03 3.66687453e-04 9.99990122e-01 4.73156570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47255784400005 meters 0.28444939233048033 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99988467e-01 2.04435492e-03 -4.34586807e-03 2.56223447e+00] [-2.04644417e-03 9.99997793e-01 -4.76351202e-04 -2.63466912e-02] [ 4.34488465e-03 4.85239285e-04 9.99990443e-01 4.73435123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5025578440001 meters 0.28631565672714 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99988917e-01 1.98475698e-03 -4.26926431e-03 2.56189838e+00] [-1.98742609e-03 9.99997832e-01 -6.21042273e-04 -2.57241936e-02] [ 4.26802243e-03 6.29520237e-04 9.99990694e-01 4.73759725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53255784400005 meters 0.28555107202352004 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:0.47 [[ 9.99989543e-01 1.93476257e-03 -4.14385691e-03 2.56136822e+00] [-1.93785758e-03 9.99997846e-01 -7.43005651e-04 -2.52102549e-02] [ 4.14241045e-03 7.51028086e-04 9.99991138e-01 4.74250457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5625578440001 meters 0.2841938337260069 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.02, Z:0.47 [[ 9.99970186e-01 -6.70079012e-03 -3.83748711e-03 2.54111064e+00] [ 6.70101301e-03 9.99977547e-01 4.52278501e-05 -1.95058908e-02] [ 3.83709788e-03 -7.09415527e-05 9.99992636e-01 4.73294021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59255784400005 meters 0.2846468548309663 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99993288e-01 1.81097264e-03 -3.18517277e-03 2.56119720e+00] [-1.81449194e-03 9.99997746e-01 -1.10235623e-03 -2.21353457e-02] [ 3.18316925e-03 1.10812830e-03 9.99994320e-01 4.74374048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters 0.28481517247745947 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99992779e-01 1.63053966e-03 -3.43257947e-03 2.56192026e+00] [-1.63606722e-03 9.99997369e-01 -1.60813284e-03 -1.99942896e-02] [ 3.42994832e-03 1.61373716e-03 9.99992816e-01 4.74203539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65255784400006 meters 0.2849675246295856 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99992629e-01 1.56315703e-03 -3.50686423e-03 2.56215869e+00] [-1.56940244e-03 9.99997186e-01 -1.77886640e-03 -1.92659018e-02] [ 3.50407372e-03 1.78435697e-03 9.99992269e-01 4.74119911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters 0.2861195903725605 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99992473e-01 1.49445965e-03 -3.58055667e-03 2.56243565e+00] [-1.50144413e-03 9.99996974e-01 -1.94877352e-03 -1.85379260e-02] [ 3.57763347e-03 1.95413486e-03 9.99991691e-01 4.73946638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71255784400006 meters 0.28447078569739276 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99992514e-01 1.32423252e-03 -3.63574971e-03 2.56268320e+00] [-1.33295779e-03 9.99996235e-01 -2.39847990e-03 -1.66516710e-02] [ 3.63255988e-03 2.40330824e-03 9.99990514e-01 4.73744855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters 0.2848476790388407 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:0.47 [[ 9.99992364e-01 1.20712308e-03 -3.71673100e-03 2.56297299e+00] [-1.21714457e-03 9.99995627e-01 -2.69523935e-03 -1.54003324e-02] [ 3.71346126e-03 2.69974257e-03 9.99989461e-01 4.73596570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77255784400006 meters 0.28435768241895587 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.47 [[ 9.99992316e-01 1.12119752e-03 -3.75631667e-03 2.56314074e+00] [-1.13215123e-03 9.99995110e-01 -2.91522166e-03 -1.44708551e-02] [ 3.75302976e-03 2.91945198e-03 9.99988696e-01 4.73474673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters 0.28602560478952466 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.47 [[ 9.99988777e-01 -4.47475777e-03 -1.55609352e-03 2.58617061e+00] [ 4.47537884e-03 9.99989907e-01 3.95868186e-04 -1.49665055e-02] [ 1.55430640e-03 -4.02827852e-04 9.99998711e-01 4.71645478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83255784400006 meters 0.2860622305491022 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.47 [[ 9.99987833e-01 -4.60783936e-03 -1.76131257e-03 2.58685126e+00] [ 4.60789991e-03 9.99989383e-01 3.03209283e-05 -1.34182757e-02] [ 1.76115415e-03 -3.84365114e-05 9.99998448e-01 4.71254057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86255784400004 meters 0.2861288772933978 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.47 [[ 9.99987308e-01 -4.69717716e-03 -1.82197165e-03 2.58712336e+00] [ 4.69681281e-03 9.99988949e-01 -2.04206787e-04 -1.24273844e-02] [ 1.82291071e-03 1.95646735e-04 9.99998319e-01 4.71008399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89255784400007 meters 0.2843581022784109 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:0.47 [[ 9.99987222e-01 3.99188885e-03 -3.10179881e-03 2.56611526e+00] [-3.99524479e-03 9.99991440e-01 -1.07649362e-03 -1.22160883e-02] [ 3.09747502e-03 1.08887231e-03 9.99994610e-01 4.70323830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92255784400004 meters 0.28583904578634706 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.47 [[ 9.99984993e-01 -4.64002337e-03 -2.91263124e-03 2.58677630e+00] [ 4.63936280e-03 9.99989211e-01 -2.33509423e-04 -8.40506980e-03] [ 2.91368330e-03 2.19993165e-04 9.99995731e-01 4.71083525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95255784400007 meters 0.2863684679759364 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:0.47 [[ 9.99984305e-01 -4.70866133e-03 -3.03612794e-03 2.58716929e+00] [ 4.70743125e-03 9.99988835e-01 -4.12164786e-04 -7.65504849e-03] [ 3.03803478e-03 3.97865954e-04 9.99995306e-01 4.70910161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98255784400004 meters 0.2877184106051992 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:0.47 [[ 9.99988372e-01 3.81956058e-03 -2.94400939e-03 2.60829690e+00] [-3.82507225e-03 9.99990938e-01 -1.86881130e-03 -7.51163466e-03] [ 2.93684467e-03 1.88005062e-03 9.99993920e-01 4.72250228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01255784400007 meters 0.28733323372611785 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:0.47 [[ 9.99988770e-01 3.73191355e-03 -2.92098972e-03 2.60814205e+00] [-3.73810621e-03 9.99990771e-01 -2.11747801e-03 -6.48761151e-03] [ 2.91306052e-03 2.12837320e-03 9.99993492e-01 4.72495592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04255784400004 meters 0.28628961059178365 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:0.47 [[ 9.99989268e-01 3.64124387e-03 -2.86436168e-03 2.60786552e+00] [-3.64805854e-03 9.99990520e-01 -2.37750764e-03 -5.42866167e-03] [ 2.85567744e-03 2.38793149e-03 9.99993071e-01 4.72841124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0725578440001 meters 0.2853028295207181 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 0.99998979 0.00353445 -0.00281426 2.60767138] [-0.00354196 0.99999016 -0.00267057 -0.00421889] [ 0.00280479 0.00268051 0.99999247 0.4730222 ] [ 0. 0. 0. 1. ]] SLAMing on 413.10255784400005 meters 0.2854034842528086 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 9.99990206e-01 3.40255460e-03 -2.83046215e-03 2.60766103e+00] [-3.41130052e-03 9.99989405e-01 -3.09085691e-03 -2.51989440e-03] [ 2.81991535e-03 3.10048220e-03 9.99991218e-01 4.73184721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1325578440001 meters 0.28561881056652155 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 9.99990239e-01 3.33856800e-03 -2.89406734e-03 2.60786684e+00] [-3.34800998e-03 9.99989069e-01 -3.26384799e-03 -1.79862654e-03] [ 2.88313912e-03 3.27350550e-03 9.99990486e-01 4.73095408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16255784400005 meters 0.28658117684362916 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 9.99990518e-01 3.26053905e-03 -2.88674308e-03 2.60781598e+00] [-3.27054446e-03 9.99988638e-01 -3.46807587e-03 -9.43492898e-04] [ 2.87540249e-03 3.47748421e-03 9.99989820e-01 4.73182328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1925578440001 meters 0.28688767407577365 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 9.99990859e-01 3.22815763e-03 -2.80389097e-03 2.60752962e+00] [-3.23811207e-03 9.99988445e-01 -3.55297045e-03 -5.92617673e-04] [ 2.79238902e-03 3.56201728e-03 9.99989757e-01 4.73367005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22255784400005 meters 0.28480321336280606 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:0.47 [[ 9.99991224e-01 3.19279763e-03 -2.71258470e-03 2.60713257e+00] [-3.20268096e-03 9.99988221e-01 -3.64701163e-03 -2.04671487e-04] [ 2.70090858e-03 3.65566717e-03 9.99989671e-01 4.73778671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2525578440001 meters 0.285834513454511 Centerline is valid? [False, False] Translation: X:2.63, Y:0.00, Z:0.48 [[ 9.99988808e-01 -4.54720775e-03 -1.30678154e-03 2.62525111e+00] [ 4.54470205e-03 9.99987841e-01 -1.91407436e-03 3.55019875e-03] [ 1.31546934e-03 1.90811401e-03 9.99997314e-01 4.75737003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28255784400005 meters 0.2860254463283102 Centerline is valid? [False, False] Translation: X:2.63, Y:0.00, Z:0.48 [[ 9.99988758e-01 -4.57541191e-03 -1.24517050e-03 2.62503460e+00] [ 4.57293615e-03 9.99987576e-01 -1.98392732e-03 3.85330565e-03] [ 1.25423232e-03 1.97821093e-03 9.99997257e-01 4.75875505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3125578440001 meters 0.2844840172659297 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:0.47 [[ 9.99991251e-01 4.06353825e-03 -9.92378780e-04 2.60356301e+00] [-4.06625939e-03 9.99987936e-01 -2.75558887e-03 9.22845193e-04] [ 9.81169367e-04 2.75960003e-03 9.99995711e-01 4.74895861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34255784400005 meters 0.2848167510731155 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:0.48 [[ 9.99991264e-01 4.08560704e-03 -8.82913318e-04 2.60317733e+00] [-4.08798447e-03 9.99987978e-01 -2.70789530e-03 6.96540171e-04] [ 8.71839307e-04 2.71148098e-03 9.99995944e-01 4.75144506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.372557844 meters 0.2861030840844558 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:0.48 [[ 9.99991252e-01 4.08553492e-03 -8.97040291e-04 2.60312278e+00] [-4.08794993e-03 9.99987980e-01 -2.70706782e-03 6.93732581e-04] [ 8.85969688e-04 2.71071120e-03 9.99995934e-01 4.75345201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40255784400006 meters 0.2836788935049425 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.48 [[ 9.99994002e-01 -1.96432220e-03 -2.85244173e-03 2.57980293e+00] [ 1.96565108e-03 9.99997961e-01 4.63146353e-04 -2.04945174e-04] [ 2.85152615e-03 -4.68750481e-04 9.99995825e-01 4.77426956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43255784400003 meters 0.2855003852837146 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:0.48 [[ 9.99990941e-01 4.25608537e-03 -5.71000305e-05 2.60199362e+00] [-4.25620845e-03 9.99988149e-01 -2.36350693e-03 3.68694114e-04] [ 4.70400665e-05 2.36372855e-03 9.99997205e-01 4.75467966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46255784400006 meters 0.2849708142525804 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.00, Z:0.48 [[ 9.99990633e-01 4.32775495e-03 -6.27091845e-05 2.60199650e+00] [-4.32788144e-03 9.99988256e-01 -2.18113062e-03 -3.95967057e-04] [ 5.32690492e-05 2.18138159e-03 9.99997619e-01 4.75490444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49255784400003 meters 0.28366504053223074 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.48 [[ 9.99989286e-01 -4.17020114e-03 -2.00934388e-03 2.58185926e+00] [ 4.16815852e-03 9.99990793e-01 -1.01967892e-03 -9.84876312e-04] [ 2.01357764e-03 1.01129273e-03 9.99997461e-01 4.75050594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52255784400006 meters 0.2847481767371467 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99989717e-01 -4.04782413e-03 -2.04466341e-03 2.58203825e+00] [ 4.04638130e-03 9.99991562e-01 -7.09299805e-04 -2.29473913e-03] [ 2.04751728e-03 7.01019024e-04 9.99997658e-01 4.74854648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55255784400003 meters 0.28540038936723594 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99990186e-01 -3.93979542e-03 -2.02638385e-03 2.58209251e+00] [ 3.93891840e-03 9.99992147e-01 -4.36606394e-04 -3.44757214e-03] [ 2.02808807e-03 4.28620348e-04 9.99997852e-01 4.74632124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58255784400006 meters 0.28439596347579726 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:0.47 [[ 9.99990340e-01 -3.89352827e-03 -2.03949570e-03 2.58211850e+00] [ 3.89289062e-03 9.99992373e-01 -3.16526677e-04 -3.95706098e-03] [ 2.04071255e-03 3.08584086e-04 9.99997870e-01 4.74651423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61255784400004 meters 0.28443302130867226 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:0.47 [[ 9.99986225e-01 4.57177404e-03 -2.57859477e-03 2.56084723e+00] [-4.57402373e-03 9.99989163e-01 -8.67227909e-04 -8.56617927e-03] [ 2.57460206e-03 8.79010516e-04 9.99996299e-01 4.73375586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64255784400007 meters 0.28480481275288944 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99989365e-01 -4.11287634e-03 -2.08678283e-03 2.58160435e+00] [ 4.11290497e-03 9.99991542e-01 9.43098790e-06 -6.23845058e-03] [ 2.08672639e-03 -1.80136271e-05 9.99997823e-01 4.73832105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67255784400004 meters 0.28611400504312656 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:0.47 [[ 9.99989621e-01 -3.99507256e-03 -2.19009333e-03 2.58194857e+00] [ 3.99573683e-03 9.99991972e-01 2.99014592e-04 -7.47370032e-03] [ 2.18888116e-03 -3.07762525e-04 9.99997557e-01 4.73671009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70255784400007 meters 0.28465031955015957 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:0.47 [[ 9.99991737e-01 -3.32849576e-03 -2.33382666e-03 2.54452068e+00] [ 3.33237231e-03 9.99993071e-01 1.65910876e-03 -1.30355189e-02] [ 2.32828816e-03 -1.66687223e-03 9.99995900e-01 4.70088728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73255784400004 meters 0.2862989212637524 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.47 [[ 9.99996533e-01 -2.63184055e-03 8.48138711e-05 2.58857282e+00] [ 2.63165274e-03 9.99994240e-01 2.14327226e-03 -1.51478313e-02] [-9.04541334e-05 -2.14304163e-03 9.99997700e-01 4.68886245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76255784400007 meters 0.28517112686031565 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:0.47 [[ 9.99993825e-01 2.94143684e-03 -1.92281923e-03 2.56598678e+00] [-2.94359084e-03 9.99995042e-01 -1.11836005e-03 -1.67984069e-02] [ 1.91952011e-03 1.12401314e-03 9.99997526e-01 4.70236133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79255784400004 meters 0.28559476649780907 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:0.47 [[ 9.99993377e-01 3.08215340e-03 -1.93570134e-03 2.56604170e+00] [-3.08364967e-03 9.99994949e-01 -7.70476491e-04 -1.82659744e-02] [ 1.93331684e-03 7.76440413e-04 9.99997830e-01 4.70187907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8225578440001 meters 0.2851744050083455 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:0.47 [[ 9.99992238e-01 3.46932442e-03 -1.86753426e-03 2.56579873e+00] [-3.46908439e-03 9.99993974e-01 1.31750774e-04 -2.20890492e-02] [ 1.86798009e-03 -1.25271118e-04 9.99998247e-01 4.70319440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85255784400005 meters 0.2856181950947623 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.47 [[ 9.99988725e-01 -4.74825421e-03 -5.63163941e-05 2.58607060e+00] [ 4.74832395e-03 9.99987868e-01 1.31073202e-03 -2.18942150e-02] [ 5.00920220e-05 -1.31098465e-03 9.99999139e-01 4.70864109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8825578440001 meters 0.2858177358284779 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:0.47 [[ 9.99989724e-01 -4.53333179e-03 -3.62743373e-05 2.58586310e+00] [ 4.53339076e-03 9.99988038e-01 1.83637717e-03 -2.41245077e-02] [ 2.79489964e-05 -1.83652274e-03 9.99998313e-01 4.71218681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91255784400005 meters 0.2857315671890837 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.03, Z:0.47 [[ 9.99990404e-01 -4.38010717e-03 -8.27258956e-05 2.58590800e+00] [ 4.38027940e-03 9.99987962e-01 2.21116786e-03 -2.57101009e-02] [ 7.30397476e-05 -2.21150900e-03 9.99997552e-01 4.71401560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9425578440001 meters 0.2866746914756926 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99990946e-01 4.22688100e-03 4.91895151e-04 2.60589491e+00] [-4.22752875e-03 9.99990188e-01 1.32335725e-03 -3.05441994e-02] [-4.86296651e-04 -1.32542477e-03 9.99999003e-01 4.72641988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97255784400005 meters 0.28650404941540325 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99989968e-01 4.44271438e-03 5.71638448e-04 2.60557636e+00] [-4.44376136e-03 9.99988427e-01 1.84348234e-03 -3.27350177e-02] [-5.63441767e-04 -1.84600407e-03 9.99998137e-01 4.72878338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0025578440001 meters 0.28514042816112467 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.03, Z:0.47 [[ 9.99988730e-01 -4.68998648e-03 7.36855323e-04 2.58380279e+00] [ 4.68793866e-03 9.99985212e-01 2.75670480e-03 -3.12366308e-02] [-7.49773334e-04 -2.75321940e-03 9.99995929e-01 4.72629888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03255784400005 meters 0.28671397575727425 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.47 [[ 9.99991949e-01 1.62747658e-03 3.66779576e-03 2.60479018e+00] [-1.62676801e-03 9.99998658e-01 -1.96160321e-04 -3.13750191e-02] [-3.66811008e-03 1.90192089e-04 9.99993254e-01 4.71476607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0625578440001 meters 0.28611361089553544 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.47 [[ 9.99991875e-01 1.68824285e-03 3.66045267e-03 2.60469959e+00] [-1.68810093e-03 9.99998574e-01 -4.18585843e-05 -3.20178657e-02] [-3.66051812e-03 3.56790306e-05 9.99993300e-01 4.71717782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09255784400005 meters 0.28525293842603316 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99992389e-01 1.71807005e-03 3.50283565e-03 2.60522672e+00] [-1.71823127e-03 9.99998523e-01 4.30175819e-05 -3.23978449e-02] [-3.50275657e-03 -4.90359363e-05 9.99993864e-01 4.71396284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters 0.28647974539896426 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:0.47 [[ 9.99974030e-01 -6.37088326e-03 3.36917651e-03 2.62575933e+00] [ 6.36723520e-03 9.99979132e-01 1.09239530e-03 -2.84271712e-02] [-3.37606573e-03 -1.07091459e-03 9.99993728e-01 4.72616943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15255784400006 meters 0.28647974539896426 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:0.47 [[ 9.99974030e-01 -6.37088326e-03 3.36917651e-03 2.62575933e+00] [ 6.36723520e-03 9.99979132e-01 1.09239530e-03 -2.84271712e-02] [-3.37606573e-03 -1.07091459e-03 9.99993728e-01 4.72616943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters 0.2850821745727901 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99996034e-01 1.53276161e-03 2.36256174e-03 2.60693525e+00] [-1.53214596e-03 9.99998792e-01 -2.62373509e-04 -3.24451113e-02] [-2.36296104e-03 2.58752680e-04 9.99997175e-01 4.71310631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21255784400006 meters 0.28625178646302957 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:0.47 [[ 9.99972650e-01 -5.92599297e-03 4.42517337e-03 2.62483539e+00] [ 5.91989677e-03 9.99981512e-01 1.38944879e-03 -2.84451919e-02] [-4.43332542e-03 -1.36321421e-03 9.99989244e-01 4.73909823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters 0.28425989265479856 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.48 [[ 9.99996160e-01 1.29604714e-04 2.76812975e-03 2.60103558e+00] [-1.25276896e-04 9.99998770e-01 -1.56356106e-03 -2.70854984e-02] [-2.76832899e-03 1.56320828e-03 9.99994946e-01 4.76291281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27255784400006 meters 0.28458411610215584 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.48 [[ 9.99996264e-01 9.04380631e-05 2.73184388e-03 2.60112616e+00] [-8.58775844e-05 9.99998603e-01 -1.66944866e-03 -2.66534322e-02] [-2.73199104e-03 1.66920782e-03 9.99994875e-01 4.76286705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters 0.28515214428688396 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.03, Z:0.48 [[ 9.99996479e-01 3.88844525e-05 2.65348582e-03 2.60137014e+00] [-3.40993083e-05 9.99998373e-01 -1.80336407e-03 -2.61006811e-02] [-2.65355163e-03 1.80326724e-03 9.99994853e-01 4.76175782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33255784400006 meters 0.2847703577827332 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99997196e-01 -9.69672517e-05 2.36597350e-03 2.60222363e+00] [ 1.02130172e-04 9.99997614e-01 -2.18213156e-03 -2.45407294e-02] [-2.36575625e-03 2.18236708e-03 9.99994820e-01 4.75736014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36255784400004 meters 0.2862839680426008 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99997334e-01 -1.34493367e-04 2.30513660e-03 2.60242963e+00] [ 1.39750635e-04 9.99997390e-01 -2.28066599e-03 -2.41399627e-02] [-2.30482384e-03 2.28098205e-03 9.99994742e-01 4.75610468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39255784400007 meters 0.28480096576656544 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.02, Z:0.48 [[ 9.99997385e-01 -1.39531454e-04 2.28249095e-03 2.60242774e+00] [ 1.44773553e-04 9.99997352e-01 -2.29665293e-03 -2.40729279e-02] [-2.28216445e-03 2.29697737e-03 9.99994758e-01 4.75745624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42255784400004 meters 0.28540420630769825 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:0.48 [[ 9.99967599e-01 -6.47406360e-03 4.78398185e-03 2.62308907e+00] [ 6.47143996e-03 9.99978901e-01 5.63699530e-04 -2.39494710e-02] [-4.78753034e-03 -5.32722014e-04 9.99988398e-01 4.75172207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45255784400007 meters 0.28568234938831316 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:0.47 [[ 9.99969470e-01 -6.44863718e-03 4.41295153e-03 2.62427186e+00] [ 6.44584092e-03 9.99979016e-01 6.47579100e-04 -2.43896925e-02] [-4.41703493e-03 -6.19114146e-04 9.99990053e-01 4.74379949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48255784400004 meters 0.28562300602725416 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:0.47 [[ 9.99970464e-01 -6.39442192e-03 4.26398341e-03 2.62480357e+00] [ 6.39106961e-03 9.99979257e-01 7.99354690e-04 -2.50486083e-02] [-4.26900637e-03 -7.72079666e-04 9.99990590e-01 4.73992122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51255784400007 meters 0.2870173566177852 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99994094e-01 1.92474812e-03 2.84744312e-03 2.60579752e+00] [-1.92415606e-03 9.99998127e-01 -2.10652936e-04 -2.82445068e-02] [-2.84784324e-03 2.05172767e-04 9.99995924e-01 4.73035994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54255784400004 meters 0.2848126454318727 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.03, Z:0.47 [[ 9.99993900e-01 1.97855349e-03 2.87838662e-03 2.60568467e+00] [-1.97836917e-03 9.99998041e-01 -6.68816382e-05 -2.88421078e-02] [-2.87851331e-03 6.11867189e-05 9.99995855e-01 4.73108710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5725578440001 meters 0.2865218669372995 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:0.48 [[ 9.99996991e-01 1.81340939e-03 1.65234432e-03 2.64442617e+00] [-1.81290054e-03 9.99998309e-01 -3.09400937e-04 -2.99078143e-02] [-1.65290260e-03 3.06404470e-04 9.99998587e-01 4.76904564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60255784400005 meters 0.28579717854561365 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:0.48 [[ 9.99989100e-01 -4.45329948e-03 -1.40257553e-03 2.62350307e+00] [ 4.45728250e-03 9.99986006e-01 2.84958201e-03 -3.19353491e-02] [ 1.38986586e-03 -2.85580262e-03 9.99994956e-01 4.77945043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6325578440001 meters 0.28583283047158875 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99990775e-01 4.15303828e-03 -1.09650478e-03 2.64371159e+00] [-4.15099287e-03 9.99989653e-01 1.86112055e-03 -3.65209913e-02] [ 1.10422273e-03 -1.85655179e-03 9.99997667e-01 4.78607314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66255784400005 meters 0.286395394557285 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99990749e-01 4.15222329e-03 -1.12312678e-03 2.64382438e+00] [-4.15012981e-03 9.99989658e-01 1.85992584e-03 -3.65136352e-02] [ 1.13083799e-03 -1.85524751e-03 9.99997640e-01 4.78513444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6925578440001 meters 0.28576808027169703 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99990781e-01 4.15663291e-03 -1.07741458e-03 2.64355239e+00] [-4.15461253e-03 9.99989620e-01 1.87071911e-03 -3.65510029e-02] [ 1.08517928e-03 -1.86622562e-03 9.99997670e-01 4.78856000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72255784400005 meters 0.2855903337916467 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:0.48 [[ 9.99988774e-01 -4.71320310e-03 -4.87144393e-04 2.62215593e+00] [ 4.71453995e-03 9.99985021e-01 2.78056090e-03 -3.27524700e-02] [ 4.74031747e-04 -2.78282635e-03 9.99996016e-01 4.78732932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7525578440001 meters 0.28603178541262786 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99993143e-01 3.66837934e-03 5.07228128e-04 2.64144953e+00] [-3.66915036e-03 9.99992102e-01 1.52758799e-03 -3.65280224e-02] [-5.01620350e-04 -1.52943862e-03 9.99998705e-01 4.80005643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78255784400005 meters 0.2857049126031091 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99993162e-01 3.66600999e-03 4.86974845e-04 2.64147435e+00] [-3.66674765e-03 9.99992118e-01 1.52262061e-03 -3.65018976e-02] [-4.81389065e-04 -1.52439581e-03 9.99998722e-01 4.80065419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8125578440001 meters 0.2856627805174954 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.48 [[ 9.99993208e-01 3.65788624e-03 4.51771795e-04 2.64151527e+00] [-3.65856146e-03 9.99992178e-01 1.50291812e-03 -3.64124639e-02] [-4.46270758e-04 -1.50456075e-03 9.99998769e-01 4.80174181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84255784400005 meters 0.28660738853267487 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:0.48 [[ 9.99992595e-01 3.84702786e-03 -1.00375355e-04 2.67901896e+00] [-3.84690027e-03 9.99991830e-01 1.24186569e-03 -3.53295594e-02] [ 1.05152027e-04 -1.24147036e-03 9.99999224e-01 4.84794153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.872557844 meters 0.2854779954704606 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:0.49 [[ 9.99992702e-01 3.81949362e-03 -8.79557767e-05 2.67884827e+00] [-3.81938793e-03 9.99992019e-01 1.17199308e-03 -3.50226769e-02] [ 9.24314948e-05 -1.17164859e-03 9.99999309e-01 4.85105586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90255784400006 meters 0.28687294866664464 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.49 [[ 9.99989054e-01 -4.53091400e-03 1.16747867e-03 2.69970860e+00] [ 4.52867380e-03 9.99987913e-01 1.91438519e-03 -3.22283654e-02] [-1.17613847e-03 -1.90907711e-03 9.99997486e-01 4.85606610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93255784400003 meters 0.2847320071845853 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.49 [[ 9.99998465e-01 1.08148769e-03 -1.37840774e-03 2.67731824e+00] [-1.08347003e-03 9.99998379e-01 -1.43820644e-03 -3.05823823e-02] [ 1.37685011e-03 1.43969770e-03 9.99998016e-01 4.87240508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96255784400006 meters 0.2864140040493554 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.49 [[ 9.99986538e-01 -4.99500107e-03 1.40494957e-03 2.69906631e+00] [ 4.99293782e-03 9.99986457e-01 1.46825163e-03 -3.18020094e-02] [-1.41226447e-03 -1.46121704e-03 9.99997935e-01 4.85600786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99255784400003 meters 0.2863093373237411 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.03, Z:0.49 [[ 9.99986369e-01 -5.01932415e-03 1.43779599e-03 2.69893269e+00] [ 5.01730483e-03 9.99986427e-01 1.40463078e-03 -3.15380082e-02] [-1.44482678e-03 -1.39739778e-03 9.99997980e-01 4.85713331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02255784400006 meters 0.28473379838778556 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994730e-01 3.15804546e-03 7.53238918e-04 2.67920187e+00] [-3.15809161e-03 9.99995011e-01 6.00787118e-05 -3.37975067e-02] [-7.53045429e-04 -6.24571927e-05 9.99999715e-01 4.84559744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05255784400003 meters 0.28542346400844465 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994875e-01 3.11626704e-03 7.34191972e-04 2.67920865e+00] [-3.11623114e-03 9.99995143e-01 -5.00267398e-05 -3.33336007e-02] [-7.34344303e-04 4.77385715e-05 9.99999729e-01 4.84661594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08255784400006 meters 0.28503766056523555 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994946e-01 3.08464067e-03 7.69407413e-04 2.67911197e+00] [-3.08453811e-03 9.99995234e-01 -1.34445707e-04 -3.29813072e-02] [-7.69818462e-04 1.32071761e-04 9.99999695e-01 4.84684024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11255784400004 meters 0.2846206085099168 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994875e-01 3.03638722e-03 1.01541481e-03 2.67849266e+00] [-3.03611547e-03 9.99995355e-01 -2.69058020e-04 -3.24273586e-02] [-1.01622705e-03 2.65973724e-04 9.99999448e-01 4.84769358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14255784400007 meters 0.2857914169880158 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994867e-01 3.01058887e-03 1.09688169e-03 2.67830768e+00] [-3.01022332e-03 9.99995413e-01 -3.34764610e-04 -3.21513139e-02] [-1.09788449e-03 3.31461032e-04 9.99999342e-01 4.84728454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17255784400004 meters 0.2864743907546524 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99994901e-01 2.99521849e-03 1.10782705e-03 2.67836095e+00] [-2.99480403e-03 9.99995445e-01 -3.75589949e-04 -3.19839302e-02] [-1.10894698e-03 3.72270309e-04 9.99999316e-01 4.84544276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20255784400007 meters 0.28623300123728945 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99995078e-01 2.98164879e-03 9.76094187e-04 2.67881761e+00] [-2.98124497e-03 9.99995470e-01 -4.14897775e-04 -3.18242093e-02] [-9.77326845e-04 4.11985757e-04 9.99999438e-01 4.84221356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23255784400004 meters 0.28615921397042776 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99995252e-01 2.95716411e-03 8.66540938e-04 2.67924874e+00] [-2.95675021e-03 9.99995514e-01 -4.78531426e-04 -3.15551674e-02] [-8.67952147e-04 4.75967009e-04 9.99999510e-01 4.83873653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26255784400007 meters 0.28768959394142657 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99995445e-01 2.91340078e-03 7.89174389e-04 2.67959834e+00] [-2.91293780e-03 9.99995585e-01 -5.87176183e-04 -3.10878990e-02] [-7.90881585e-04 5.84874692e-04 9.99999516e-01 4.83556733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29255784400004 meters 0.2861442456948748 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.03, Z:0.48 [[ 9.99995632e-01 2.83506128e-03 8.35698631e-04 2.67952712e+00] [-2.83441013e-03 9.99995679e-01 -7.79321825e-04 -3.02795525e-02] [-8.37904446e-04 7.76949709e-04 9.99999347e-01 4.83464237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3225578440001 meters 0.28444764592853217 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:0.49 [[ 9.99994349e-01 -3.26240833e-03 8.11145840e-04 2.65490038e+00] [ 3.26073241e-03 9.99992564e-01 2.05891719e-03 -2.55780533e-02] [-8.17856837e-04 -2.05626063e-03 9.99997551e-01 4.85380804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35255784400005 meters 0.28581263737537976 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:0.48 [[ 9.99989003e-01 3.15224209e-03 3.47221502e-03 2.67686760e+00] [-3.14901580e-03 9.99994605e-01 -9.34247433e-04 -2.30587098e-02] [-3.47514126e-03 9.23303099e-04 9.99993535e-01 4.83572202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3825578440001 meters 0.2861165963326493 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:0.48 [[ 9.99990151e-01 2.97705331e-03 3.29167007e-03 2.67747587e+00] [-2.97242995e-03 9.99994590e-01 -1.40856355e-03 -2.10769169e-02] [-3.29584564e-03 1.39876542e-03 9.99993590e-01 4.83277687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41255784400005 meters 0.2851980821338431 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.02, Z:0.48 [[ 9.99996123e-01 -2.53410775e-03 1.15381862e-03 2.65578794e+00] [ 2.53180595e-03 9.99994811e-01 1.99205515e-03 -1.81784429e-02] [-1.15886072e-03 -1.98912618e-03 9.99997350e-01 4.84185830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4425578440001 meters 0.28520787495933275 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.02, Z:0.48 [[ 9.99995619e-01 -2.79421526e-03 9.77083632e-04 2.65637056e+00] [ 2.79301842e-03 9.99995350e-01 1.22414226e-03 -1.50251483e-02] [-9.80499606e-04 -1.22140788e-03 9.99998773e-01 4.83908479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47255784400005 meters 0.2867117241714712 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:0.48 [[ 9.99981835e-01 5.28809545e-03 2.89240065e-03 2.67553583e+00] [-5.28710297e-03 9.99985962e-01 -3.50672238e-04 -1.67078042e-02] [-2.89421443e-03 3.35373448e-04 9.99995756e-01 4.84738818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5025578440001 meters 0.2838863821659165 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:0.49 [[ 9.99998702e-01 -1.30674966e-03 9.42364143e-04 2.65255017e+00] [ 1.30483981e-03 9.99997100e-01 2.02442377e-03 -1.44173571e-02] [-9.45006825e-04 -2.02319151e-03 9.99997507e-01 4.86878212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53255784400005 meters 0.28467083831451123 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:0.49 [[ 9.99998594e-01 -1.48838972e-03 7.71877154e-04 2.65323855e+00] [ 1.48718248e-03 9.99997674e-01 1.56224883e-03 -1.24868971e-02] [-7.74200594e-04 -1.56109871e-03 9.99998482e-01 4.86276933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5625578440001 meters 0.28616365754680534 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.02, Z:0.49 [[ 9.99973167e-01 7.15074477e-03 1.59109277e-03 2.67366327e+00] [-7.15159864e-03 9.99974286e-01 5.31618038e-04 -1.56823279e-02] [-1.58725039e-03 -5.42982630e-04 9.99998593e-01 4.86095878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59255784400005 meters 0.28602712011953707 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.02, Z:0.49 [[ 9.99973609e-01 7.08936127e-03 1.58796683e-03 2.67378144e+00] [-7.08996592e-03 9.99974795e-01 3.75464204e-04 -1.50268253e-02] [-1.58526501e-03 -3.86712926e-04 9.99998669e-01 4.85864153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters 0.28522863055048164 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99974070e-01 7.00895727e-03 1.65348286e-03 2.67358331e+00] [-7.00924354e-03 9.99975421e-01 1.67397591e-04 -1.41616949e-02] [-1.65226894e-03 -1.78982914e-04 9.99998619e-01 4.85964358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65255784400006 meters 0.2865733974045515 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99994608e-01 -9.37219513e-04 3.14744940e-03 2.69273662e+00] [ 9.32886474e-04 9.99998616e-01 1.37786865e-03 -9.79152196e-03] [-3.14873641e-03 -1.37492501e-03 9.99994098e-01 4.87863105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters 0.285957528419567 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99988680e-01 4.74039442e-03 4.11506910e-04 2.67045409e+00] [-4.73949726e-03 9.99986448e-01 -2.15445671e-03 -6.40733970e-03] [-4.21714308e-04 2.15248199e-03 9.99997594e-01 4.89708469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71255784400006 meters 0.28474101070392793 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99988611e-01 4.74776144e-03 4.85727861e-04 2.67027692e+00] [-4.74671281e-03 9.99986449e-01 -2.13770871e-03 -6.48883603e-03] [-4.95870610e-04 2.13537875e-03 9.99997597e-01 4.89680607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters 0.2878349652683469 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:0.49 [[ 9.99992300e-01 -3.72464972e-03 1.23564276e-03 2.69073997e+00] [ 3.72605354e-03 9.99992413e-01 -1.13575799e-03 -3.91450530e-03] [-1.23140308e-03 1.14035332e-03 9.99998592e-01 4.90721714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77255784400006 meters 0.28546398040337573 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:0.49 [[ 9.99992518e-01 -3.69609849e-03 1.14123031e-03 2.69128013e+00] [ 3.69731679e-03 9.99992595e-01 -1.06727766e-03 -4.23658988e-03] [-1.13727710e-03 1.07148916e-03 9.99998779e-01 4.89989722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters 0.2844074617050797 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99990353e-01 4.33746560e-03 -6.93408701e-04 2.67279128e+00] [-4.33915005e-03 9.99987593e-01 -2.44646463e-03 -7.18078591e-03] [ 6.82788642e-04 2.44944983e-03 9.99996767e-01 4.88235782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83255784400006 meters 0.2851683930677775 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99990173e-01 4.36650282e-03 -7.66369348e-04 2.67309633e+00] [-4.36831044e-03 9.99987643e-01 -2.37307245e-03 -7.48302178e-03] [ 7.55997850e-04 2.37639687e-03 9.99996891e-01 4.87953252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86255784400004 meters 0.28605841569300744 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99992265e-01 -3.92369583e-03 2.74122687e-04 2.69307660e+00] [ 3.92397534e-03 9.99991774e-01 -1.02667856e-03 -5.89752749e-03] [-2.70092058e-04 1.02774627e-03 9.99999435e-01 4.89086162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89255784400007 meters 0.287074316009968 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99992508e-01 -3.86060014e-03 2.83957086e-04 2.69302686e+00] [ 3.86084532e-03 9.99992170e-01 -8.68006905e-04 -6.56886729e-03] [-2.80603835e-04 8.69096716e-04 9.99999583e-01 4.89127960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92255784400004 meters 0.2856767656511613 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99992748e-01 -3.79070172e-03 3.67145976e-04 2.69273056e+00] [ 3.79095649e-03 9.99992572e-01 -6.95728040e-04 -7.31739899e-03] [-3.64505951e-04 6.97114829e-04 9.99999691e-01 4.89296652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95255784400007 meters 0.2838020155085401 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99993298e-01 3.12298836e-03 -1.91065983e-03 2.67067311e+00] [-3.12880668e-03 9.99990455e-01 -3.04981947e-03 -6.38180953e-03] [ 1.90111704e-03 3.05577712e-03 9.99993524e-01 4.90727613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98255784400004 meters 0.28646369008924355 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996973e-01 -2.33134510e-03 7.86798082e-04 2.69326352e+00] [ 2.33095632e-03 9.99997161e-01 4.94687257e-04 -8.66376622e-03] [-7.87949135e-04 -4.92851768e-04 9.99999568e-01 4.88893322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01255784400007 meters 0.2847719875220041 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996838e-01 -2.40379738e-03 7.38883305e-04 2.69348512e+00] [ 2.40357439e-03 9.99997066e-01 3.02540812e-04 -7.84367865e-03] [-7.39608383e-04 -3.00763894e-04 9.99999681e-01 4.88669475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04255784400004 meters 0.2848138387735129 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996749e-01 -2.42128354e-03 7.99800166e-04 2.69328662e+00] [ 2.42107669e-03 9.99997036e-01 2.59503112e-04 -7.66865565e-03] [-8.00426126e-04 -2.57565891e-04 9.99999646e-01 4.88767982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0725578440001 meters 0.2848138387735129 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996749e-01 -2.42128354e-03 7.99800166e-04 2.69328662e+00] [ 2.42107669e-03 9.99997036e-01 2.59503112e-04 -7.66865565e-03] [-8.00426126e-04 -2.57565891e-04 9.99999646e-01 4.88767982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10255784400005 meters 0.28426075966924075 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996692e-01 -2.42320022e-03 8.62593156e-04 2.69308928e+00] [ 2.42298051e-03 9.99997032e-01 2.55661738e-04 -7.66178829e-03] [-8.63210116e-04 -2.53570846e-04 9.99999595e-01 4.88855339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1325578440001 meters 0.28498576185916585 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996667e-01 -2.44957073e-03 8.15283744e-04 2.69317289e+00] [ 2.44941840e-03 9.99996983e-01 1.87792388e-04 -7.37455635e-03] [-8.15741294e-04 -1.85794792e-04 9.99999650e-01 4.88944244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16255784400005 meters 0.2852328751299397 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996782e-01 -2.44367900e-03 6.81327096e-04 2.69360912e+00] [ 2.44354245e-03 9.99996994e-01 2.01168827e-04 -7.42645339e-03] [-6.81816640e-04 -1.99503328e-04 9.99999748e-01 4.88717339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1925578440001 meters 0.2861426945141932 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996865e-01 -2.44110028e-03 5.57026986e-04 2.69401969e+00] [ 2.44098493e-03 9.99996999e-01 2.07680448e-04 -7.44814514e-03] [-5.57532284e-04 -2.06320103e-04 9.99999823e-01 4.88484002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22255784400005 meters 0.2867021364099945 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99996963e-01 -2.40656106e-03 5.30868371e-04 2.69415560e+00] [ 2.40640475e-03 9.99997061e-01 2.94883547e-04 -7.81514344e-03] [-5.31576466e-04 -2.93605167e-04 9.99999816e-01 4.88316664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2525578440001 meters 0.2860262830792975 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.49 [[ 9.99990831e-01 4.16706973e-03 -9.86350236e-04 2.67200369e+00] [-4.16974815e-03 9.99987582e-01 -2.72918145e-03 -6.39741190e-03] [ 9.74965298e-04 2.73326926e-03 9.99995789e-01 4.89430284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28255784400005 meters 0.2858572627816741 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:0.49 [[ 9.99994334e-01 -1.43982501e-03 3.04287294e-03 2.69217262e+00] [ 1.43932621e-03 9.99998950e-01 1.66105142e-04 -6.54675780e-03] [-3.04310891e-03 -1.61724514e-04 9.99995357e-01 4.88856748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3125578440001 meters 0.28550208872609817 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:0.49 [[ 9.99994180e-01 -1.60313525e-03 3.01153400e-03 2.69216429e+00] [ 1.60395439e-03 9.99998677e-01 -2.69606392e-04 -4.75195032e-03] [-3.01109780e-03 2.74435186e-04 9.99995429e-01 4.89070698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34255784400005 meters 0.286302987005596 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:0.49 [[ 9.99994044e-01 -1.79639675e-03 2.94713052e-03 2.69239911e+00] [ 1.79873802e-03 9.99998069e-01 -7.91965736e-04 -2.58622410e-03] [-2.94570214e-03 7.97262135e-04 9.99995344e-01 4.88953976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.372557844 meters 0.28485583403116477 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:0.49 [[ 9.99993880e-01 -1.96638494e-03 2.89371965e-03 2.69261681e+00] [ 1.97000942e-03 9.99997278e-01 -1.25021861e-03 -6.90594885e-04] [-2.89125337e-03 1.25591162e-03 9.99995032e-01 4.88802522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40255784400006 meters 0.284103369067472 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:0.49 [[ 9.99993428e-01 -2.12000580e-03 2.94107474e-03 2.69247510e+00] [ 2.12485771e-03 9.99996385e-01 -1.64756353e-03 9.53981607e-04] [-2.93757126e-03 1.65380206e-03 9.99994318e-01 4.88880663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43255784400003 meters 0.28656584915711025 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99995604e-01 -1.80466592e-03 2.35290172e-03 2.73015900e+00] [ 1.80826281e-03 9.99997199e-01 -1.52747233e-03 2.13598716e-03] [-2.35013855e-03 1.53172028e-03 9.99996065e-01 4.93153810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46255784400006 meters 0.2854548797504832 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99995553e-01 -1.86095479e-03 2.33058966e-03 2.73023836e+00] [ 1.86485970e-03 9.99996859e-01 -1.67445549e-03 2.75057450e-03] [-2.32746626e-03 1.67879427e-03 9.99995882e-01 4.93110577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49255784400003 meters 0.2858161599187336 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99995804e-01 -1.86538470e-03 2.21651615e-03 2.73062185e+00] [ 1.86913391e-03 9.99996824e-01 -1.69062212e-03 2.81890325e-03] [-2.21335545e-03 1.69475799e-03 9.99996114e-01 4.92897821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52255784400006 meters 0.284226425186531 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99996052e-01 -1.84971290e-03 2.11527192e-03 2.73102800e+00] [ 1.85321304e-03 9.99996915e-01 -1.65394091e-03 2.67105516e-03] [-2.11220608e-03 1.65785443e-03 9.99996395e-01 4.92524834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55255784400003 meters 0.284561259678443 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99996344e-01 -1.90245477e-03 1.92159052e-03 2.73176052e+00] [ 1.90591808e-03 9.99996560e-01 -1.80209222e-03 3.32314445e-03] [-1.91815551e-03 1.80574803e-03 9.99996530e-01 4.91884280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58255784400006 meters 0.28574316463642613 Centerline is valid? [False, False] Translation: X:2.73, Y:0.00, Z:0.49 [[ 9.99996326e-01 -1.98199867e-03 1.84938074e-03 2.73194260e+00] [ 1.98571878e-03 9.99996005e-01 -2.01188428e-03 4.19750468e-03] [-1.84538580e-03 2.01554924e-03 9.99996266e-01 4.91901825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61255784400004 meters 0.28866737949916793 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.50 [[ 9.99998794e-01 -1.07046022e-03 1.12517553e-03 2.77015089e+00] [ 1.07169716e-03 9.99998822e-01 -1.09930112e-03 3.49588170e-03] [-1.12399745e-03 1.10050564e-03 9.99998763e-01 4.95860176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64255784400007 meters 0.28432514670682396 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:0.50 [[ 9.99992183e-01 1.44815206e-03 3.67935242e-03 2.72674219e+00] [-1.44582160e-03 9.99998753e-01 -6.35971515e-04 1.37939582e-02] [-3.68026881e-03 6.30646857e-04 9.99993029e-01 4.95802510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67255784400004 meters 0.28498425150038265 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.50 [[ 9.99992939e-01 1.24274426e-03 3.54660567e-03 2.72703799e+00] [-1.23831620e-03 9.99998451e-01 -1.25045806e-03 1.62905411e-02] [-3.54815418e-03 1.24605741e-03 9.99992929e-01 4.95935564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70255784400007 meters 0.28589190328081265 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.50 [[ 9.99993388e-01 1.04024534e-03 3.48457755e-03 2.72723000e+00] [-1.03387866e-03 9.99997794e-01 -1.82840407e-03 1.86699563e-02] [-3.48647185e-03 1.82478935e-03 9.99992257e-01 4.95904912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73255784400004 meters 0.2865856783227004 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.50 [[ 9.99993469e-01 8.60968508e-04 3.50994358e-03 2.72716752e+00] [-8.52910290e-04 9.99996999e-01 -2.29667637e-03 2.06117967e-02] [-3.51191042e-03 2.29366770e-03 9.99991203e-01 4.95950235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76255784400007 meters 0.28491943882978943 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:0.49 [[ 9.99967679e-01 -7.25446676e-03 3.46614091e-03 2.70704950e+00] [ 7.26040377e-03 9.99972192e-01 -1.70335637e-03 2.88454234e-02] [-3.45368759e-03 1.72846690e-03 9.99992542e-01 4.94612205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79255784400004 meters 0.28598048790421665 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.49 [[ 9.99990792e-01 1.88755249e-03 3.85399858e-03 2.72882067e+00] [-1.88025122e-03 9.99996433e-01 -1.89721241e-03 2.53758305e-02] [-3.85756592e-03 1.88994845e-03 9.99990774e-01 4.94279903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8225578440001 meters 0.28679691593468415 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:0.49 [[ 9.99991667e-01 1.83003714e-03 3.64915900e-03 2.72949352e+00] [-1.82257993e-03 9.99996246e-01 -2.04582179e-03 2.60208712e-02] [-3.65288923e-03 2.03915386e-03 9.99991249e-01 4.93925662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85255784400005 meters 0.284556380706788 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:0.50 [[ 9.99992269e-01 -3.85365499e-03 7.82363611e-04 2.70805499e+00] [ 3.85279053e-03 9.99991969e-01 1.10344862e-03 2.66143844e-02] [-7.86609638e-04 -1.10042580e-03 9.99999085e-01 4.95170882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8825578440001 meters 0.28680515591162414 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.50 [[ 9.99989823e-01 4.29712230e-03 1.37430281e-03 2.72761399e+00] [-4.29692934e-03 9.99990758e-01 -1.43332413e-04 2.19995823e-02] [-1.37490602e-03 1.37425673e-04 9.99999045e-01 4.95619182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91255784400005 meters 0.28507776758683323 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:0.50 [[ 9.99989795e-01 4.27597520e-03 1.45776789e-03 2.72733849e+00] [-4.27569022e-03 9.99990839e-01 -1.98556316e-04 2.22188415e-02] [-1.45860355e-03 1.92321326e-04 9.99998918e-01 4.95779225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9425578440001 meters 0.2874048290715148 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.49 [[ 9.99985521e-01 -2.20047597e-03 4.91080704e-03 2.74853936e+00] [ 2.18823412e-03 9.99994489e-01 2.49682160e-03 1.98206414e-02] [-4.91627417e-03 -2.48603945e-03 9.99984825e-01 4.94223349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97255784400005 meters 0.28650728433157846 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.49 [[ 9.99985272e-01 -2.17435323e-03 4.97270741e-03 2.74810676e+00] [ 2.16161200e-03 9.99994371e-01 2.56617274e-03 1.94847314e-02] [-4.97825918e-03 -2.55538588e-03 9.99984343e-01 4.94860919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0025578440001 meters 0.2864998262344297 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99985272e-01 -2.15161437e-03 4.98256216e-03 2.74801328e+00] [ 2.13855858e-03 9.99994270e-01 2.62414326e-03 1.92334581e-02] [-4.98817975e-03 -2.61344911e-03 9.99984144e-01 4.95004569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03255784400005 meters 0.285664073187979 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99985345e-01 -2.14748438e-03 4.96980974e-03 2.74802017e+00] [ 2.13440797e-03 9.99994251e-01 2.63497998e-03 1.91877488e-02] [-4.97543975e-03 -2.62433376e-03 9.99984179e-01 4.95060883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0625578440001 meters 0.28522084413038995 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99985502e-01 -2.16383938e-03 4.93082279e-03 2.74808164e+00] [ 2.15107313e-03 9.99994325e-01 2.59290388e-03 1.93657604e-02] [-4.93640543e-03 -2.58225973e-03 9.99984482e-01 4.95150981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09255784400005 meters 0.28503520291130624 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:0.50 [[ 9.99985527e-01 -2.18324519e-03 4.91721716e-03 2.74808117e+00] [ 2.17075611e-03 9.99994408e-01 2.54377452e-03 1.95714133e-02] [-4.92274335e-03 -2.53306362e-03 9.99984675e-01 4.95232251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters 0.2871189869062737 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99960996e-01 5.88729425e-03 6.58373389e-03 2.76805756e+00] [-5.89654430e-03 9.99981654e-01 1.38645739e-03 1.66992004e-02] [-6.57545062e-03 -1.42522459e-03 9.99977366e-01 4.96173825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15255784400006 meters 0.2872954992075852 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99961822e-01 5.79722818e-03 6.53803274e-03 2.76803478e+00] [-5.80484586e-03 9.99982494e-01 1.14675890e-03 1.76859737e-02] [-6.53127027e-03 -1.18466739e-03 9.99977969e-01 4.96511921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters 0.28529785686120496 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99962345e-01 5.72899012e-03 6.51825135e-03 2.76803644e+00] [-5.73538107e-03 9.99983090e-01 9.62199751e-04 1.84418108e-02] [-6.51262869e-03 -9.99548175e-04 9.99978293e-01 4.96642839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21255784400006 meters 0.2855056969993753 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99963557e-01 5.62262997e-03 6.42429804e-03 2.76830508e+00] [-5.62705549e-03 9.99983943e-01 6.71005188e-04 1.96521558e-02] [-6.42042207e-03 -7.07130615e-04 9.99979139e-01 4.96592050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters 0.2864048087173893 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99964846e-01 5.48732088e-03 6.34005200e-03 2.76864867e+00] [-5.48935195e-03 9.99984887e-01 3.02997173e-04 2.11983306e-02] [-6.33829354e-03 -3.37789298e-04 9.99979856e-01 4.96320178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27255784400006 meters 0.28646741649132446 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99968290e-01 5.23301320e-03 6.00285696e-03 2.76975365e+00] [-5.23004897e-03 9.99986193e-01 -5.09394664e-04 2.46092142e-02] [-6.00543975e-03 4.77983275e-04 9.99981853e-01 4.95742558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters 0.28626336911061223 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:0.50 [[ 9.99969588e-01 5.04002543e-03 5.95153947e-03 2.76994939e+00] [-5.03406966e-03 9.99986814e-01 -1.01526844e-03 2.67207024e-02] [-5.95657797e-03 9.85277098e-04 9.99981774e-01 4.95652494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33255784400006 meters 0.28490019760685525 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:0.50 [[ 9.99992165e-01 -8.61851941e-04 3.86367119e-03 2.74693325e+00] [ 8.55521067e-04 9.99998289e-01 1.63991786e-03 2.93594536e-02] [-3.86507794e-03 -1.63659956e-03 9.99991191e-01 4.97653759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36255784400004 meters 0.28705494091525574 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:0.50 [[ 9.99995888e-01 -1.35596098e-03 2.52681580e-03 2.78674565e+00] [ 1.35251195e-03 9.99998152e-01 1.36618068e-03 3.18805550e-02] [-2.52866362e-03 -1.36275752e-03 9.99995874e-01 5.00493196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39255784400007 meters 0.2857453021713673 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:0.50 [[ 9.99995608e-01 -1.45322305e-03 2.58295514e-03 2.78654093e+00] [ 1.45034651e-03 9.99998326e-01 1.11518914e-03 3.29068984e-02] [-2.58457143e-03 -1.11143807e-03 9.99996042e-01 5.00651326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42255784400004 meters 0.2846092634508141 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:0.50 [[ 9.99995309e-01 -1.52467919e-03 2.65650581e-03 2.78627373e+00] [ 1.52220546e-03 9.99998406e-01 9.32969426e-04 3.36511601e-02] [-2.65792405e-03 -9.28921302e-04 9.99996036e-01 5.00847562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45255784400007 meters 0.28547358240523735 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:0.50 [[ 9.99968254e-01 6.52420869e-03 4.57436182e-03 2.80524818e+00] [-6.52303205e-03 9.99978688e-01 -2.72096658e-04 3.04678111e-02] [-4.57603955e-03 2.42249311e-04 9.99989501e-01 5.01582784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48255784400004 meters 0.2868019533208633 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:0.50 [[ 9.99969536e-01 6.43405767e-03 4.41925210e-03 2.80557533e+00] [-6.43177978e-03 9.99979176e-01 -5.29464987e-04 3.15083006e-02] [-4.42256668e-03 5.01025201e-04 9.99990095e-01 5.01734762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51255784400007 meters 0.28645227358928566 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:0.50 [[ 9.99970462e-01 6.41915237e-03 4.22715384e-03 2.80621007e+00] [-6.41678167e-03 9.99979247e-01 -5.74148919e-04 3.17073994e-02] [-4.23075167e-03 5.47007236e-04 9.99990901e-01 5.01357875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54255784400004 meters 0.28708439743867414 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:0.50 [[ 9.99970959e-01 6.44183197e-03 4.07241225e-03 2.80673841e+00] [-6.43978796e-03 9.99979132e-01 -5.14829402e-04 3.14874831e-02] [-4.07564371e-03 4.88588979e-04 9.99991575e-01 5.01002988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5725578440001 meters 0.2865248451582386 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99994494e-01 -1.56970561e-03 2.92370924e-03 2.78711331e+00] [ 1.56810077e-03 9.99998619e-01 5.51116181e-04 3.56276223e-02] [-2.92457029e-03 -5.46528476e-04 9.99995574e-01 4.99887960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60255784400005 meters 0.2871410120632702 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99994361e-01 -1.63709113e-03 2.93235037e-03 2.78682385e+00] [ 1.63601391e-03 9.99998593e-01 3.69716940e-04 3.63907058e-02] [-2.93295151e-03 -3.64917489e-04 9.99995632e-01 5.00540460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6325578440001 meters 0.28719475639758857 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99994102e-01 -1.72717582e-03 2.96871692e-03 2.78647455e+00] [ 1.72682257e-03 9.99998502e-01 1.21549882e-04 3.73989566e-02] [-2.96892241e-03 -1.16422718e-04 9.99995586e-01 5.01166894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66255784400005 meters 0.28774284787315696 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.50 [[ 9.99989636e-01 -5.80568571e-04 4.51551575e-03 2.74590190e+00] [ 5.81701642e-04 9.99999800e-01 -2.49619044e-04 4.25377076e-02] [-4.51536992e-03 2.52243140e-04 9.99989774e-01 4.99208231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6925578440001 meters 0.2852968811135842 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.50 [[ 9.99990003e-01 -6.89414260e-04 4.41803702e-03 2.74606759e+00] [ 6.91980220e-04 9.99999593e-01 -5.79289566e-04 4.38610285e-02] [-4.41763585e-03 5.82340969e-04 9.99990073e-01 4.99419865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72255784400005 meters 0.2857434150945139 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99990535e-01 -8.05130048e-04 4.27570443e-03 2.74648067e+00] [ 8.09125304e-04 9.99999238e-01 -9.32761170e-04 4.53011979e-02] [-4.27495018e-03 9.36211922e-04 9.99990424e-01 4.99287169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7525578440001 meters 0.286739816169585 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991787e-01 -1.02715402e-03 3.92059285e-03 2.74750874e+00] [ 1.03402760e-03 9.99997931e-01 -1.75157546e-03 4.86149299e-02] [-3.91878560e-03 1.75561507e-03 9.99990780e-01 4.98890720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78255784400005 meters 0.2858469551439321 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991559e-01 -1.18313068e-03 3.93465128e-03 2.74750414e+00] [ 1.19166033e-03 9.99996944e-01 -2.16619133e-03 5.03320687e-02] [-3.93207636e-03 2.17086181e-03 9.99989913e-01 4.98854248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8125578440001 meters 0.2857362532119785 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991285e-01 -1.33131416e-03 3.95688416e-03 2.74737171e+00] [ 1.34143662e-03 9.99995832e-01 -2.55663647e-03 5.19388674e-02] [-3.95346398e-03 2.56192210e-03 9.99988903e-01 4.99050124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84255784400005 meters 0.28569648495624 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991023e-01 -1.48094055e-03 3.96992479e-03 2.74723410e+00] [ 1.49262181e-03 9.99994561e-01 -2.94109349e-03 5.35230747e-02] [-3.96554761e-03 2.94699268e-03 9.99987795e-01 4.99303471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.872557844 meters 0.28659149130350914 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.50 [[ 9.99990521e-01 -1.71446232e-03 4.00223121e-03 2.74704391e+00] [ 1.72838482e-03 9.99992459e-01 -3.47782207e-03 5.57690992e-02] [-3.99623843e-03 3.48470650e-03 9.99985943e-01 4.99554082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90255784400006 meters 0.2859508185565785 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:0.50 [[ 9.99990719e-01 -1.70517537e-03 3.95645885e-03 2.74727538e+00] [ 1.71885524e-03 9.99992548e-01 -3.45678336e-03 5.56851161e-02] [-3.95053494e-03 3.46355186e-03 9.99986198e-01 4.99288138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93255784400003 meters 0.2852135147742987 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991086e-01 -1.64089565e-03 3.89045084e-03 2.74762129e+00] [ 1.65365434e-03 9.99993258e-01 -3.27854353e-03 5.49523456e-02] [-3.88504487e-03 3.28494777e-03 9.99987058e-01 4.98820677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96255784400006 meters 0.2852135147742987 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99991086e-01 -1.64089565e-03 3.89045084e-03 2.74762129e+00] [ 1.65365434e-03 9.99993258e-01 -3.27854353e-03 5.49523456e-02] [-3.88504487e-03 3.28494777e-03 9.99987058e-01 4.98820677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99255784400003 meters 0.2852104143724282 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99992648e-01 -1.51950360e-03 3.52068060e-03 2.74900833e+00] [ 1.52958272e-03 9.99994735e-01 -2.86191113e-03 5.33014699e-02] [-3.51631338e-03 2.86727526e-03 9.99989707e-01 4.97315027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02255784400006 meters 0.2867285006598407 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993081e-01 -1.36953631e-03 3.45871075e-03 2.74930322e+00] [ 1.37796900e-03 9.99996081e-01 -2.43689790e-03 5.15821409e-02] [-3.45535978e-03 2.44164704e-03 9.99991049e-01 4.96914866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05255784400003 meters 0.2870268635738511 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993363e-01 -1.21442916e-03 3.43488709e-03 2.74938129e+00] [ 1.22133920e-03 9.99997233e-01 -2.01034197e-03 4.98288879e-02] [-3.43243617e-03 2.01452379e-03 9.99992080e-01 4.96821055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08255784400006 meters 0.286774572837345 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993523e-01 -1.07372677e-03 3.43539437e-03 2.74939780e+00] [ 1.07933822e-03 9.99998086e-01 -1.63198551e-03 4.82660696e-02] [-3.43363549e-03 1.63568289e-03 9.99992767e-01 4.96740075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11255784400004 meters 0.2879719278085451 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993622e-01 -8.28139250e-04 3.47410351e-03 2.74934097e+00] [ 8.31706321e-04 9.99999128e-01 -1.02544123e-03 4.57207672e-02] [-3.47325127e-03 1.02832413e-03 9.99993440e-01 4.96571879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14255784400007 meters 0.28747161876677485 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993660e-01 -7.82814789e-04 3.47375432e-03 2.74926327e+00] [ 7.85963306e-04 9.99999282e-01 -9.05100497e-04 4.52089527e-02] [-3.47304330e-03 9.07825002e-04 9.99993557e-01 4.96742352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17255784400004 meters 0.2888237468144945 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993908e-01 -7.69322638e-04 3.40474077e-03 2.74933297e+00] [ 7.72290502e-04 9.99999323e-01 -8.70456674e-04 4.50571482e-02] [-3.40406881e-03 8.73080820e-04 9.99993825e-01 4.96981838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20255784400007 meters 0.2867782702810358 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.50 [[ 9.99994182e-01 -7.53709482e-04 3.32692028e-03 2.74954759e+00] [ 7.56474821e-04 9.99999369e-01 -8.30020511e-04 4.49007709e-02] [-3.32629259e-03 8.32532413e-04 9.99994121e-01 4.96926826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23255784400004 meters 0.28618085987584185 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:0.50 [[ 9.99994226e-01 -7.55470385e-04 3.31310397e-03 2.74955572e+00] [ 7.58267134e-04 9.99999357e-01 -8.42972722e-04 4.49037559e-02] [-3.31246500e-03 8.45480073e-04 9.99994156e-01 4.96983859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26255784400007 meters 0.28493715667092173 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99993994e-01 -7.94265989e-04 3.37352064e-03 2.74928422e+00] [ 7.97465494e-04 9.99999233e-01 -9.47177994e-04 4.53131971e-02] [-3.37276574e-03 9.49862571e-04 9.99993861e-01 4.97287361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29255784400004 meters 0.28745380890748534 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99995788e-01 -3.43388132e-04 2.88201940e-03 2.78720048e+00] [ 3.42887770e-04 9.99999926e-01 1.74107360e-04 4.42380016e-02] [-2.88207898e-03 -1.73118417e-04 9.99995832e-01 5.01167124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3225578440001 meters 0.2891530674246965 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99995829e-01 -3.83510439e-04 2.86265147e-03 2.78728045e+00] [ 3.83312208e-04 9.99999924e-01 6.97954186e-05 4.46768610e-02] [-2.86267802e-03 -6.86978382e-05 9.99995900e-01 5.01103664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35255784400005 meters 0.286249532086146 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996091e-01 -4.60633938e-04 2.75780199e-03 2.78759041e+00] [ 4.61013450e-04 9.99999884e-01 -1.36979886e-04 4.55390082e-02] [-2.75773858e-03 1.38250735e-04 9.99996188e-01 5.01008619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3825578440001 meters 0.2884039387186438 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996275e-01 -5.50391344e-04 2.67343461e-03 2.78783007e+00] [ 5.51397431e-04 9.99999777e-01 -3.75604777e-04 4.65289177e-02] [-2.67322728e-03 3.77077503e-04 9.99996356e-01 5.00963283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41255784400005 meters 0.2860349957677924 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996263e-01 -6.51598930e-04 2.65506391e-03 2.78781341e+00] [ 6.53301630e-04 9.99999581e-01 -6.40485954e-04 4.76162269e-02] [-2.65464546e-03 6.42218118e-04 9.99996270e-01 5.01120675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4425578440001 meters 0.2862662155030646 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996052e-01 -8.95310502e-04 2.66339130e-03 2.78758493e+00] [ 8.98840635e-04 9.99998719e-01 -1.32452640e-03 5.04279827e-02] [-2.66220203e-03 1.32691513e-03 9.99995576e-01 5.01642842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47255784400005 meters 0.2870510372763477 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99995940e-01 -9.87562605e-04 2.67278573e-03 2.78754281e+00] [ 9.91734246e-04 9.99998292e-01 -1.55990889e-03 5.14050616e-02] [-2.67124066e-03 1.56255325e-03 9.99995211e-01 5.01696197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5025578440001 meters 0.2871251896510329 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99995953e-01 -1.02789376e-03 2.65286951e-03 2.78766363e+00] [ 1.03231087e-03 9.99998082e-01 -1.66420003e-03 5.18478920e-02] [-2.65115380e-03 1.66693188e-03 9.99995096e-01 5.01551565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53255784400005 meters 0.2878180324760402 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99995928e-01 -1.00989530e-03 2.66905946e-03 2.78767252e+00] [ 1.01422376e-03 9.99998172e-01 -1.62086108e-03 5.16643711e-02] [-2.66741769e-03 1.62356150e-03 9.99995124e-01 5.01435536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5625578440001 meters 0.2854526296862716 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99995518e-01 -9.23761700e-04 2.84795943e-03 2.78713868e+00] [ 9.27617172e-04 9.99998655e-01 -1.35274292e-03 5.05341367e-02] [-2.84670598e-03 1.35537867e-03 9.99995030e-01 5.01663285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59255784400005 meters 0.2880073552448677 Centerline is valid? [False, False] Translation: X:2.83, Y:0.05, Z:0.51 [[ 9.99997650e-01 -1.56262823e-03 1.50285009e-03 2.82596585e+00] [ 1.56340851e-03 9.99998644e-01 -5.18167291e-04 4.60817673e-02] [-1.50203835e-03 5.20515642e-04 9.99998736e-01 5.05244105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters 0.28595561861108887 Centerline is valid? [False, False] Translation: X:2.83, Y:0.05, Z:0.51 [[ 9.99997729e-01 -1.47584208e-03 1.53731442e-03 2.82584584e+00] [ 1.47628698e-03 9.99998869e-01 -2.88307174e-04 4.51198821e-02] [-1.53688719e-03 2.90576037e-04 9.99998777e-01 5.05297783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65255784400006 meters 0.2861922052560189 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.51 [[ 9.99997887e-01 -1.41408587e-03 1.49211254e-03 2.82602576e+00] [ 1.41427646e-03 9.99998992e-01 -1.26682128e-04 4.44582827e-02] [-1.49193190e-03 1.28792120e-04 9.99998879e-01 5.05131030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters 0.2865982206998488 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998158e-01 -1.33011696e-03 1.38411873e-03 2.82647007e+00] [ 1.33000265e-03 9.99999112e-01 8.35023646e-05 4.36027650e-02] [-1.38422857e-03 -8.16613292e-05 9.99999039e-01 5.04729336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71255784400006 meters 0.2886527935846081 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998534e-01 -1.17468860e-03 1.24580640e-03 2.82706700e+00] [ 1.17410058e-03 9.99999199e-01 4.72625492e-04 4.19785788e-02] [-1.24636059e-03 -4.71162097e-04 9.99999112e-01 5.04134626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters 0.287349073854409 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998606e-01 -1.11097938e-03 1.24632265e-03 2.82711642e+00] [ 1.11018808e-03 9.99999182e-01 6.35417428e-04 4.13094218e-02] [-1.24702757e-03 -6.34032890e-04 9.99999021e-01 5.04009105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77255784400006 meters 0.28836079304433 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998604e-01 -1.08700621e-03 1.26907833e-03 2.82697494e+00] [ 1.08611939e-03 9.99999166e-01 6.99275085e-04 4.10290690e-02] [-1.26983738e-03 -6.97895738e-04 9.99998950e-01 5.04189755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters 0.2859951957530853 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998514e-01 -1.08934733e-03 1.33643190e-03 2.82666184e+00] [ 1.08841872e-03 9.99999166e-01 6.95374764e-04 4.10241332e-02] [-1.33718829e-03 -6.93919133e-04 9.99998865e-01 5.04520833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83255784400006 meters 0.2870475710990669 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998697e-01 -1.09545754e-03 1.18584149e-03 2.82699459e+00] [ 1.09465821e-03 9.99999173e-01 6.74506988e-04 4.11159278e-02] [-1.18657941e-03 -6.73208018e-04 9.99999069e-01 5.04630317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86255784400004 meters 0.28799434012066216 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:0.50 [[ 9.99998893e-01 -1.10194977e-03 9.99835863e-04 2.82747493e+00] [ 1.10130187e-03 9.99999183e-01 6.48325071e-04 4.12361590e-02] [-1.00054947e-03 -6.47223232e-04 9.99999290e-01 5.04596031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89255784400007 meters 0.28721013458889527 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.51 [[ 9.99982173e-01 5.54640336e-03 -2.21154608e-03 2.80738952e+00] [-5.55145838e-03 9.99981977e-01 -2.28619002e-03 4.30767705e-02] [ 2.19882609e-03 2.29842657e-03 9.99994941e-01 5.05397052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92255784400004 meters 0.28620696513097277 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.51 [[ 9.99991809e-01 -3.50013316e-03 -2.03248657e-03 2.78636056e+00] [ 3.49606496e-03 9.99991885e-01 -2.00170341e-03 4.70309695e-02] [ 2.03947631e-03 1.99458130e-03 9.99995931e-01 5.05061870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95255784400007 meters 0.28662782698227296 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99994816e-01 3.12785203e-03 7.64938481e-04 2.80729780e+00] [-3.12469715e-03 9.99986748e-01 -4.09135452e-03 4.46815246e-02] [-7.77725496e-04 4.08894311e-03 9.99991338e-01 5.03991440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98255784400004 meters 0.2865046160920319 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99994563e-01 3.18204432e-03 8.65269223e-04 2.80687408e+00] [-3.17860618e-03 9.99987162e-01 -3.94625432e-03 4.40505647e-02] [-8.77815271e-04 3.94348251e-03 9.99991839e-01 5.04392042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01255784400007 meters 0.2866741642216186 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99994298e-01 3.22893021e-03 9.89238685e-04 2.80646895e+00] [-3.22513071e-03 9.99987508e-01 -3.81864982e-03 4.35032456e-02] [-1.00155648e-03 3.81543762e-03 9.99992220e-01 5.04607647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04255784400004 meters 0.28572767111867964 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99993997e-01 3.30426984e-03 1.04336620e-03 2.80620422e+00] [-3.30048388e-03 9.99988038e-01 -3.60971395e-03 4.26326681e-02] [-1.05528119e-03 3.60624867e-03 9.99992941e-01 5.04896472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0725578440001 meters 0.2851399336065737 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99993839e-01 3.35340669e-03 1.03741071e-03 2.80624399e+00] [-3.34976966e-03 9.99988306e-01 -3.48797093e-03 4.21186157e-02] [-1.04909516e-03 3.48447435e-03 9.99993379e-01 5.04830566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10255784400005 meters 0.2862705841699621 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:0.50 [[ 9.99993732e-01 3.38782423e-03 1.02902209e-03 2.80620296e+00] [-3.38430830e-03 9.99988495e-01 -3.39950948e-03 4.17446192e-02] [-1.04052719e-03 3.39600564e-03 9.99993692e-01 5.04965349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1325578440001 meters 0.28510560728918305 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997572e-01 -2.18834465e-03 -2.58783490e-04 2.78331558e+00] [ 2.18838153e-03 9.99997595e-01 1.42295499e-04 4.15979064e-02] [ 2.58471476e-04 -1.42861471e-04 9.99999956e-01 5.06135099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16255784400005 meters 0.28454841212090176 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997697e-01 -2.14430977e-03 -8.78094748e-05 2.78280166e+00] [ 2.14433339e-03 9.99997665e-01 2.69769294e-04 4.10644857e-02] [ 8.72308008e-05 -2.69956965e-04 9.99999960e-01 5.06368534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1925578440001 meters 0.2850920953122641 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997785e-01 -2.10457866e-03 -2.45227958e-05 2.78266434e+00] [ 2.10458759e-03 9.99997717e-01 3.69915286e-04 4.06401659e-02] [ 2.37442240e-05 -3.69966077e-04 9.99999931e-01 5.06312439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22255784400005 meters 0.285331900302306 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997864e-01 -2.06696733e-03 -2.08984405e-05 2.78273181e+00] [ 2.06697676e-03 9.99997757e-01 4.61561243e-04 4.02461409e-02] [ 1.99443616e-05 -4.61603453e-04 9.99999893e-01 5.06137468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2525578440001 meters 0.2849332673214326 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997883e-01 -2.05481599e-03 -1.07342721e-04 2.78301794e+00] [ 2.05486830e-03 9.99997769e-01 4.89571675e-04 4.01256811e-02] [ 1.06336502e-04 -4.89791213e-04 9.99999874e-01 5.05976610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28255784400005 meters 0.2862205622363184 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997770e-01 -2.07004218e-03 -4.18712298e-04 2.78406428e+00] [ 2.07022297e-03 9.99997764e-01 4.31813551e-04 4.04507095e-02] [ 4.17817489e-04 -4.32679416e-04 9.99999819e-01 5.05238382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3125578440001 meters 0.28564703715567213 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997749e-01 -2.07356747e-03 -4.50285031e-04 2.78415470e+00] [ 2.07375787e-03 9.99997760e-01 4.22800306e-04 4.04851373e-02] [ 4.49407317e-04 -4.23733136e-04 9.99999809e-01 5.05211241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34255784400005 meters 0.2857671306797005 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997612e-01 -2.12250160e-03 -5.21233721e-04 2.78436074e+00] [ 2.12265745e-03 9.99997703e-01 2.98627886e-04 4.10032247e-02] [ 5.20598685e-04 -2.99733573e-04 9.99999820e-01 5.05148200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3725578440001 meters 0.28573025638228916 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.50 [[ 9.99997500e-01 -2.16790651e-03 -5.47774373e-04 2.78451033e+00] [ 2.16800499e-03 9.99997634e-01 1.79251630e-04 4.14973448e-02] [ 5.47384476e-04 -1.80438759e-04 9.99999834e-01 5.04959277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40255784400006 meters 0.285103882362719 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.50 [[ 9.99997381e-01 -2.19832892e-03 -6.36544373e-04 2.78473319e+00] [ 2.19839093e-03 9.99997579e-01 9.67292253e-05 4.18353823e-02] [ 6.36330189e-04 -9.81283453e-05 9.99999793e-01 5.04959236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43255784400003 meters 0.2858814018779292 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.50 [[ 9.99997474e-01 -2.18874220e-03 -5.10495204e-04 2.78448479e+00] [ 2.18881118e-03 9.99997595e-01 1.34608470e-04 4.17011440e-02] [ 5.10199354e-04 -1.35725508e-04 9.99999861e-01 5.04822066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46255784400006 meters 0.28615237605256755 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.50 [[ 9.99997577e-01 -2.15907295e-03 -4.29064417e-04 2.78422965e+00] [ 2.15916126e-03 9.99997648e-01 2.05449736e-04 4.13886663e-02] [ 4.28619826e-04 -2.06375657e-04 9.99999887e-01 5.04927670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49255784400003 meters 0.2865138706172415 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997731e-01 -2.10388382e-03 -3.33097276e-04 2.78392115e+00] [ 2.10399768e-03 9.99997728e-01 3.41855885e-04 4.08005097e-02] [ 3.32377294e-04 -3.42555945e-04 9.99999886e-01 5.05073282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52255784400006 meters 0.28670716222819964 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997739e-01 -2.12056016e-03 -1.59198054e-04 2.78342509e+00] [ 2.12060692e-03 9.99997708e-01 2.94153401e-04 4.09990333e-02] [ 1.58573919e-04 -2.94490332e-04 9.99999944e-01 5.05249159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55255784400003 meters 0.2853093671525933 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.51 [[ 9.99997613e-01 -2.17721847e-03 -1.83072557e-04 2.78355030e+00] [ 2.17724333e-03 9.99997621e-01 1.35749128e-04 4.16518092e-02] [ 1.82776566e-04 -1.36147397e-04 9.99999974e-01 5.05073197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58255784400006 meters 0.28676693034805456 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:0.50 [[ 9.99997369e-01 -2.28280681e-03 -2.26200821e-04 2.78374859e+00] [ 2.28276989e-03 9.99997381e-01 -1.63351678e-04 4.28857690e-02] [ 2.26573129e-04 1.62834884e-04 9.99999961e-01 5.04847173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61255784400004 meters 0.28614021732922845 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.50 [[ 9.99996962e-01 -2.44749538e-03 -2.93825434e-04 2.78396073e+00] [ 2.44727983e-03 9.99996738e-01 -7.31742427e-04 4.51499228e-02] [ 2.95615412e-04 7.31021131e-04 9.99999689e-01 5.04698837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64255784400007 meters 0.28585371774791146 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.50 [[ 9.99996603e-01 -2.57849438e-03 -3.81333318e-04 2.78421113e+00] [ 2.57807530e-03 9.99996077e-01 -1.09543258e-03 4.66460904e-02] [ 3.84156388e-04 1.09444575e-03 9.99999327e-01 5.04613651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67255784400004 meters 0.28608973433069707 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.50 [[ 9.99996277e-01 -2.68943974e-03 -4.61706729e-04 2.78450004e+00] [ 2.68879579e-03 9.99995420e-01 -1.38971547e-03 4.78800847e-02] [ 4.65442170e-04 1.38846886e-03 9.99998928e-01 5.04415842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70255784400007 meters 0.28697365917799866 Centerline is valid? [False, False] Translation: X:2.78, Y:0.05, Z:0.50 [[ 9.99996042e-01 -2.76802209e-03 -5.03800713e-04 2.78462854e+00] [ 2.76722022e-03 9.99994914e-01 -1.58545496e-03 4.86992126e-02] [ 5.08186725e-04 1.58405455e-03 9.99998616e-01 5.04365741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73255784400004 meters 0.2842742621396896 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:0.50 [[ 9.99997204e-01 -2.27812980e-03 6.33792958e-04 2.74590376e+00] [ 2.27916630e-03 9.99996059e-01 -1.63949890e-03 4.81993528e-02] [-6.30055469e-04 1.64093883e-03 9.99998455e-01 5.00712365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76255784400007 meters 0.28715273013745457 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996437e-01 -2.66895937e-03 6.02101682e-05 2.78626330e+00] [ 2.66905042e-03 9.99995211e-01 -1.56646678e-03 4.79926628e-02] [-5.60290436e-05 1.56662191e-03 9.99998771e-01 5.03181263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79255784400004 meters 0.28688114078787613 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:0.50 [[ 9.99996626e-01 -2.59675152e-03 6.55667921e-05 2.78616656e+00] [ 2.59683935e-03 9.99995680e-01 -1.37713765e-03 4.72025589e-02] [-6.19904246e-05 1.37730328e-03 9.99999050e-01 5.03374460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8225578440001 meters 0.28486056028015416 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:0.50 [[ 9.99981469e-01 6.00764076e-03 -9.85063910e-04 2.76722494e+00] [-6.01000340e-03 9.99979028e-01 -2.41330689e-03 4.20487876e-02] [ 9.70544970e-04 2.41918241e-03 9.99996603e-01 5.02394480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85255784400005 meters 0.285801924837821 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:0.50 [[ 9.99980659e-01 6.14319717e-03 -9.70661923e-04 2.76710143e+00] [-6.14519302e-03 9.99978982e-01 -2.06673982e-03 4.06001124e-02] [ 9.57945132e-04 2.07266475e-03 9.99997393e-01 5.02590498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8825578440001 meters 0.285801924837821 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:0.50 [[ 9.99980659e-01 6.14319717e-03 -9.70661923e-04 2.76710143e+00] [-6.14519302e-03 9.99978982e-01 -2.06673982e-03 4.06001124e-02] [ 9.57945132e-04 2.07266475e-03 9.99997393e-01 5.02590498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91255784400005 meters 0.2853326484465985 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99996725e-01 -2.53625155e-03 3.41357768e-04 2.78720452e+00] [ 2.53659611e-03 9.99996270e-01 -1.01276276e-03 4.26643960e-02] [-3.38787873e-04 1.01362533e-03 9.99999429e-01 5.03282088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9425578440001 meters 0.2848923010051191 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:0.50 [[ 9.99983956e-01 5.64056235e-03 5.21414190e-04 2.76794438e+00] [-5.63931139e-03 9.99981290e-01 -2.37029008e-03 3.68299872e-02] [-5.34774204e-04 2.36731163e-03 9.99997055e-01 5.01545358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97255784400005 meters 0.28499141199382266 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:0.50 [[ 9.99992561e-01 -3.35160675e-03 1.90926697e-03 2.78858993e+00] [ 3.35408158e-03 9.99993537e-01 -1.29449977e-03 3.59238182e-02] [-1.90491597e-03 1.30089398e-03 9.99997339e-01 5.01789638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0025578440001 meters 0.2858410420697552 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:0.50 [[ 9.99993063e-01 -3.20978374e-03 1.88973298e-03 2.78867477e+00] [ 3.21155502e-03 9.99994406e-01 -9.35032754e-04 3.44250619e-02] [-1.88672116e-03 9.41095249e-04 9.99997777e-01 5.01719890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03255784400005 meters 0.28531116844371623 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:0.50 [[ 9.99986751e-01 4.97932318e-03 1.30545183e-03 2.76971668e+00] [-4.97661587e-03 9.99985476e-01 -2.06895544e-03 2.81021985e-02] [-1.31573487e-03 2.06243129e-03 9.99997008e-01 4.99784055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0625578440001 meters 0.28525369440054105 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:0.50 [[ 9.99985828e-01 5.18174662e-03 1.22169753e-03 2.76999996e+00] [-5.17981882e-03 9.99985343e-01 -1.57589152e-03 2.60335319e-02] [-1.22984550e-03 1.56954101e-03 9.99998012e-01 4.99656774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09255784400005 meters 0.2860269645604741 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.50 [[ 9.99988933e-01 -4.27455754e-03 1.96500204e-03 2.79175964e+00] [ 4.27627466e-03 9.99990478e-01 -8.70482503e-04 2.49678339e-02] [-1.96126240e-03 8.78875758e-04 9.99997691e-01 4.99310882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1225578440001 meters 0.28619778512785177 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.50 [[ 9.99989493e-01 -4.12442748e-03 2.00055741e-03 2.79169444e+00] [ 4.12542938e-03 9.99991367e-01 -4.96943072e-04 2.34202096e-02] [-1.99849053e-03 5.05191009e-04 9.99997875e-01 4.99286436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15255784400006 meters 0.28589905401470184 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.50 [[ 9.99989881e-01 -3.99067420e-03 2.07681773e-03 2.79152089e+00] [ 3.99100778e-03 9.99992024e-01 -1.56499766e-04 2.20061494e-02] [-2.07617663e-03 1.64786778e-04 9.99997831e-01 4.99265140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters 0.28584131993484607 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.50 [[ 9.99990317e-01 -3.84223473e-03 2.14569852e-03 2.79134129e+00] [ 3.84178926e-03 9.99992598e-01 2.11690237e-04 2.04738484e-02] [-2.14649600e-03 -2.03444866e-04 9.99997676e-01 4.99293873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21255784400006 meters 0.2840639093349829 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:0.50 [[ 9.99997580e-01 2.17420972e-03 3.36417241e-04 2.76940154e+00] [-2.17323223e-03 9.99993494e-01 -2.87916133e-03 1.75195579e-02] [-3.42674953e-04 2.87842325e-03 9.99995799e-01 5.00266334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters 0.285845237497539 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.50 [[ 9.99972611e-01 -7.38026935e-03 5.55301754e-04 2.79218828e+00] [ 7.38155900e-03 9.99969977e-01 -2.35736965e-03 1.66054225e-02] [-5.37887060e-04 2.36140407e-03 9.99997067e-01 4.99269535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27255784400006 meters 0.28570149390129473 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:0.50 [[ 9.99973805e-01 -7.22340698e-03 4.60110543e-04 2.79261101e+00] [ 7.22429586e-03 9.99971983e-01 -1.96043948e-03 1.49375687e-02] [-4.45936600e-04 1.96371210e-03 9.99997972e-01 4.98904464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30255784400003 meters 0.2867968468797174 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:0.50 [[ 9.99975281e-01 -7.02293272e-03 3.41398883e-04 2.79311388e+00] [ 7.02342347e-03 9.99974272e-01 -1.45816547e-03 1.28098422e-02] [-3.31149502e-04 1.46052722e-03 9.99998879e-01 4.98500210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33255784400006 meters 0.28552042255491 Centerline is valid? [False, False] Translation: X:2.77, Y:0.01, Z:0.50 [[ 9.99999294e-01 9.89565443e-04 -6.57444914e-04 2.77488141e+00] [-9.91287246e-04 9.99996067e-01 -2.62378647e-03 6.20171566e-03] [ 6.54845920e-04 2.62443633e-03 9.99996342e-01 4.96541725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36255784400004 meters 0.2861149501241613 Centerline is valid? [False, False] Translation: X:2.77, Y:0.00, Z:0.50 [[ 9.99998865e-01 1.36642071e-03 -6.34317662e-04 2.77458611e+00] [-1.36740402e-03 9.99997860e-01 -1.55235693e-03 1.80551448e-03] [ 6.32195132e-04 1.55322254e-03 9.99998594e-01 4.97115608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39255784400007 meters 0.2863457768030208 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:0.50 [[ 9.99998533e-01 1.59030885e-03 -6.36406026e-04 2.77448811e+00] [-1.59091570e-03 9.99998279e-01 -9.54196679e-04 -6.67038029e-04] [ 6.34887464e-04 9.55207747e-04 9.99999342e-01 4.97351040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42255784400004 meters 0.2858690449222487 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.00, Z:0.50 [[ 9.99998178e-01 1.80481757e-03 -6.22405195e-04 2.77440663e+00] [-1.80505345e-03 9.99998299e-01 -3.78632450e-04 -3.03626478e-03] [ 6.21720774e-04 3.79755235e-04 9.99999735e-01 4.97456882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45255784400007 meters 0.286714224895296 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.50 [[ 9.99997285e-01 2.22831334e-03 -6.81031136e-04 2.77470619e+00] [-2.22775327e-03 9.99997181e-01 8.22034638e-04 -7.92609811e-03] [ 6.82860967e-04 -8.20515237e-04 9.99999430e-01 4.97155660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48255784400004 meters 0.2865479518677818 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.01, Z:0.50 [[ 9.99996747e-01 2.44557403e-03 -7.24953168e-04 2.77487674e+00] [-2.44458273e-03 9.99996080e-01 1.36515028e-03 -1.01906433e-02] [ 7.28288902e-04 -1.36337363e-03 9.99998805e-01 4.97050611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51255784400007 meters 0.285358502392457 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.01, Z:0.49 [[ 9.99998985e-01 1.35269144e-03 4.46495975e-04 2.73559371e+00] [-1.35316134e-03 9.99998529e-01 1.05379009e-03 -1.39629516e-02] [-4.45069865e-04 -1.05439320e-03 9.99999345e-01 4.93862572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54255784400004 meters 0.28619112600084895 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.49 [[ 9.99998767e-01 1.50724516e-03 4.41523049e-04 2.73570676e+00] [-1.50788242e-03 9.99997817e-01 1.44654423e-03 -1.56072578e-02] [-4.39341789e-04 -1.44720821e-03 9.99998856e-01 4.93660079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5725578440001 meters 0.28509692580166335 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.49 [[ 9.99998334e-01 1.76838813e-03 4.52204790e-04 2.73571685e+00] [-1.76931285e-03 9.99996328e-01 2.05275534e-03 -1.81319505e-02] [-4.48573061e-04 -2.05355202e-03 9.99997791e-01 4.93622913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60255784400005 meters 0.28522243578739337 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.49 [[ 9.99998155e-01 1.88111487e-03 3.89231858e-04 2.73589889e+00] [-1.88201635e-03 9.99995517e-01 2.32877007e-03 -1.92922438e-02] [-3.84849429e-04 -2.32949832e-03 9.99997213e-01 4.93598399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6325578440001 meters 0.28663686486499484 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.49 [[ 9.99998034e-01 1.95320395e-03 3.41187710e-04 2.73599098e+00] [-1.95405351e-03 9.99994947e-01 2.50769270e-03 -2.00357825e-02] [-3.36287950e-04 -2.50835446e-03 9.99996798e-01 4.93679994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66255784400005 meters 0.2871505700003763 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.49 [[ 9.99997585e-01 2.10804619e-03 6.21104166e-04 2.73532852e+00] [-2.10985942e-03 9.99993472e-01 2.93332587e-03 -2.17476886e-02] [-6.14916525e-04 -2.93462923e-03 9.99995505e-01 4.93676896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6925578440001 meters 0.2858242254966898 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.49 [[ 9.99997322e-01 2.18838562e-03 7.52861415e-04 2.73489313e+00] [-2.19073689e-03 9.99992681e-01 3.13659821e-03 -2.25815395e-02] [-7.45991818e-04 -3.13823913e-03 9.99994797e-01 4.93925560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72255784400005 meters 0.28449806880762063 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.49 [[ 9.99997123e-01 2.24580589e-03 8.43290352e-04 2.73466646e+00] [-2.24855783e-03 9.99992104e-01 3.27668903e-03 -2.31633364e-02] [-8.35924886e-04 -3.27857578e-03 9.99994276e-01 4.93936275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7525578440001 meters 0.2867655301906078 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998230e-01 1.87561125e-03 1.48949784e-04 2.77314051e+00] [-1.87596279e-03 9.99995370e-01 2.39616839e-03 -2.16229738e-02] [-1.44454814e-04 -2.39644357e-03 9.99997118e-01 4.97381259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78255784400005 meters 0.2857011853777939 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998243e-01 1.86983893e-03 1.34165905e-04 2.77318704e+00] [-1.87015390e-03 9.99995402e-01 2.38718559e-03 -2.15726724e-02] [-1.29701636e-04 -2.38743231e-03 9.99997142e-01 4.97340514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8125578440001 meters 0.28630519450818404 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998379e-01 1.79925428e-03 7.37473471e-05 2.77338295e+00] [-1.79941228e-03 9.99995958e-01 2.20141892e-03 -2.08014980e-02] [-6.97861366e-05 -2.20154805e-03 9.99997574e-01 4.97222815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84255784400005 meters 0.2851076320519943 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998506e-01 1.72819334e-03 1.99956954e-05 2.77362094e+00] [-1.72823017e-03 9.99996471e-01 2.01778246e-03 -2.00347526e-02] [-1.65085066e-05 -2.01781401e-03 9.99997964e-01 4.96968131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8725578440001 meters 0.2864581480917935 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998598e-01 1.67407359e-03 -2.20674273e-05 2.77380682e+00] [-1.67402911e-03 9.99996829e-01 1.88132839e-03 -1.94669648e-02] [ 2.52168395e-05 -1.88128882e-03 9.99998230e-01 4.96779099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90255784400006 meters 0.2852138933602997 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998627e-01 1.65601500e-03 6.69371608e-05 2.77352702e+00] [-1.65613492e-03 9.99996949e-01 1.83294038e-03 -1.92505539e-02] [-6.39015798e-05 -1.83304872e-03 9.99998318e-01 4.96889404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93255784400003 meters 0.28477385972878555 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998595e-01 1.67431128e-03 7.95969355e-05 2.77340407e+00] [-1.67445797e-03 9.99996831e-01 1.88009510e-03 -1.94292627e-02] [-7.64488188e-05 -1.88022574e-03 9.99998229e-01 4.97097531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96255784400006 meters 0.284752920809619 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998493e-01 1.73444884e-03 7.36767729e-05 2.77334946e+00] [-1.73459584e-03 9.99996406e-01 2.04436451e-03 -2.00948949e-02] [-7.01306625e-05 -2.04448922e-03 9.99997908e-01 4.97278955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99255784400003 meters 0.28491983090842604 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998270e-01 1.85878080e-03 -6.98328484e-05 2.77362702e+00] [-1.85860406e-03 9.99995269e-01 2.45104631e-03 -2.17201079e-02] [ 7.43884758e-05 -2.45091228e-03 9.99996994e-01 4.97479012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02255784400006 meters 0.2854259887333739 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998165e-01 1.90840534e-03 -1.68207370e-04 2.77396406e+00] [-1.90796366e-03 9.99994831e-01 2.58796986e-03 -2.23005979e-02] [ 1.73145396e-04 -2.58764418e-03 9.99996637e-01 4.97283375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05255784400003 meters 0.286236003318939 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998052e-01 1.95910865e-03 -2.39702382e-04 2.77417730e+00] [-1.95844798e-03 9.99994367e-01 2.72605207e-03 -2.28817687e-02] [ 2.45041664e-04 -2.72557732e-03 9.99996256e-01 4.97224315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08255784400006 meters 0.2862989851407914 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998036e-01 1.96368277e-03 -2.66678260e-04 2.77430551e+00] [-1.96294504e-03 9.99994322e-01 2.73902426e-03 -2.29371721e-02] [ 2.72055320e-04 -2.73849541e-03 9.99996213e-01 4.97098069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11255784400004 meters 0.2865238599879733 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99998122e-01 1.90709809e-03 -3.43960132e-04 2.77466328e+00] [-1.90619734e-03 9.99994802e-01 2.60034280e-03 -2.23511250e-02] [ 3.48917453e-04 -2.59968227e-03 9.99996560e-01 4.96736956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14255784400007 meters 0.28563101509178135 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998163e-01 1.86379638e-03 -4.46754499e-04 2.77506263e+00] [-1.86267698e-03 9.99995157e-01 2.49309068e-03 -2.19169880e-02] [ 4.51398949e-04 -2.49225394e-03 9.99996792e-01 4.96415187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17255784400004 meters 0.2884035005971893 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998221e-01 1.81262762e-03 -5.21965369e-04 2.77533734e+00] [-1.81138754e-03 9.99995559e-01 2.36653516e-03 -2.13989730e-02] [ 5.26252698e-04 -2.36558547e-03 9.99997064e-01 4.96223757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20255784400007 meters 0.28542189806269436 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998295e-01 1.76559432e-03 -5.40914216e-04 2.77531870e+00] [-1.76437362e-03 9.99995915e-01 2.24896594e-03 -2.08994953e-02] [ 5.44882767e-04 -2.24800773e-03 9.99997325e-01 4.96361220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23255784400004 meters 0.28669262460372147 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998401e-01 1.71906602e-03 -4.93280539e-04 2.77507355e+00] [-1.71801022e-03 9.99996250e-01 2.13287300e-03 -2.03838071e-02] [ 4.96945239e-04 -2.13202213e-03 9.99997604e-01 4.96623330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26255784400007 meters 0.28644356538364846 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998430e-01 1.69163609e-03 -5.27818106e-04 2.77523598e+00] [-1.69054287e-03 9.99996439e-01 2.06481835e-03 -2.01050942e-02] [ 5.31309148e-04 -2.06392281e-03 9.99997729e-01 4.96457004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29255784400004 meters 0.2854629480315087 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998431e-01 1.68109684e-03 -5.58911166e-04 2.77544829e+00] [-1.67995478e-03 9.99996513e-01 2.03760324e-03 -2.00040526e-02] [ 5.62334625e-04 -2.03666110e-03 9.99997768e-01 4.96159782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3225578440001 meters 0.2858812289384994 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998460e-01 1.64342348e-03 -6.15087486e-04 2.77567254e+00] [-1.64222580e-03 9.99996765e-01 1.94262551e-03 -1.96167871e-02] [ 6.18278052e-04 -1.94161240e-03 9.99997924e-01 4.95964010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35255784400005 meters 0.28543963898574837 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99998509e-01 1.56870286e-03 -7.21582299e-04 2.77603474e+00] [-1.56743392e-03 9.99997230e-01 1.75576821e-03 -1.88358708e-02] [ 7.24334579e-04 -1.75463456e-03 9.99998198e-01 4.95736512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3825578440001 meters 0.2885619817031093 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.49 [[ 9.99996370e-01 1.91106967e-03 1.89956946e-03 2.81959963e+00] [-1.91449576e-03 9.99996541e-01 1.80343564e-03 -1.60492431e-02] [-1.89611640e-03 -1.80706581e-03 9.99996570e-01 4.94582962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41255784400005 meters 0.2868810402641571 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.49 [[ 9.99996169e-01 1.93794393e-03 1.97655443e-03 2.81929730e+00] [-1.94163984e-03 9.99996367e-01 1.86967665e-03 -1.63192086e-02] [-1.97292392e-03 -1.87350724e-03 9.99996299e-01 4.94822638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4425578440001 meters 0.2869721137866359 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.50 [[ 9.99996101e-01 1.98182923e-03 1.96717242e-03 2.81917789e+00] [-1.98573269e-03 9.99996060e-01 1.98433671e-03 -1.67838460e-02] [-1.96323205e-03 -1.98823525e-03 9.99996096e-01 4.95157002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47255784400005 meters 0.28481340640153 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99999175e-01 5.68389591e-04 -1.15205066e-03 2.77661144e+00] [-5.67033843e-04 9.99999147e-01 1.17679805e-03 -1.98256999e-02] [ 1.15271856e-03 -1.17614382e-03 9.99998644e-01 4.96011803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5025578440001 meters 0.28635032485809325 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.50 [[ 9.99996333e-01 6.29319772e-04 -2.63408643e-03 2.81597804e+00] [-6.26785004e-04 9.99999340e-01 9.63009655e-04 -1.78094526e-02] [ 2.63469073e-03 -9.61355118e-04 9.99996067e-01 4.99560575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53255784400005 meters 0.28736119424690526 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.02, Z:0.50 [[ 9.99996357e-01 6.86571323e-04 -2.61040185e-03 2.81584928e+00] [-6.83678495e-04 9.99999151e-01 1.10892360e-03 -1.84140402e-02] [ 2.61116099e-03 -1.10713489e-03 9.99995978e-01 4.99722713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5625578440001 meters 0.28564982692171986 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99999962e-01 -2.74611365e-04 -3.70437666e-06 2.77371894e+00] [ 2.74615336e-04 9.99999337e-01 1.11847388e-03 -2.13914324e-02] [ 3.39722856e-06 -1.11847485e-03 9.99999375e-01 4.97711813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59255784400005 meters 0.2865815641286061 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99999987e-01 -1.35688563e-04 9.17141981e-05 2.77306380e+00] [ 1.35549805e-04 9.99998849e-01 1.51126099e-03 -2.31077321e-02] [-9.19191533e-05 -1.51124854e-03 9.99998854e-01 4.98798407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6225578440001 meters 0.2856251236801923 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99999989e-01 -9.30347810e-05 1.12181462e-04 2.77279324e+00] [ 9.28526882e-05 9.99998680e-01 1.62211234e-03 -2.35484292e-02] [-1.12332227e-04 -1.62210190e-03 9.99998678e-01 4.99309440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65255784400006 meters 0.28614818039476386 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99999984e-01 -2.97630636e-05 1.77913627e-04 2.77252768e+00] [ 2.94458899e-05 9.99998411e-01 1.78247643e-03 -2.42125706e-02] [-1.77966396e-04 -1.78247116e-03 9.99998396e-01 4.99538111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68255784400003 meters 0.28546317118283926 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99999969e-01 2.26474337e-05 2.46719151e-04 2.77229697e+00] [-2.31198690e-05 9.99998166e-01 1.91503650e-03 -2.47592994e-02] [-2.46675328e-04 -1.91504214e-03 9.99998136e-01 4.99660662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71255784400006 meters 0.2839836508945774 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999338e-01 -4.90788426e-04 1.04101447e-03 2.73422347e+00] [ 4.88541776e-04 9.99997554e-01 2.15729280e-03 -2.95569479e-02] [-1.04207070e-03 -2.15678279e-03 9.99997131e-01 4.96230282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74255784400003 meters 0.28478169210502413 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999442e-01 -4.51706819e-04 9.55036571e-04 2.73448110e+00] [ 4.49545946e-04 9.99997342e-01 2.26161333e-03 -2.99960750e-02] [-9.56055619e-04 -2.26118273e-03 9.99996987e-01 4.96152556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77255784400006 meters 0.28478169210502413 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999442e-01 -4.51706819e-04 9.55036571e-04 2.73448110e+00] [ 4.49545946e-04 9.99997342e-01 2.26161333e-03 -2.99960750e-02] [-9.56055619e-04 -2.26118273e-03 9.99996987e-01 4.96152556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters 0.28496792486137895 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999492e-01 -4.22298125e-04 9.14962418e-04 2.73463137e+00] [ 4.20157428e-04 9.99997177e-01 2.33858658e-03 -3.03217261e-02] [-9.15947416e-04 -2.33820097e-03 9.99996847e-01 4.96052162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83255784400006 meters 0.28481437992105624 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999549e-01 -3.63807239e-04 8.77428109e-04 2.73473475e+00] [ 3.61622394e-04 9.99996837e-01 2.48893014e-03 -3.09497819e-02] [-8.78330825e-04 -2.48861172e-03 9.99996518e-01 4.96047860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86255784400004 meters 0.2852684536913736 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999612e-01 -1.56249238e-04 8.67210659e-04 2.73468184e+00] [ 1.53660935e-04 9.99995536e-01 2.98389434e-03 -3.30138457e-02] [-8.67673019e-04 -2.98375992e-03 9.99995172e-01 4.96244345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89255784400007 meters 0.2852344928170104 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99999628e-01 -4.37219687e-05 8.61372013e-04 2.73467739e+00] [ 4.09070203e-05 9.99994660e-01 3.26772875e-03 -3.41907915e-02] [-8.61510285e-04 -3.26769230e-03 9.99994290e-01 4.96304668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92255784400004 meters 0.28563548180926784 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.04, Z:0.50 [[ 9.99999635e-01 6.49437212e-05 8.52270069e-04 2.73475654e+00] [-6.79606158e-05 9.99993731e-01 3.54028261e-03 -3.53258165e-02] [-8.52034807e-04 -3.54033924e-03 9.99993370e-01 4.96206331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95255784400007 meters 0.2858560581486361 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.04, Z:0.50 [[ 9.99999689e-01 2.32597371e-04 7.53668813e-04 2.73518138e+00] [-2.35572025e-04 9.99992174e-01 3.94921527e-03 -3.70522102e-02] [-7.52744338e-04 -3.94939158e-03 9.99991918e-01 4.95879287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98255784400004 meters 0.28522616925525074 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.04, Z:0.50 [[ 9.99999670e-01 3.00627085e-04 7.54354217e-04 2.73516807e+00] [-3.03732704e-04 9.99991466e-01 4.12019182e-03 -3.77596108e-02] [-7.53109138e-04 -4.12041959e-03 9.99991227e-01 4.95923249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01255784400007 meters 0.285944888982092 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.04, Z:0.50 [[ 9.99960385e-01 8.70020363e-03 1.88007601e-03 2.75497379e+00] [-8.70540817e-03 9.99958248e-01 2.77804220e-03 -4.01947767e-02] [-1.85582798e-03 -2.79429898e-03 9.99994374e-01 4.97231755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04255784400004 meters 0.28822192085706627 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:0.50 [[ 9.99999389e-01 1.37337882e-04 1.09694058e-03 2.77572708e+00] [-1.41360966e-04 9.99993262e-01 3.66831516e-03 -3.65642960e-02] [-1.09642939e-03 -3.66846798e-03 9.99992670e-01 4.97549420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0725578440001 meters 0.2854191635612161 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.04, Z:0.50 [[ 9.99983177e-01 5.41966683e-03 -2.06707036e-03 2.75480172e+00] [-5.41925265e-03 9.99985295e-01 2.05916245e-04 -3.62162122e-02] [ 2.06815596e-03 -1.94710805e-04 9.99997842e-01 4.98509768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10255784400005 meters 0.28563989779689586 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.50 [[ 9.99983170e-01 5.39915575e-03 -2.12331022e-03 2.75511329e+00] [-5.39883905e-03 9.99985414e-01 1.54860039e-04 -3.60138810e-02] [ 2.12411536e-03 -1.43394022e-04 9.99997734e-01 4.98121508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1325578440001 meters 0.28722562852441946 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.50 [[ 9.99983046e-01 5.39641980e-03 -2.18765201e-03 2.75544503e+00] [-5.39610198e-03 9.99985430e-01 1.51156744e-04 -3.60225060e-02] [ 2.18843584e-03 -1.39349388e-04 9.99997596e-01 4.97748960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16255784400005 meters 0.2870833182154824 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.50 [[ 9.99982767e-01 5.40120121e-03 -2.30049907e-03 2.75578310e+00] [-5.40082774e-03 9.99985401e-01 1.68520739e-04 -3.61080100e-02] [ 2.30137570e-03 -1.56093236e-04 9.99997340e-01 4.97640221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1925578440001 meters 0.2869321947061079 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.50 [[ 9.99982859e-01 5.39755455e-03 -2.26897051e-03 2.75569384e+00] [-5.39721186e-03 9.99985423e-01 1.57126533e-04 -3.60552093e-02] [ 2.26978554e-03 -1.44877725e-04 9.99997414e-01 4.97658708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22255784400005 meters 0.2859376759484553 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.50 [[ 9.99982678e-01 5.42566553e-03 -2.28180902e-03 2.75560414e+00] [-5.42515232e-03 9.99985257e-01 2.31043312e-04 -3.63436166e-02] [ 2.28302895e-03 -2.18660148e-04 9.99997370e-01 4.97939997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2525578440001 meters 0.28688276696630904 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.50 [[ 9.99996158e-01 -2.28617619e-03 -1.56755727e-03 2.77527461e+00] [ 2.28868854e-03 9.99996096e-01 1.60280130e-03 -3.18869365e-02] [ 1.56388687e-03 -1.60638279e-03 9.99997487e-01 4.99384260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28255784400005 meters 0.2879094895455469 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.50 [[ 9.99996189e-01 -2.22548218e-03 -1.63370930e-03 2.77538792e+00] [ 2.22837218e-03 9.99995952e-01 1.76929333e-03 -3.25767359e-02] [ 1.62976515e-03 -1.77292710e-03 9.99997100e-01 4.99527957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3125578440001 meters 0.28578350707685024 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99988056e-01 3.42909184e-03 -3.48277628e-03 2.75367566e+00] [-3.43429843e-03 9.99992993e-01 -1.49007326e-03 -3.44696646e-02] [ 3.47764227e-03 1.50201635e-03 9.99992825e-01 5.00486294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34255784400005 meters 0.2864323141285682 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99987592e-01 3.45636555e-03 -3.58727921e-03 2.75398394e+00] [-3.46146735e-03 9.99993005e-01 -1.41696068e-03 -3.47879617e-02] [ 3.58235659e-03 1.42936035e-03 9.99992562e-01 5.00396147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3725578440001 meters 0.2865632678109155 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99987300e-01 3.46658296e-03 -3.65832668e-03 2.75419987e+00] [-3.47168022e-03 9.99993011e-01 -1.38790372e-03 -3.49165468e-02] [ 3.65348983e-03 1.40058664e-03 9.99992345e-01 5.00319360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40255784400006 meters 0.2870243384388979 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.50 [[ 9.99984846e-01 -4.64370730e-03 -2.95699098e-03 2.77424283e+00] [ 4.64243829e-03 9.99989129e-01 -4.35875182e-04 -3.06432643e-02] [ 2.95898291e-03 4.22140929e-04 9.99995533e-01 5.01363215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43255784400003 meters 0.2873469108029245 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.50 [[ 9.99984923e-01 -4.64753470e-03 -2.92472951e-03 2.77417212e+00] [ 4.64624692e-03 9.99989106e-01 -4.46949083e-04 -3.05982130e-02] [ 2.92677486e-03 4.33353329e-04 9.99995623e-01 5.01336472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46255784400006 meters 0.2860874982056952 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99986702e-01 3.85762418e-03 -3.42274466e-03 2.75266729e+00] [-3.86127397e-03 9.99991983e-01 -1.06036767e-03 -3.36948396e-02] [ 3.41862672e-03 1.07356972e-03 9.99993580e-01 5.01108870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49255784400003 meters 0.28674677286863176 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99987503e-01 3.74061111e-03 -3.31699272e-03 2.75235882e+00] [-3.74516268e-03 9.99992052e-01 -1.36704936e-03 -3.24033417e-02] [ 3.31185276e-03 1.37945495e-03 9.99993564e-01 5.01181838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52255784400006 meters 0.2870674693156418 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:0.50 [[ 9.99998488e-01 -1.45273366e-03 -9.56021636e-04 2.77421602e+00] [ 1.45447785e-03 9.99997275e-01 1.82626683e-03 -2.93103103e-02] [ 9.53365951e-04 -1.82765458e-03 9.99997875e-01 5.00459689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55255784400003 meters 0.2855979866846355 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.03, Z:0.50 [[ 9.99986930e-01 4.20779113e-03 -2.90436045e-03 2.75205415e+00] [-4.21242395e-03 9.99989862e-01 -1.59085623e-03 -2.90384341e-02] [ 2.89763701e-03 1.60306983e-03 9.99994517e-01 5.01902542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58255784400006 meters 0.2851587045148264 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:0.50 [[ 9.99982248e-01 -4.45844325e-03 -3.95287619e-03 2.73227442e+00] [ 4.45655661e-03 9.99989951e-01 -4.85962731e-04 -2.66062272e-02] [ 3.95500310e-03 4.68337888e-04 9.99992069e-01 5.00660651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61255784400004 meters 0.2870386186423245 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.50 [[ 9.99986875e-01 -2.97905413e-03 -4.16828275e-03 2.77296381e+00] [ 2.97967527e-03 9.99995551e-01 1.42813587e-04 -2.46711691e-02] [ 4.16783875e-03 -1.55231842e-04 9.99991302e-01 5.02689048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64255784400007 meters 0.2853947810490306 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 9.99971305e-01 3.15565299e-03 -6.88698403e-03 2.75230425e+00] [-3.17467035e-03 9.99991173e-01 -2.75216584e-03 -2.48552519e-02] [ 6.87823836e-03 2.77395078e-03 9.99972497e-01 5.03270374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67255784400004 meters 0.2862067444888864 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 0.99997148 0.00308991 -0.00689136 2.75232161] [-0.00311007 0.99999091 -0.00291635 -0.02417179] [ 0.00688229 0.0029377 0.999972 0.50324983] [ 0. 0. 0. 1. ]] SLAMing on 422.70255784400007 meters 0.286354549305774 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 0.99997198 0.0030343 -0.00684388 2.7521437 ] [-0.00305529 0.99999065 -0.00305881 -0.02356694] [ 0.00683453 0.00307964 0.9999719 0.5033632 ] [ 0. 0. 0. 1. ]] SLAMing on 422.73255784400004 meters 0.2864059428454676 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 0.99997247 0.00297107 -0.00679887 2.75203163] [-0.00299302 0.99999034 -0.00322005 -0.02289368] [ 0.00678923 0.00324031 0.9999717 0.50334803] [ 0. 0. 0. 1. ]] SLAMing on 422.76255784400007 meters 0.28635495906456804 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.50 [[ 9.99951359e-01 -5.66006162e-03 -8.07728093e-03 2.73250378e+00] [ 5.64256940e-03 9.99981690e-01 -2.18675569e-03 -1.91001829e-02] [ 8.08951020e-03 2.14107271e-03 9.99964987e-01 5.02414493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79255784400004 meters 0.2871491646314444 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 9.99986063e-01 1.53828674e-03 -5.05054660e-03 2.75318510e+00] [-1.56064161e-03 9.99988991e-01 -4.42527412e-03 -1.79919305e-02] [ 5.04368366e-03 4.43309453e-03 9.99977454e-01 5.01499670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8225578440001 meters 0.2865669431795711 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.50 [[ 9.99957673e-01 -4.90305442e-03 -7.78533309e-03 2.73117985e+00] [ 4.89229663e-03 9.99987052e-01 -1.40024565e-03 -2.06956195e-02] [ 7.79209777e-03 1.36209823e-03 9.99968713e-01 5.03348764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85255784400005 meters 0.28749607114012693 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 9.99972143e-01 3.98524970e-03 -6.31110861e-03 2.75137558e+00] [-3.99865232e-03 9.99989774e-01 -2.11246183e-03 -2.36788503e-02] [ 6.30262538e-03 2.13763891e-03 9.99977853e-01 5.03921819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8825578440001 meters 0.2850775338484314 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.50 [[ 9.99954542e-01 -4.49766049e-03 -8.40739607e-03 2.73192625e+00] [ 4.48986291e-03 9.99989473e-01 -9.46110449e-04 -2.23775266e-02] [ 8.41156285e-03 9.08319385e-04 9.99964210e-01 5.03057240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91255784400005 meters 0.28522408614002315 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.50 [[ 9.99954164e-01 -4.48234401e-03 -8.46038418e-03 2.73207685e+00] [ 4.47482625e-03 9.99989576e-01 -9.07304669e-04 -2.25497000e-02] [ 8.46436284e-03 8.69404333e-04 9.99963799e-01 5.03028054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9425578440001 meters 0.28729287083523714 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.02, Z:0.50 [[ 9.99969738e-01 3.90356222e-03 -6.72942141e-03 2.75192123e+00] [-3.91830485e-03 9.99989949e-01 -2.17898303e-03 -2.42294834e-02] [ 6.72084798e-03 2.20528501e-03 9.99974983e-01 5.03984415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97255784400005 meters 0.2857479490731275 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:0.50 [[ 9.99953102e-01 -4.98914078e-03 -8.30078068e-03 2.73237634e+00] [ 4.97817965e-03 9.99986710e-01 -1.34063267e-03 -2.14125963e-02] [ 8.30735897e-03 1.29924702e-03 9.99964649e-01 5.03303554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0025578440001 meters 0.28614297851525905 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99951703e-01 -2.84870792e-03 -9.40617786e-03 2.73789944e+00] [ 2.85356948e-03 9.99995802e-01 5.03466773e-04 -2.12454921e-02] [ 9.40470414e-03 -5.30283639e-04 9.99955634e-01 4.99707602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03255784400005 meters 0.285978333817773 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99934685e-01 5.28083255e-03 -1.01360375e-02 2.71728074e+00] [-5.28635239e-03 9.99985893e-01 -5.17861014e-04 -2.39253959e-02] [ 1.01331598e-02 5.71409856e-04 9.99948495e-01 4.98414760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0625578440001 meters 0.28658104904562864 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99963468e-01 -3.19830380e-04 -8.54173579e-03 2.74017839e+00] [ 3.39622718e-04 9.99997261e-01 2.31578308e-03 -1.99543583e-02] [ 8.54097174e-03 -2.31859945e-03 9.99960837e-01 4.97160742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09255784400005 meters 0.2881430187112117 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99963617e-01 -3.98345462e-04 -8.52095003e-03 2.74000495e+00] [ 4.16437989e-04 9.99997663e-01 2.12163042e-03 -1.91341780e-02] [ 8.52008497e-03 -2.12510167e-03 9.99961445e-01 4.97398333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1225578440001 meters 0.2863274468708706 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.50 [[ 9.99937638e-01 5.00874484e-03 -9.98157050e-03 2.71652670e+00] [-5.02255780e-03 9.99986463e-01 -1.35925966e-03 -1.96032916e-02] [ 9.97462720e-03 1.40930790e-03 9.99949259e-01 4.99030662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15255784400006 meters 0.2872038227948453 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.01, Z:0.50 [[ 9.99957070e-01 -2.72996775e-03 -8.85464067e-03 2.73562875e+00] [ 2.72958040e-03 9.99996273e-01 -5.58299956e-05 -1.47789409e-02] [ 8.85476008e-03 3.16581452e-05 9.99960795e-01 5.00628720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters 0.2868549005207708 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99956670e-01 -2.70830297e-03 -8.90632153e-03 2.73570559e+00] [ 2.70840044e-03 9.99996332e-01 -1.11642355e-06 -1.50046288e-02] [ 8.90629188e-03 -2.30055100e-05 9.99960338e-01 5.00755461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21255784400006 meters 0.28819370752388257 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99955017e-01 -2.67140664e-03 -9.10094525e-03 2.73626197e+00] [ 2.67245213e-03 9.99996424e-01 1.02718020e-04 -1.54581167e-02] [ 9.10063830e-03 -1.27035240e-04 9.99958580e-01 5.00593946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters 0.28660552335869066 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99954834e-01 -2.61506715e-03 -9.13736058e-03 2.73634607e+00] [ 2.61748746e-03 9.99996542e-01 2.52932321e-04 -1.60748778e-02] [ 9.13666755e-03 -2.76837824e-04 9.99958221e-01 5.00624382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27255784400006 meters 0.2855879430148962 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.02, Z:0.50 [[ 9.99955134e-01 -2.52608069e-03 -9.12960838e-03 2.73620983e+00] [ 2.53064240e-03 9.99996679e-01 4.88143063e-04 -1.70205315e-02] [ 9.12834497e-03 -5.11224936e-04 9.99958205e-01 5.00910558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters 0.2870030729033175 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.50 [[ 9.99974583e-01 3.36247079e-03 -6.28711037e-03 2.75806493e+00] [-3.37975411e-03 9.99990534e-01 -2.74040787e-03 -1.59003539e-02] [ 6.27783631e-03 2.76158711e-03 9.99976481e-01 4.99879799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33255784400006 meters 0.28670128586232735 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.50 [[ 9.99973248e-01 3.51724312e-03 -6.41345775e-03 2.75835349e+00] [-3.53224873e-03 9.99991047e-01 -2.32988254e-03 -1.75876569e-02] [ 6.40520557e-03 2.35247414e-03 9.99976719e-01 4.99968004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36255784400004 meters 0.28615814515657967 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.50 [[ 9.99972922e-01 3.58695825e-03 -6.42569055e-03 2.75846209e+00] [-3.60086266e-03 9.99991198e-01 -2.15361671e-03 -1.83309158e-02] [ 6.41790906e-03 2.17669643e-03 9.99977036e-01 4.99808971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39255784400007 meters 0.2862936398049059 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.50 [[ 9.99973165e-01 3.65784874e-03 -6.34741071e-03 2.75833455e+00] [-3.67046545e-03 9.99991309e-01 -1.97718446e-03 -1.90645993e-02] [ 6.34012330e-03 2.00042935e-03 9.99977900e-01 4.99655498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42255784400004 meters 0.28888567530871206 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99979053e-01 -4.13654915e-03 -4.97821185e-03 2.77735236e+00] [ 4.13378457e-03 9.99991296e-01 -5.65497078e-04 -1.55995859e-02] [ 4.98050773e-03 5.44906377e-04 9.99987449e-01 5.00857227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45255784400007 meters 0.28844924812913975 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99979630e-01 -4.04074533e-03 -4.94088087e-03 2.77719668e+00] [ 4.03916982e-03 9.99991788e-01 -3.28809588e-04 -1.65744196e-02] [ 4.94216893e-03 3.08845833e-04 9.99987740e-01 5.01006602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48255784400004 meters 0.287379957885757 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99979882e-01 -3.97588643e-03 -4.94238209e-03 2.77715253e+00] [ 3.97515017e-03 9.99992086e-01 -1.58782958e-04 -1.72665440e-02] [ 4.94297428e-03 1.39133053e-04 9.99987774e-01 5.01137164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51255784400007 meters 0.2869078901255371 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99979349e-01 -4.00725978e-03 -5.02429052e-03 2.77753302e+00] [ 4.00610645e-03 9.99991947e-01 -2.39594222e-04 -1.69543450e-02] [ 5.02521018e-03 2.19461431e-04 9.99987349e-01 5.00714256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54255784400004 meters 0.28801520387596347 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99978627e-01 -4.06243079e-03 -5.12279193e-03 2.77797102e+00] [ 4.06050033e-03 9.99991681e-01 -3.87182697e-04 -1.63763902e-02] [ 5.12432221e-03 3.66373324e-04 9.99986803e-01 5.00236164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5725578440001 meters 0.2866774403161952 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.50 [[ 9.99966055e-01 4.49581577e-03 -6.90480238e-03 2.75764876e+00] [-4.50484895e-03 9.99989017e-01 -1.29325110e-03 -1.58192248e-02] [ 6.89891232e-03 1.32431229e-03 9.99975325e-01 4.99188404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60255784400005 meters 0.28709004232105917 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.50 [[ 9.99967151e-01 4.36029200e-03 -6.83262718e-03 2.75749439e+00] [-4.37169710e-03 9.99989074e-01 -1.65516576e-03 -1.43312374e-02] [ 6.82533552e-03 1.68498156e-03 9.99975288e-01 4.99101605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6325578440001 meters 0.28751078163102617 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978979e-01 -3.49545816e-03 -5.46100023e-03 2.77624436e+00] [ 3.49200706e-03 9.99993697e-01 -6.41360453e-04 -7.99132086e-03] [ 5.46320766e-03 6.22277120e-04 9.99984883e-01 5.00222301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66255784400005 meters 0.2884934910017659 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978924e-01 -3.55722302e-03 -5.43125719e-03 2.77589713e+00] [ 3.55285045e-03 9.99993357e-01 -8.14510356e-04 -7.26353284e-03] [ 5.43411850e-03 7.95196745e-04 9.99984919e-01 5.00836757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6925578440001 meters 0.2884934910017659 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978924e-01 -3.55722302e-03 -5.43125719e-03 2.77589713e+00] [ 3.55285045e-03 9.99993357e-01 -8.14510356e-04 -7.26353284e-03] [ 5.43411850e-03 7.95196745e-04 9.99984919e-01 5.00836757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72255784400005 meters 0.2872575346796666 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99979088e-01 -3.53059158e-03 -5.41836956e-03 2.77560986e+00] [ 3.52658299e-03 9.99993501e-01 -7.49190755e-04 -7.51715522e-03] [ 5.42097944e-03 7.30066758e-04 9.99985040e-01 5.01435507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7525578440001 meters 0.2870460804029739 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99979286e-01 -3.47922716e-03 -5.41495069e-03 2.77541828e+00] [ 3.47594754e-03 9.99993770e-01 -6.14953145e-04 -8.05014925e-03] [ 5.41705652e-03 5.96118323e-04 9.99985150e-01 5.01875718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78255784400005 meters 0.28629210534013305 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99979412e-01 -3.40300643e-03 -5.44014648e-03 2.77540541e+00] [ 3.40080978e-03 9.99994132e-01 -4.12983197e-04 -8.86921532e-03] [ 5.44151994e-03 3.94473792e-04 9.99985117e-01 5.02067128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8125578440001 meters 0.28687476177941884 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978752e-01 -3.30505372e-03 -5.61889359e-03 2.77584645e+00] [ 3.30456420e-03 9.99994535e-01 -9.64021215e-05 -1.01131213e-02] [ 5.61918150e-03 7.78320785e-05 9.99984209e-01 5.02072344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84255784400005 meters 0.28802335609336255 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978358e-01 -3.21310920e-03 -5.74102677e-03 2.77611290e+00] [ 3.21408487e-03 9.99994822e-01 1.60728146e-04 -1.11668115e-02] [ 5.74048060e-03 -1.79176814e-04 9.99983507e-01 5.02181315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8725578440001 meters 0.28697998634374283 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978326e-01 -3.08282840e-03 -5.81757681e-03 2.77613502e+00] [ 3.08583737e-03 9.99995110e-01 5.08315306e-04 -1.25853009e-02] [ 5.81598131e-03 -5.26256385e-04 9.99982949e-01 5.02589515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90255784400006 meters 0.28697086753787454 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99978542e-01 -2.96422117e-03 -5.84205622e-03 2.77603111e+00] [ 2.96907661e-03 9.99995254e-01 8.22621254e-04 -1.38689860e-02] [ 5.83959007e-03 -8.39949114e-04 9.99982597e-01 5.02980013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93255784400003 meters 0.28693723091122786 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99977678e-01 5.39554480e-03 -3.94108686e-03 2.79511072e+00] [-5.39533194e-03 9.99985443e-01 6.46412918e-05 -1.98264946e-02] [ 3.94137826e-03 -4.33763771e-05 9.99992232e-01 5.04506130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96255784400006 meters 0.28662598745125134 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99977450e-01 5.44716777e-03 -3.92777964e-03 2.79508996e+00] [-5.44644809e-03 9.99985149e-01 1.93901031e-04 -2.03663248e-02] [ 3.92877752e-03 -1.72504211e-04 9.99992267e-01 5.04481244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99255784400003 meters 0.28689157612490257 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99976986e-01 5.50303275e-03 -3.96794057e-03 2.79521748e+00] [-5.50174161e-03 9.99984809e-01 3.36236676e-04 -2.09612850e-02] [ 3.96973061e-03 -3.14398354e-04 9.99992071e-01 5.04435751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02255784400006 meters 0.2885110013750378 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99975939e-01 5.58491528e-03 -4.11467834e-03 2.79570788e+00] [-5.58273959e-03 9.99984271e-01 5.40058020e-04 -2.18164090e-02] [ 4.11762980e-03 -5.17073847e-04 9.99991389e-01 5.04193056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05255784400003 meters 0.28652518205336114 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.02, Z:0.50 [[ 9.99979172e-01 -3.37486493e-03 -5.50136036e-03 2.77525674e+00] [ 3.38290883e-03 9.99993222e-01 1.45351718e-03 -2.03360756e-02] [ 5.49641765e-03 -1.47209750e-03 9.99983811e-01 5.03746400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08255784400006 meters 0.2887200215697644 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99991265e-01 3.43444512e-03 -2.38226350e-03 2.79574485e+00] [-3.43707211e-03 9.99993489e-01 -1.09951384e-03 -1.97867317e-02] [ 2.37847177e-03 1.10769225e-03 9.99996558e-01 5.02859676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11255784400004 meters 0.2873085562204903 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99991286e-01 3.48565108e-03 -2.29748719e-03 2.79541974e+00] [-3.48788872e-03 9.99993446e-01 -9.70668920e-04 -2.03028115e-02] [ 2.29408872e-03 9.78673841e-04 9.99996890e-01 5.03110944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14255784400007 meters 0.28672113601865806 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.50 [[ 9.99991107e-01 3.61069110e-03 -2.17933229e-03 2.79486895e+00] [-3.61212329e-03 9.99993263e-01 -6.53591752e-04 -2.15835049e-02] [ 2.17695769e-03 6.61457956e-04 9.99997412e-01 5.03729433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17255784400004 meters 0.2873625226771955 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.50 [[ 9.99991022e-01 3.62176929e-03 -2.19992998e-03 2.79493032e+00] [-3.62314951e-03 9.99993242e-01 -6.23731620e-04 -2.17047968e-02] [ 2.19765610e-03 6.31696695e-04 9.99997386e-01 5.03712926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20255784400007 meters 0.28635903630471676 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99990828e-01 3.64908784e-03 -2.24237948e-03 2.79509239e+00] [-3.65033802e-03 9.99993184e-01 -5.53683511e-04 -2.20069628e-02] [ 2.24034375e-03 5.61863875e-04 9.99997333e-01 5.03596856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23255784400004 meters 0.28634096452511687 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:0.50 [[ 9.99990611e-01 3.69989902e-03 -2.25569652e-03 2.79524795e+00] [-3.70085797e-03 9.99993063e-01 -4.21097872e-04 -2.25736557e-02] [ 2.25412285e-03 4.29441931e-04 9.99997367e-01 5.03327487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26255784400007 meters 0.2870579538348983 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99989492e-01 3.92713441e-03 -2.36522404e-03 2.79574908e+00] [-3.92668006e-03 9.99992271e-01 1.96705929e-04 -2.51719086e-02] [ 2.36597825e-03 -1.87416384e-04 9.99997184e-01 5.02851865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29255784400004 meters 0.2886312170128434 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988683e-01 4.06711109e-03 -2.46835625e-03 2.79616168e+00] [-4.06572884e-03 9.99991575e-01 5.64745083e-04 -2.67324359e-02] [ 2.47063233e-03 -5.54703024e-04 9.99996794e-01 5.02539474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3225578440001 meters 0.2884873815935782 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99987281e-01 4.27796205e-03 -2.67131355e-03 2.79682514e+00] [-4.27502712e-03 9.99990253e-01 1.10342792e-03 -2.90034932e-02] [ 2.67600794e-03 -1.09199395e-03 9.99995823e-01 5.02262406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35255784400005 meters 0.28974669538605835 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:0.50 [[ 9.99991885e-01 -3.55051032e-03 -1.90371830e-03 2.81614098e+00] [ 3.55518005e-03 9.99990666e-01 2.45520299e-03 -2.53081434e-02] [ 1.89498331e-03 -2.46195112e-03 9.99995174e-01 5.03485483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3825578440001 meters 0.2885952302577147 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988608e-01 4.11504005e-03 -2.41857204e-03 2.79695697e+00] [-4.11200595e-03 9.99990754e-01 1.25814028e-03 -3.10113998e-02] [ 2.42372698e-03 -1.24818076e-03 9.99996284e-01 5.01778908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41255784400005 meters 0.28937422762219467 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988588e-01 4.14913534e-03 -2.36803120e-03 2.79693376e+00] [-4.14596595e-03 9.99990505e-01 1.34174845e-03 -3.13719434e-02] [ 2.37357581e-03 -1.33191536e-03 9.99996296e-01 5.01549094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4425578440001 meters 0.2901724909027489 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988756e-01 4.17195817e-03 -2.25436877e-03 2.79667306e+00] [-4.16882156e-03 9.99990338e-01 1.39425815e-03 -3.15854616e-02] [ 2.26016377e-03 -1.38484441e-03 9.99996487e-01 5.01478227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47255784400005 meters 0.2884982003741043 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988981e-01 4.21286770e-03 -2.07127994e-03 2.79599870e+00] [-4.20978086e-03 9.99990025e-01 1.49241657e-03 -3.19412269e-02] [ 2.07754663e-03 -1.48368049e-03 9.99996741e-01 5.01983174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5025578440001 meters 0.28918886156320717 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988828e-01 4.22972219e-03 -2.11016130e-03 2.79605192e+00] [-4.22648186e-03 9.99989886e-01 1.53768956e-03 -3.21235797e-02] [ 2.11664396e-03 -1.52875382e-03 9.99996591e-01 5.02091846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53255784400005 meters 0.2884209373619801 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.50 [[ 9.99988638e-01 4.23318866e-03 -2.19180903e-03 2.79629254e+00] [-4.22979460e-03 9.99989852e-01 1.55084440e-03 -3.21872979e-02] [ 2.19835181e-03 -1.54155588e-03 9.99996395e-01 5.02026175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5625578440001 meters 0.2883436944496111 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:0.50 [[ 9.99995619e-01 2.73185968e-03 -1.13988403e-03 2.75719856e+00] [-2.73043440e-03 9.99995491e-01 1.25005790e-03 -3.42032034e-02] [ 1.14329387e-03 -1.24694005e-03 9.99998569e-01 4.98777696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59255784400005 meters 0.28860430898747375 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:0.50 [[ 9.99987682e-01 -4.93887765e-03 4.94020579e-04 2.77607432e+00] [ 4.93765626e-03 9.99984824e-01 2.44374780e-03 -2.87729282e-02] [-5.06082453e-04 -2.44127839e-03 9.99996892e-01 4.99661322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6225578440001 meters 0.28896292694839504 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:0.51 [[ 9.99997830e-01 8.36400647e-04 -1.90810151e-03 2.79004028e+00] [-8.38850401e-04 9.99998825e-01 -1.28343077e-03 -2.52553245e-02] [ 1.90702580e-03 1.28502860e-03 9.99997356e-01 5.06478749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65255784400006 meters 0.2887266226608267 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99997891e-01 7.38967685e-04 -1.91614872e-03 2.79005731e+00] [-7.41905889e-04 9.99998550e-01 -1.53313311e-03 -2.42244569e-02] [ 1.91501301e-03 1.53455148e-03 9.99996989e-01 5.06474028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters 0.2880612627281892 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99997830e-01 6.18922348e-04 -1.98905031e-03 2.79027195e+00] [-6.22583159e-04 9.99998113e-01 -1.84039035e-03 -2.29658678e-02] [ 1.98790749e-03 1.84162471e-03 9.99996328e-01 5.06391970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71255784400006 meters 0.2892021117297151 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99997671e-01 3.72966595e-04 -2.12554340e-03 2.79084937e+00] [-3.78255133e-04 9.99996833e-01 -2.48822889e-03 -2.02830874e-02] [ 2.12460865e-03 2.48902710e-03 9.99994645e-01 5.05894095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters 0.2875219795963551 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.51 [[ 9.99973359e-01 -5.85024925e-03 -4.36528612e-03 2.76833517e+00] [ 5.85340497e-03 9.99982616e-01 7.10486414e-04 -2.09837370e-02] [ 4.36105371e-03 -7.36019274e-04 9.99990220e-01 5.07548622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77255784400006 meters 0.28929482808514867 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99995265e-01 2.55340407e-03 -1.71734174e-03 2.78756532e+00] [-2.55455244e-03 9.99996515e-01 -6.66827606e-04 -2.03009236e-02] [ 1.71563308e-03 6.71211488e-04 9.99998303e-01 5.07960487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters 0.2885639944143503 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99995745e-01 2.42752657e-03 -1.61756764e-03 2.78725481e+00] [-2.42913304e-03 9.99996558e-01 -9.91914323e-04 -1.89324841e-02] [ 1.61515417e-03 9.95839389e-04 9.99998200e-01 5.08054381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83255784400006 meters 0.28852837456964775 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.02, Z:0.51 [[ 9.99996559e-01 2.16354709e-03 -1.48379222e-03 2.78675385e+00] [-2.16600031e-03 9.99996287e-01 -1.65373565e-03 -1.61520434e-02] [ 1.48020877e-03 1.65694385e-03 9.99997532e-01 5.08316163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86255784400004 meters 0.28810716435835604 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.51 [[ 9.99996849e-01 2.04826290e-03 -1.45148737e-03 2.78671713e+00] [-2.05108880e-03 9.99995999e-01 -1.94809156e-03 -1.49392446e-02] [ 1.44749136e-03 1.95106255e-03 9.99997049e-01 5.08197689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89255784400007 meters 0.2883106327537662 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.51 [[ 9.99996962e-01 1.94526997e-03 -1.51393577e-03 2.78689772e+00] [-1.94861497e-03 9.99995657e-01 -2.21114101e-03 -1.38585657e-02] [ 1.50962792e-03 2.21408437e-03 9.99996409e-01 5.08135213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92255784400004 meters 0.2896977566543674 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.51 [[ 9.99992697e-01 -3.82155503e-03 3.78442542e-05 2.80838233e+00] [ 3.82151813e-03 9.99992264e-01 9.31282557e-04 -1.10487182e-02] [-4.14029090e-05 -9.31131133e-04 9.99999566e-01 5.07500513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95255784400007 meters 0.28938748624572225 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.51 [[ 9.99992183e-01 -3.95382362e-03 1.49892244e-05 2.80844167e+00] [ 3.95381383e-03 9.99992001e-01 6.04701392e-04 -9.69210350e-03] [-1.73799872e-05 -6.04637401e-04 9.99999817e-01 5.07467337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98255784400004 meters 0.2893676935053009 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.51 [[ 9.99991887e-01 3.81472336e-03 -1.29409210e-03 2.78906367e+00] [-3.81574838e-03 9.99992408e-01 -7.90535505e-04 -1.33220878e-02] [ 1.29106660e-03 7.95467021e-04 9.99998850e-01 5.06480972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01255784400007 meters 0.29025320973307084 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.51 [[ 9.99997345e-01 -2.29504537e-03 2.08166188e-04 2.81081017e+00] [ 2.29463220e-03 9.99995439e-01 1.96378570e-03 -1.05993029e-02] [-2.12672216e-04 -1.96330282e-03 9.99998050e-01 5.05646857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04255784400004 meters 0.28891849400265923 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99991113e-01 3.31751630e-03 2.60172159e-03 2.79597998e+00] [-3.31509268e-03 9.99994068e-01 -9.35305204e-04 -1.00767356e-02] [-2.60480905e-03 9.26671943e-04 9.99996178e-01 4.99534025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0725578440001 meters 0.2885885917124004 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99991406e-01 3.24299062e-03 2.58272635e-03 2.79606173e+00] [-3.24009377e-03 9.99994118e-01 -1.12502078e-03 -9.29064844e-03] [-2.58635959e-03 1.11664284e-03 9.99996032e-01 4.99445528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10255784400005 meters 0.2920913883588942 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99991553e-01 3.17841256e-03 2.60606772e-03 2.79608269e+00] [-3.17504870e-03 9.99994122e-01 -1.29390265e-03 -8.59802528e-03] [-2.61016496e-03 1.28561733e-03 9.99995767e-01 4.99250869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1325578440001 meters 0.28926624418012636 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99991912e-01 3.11786596e-03 2.54082906e-03 2.79621725e+00] [-3.11419931e-03 9.99994106e-01 -1.44577069e-03 -7.96778208e-03] [-2.54532181e-03 1.43784635e-03 9.99995727e-01 4.99311614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16255784400005 meters 0.28940954150395964 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99992169e-01 3.04602507e-03 2.52677742e-03 2.79613046e+00] [-3.04191624e-03 9.99994048e-01 -1.62836515e-03 -7.19788558e-03] [-2.53172242e-03 1.62066615e-03 9.99995482e-01 4.99567886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1925578440001 meters 0.2894406941407018 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99992248e-01 3.04444777e-03 2.49701879e-03 2.79614656e+00] [-3.04038222e-03 9.99994049e-01 -1.63034548e-03 -7.18137655e-03] [-2.50196743e-03 1.62274095e-03 9.99995553e-01 4.99700657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22255784400005 meters 0.2887930915170693 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99985159e-01 -5.35837804e-03 9.84836737e-04 2.77668288e+00] [ 5.35858445e-03 9.99985621e-01 -2.07073376e-04 -5.76015064e-03] [-9.83712999e-04 2.12347634e-04 9.99999494e-01 4.98541524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2525578440001 meters 0.28848158207640356 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.01, Z:0.50 [[ 9.99985349e-01 -5.33846928e-03 8.95316234e-04 2.77705980e+00] [ 5.33861010e-03 9.99985738e-01 -1.54973751e-04 -6.00945026e-03] [-8.94476142e-04 1.59751225e-04 9.99999587e-01 4.98190593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28255784400005 meters 0.2900056638709506 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99990589e-01 3.48293593e-03 2.58667693e-03 2.79744669e+00] [-3.48024838e-03 9.99993400e-01 -1.04277357e-03 -7.34771605e-03] [-2.59029177e-03 1.03376148e-03 9.99996111e-01 4.98419962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3125578440001 meters 0.2898761965319503 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99990589e-01 3.47193534e-03 2.60129693e-03 2.79738020e+00] [-3.46916015e-03 9.99993409e-01 -1.07060359e-03 -7.22613016e-03] [-2.60499685e-03 1.06156920e-03 9.99996044e-01 4.98480378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34255784400005 meters 0.29041540209977423 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:0.50 [[ 9.99990632e-01 3.43275430e-03 2.63650949e-03 2.79716403e+00] [-3.42967534e-03 9.99993432e-01 -1.17145307e-03 -6.78575747e-03] [-2.64051348e-03 1.16239973e-03 9.99995838e-01 4.98756031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3725578440001 meters 0.29165942734427075 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:0.50 [[ 9.99984764e-01 -1.73712610e-03 5.23968210e-03 2.81947474e+00] [ 1.72635003e-03 9.99996387e-01 2.06044844e-03 -5.25653395e-03] [-5.24324243e-03 -2.05137152e-03 9.99984150e-01 4.97534830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40255784400006 meters 0.2913627914036799 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99983757e-01 -1.81434976e-03 5.40310962e-03 2.81894066e+00] [ 1.80438639e-03 9.99996664e-01 1.84830959e-03 -4.34250420e-03] [-5.40644507e-03 -1.83853027e-03 9.99983695e-01 4.97787361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43255784400003 meters 0.28984718594444603 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99982918e-01 -1.86801188e-03 5.53846804e-03 2.81850955e+00] [ 1.85863821e-03 9.99996833e-01 1.69712962e-03 -3.69168667e-03] [-5.54162076e-03 -1.68680662e-03 9.99983222e-01 4.97985569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46255784400006 meters 0.29371867537807517 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99981884e-01 -2.02277106e-03 5.66930249e-03 2.81844463e+00] [ 2.01562102e-03 9.99997166e-01 1.26661459e-03 -1.93574609e-03] [-5.67184850e-03 -1.25516448e-03 9.99983127e-01 4.97331433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49255784400003 meters 0.29065642315724105 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99982064e-01 -2.07927270e-03 5.61672026e-03 2.81874504e+00] [ 2.07302894e-03 9.99997227e-01 1.11723203e-03 -1.33419337e-03] [-5.61902771e-03 -1.10556836e-03 9.99983602e-01 4.96924196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52255784400006 meters 0.2895934386590663 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99982628e-01 -2.13442687e-03 5.49439852e-03 2.81916112e+00] [ 2.12908067e-03 9.99997255e-01 9.78692109e-04 -7.69370576e-04] [-5.49647239e-03 -9.66977089e-04 9.99984427e-01 4.96676234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55255784400003 meters 0.2901388760289645 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99983018e-01 -2.16621526e-03 5.41025579e-03 2.81946628e+00] [ 2.16136435e-03 9.99997257e-01 9.02301320e-04 -4.62399888e-04] [-5.41219553e-03 -8.90592463e-04 9.99984957e-01 4.96477429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58255784400006 meters 0.2901388760289645 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99983018e-01 -2.16621526e-03 5.41025579e-03 2.81946628e+00] [ 2.16136435e-03 9.99997257e-01 9.02301320e-04 -4.62399888e-04] [-5.41219553e-03 -8.90592463e-04 9.99984957e-01 4.96477429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61255784400004 meters 0.29060268832437886 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:0.50 [[ 9.99983612e-01 -2.20607356e-03 5.28284288e-03 2.81986122e+00] [ 2.20184519e-03 9.99997251e-01 8.06079058e-04 -7.85278438e-05] [-5.28460663e-03 -7.94433846e-04 9.99985721e-01 4.96323818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64255784400007 meters 0.2909657520317609 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:0.50 [[ 9.99989457e-01 3.29605129e-03 3.19717860e-03 2.79733027e+00] [-3.28743367e-03 9.99990960e-01 -2.69690227e-03 6.74705175e-04] [-3.20603883e-03 2.68636332e-03 9.99991252e-01 4.97994344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67255784400004 meters 0.2890530781041085 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:0.50 [[ 9.99989565e-01 3.20927364e-03 3.25120674e-03 2.79719288e+00] [-3.19977256e-03 9.99990608e-01 -2.92332482e-03 1.61714859e-03] [-3.26055795e-03 2.91289120e-03 9.99990442e-01 4.97978021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70255784400007 meters 0.2888972209294714 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:0.50 [[ 9.99989666e-01 3.10805051e-03 3.31775332e-03 2.79703339e+00] [-3.09748388e-03 9.99990130e-01 -3.18527594e-03 2.70290750e-03] [-3.32762057e-03 3.17496633e-03 9.99989423e-01 4.97935239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73255784400004 meters 0.29022608167713 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:0.50 [[ 9.99987491e-01 -2.53790286e-03 4.31000520e-03 2.81950746e+00] [ 2.53767721e-03 9.99996778e-01 5.78243271e-05 6.33653522e-03] [-4.31013807e-03 -4.68862018e-05 9.99990710e-01 4.97003891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76255784400007 meters 0.28984775877405283 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:0.50 [[ 9.99987009e-01 -2.64403867e-03 4.35777718e-03 2.81939872e+00] [ 2.64501743e-03 9.99996478e-01 -2.18853539e-04 7.48307245e-03] [-4.35718317e-03 2.30377092e-04 9.99990481e-01 4.96940165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79255784400004 meters 0.2899287417323195 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:0.50 [[ 9.99986186e-01 -2.90383709e-03 4.38133831e-03 2.81948012e+00] [ 2.90796189e-03 9.99995334e-01 -9.35370877e-04 1.04113135e-02] [-4.37860171e-03 9.48098720e-04 9.99989964e-01 4.96556870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8225578440001 meters 0.291212599167843 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:0.50 [[ 9.99986037e-01 -3.02553215e-03 4.33276555e-03 2.81974128e+00] [ 3.03099597e-03 9.99994619e-01 -1.25503641e-03 1.17201717e-02] [-4.32894509e-03 1.26815148e-03 9.99989826e-01 4.96212982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85255784400005 meters 0.2915853538002322 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:0.50 [[ 9.99996186e-01 -1.52875221e-03 2.30023579e-03 2.86094371e+00] [ 1.53072046e-03 9.99998464e-01 -8.54153818e-04 1.68465316e-02] [-2.29892646e-03 8.57671578e-04 9.99996990e-01 4.98558613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8825578440001 meters 0.2898057163969363 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:0.50 [[ 9.99996217e-01 -1.60357349e-03 2.23466103e-03 2.86109890e+00] [ 1.60590706e-03 9.99998167e-01 -1.04285839e-03 1.76307270e-02] [-2.23298464e-03 1.04644310e-03 9.99996959e-01 4.98569948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91255784400005 meters 0.2909881518040517 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99997287e-01 -1.60272037e-03 1.69053446e-03 2.89863789e+00] [ 1.60559347e-03 9.99997267e-01 -1.69953144e-03 2.20733698e-02] [-1.68780597e-03 1.70224114e-03 9.99997127e-01 5.02667825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9425578440001 meters 0.28862272745625334 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99997142e-01 -1.57234025e-03 1.80125241e-03 2.89818135e+00] [ 1.57526682e-03 9.99997440e-01 -1.62447669e-03 2.17712040e-02] [-1.79869357e-03 1.62730950e-03 9.99997058e-01 5.03100412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97255784400005 meters 0.2904441186766969 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:0.51 [[ 9.99997016e-01 -1.78946545e-03 1.66293062e-03 2.93543503e+00] [ 1.79281564e-03 9.99996362e-01 -2.01533068e-03 2.39385195e-02] [-1.65931820e-03 2.01830599e-03 9.99996587e-01 5.07009791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0025578440001 meters 0.2885429193996979 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995145e-01 -1.82190299e-03 2.52783883e-03 2.89749988e+00] [ 1.82591947e-03 9.99997073e-01 -1.58750287e-03 2.01804491e-02] [-2.52493915e-03 1.59211079e-03 9.99995545e-01 5.03103460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03255784400005 meters 0.28887029224981825 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995342e-01 -1.82304515e-03 2.44806624e-03 2.89780796e+00] [ 1.82693817e-03 9.99997069e-01 -1.58894900e-03 2.01682052e-02] [-2.44516234e-03 1.59341406e-03 9.99995741e-01 5.02866583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0625578440001 meters 0.2894540416016734 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995504e-01 -1.82866557e-03 2.37643844e-03 2.89803822e+00] [ 1.83247643e-03 9.99997037e-01 -1.60241653e-03 2.02149751e-02] [-2.37350112e-03 1.60676410e-03 9.99995892e-01 5.02763268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09255784400005 meters 0.2887833718875845 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995440e-01 -1.86981498e-03 2.37132507e-03 2.89808937e+00] [ 1.87386186e-03 9.99996790e-01 -1.70551688e-03 2.06441521e-02] [-2.36812846e-03 1.70995264e-03 9.99995734e-01 5.02671861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1225578440001 meters 0.2897740036451677 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995170e-01 -1.98807691e-03 2.38885691e-03 2.89802101e+00] [ 1.99293376e-03 9.99995949e-01 -2.03246810e-03 2.19908185e-02] [-2.38480653e-03 2.03721911e-03 9.99995081e-01 5.02703922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15255784400006 meters 0.2885285506750792 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995043e-01 -2.05162161e-03 2.38859846e-03 2.89803811e+00] [ 2.05687681e-03 9.99995465e-01 -2.19974552e-03 2.26826344e-02] [-2.38407459e-03 2.20464767e-03 9.99994728e-01 5.02654921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters 0.28833373514816035 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99994877e-01 -2.12142879e-03 2.39708665e-03 2.89809116e+00] [ 2.12714737e-03 9.99994892e-01 -2.38561306e-03 2.34447799e-02] [-2.39201349e-03 2.39069979e-03 9.99994281e-01 5.02472428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21255784400006 meters 0.2914117820587365 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99994701e-01 -2.18709839e-03 2.41127614e-03 2.89803209e+00] [ 2.19326931e-03 9.99994319e-01 -2.55952602e-03 2.41716913e-02] [-2.40566451e-03 2.56480104e-03 9.99993817e-01 5.02516319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters 0.28843771720348793 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99994803e-01 -2.12379151e-03 2.42566250e-03 2.89792165e+00] [ 2.12961243e-03 9.99994853e-01 -2.39966656e-03 2.35068862e-02] [-2.42055363e-03 2.40481981e-03 9.99994179e-01 5.02698247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27255784400006 meters 0.2874459436763785 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99994938e-01 -2.04484314e-03 2.43792324e-03 2.89781502e+00] [ 2.05018053e-03 9.99995503e-01 -2.18883362e-03 2.26432925e-02] [-2.43343645e-03 2.19382072e-03 9.99994633e-01 5.02888506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters 0.2879965778596095 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995148e-01 -1.85352251e-03 2.50369607e-03 2.89768037e+00] [ 1.85765078e-03 9.99996917e-01 -1.64755082e-03 2.04376267e-02] [-2.50063458e-03 1.65219382e-03 9.99995509e-01 5.02895916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33255784400006 meters 0.288578559052371 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995456e-01 -1.75732176e-03 2.44928284e-03 2.89787635e+00] [ 1.76074425e-03 9.99997476e-01 -1.39588883e-03 1.93847400e-02] [-2.44682363e-03 1.40019505e-03 9.99996026e-01 5.02789580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36255784400004 meters 0.2878035946491689 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995649e-01 -1.65342782e-03 2.44288516e-03 2.89784933e+00] [ 1.65617744e-03 9.99997997e-01 -1.12397024e-03 1.82608514e-02] [-2.44102187e-03 1.12801120e-03 9.99996384e-01 5.02903707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39255784400007 meters 0.2875885324814615 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.50 [[ 9.99995790e-01 -1.53103731e-03 2.46512926e-03 2.89771193e+00] [ 1.53302842e-03 9.99998500e-01 -8.06022429e-04 1.69417248e-02] [-2.46389151e-03 8.09798149e-04 9.99996637e-01 5.03095317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42255784400004 meters 0.2883112833819827 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996104e-01 -1.29235688e-03 2.47428843e-03 2.89756944e+00] [ 1.29280245e-03 9.99999148e-01 -1.78492140e-04 1.43387141e-02] [-2.47405565e-03 1.81690211e-04 9.99996923e-01 5.03387100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45255784400007 meters 0.28776396312033303 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996332e-01 -1.19030817e-03 2.43279491e-03 2.89776541e+00] [ 1.19010796e-03 9.99999288e-01 8.37441247e-05 1.32392115e-02] [-2.43289286e-03 -8.08485290e-05 9.99997037e-01 5.03206246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48255784400004 meters 0.28833325461710735 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996527e-01 -1.11521209e-03 2.38810442e-03 2.89798129e+00] [ 1.11455921e-03 9.99999341e-01 2.74701392e-04 1.24320399e-02] [-2.38840920e-03 -2.72038754e-04 9.99997111e-01 5.02994195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51255784400007 meters 0.2880225015292458 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996516e-01 -1.04300164e-03 2.42476751e-03 2.89791384e+00] [ 1.04188864e-03 9.99999351e-01 4.60233139e-04 1.16690602e-02] [-2.42524596e-03 -4.57705198e-04 9.99996954e-01 5.02948197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54255784400004 meters 0.28924800732953493 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996458e-01 -9.64834735e-04 2.48055832e-03 2.89775404e+00] [ 9.63225756e-04 9.99999325e-01 6.49748589e-04 1.08773871e-02] [-2.48118355e-03 -6.47356950e-04 9.99996712e-01 5.03010958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5725578440001 meters 0.28944527472481424 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996430e-01 -9.28558906e-04 2.50541532e-03 2.89769551e+00] [ 9.26697133e-04 9.99999294e-01 7.44157884e-04 1.04866617e-02] [-2.50610454e-03 -7.41833467e-04 9.99996585e-01 5.03010868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60255784400005 meters 0.2896386556560498 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99996380e-01 -8.91530765e-04 2.53861175e-03 2.89760940e+00] [ 8.89400516e-04 9.99999252e-01 8.40144503e-04 1.00894787e-02] [-2.53935887e-03 -8.37883620e-04 9.99996425e-01 5.03023750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6325578440001 meters 0.2894297095326311 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.50 [[ 9.99969420e-01 5.68750609e-03 5.36756876e-03 2.91920874e+00] [-5.67768919e-03 9.99982185e-01 -1.84239761e-03 1.10909901e-02] [-5.37795178e-03 1.81186588e-03 9.99983897e-01 5.01598381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66255784400005 meters 0.28975249609443343 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.50 [[ 9.99998330e-01 -1.32647024e-03 1.25735441e-03 2.89892311e+00] [ 1.32610130e-03 9.99999077e-01 2.94208434e-04 6.20558046e-03] [-1.25774351e-03 -2.92540563e-04 9.99999166e-01 5.03343292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6925578440001 meters 0.2892608710490865 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.50 [[ 9.99998663e-01 -1.20291400e-03 1.10802352e-03 2.89936097e+00] [ 1.20222510e-03 9.99999084e-01 6.22185852e-04 4.82707190e-03] [-1.10877094e-03 -6.20852926e-04 9.99999193e-01 5.03250453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72255784400005 meters 0.29004944775987157 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.50 [[ 9.99998934e-01 -1.07034829e-03 9.93124508e-04 2.89975687e+00] [ 1.06937752e-03 9.99998950e-01 9.77509369e-04 3.32236547e-03] [-9.94169741e-04 -9.76446302e-04 9.99999029e-01 5.03040428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7525578440001 meters 0.2900867620808778 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.50 [[ 9.99999205e-01 -9.08860333e-04 8.73787192e-04 2.90006988e+00] [ 9.07621453e-04 9.99998584e-01 1.41718100e-03 1.49588010e-03] [-8.75073974e-04 -1.41638680e-03 9.99998614e-01 5.03057132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78255784400005 meters 0.2898889201733456 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99999384e-01 -7.41718986e-04 8.26163716e-04 2.90016721e+00] [ 7.40174111e-04 9.99997980e-01 1.86867617e-03 -3.54209855e-04] [-8.27548080e-04 -1.86806352e-03 9.99997913e-01 5.03137485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8125578440001 meters 0.28997430950808173 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99999593e-01 -4.34923994e-04 7.90374198e-04 2.90011327e+00] [ 4.32773663e-04 9.99996210e-01 2.71878648e-03 -3.83802033e-03] [-7.91553668e-04 -2.71844332e-03 9.99995992e-01 5.03478918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84255784400005 meters 0.29046353200650515 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99999694e-01 -3.28378662e-04 7.10540526e-04 2.90043366e+00] [ 3.26255008e-04 9.99995486e-01 2.98684101e-03 -4.96607538e-03] [-7.11518133e-04 -2.98660827e-03 9.99995287e-01 5.03249199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8725578440001 meters 0.2901315500778144 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:0.50 [[ 9.99986467e-01 4.94435779e-03 -1.61830857e-03 2.87893773e+00] [-4.94514505e-03 9.99987656e-01 -4.82830308e-04 -6.65633729e-03] [ 1.61590131e-03 4.90826545e-04 9.99998574e-01 5.03999016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90255784400006 meters 0.2917336845597045 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99992679e-01 -3.31415430e-03 -1.91243969e-03 2.89924440e+00] [ 3.31505558e-03 9.99994396e-01 4.68299318e-04 -2.39202189e-03] [ 1.91087696e-03 -4.74635734e-04 9.99998062e-01 5.04828402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93255784400003 meters 0.2916726952798115 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99992510e-01 -3.29932883e-03 -2.02350709e-03 2.89967878e+00] [ 3.30037038e-03 9.99994423e-01 5.11598415e-04 -2.59004404e-03] [ 2.02180787e-03 -5.18272906e-04 9.99997822e-01 5.04457770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96255784400006 meters 0.2894743004223812 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99992632e-01 -3.32221800e-03 -1.92326510e-03 2.89939464e+00] [ 3.32308927e-03 9.99994377e-01 4.49996984e-04 -2.32617287e-03] [ 1.92175930e-03 -4.56384850e-04 9.99998049e-01 5.04508684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99255784400003 meters 0.29017342926261463 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:0.50 [[ 9.99986990e-01 4.61890405e-03 -2.16478522e-03 2.87927504e+00] [-4.62049128e-03 9.99989060e-01 -7.28777797e-04 -6.15009735e-03] [ 2.16139539e-03 7.38770686e-04 9.99997391e-01 5.03177672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02255784400006 meters 0.2909413324459094 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:0.50 [[ 9.99987705e-01 4.52868802e-03 -2.02031186e-03 2.87877210e+00] [-4.53065163e-03 9.99989268e-01 -9.68419040e-04 -5.11323609e-03] [ 2.01590451e-03 9.77560462e-04 9.99997490e-01 5.03488656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05255784400003 meters 0.2901175480822476 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.50 [[ 9.99987974e-01 4.48066399e-03 -1.99392640e-03 2.87862995e+00] [-4.48285027e-03 9.99989354e-01 -1.09335155e-03 -4.58599294e-03] [ 1.98900623e-03 1.10227687e-03 9.99997414e-01 5.03648710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08255784400006 meters 0.2902293580710404 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99998667e-01 -1.62972233e-03 -9.68069262e-05 2.90026946e+00] [ 1.62988268e-03 9.99997261e-01 1.68000356e-03 -1.91280188e-03] [ 9.40687217e-05 -1.68015910e-03 9.99998584e-01 5.02697225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11255784400004 meters 0.28967191448854673 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:0.50 [[ 9.99996876e-01 -2.09279656e-03 1.36673192e-03 2.86077376e+00] [ 2.08998243e-03 9.99995700e-01 2.05720741e-03 -4.69083287e-03] [-1.37103136e-03 -2.05434454e-03 9.99996950e-01 4.99810721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14255784400007 meters 0.28979763774781947 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.50 [[ 9.99997903e-01 -1.60428057e-03 1.27270918e-03 2.89732254e+00] [ 1.60192010e-03 9.99996999e-01 1.85353671e-03 -3.57036963e-05] [-1.27567896e-03 -1.85149404e-03 9.99997472e-01 5.04219157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17255784400004 meters 0.28941342479247884 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.00, Z:0.51 [[ 9.99992717e-01 3.81649043e-03 1.19602634e-05 2.87417850e+00] [-3.81646577e-03 9.99991380e-01 -1.63522163e-03 -5.52764353e-04] [-1.82009680e-05 1.63516408e-03 9.99998663e-01 5.05636956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20255784400007 meters 0.28958957923149714 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:0.51 [[ 9.99990884e-01 -4.17448180e-03 8.97745424e-04 2.89419494e+00] [ 4.17496052e-03 9.99991143e-01 -5.32037067e-04 3.12465832e-03] [-8.95516493e-04 5.35780269e-04 9.99999455e-01 5.06885470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23255784400004 meters 0.28833386732918675 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:0.51 [[ 9.99991147e-01 -4.12928963e-03 8.09102593e-04 2.89437994e+00] [ 4.12962403e-03 9.99991388e-01 -4.12058298e-04 2.62197075e-03] [-8.07394117e-04 4.15395940e-04 9.99999588e-01 5.06985361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26255784400007 meters 0.29024623600686406 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:0.51 [[ 9.99988000e-01 4.81261446e-03 9.15684517e-04 2.91463236e+00] [-4.81137005e-03 9.99987505e-01 -1.35637274e-03 -7.85004386e-04] [-9.22200775e-04 1.35195076e-03 9.99998661e-01 5.08121988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29255784400004 meters 0.2883394095211167 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.51 [[ 9.99987689e-01 4.91848954e-03 6.55944541e-04 2.91533546e+00] [-4.91780568e-03 9.99987367e-01 -1.04012525e-03 -2.09560500e-03] [-6.61052099e-04 1.03688664e-03 9.99999244e-01 5.07971758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3225578440001 meters 0.28728128328731506 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99993393e-01 -3.50443348e-03 -9.66280496e-04 2.89576808e+00] [ 3.50482203e-03 9.99993778e-01 4.00713931e-04 -1.19990499e-03] [ 9.64870209e-04 -4.04097925e-04 9.99999453e-01 5.06949356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35255784400005 meters 0.2884781304270778 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.51 [[ 9.99985965e-01 5.28923244e-03 3.06191258e-04 2.91646790e+00] [-5.28910279e-03 9.99985923e-01 -4.22688279e-04 -3.54964770e-03] [-3.08422644e-04 4.21062869e-04 9.99999864e-01 5.07460244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3825578440001 meters 0.28957217625009696 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:0.51 [[ 9.99985946e-01 5.29668217e-03 2.31118726e-04 2.91675624e+00] [-5.29658935e-03 9.99985893e-01 -4.00380783e-04 -3.64858044e-03] [-2.33236156e-04 3.99151015e-04 9.99999893e-01 5.07254932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41255784400005 meters 0.2888564136952544 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99991886e-01 -3.44137045e-03 -2.09389744e-03 2.89755439e+00] [ 3.44236280e-03 9.99993964e-01 4.70504927e-04 -2.04087324e-03] [ 2.09226562e-03 -4.77709064e-04 9.99997697e-01 5.06763458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4425578440001 meters 0.2900305830063399 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99991936e-01 -3.41119834e-03 -2.11927926e-03 2.89754269e+00] [ 3.41236435e-03 9.99994028e-01 5.46820079e-04 -2.35498175e-03] [ 2.11740129e-03 -5.54047422e-04 9.99997605e-01 5.06940149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47255784400005 meters 0.2881821906594546 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99992207e-01 -3.33678774e-03 -2.10978189e-03 2.89744326e+00] [ 3.33834549e-03 9.99994157e-01 7.35256261e-04 -3.12759579e-03] [ 2.10731617e-03 -7.42293712e-04 9.99997504e-01 5.07127465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5025578440001 meters 0.2881821906594546 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99992207e-01 -3.33678774e-03 -2.10978189e-03 2.89744326e+00] [ 3.33834549e-03 9.99994157e-01 7.35256261e-04 -3.12759579e-03] [ 2.10731617e-03 -7.42293712e-04 9.99997504e-01 5.07127465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53255784400005 meters 0.2893787319683645 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.51 [[ 9.99992603e-01 -3.25261544e-03 -2.05288689e-03 2.89726495e+00] [ 3.25456268e-03 9.99994257e-01 9.45909452e-04 -3.99571862e-03] [ 2.04979842e-03 -9.52583704e-04 9.99997445e-01 5.07219244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5625578440001 meters 0.288370661977252 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.51 [[ 9.99993416e-01 -3.04582605e-03 -1.97269100e-03 2.89685017e+00] [ 3.04885422e-03 9.99994176e-01 1.53386128e-03 -6.37665494e-03] [ 1.96800764e-03 -1.53986563e-03 9.99996878e-01 5.07738305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59255784400005 meters 0.2888980161193326 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.51 [[ 9.99984209e-01 5.50418066e-03 -1.13404474e-03 2.91625903e+00] [-5.50369582e-03 9.99984762e-01 4.30204787e-04 -1.15001044e-02] [ 1.13639538e-03 -4.23956556e-04 9.99999264e-01 5.09002256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6225578440001 meters 0.288412005965144 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:0.51 [[ 9.99983302e-01 5.64377347e-03 -1.24237275e-03 2.91658200e+00] [-5.64276531e-03 9.99983749e-01 8.13493810e-04 -1.30765241e-02] [ 1.24694373e-03 -8.06469808e-04 9.99998897e-01 5.08903448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65255784400006 meters 0.2885183371535171 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99981562e-01 5.92421219e-03 -1.33378330e-03 2.91683088e+00] [-5.92207100e-03 9.99981179e-01 1.60362400e-03 -1.62916595e-02] [ 1.34325840e-03 -1.59569567e-03 9.99997825e-01 5.08864694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters 0.288008311375285 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99997973e-01 1.61336487e-03 -1.20433708e-03 2.91643828e+00] [-1.61652248e-03 9.99995247e-01 -2.62551572e-03 -1.65621442e-02] [ 1.20009544e-03 2.62745724e-03 9.99995828e-01 5.08918247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71255784400006 meters 0.287280741751647 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99997649e-01 1.80809958e-03 -1.19664234e-03 2.91630581e+00] [-1.81065574e-03 9.99996074e-01 -2.13849229e-03 -1.85770451e-02] [ 1.19277104e-03 2.14065397e-03 9.99996997e-01 5.09168791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters 0.28715437854581566 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99997179e-01 2.01761887e-03 -1.25342657e-03 2.91644506e+00] [-2.01964653e-03 9.99996651e-01 -1.61853642e-03 -2.07259619e-02] [ 1.25015678e-03 1.62106334e-03 9.99997905e-01 5.09204892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77255784400006 meters 0.2875496138800081 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.51 [[ 9.99996176e-01 2.36440246e-03 -1.43419978e-03 2.91685228e+00] [-2.36552004e-03 9.99996899e-01 -7.78043349e-04 -2.42119770e-02] [ 1.43235572e-03 7.81433002e-04 9.99998669e-01 5.09365136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters 0.2867283143220745 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99995952e-01 2.45840450e-03 -1.43226673e-03 2.91685998e+00] [-2.45917631e-03 9.99996832e-01 -5.37356685e-04 -2.52012177e-02] [ 1.43094115e-03 5.40876706e-04 9.99998830e-01 5.09352379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83255784400006 meters 0.28858926814387265 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.51 [[ 9.99993802e-01 -3.45242178e-03 6.91159884e-04 2.93903895e+00] [ 3.45072902e-03 9.99991080e-01 2.43554735e-03 -2.58115622e-02] [-6.99562255e-04 -2.43314725e-03 9.99996795e-01 5.07975361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86255784400004 meters 0.2884858265968619 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.51 [[ 9.99994062e-01 -3.35683360e-03 7.79815951e-04 2.93879608e+00] [ 3.35473276e-03 9.99990782e-01 2.67988514e-03 -2.68114144e-02] [-7.88804691e-04 -2.67725316e-03 9.99996105e-01 5.08046297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89255784400007 meters 0.2894869916781863 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.51 [[ 9.99994181e-01 -3.28565239e-03 9.17668392e-04 2.93859537e+00] [ 3.28298654e-03 9.99990430e-01 2.89157878e-03 -2.76387570e-02] [-9.27160333e-04 -2.88854926e-03 9.99995398e-01 5.07779701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92255784400004 meters 0.2891483476707581 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99990407e-01 4.37515859e-03 -2.09445136e-04 2.91905935e+00] [-4.37482038e-03 9.99989168e-01 1.58890257e-03 -3.13252687e-02] [ 2.16394569e-04 -1.58797104e-03 9.99998716e-01 5.05820606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95255784400007 meters 0.2910046452880987 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99990794e-01 4.25663772e-03 -5.40777930e-04 2.92022935e+00] [-4.25597097e-03 9.99990189e-01 1.22815972e-03 -2.99473464e-02] [ 5.46000456e-04 -1.22584688e-03 9.99999100e-01 5.04793290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98255784400004 meters 0.2897978020024233 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99991287e-01 4.14425877e-03 -5.00410498e-04 2.92022521e+00] [-4.14379326e-03 9.99990984e-01 9.27721410e-04 -2.87151007e-02] [ 5.04250704e-04 -9.25639729e-04 9.99999444e-01 5.04552129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01255784400007 meters 0.2920212517252129 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99991745e-01 4.04270821e-03 -4.08742537e-04 2.92010687e+00] [-4.04243690e-03 9.99991610e-01 6.62428780e-04 -2.76203195e-02] [ 4.11417114e-04 -6.60770996e-04 9.99999697e-01 5.04270785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04255784400004 meters 0.290209221587374 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99992148e-01 3.94907796e-03 -3.30307565e-04 2.91991549e+00] [-3.94893736e-03 9.99992112e-01 4.25255968e-04 -2.66295705e-02] [ 3.31984329e-04 -4.23948265e-04 9.99999855e-01 5.04223098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0725578440001 meters 0.2918485807646096 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99992347e-01 3.90306188e-03 -2.68862249e-04 2.91968207e+00] [-3.90298003e-03 9.99992337e-01 3.04321761e-04 -2.61118725e-02] [ 2.70047975e-04 -3.03270068e-04 9.99999918e-01 5.04379964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10255784400005 meters 0.29040327684594214 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99992232e-01 3.93377184e-03 -2.49316494e-04 2.91940844e+00] [-3.93367446e-03 9.99992187e-01 3.89901520e-04 -2.63963901e-02] [ 2.50848329e-04 -3.88917761e-04 9.99999893e-01 5.04917228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1325578440001 meters 0.2892661275371028 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99992007e-01 3.99091758e-03 -2.40401411e-04 2.91927848e+00] [-3.99078425e-03 9.99991884e-01 5.52554550e-04 -2.70331322e-02] [ 2.42604659e-04 -5.51590743e-04 9.99999818e-01 5.05191535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16255784400005 meters 0.2888203981546755 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99991746e-01 4.05567066e-03 -2.42131476e-04 2.91919727e+00] [-4.05548987e-03 9.99991501e-01 7.42555748e-04 -2.77911222e-02] [ 2.45140980e-04 -7.41567657e-04 9.99999695e-01 5.05413996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1925578440001 meters 0.29006186649067456 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99991427e-01 4.12885522e-03 -3.13867482e-04 2.91934262e+00] [-4.12855255e-03 9.99991018e-01 9.58911179e-04 -2.86625406e-02] [ 3.17823868e-04 -9.57607140e-04 9.99999491e-01 5.05493417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22255784400005 meters 0.28868859073182374 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.51 [[ 9.99990987e-01 4.22367686e-03 -4.30710198e-04 2.91968881e+00] [-4.22314156e-03 9.99990318e-01 1.23625604e-03 -2.97940989e-02] [ 4.35927574e-04 -1.23442595e-03 9.99999143e-01 5.05370717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2525578440001 meters 0.2889322727555944 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99990216e-01 4.36749010e-03 -7.02656221e-04 2.92057781e+00] [-4.36628997e-03 9.99989022e-01 1.70055584e-03 -3.17373651e-02] [ 7.10075668e-04 -1.69747120e-03 9.99998307e-01 5.04828835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28255784400005 meters 0.2880428015639772 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99989947e-01 4.41748647e-03 -7.69198962e-04 2.92089615e+00] [-4.41607061e-03 9.99988570e-01 1.83276256e-03 -3.23095897e-02] [ 7.77286373e-04 -1.82934730e-03 9.99998025e-01 5.04503092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3125578440001 meters 0.28668144760211106 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.03, Z:0.50 [[ 9.99987152e-01 -4.40294504e-03 -2.51186271e-03 2.90100169e+00] [ 4.41035732e-03 9.99985914e-01 2.95304319e-03 -3.07481694e-02] [ 2.49882524e-03 -2.96408346e-03 9.99992485e-01 5.03913959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34255784400005 meters 0.28791502789580975 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99996820e-01 2.46968023e-03 5.09858935e-04 2.92172186e+00] [-2.46982724e-03 9.99996909e-01 2.87900609e-04 -2.96426499e-02] [-5.09146337e-04 -2.89158957e-04 9.99999829e-01 5.02869360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3725578440001 meters 0.28853329307060865 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99996563e-01 2.53377795e-03 6.73519556e-04 2.92121666e+00] [-2.53408929e-03 9.99996683e-01 4.61797943e-04 -3.03169613e-02] [-6.72347229e-04 -4.63503115e-04 9.99999667e-01 5.03119908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40255784400006 meters 0.2877961240198783 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99996563e-01 2.53645908e-03 6.63916014e-04 2.92130319e+00] [-2.53677197e-03 9.99996672e-01 4.70871302e-04 -3.03583492e-02] [-6.62719458e-04 -4.72553887e-04 9.99999669e-01 5.02980651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43255784400003 meters 0.28752180389532606 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99996517e-01 2.56418761e-03 6.25206148e-04 2.92155986e+00] [-2.56452791e-03 9.99996564e-01 5.44115693e-04 -3.06821449e-02] [-6.23808784e-04 -5.45717157e-04 9.99999657e-01 5.02635289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46255784400006 meters 0.2883953874991839 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.50 [[ 9.99996441e-01 2.60622866e-03 5.71223113e-04 2.92177228e+00] [-2.60660149e-03 9.99996390e-01 6.52917528e-04 -3.11514045e-02] [-5.69519398e-04 -6.54404155e-04 9.99999624e-01 5.02479394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49255784400003 meters 0.28960560802351204 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.50 [[ 9.99984325e-01 -5.12356250e-03 2.25819689e-03 2.94193933e+00] [ 5.11904650e-03 9.99984895e-01 2.00108895e-03 -2.97209964e-02] [-2.26841549e-03 -1.98949776e-03 9.99995448e-01 5.03348069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52255784400006 meters 0.288453506866375 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.50 [[ 9.99984922e-01 -4.99839514e-03 2.27401980e-03 2.94173926e+00] [ 4.99310403e-03 9.99984828e-01 2.32652132e-03 -3.10443098e-02] [-2.28561417e-03 -2.31513182e-03 9.99994708e-01 5.03742852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55255784400003 meters 0.2880122832397027 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.50 [[ 9.99985997e-01 -4.78111945e-03 2.26881591e-03 2.94153411e+00] [ 4.77438204e-03 9.99984205e-01 2.96575307e-03 -3.36022183e-02] [-2.28295969e-03 -2.95487935e-03 9.99993028e-01 5.04304567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58255784400006 meters 0.2868170089696474 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:0.50 [[ 9.99986739e-01 -4.66405716e-03 2.18388354e-03 2.94179971e+00] [ 4.65687617e-03 9.99983772e-01 3.28179182e-03 -3.49162350e-02] [-2.19915457e-03 -3.27157822e-03 9.99992230e-01 5.04214195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61255784400004 meters 0.2875380722241048 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990761e-01 2.52091430e-03 3.48169910e-03 2.96353513e+00] [-2.52311638e-03 9.99996620e-01 6.28225705e-04 -3.61859811e-02] [-3.48010363e-03 -6.37004633e-04 9.99993742e-01 5.03398852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64255784400007 meters 0.28851344839908577 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990981e-01 2.56191050e-03 3.38728931e-03 2.96384900e+00] [-2.56442411e-03 9.99996440e-01 7.37936873e-04 -3.66574769e-02] [-3.38538672e-03 -7.46616664e-04 9.99993991e-01 5.03251797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67255784400004 meters 0.28918529513759983 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99991021e-01 2.65854139e-03 3.29998796e-03 2.96407033e+00] [-2.66186419e-03 9.99995954e-01 1.00292737e-03 -3.77538586e-02] [-3.29730829e-03 -1.01170248e-03 9.99994052e-01 5.03264349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70255784400007 meters 0.287206709101241 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990954e-01 2.70872774e-03 3.27931889e-03 2.96406523e+00] [-2.71246234e-03 9.99995677e-01 1.13492195e-03 -3.82956469e-02] [-3.27623052e-03 -1.14380671e-03 9.99993979e-01 5.03400036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73255784400004 meters 0.28649521942791745 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990888e-01 2.75050264e-03 3.26485094e-03 2.96399544e+00] [-2.75458483e-03 9.99995429e-01 1.24650755e-03 -3.87421798e-02] [-3.26140750e-03 -1.25548950e-03 9.99993893e-01 5.03652886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76255784400007 meters 0.28665849005987754 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990827e-01 2.80187356e-03 3.23966639e-03 2.96401765e+00] [-2.80636931e-03 9.99995104e-01 1.38400875e-03 -3.93061901e-02] [-3.23577271e-03 -1.39308775e-03 9.99993795e-01 5.03755577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79255784400004 meters 0.28735041373023007 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:0.50 [[ 9.99990931e-01 2.81771698e-03 3.19356672e-03 2.96406362e+00] [-2.82229190e-03 9.99994996e-01 1.42894441e-03 -3.94797709e-02] [-3.18952438e-03 -1.43794462e-03 9.99993880e-01 5.03917853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8225578440001 meters 0.28768504953560714 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:0.50 [[ 9.99977478e-01 -5.05910266e-03 4.41004509e-03 2.98475933e+00] [ 5.04818438e-03 9.99984174e-01 2.48340016e-03 -3.71392604e-02] [-4.42253908e-03 -2.46108151e-03 9.99987192e-01 5.04449853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85255784400005 meters 0.28683177586346237 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.04, Z:0.50 [[ 9.99989443e-01 2.57241796e-03 3.80731943e-03 2.96528943e+00] [-2.57741773e-03 9.99995822e-01 1.30887618e-03 -4.20335778e-02] [-3.80393655e-03 -1.31867541e-03 9.99991896e-01 5.03020093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8825578440001 meters 0.28827499829684217 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:0.50 [[ 9.99974257e-01 -5.26734072e-03 4.87246887e-03 2.98469861e+00] [ 5.25543336e-03 9.99983181e-01 2.45338857e-03 -3.84714052e-02] [-4.88530975e-03 -2.42771848e-03 9.99985120e-01 5.04142860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91255784400005 meters 0.2876717275919334 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:0.50 [[ 9.99974611e-01 -5.22610061e-03 4.84402126e-03 2.98477174e+00] [ 5.21375445e-03 9.99983137e-01 2.55787420e-03 -3.89113061e-02] [-4.85730728e-03 -2.53255372e-03 9.99984996e-01 5.04150962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9425578440001 meters 0.2899678198444499 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.04, Z:0.50 [[ 9.99975355e-01 -5.17302911e-03 4.74651918e-03 2.98504317e+00] [ 5.16027595e-03 9.99983054e-01 2.69516957e-03 -3.94910445e-02] [-4.76038093e-03 -2.67060980e-03 9.99985103e-01 5.04122704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97255784400005 meters 0.2868232888422764 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.04, Z:0.50 [[ 9.99998304e-01 8.96783368e-04 1.60892654e-03 2.96580862e+00] [-8.96982138e-04 9.99999590e-01 1.22825246e-04 -4.19019506e-02] [-1.60881573e-03 -1.24268216e-04 9.99998698e-01 5.04568287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0025578440001 meters 0.28648446576046344 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.04, Z:0.50 [[ 9.99998354e-01 8.70169839e-04 1.59224089e-03 2.96584570e+00] [-8.70261418e-04 9.99999620e-01 5.68241658e-05 -4.16236062e-02] [-1.59219084e-03 -5.82097381e-05 9.99998731e-01 5.04575905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03255784400005 meters 0.28981374046659614 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.04, Z:0.50 [[ 0.99998562 -0.00440422 0.00306051 2.98859679] [ 0.00439395 0.99998472 0.00335582 -0.03973866] [-0.00307524 -0.00334233 0.99998969 0.50337172] [ 0. 0. 0. 1. ]] SLAMing on 429.0625578440001 meters 0.28820082496884697 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.04, Z:0.50 [[ 9.99984598e-01 -4.53386743e-03 3.20108929e-03 2.98809889e+00] [ 4.52426957e-03 9.99985268e-01 2.99921206e-03 -3.82236938e-02] [-3.21464016e-03 -2.98468328e-03 9.99990379e-01 5.03668675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09255784400005 meters 0.28596255420066885 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.04, Z:0.51 [[ 9.99999335e-01 8.85626506e-04 7.38418959e-04 2.96502474e+00] [-8.85525779e-04 9.99999599e-01 -1.36724156e-04 -3.71484405e-02] [-7.38539749e-04 1.36070176e-04 9.99999718e-01 5.05884377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1225578440001 meters 0.28842235008068745 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998085e-01 1.76953213e-03 -8.35982340e-04 3.00463853e+00] [-1.77034550e-03 9.99997959e-01 -9.73211042e-04 -3.23132535e-02] [ 8.34258506e-04 9.74689156e-04 9.99999177e-01 5.08860738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15255784400006 meters 0.2888145158193945 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998195e-01 1.71103977e-03 -8.26619785e-04 3.00470315e+00] [-1.71196519e-03 9.99997907e-01 -1.12011564e-03 -3.17095067e-02] [ 8.24701493e-04 1.12152876e-03 9.99999031e-01 5.08663164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters 0.2866751638203091 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998275e-01 1.68466715e-03 -7.81717716e-04 3.00451468e+00] [-1.68559523e-03 9.99997874e-01 -1.18810352e-03 -3.14076445e-02] [ 7.79714495e-04 1.18941913e-03 9.99998989e-01 5.08817222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21255784400006 meters 0.28641777155163933 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998220e-01 1.72985664e-03 -7.53855770e-04 3.00415038e+00] [-1.73066366e-03 9.99997929e-01 -1.07118956e-03 -3.18629402e-02] [ 7.52001204e-04 1.07249232e-03 9.99999142e-01 5.09499541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters 0.28654258833648233 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998136e-01 1.72381178e-03 -8.70293603e-04 3.00436717e+00] [-1.72475258e-03 9.99997928e-01 -1.08143151e-03 -3.18119412e-02] [ 8.68427616e-04 1.08293053e-03 9.99999037e-01 5.09679657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27255784400006 meters 0.28896321699509325 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998076e-01 1.71469210e-03 -9.52960297e-04 3.00449185e+00] [-1.71573958e-03 9.99997924e-01 -1.09945877e-03 -3.17235196e-02] [ 9.51073085e-04 1.10109168e-03 9.99998942e-01 5.09870877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters 0.28703770646627225 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99998060e-01 1.73508945e-03 -9.32925748e-04 3.00439508e+00] [-1.73606887e-03 9.99997942e-01 -1.05005463e-03 -3.19234355e-02] [ 9.31101889e-04 1.05167221e-03 9.99999014e-01 5.09966839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33255784400006 meters 0.2865671506866621 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99997931e-01 1.79362190e-03 -9.59759816e-04 3.00443172e+00] [-1.79448975e-03 9.99997981e-01 -9.04138963e-04 -3.25341177e-02] [ 9.58136195e-04 9.05859371e-04 9.99999131e-01 5.10041326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36255784400004 meters 0.2862160389214946 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99997902e-01 1.81712372e-03 -9.45860830e-04 3.00440302e+00] [-1.81792400e-03 9.99997990e-01 -8.45915501e-04 -3.27788615e-02] [ 9.44321795e-04 8.47633229e-04 9.99999195e-01 5.10027669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39255784400007 meters 0.2862160389214946 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99997902e-01 1.81712372e-03 -9.45860830e-04 3.00440302e+00] [-1.81792400e-03 9.99997990e-01 -8.45915501e-04 -3.27788615e-02] [ 9.44321795e-04 8.47633229e-04 9.99999195e-01 5.10027669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42255784400004 meters 0.28705541044752547 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99997850e-01 1.81980572e-03 -9.94495832e-04 3.00455723e+00] [-1.82063802e-03 9.99997993e-01 -8.36645863e-04 -3.28230611e-02] [ 9.92971303e-04 8.38454681e-04 9.99999156e-01 5.09966286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45255784400007 meters 0.2867434440314542 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.03, Z:0.51 [[ 9.99997891e-01 1.80963218e-03 -9.71471737e-04 3.00462698e+00] [-1.81046996e-03 9.99997989e-01 -8.62191833e-04 -3.27264094e-02] [ 9.69909534e-04 8.63948835e-04 9.99999156e-01 5.09679177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48255784400004 meters 0.28729799449353277 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.03, Z:0.51 [[ 9.99997937e-01 1.72919570e-03 -1.06613077e-03 3.00505959e+00] [-1.73034508e-03 9.99997922e-01 -1.07811221e-03 -3.18608803e-02] [ 1.06426429e-03 1.07995476e-03 9.99998851e-01 5.09185731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51255784400007 meters 0.2901672328450896 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.03, Z:0.51 [[ 9.99998123e-01 1.61900985e-03 -1.06410673e-03 3.00520953e+00] [-1.62046950e-03 9.99997745e-01 -1.37229280e-03 -3.06721614e-02] [ 1.06188257e-03 1.37401458e-03 9.99998492e-01 5.08826380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54255784400004 meters 0.28821835328866524 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.03, Z:0.51 [[ 9.99998333e-01 1.49505845e-03 -1.04791072e-03 3.00523501e+00] [-1.49683693e-03 9.99997437e-01 -1.69844593e-03 -2.93362603e-02] [ 1.04536876e-03 1.70001165e-03 9.99998009e-01 5.08661730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5725578440001 meters 0.289117396416422 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.51 [[ 9.99970494e-01 -7.45674250e-03 -1.84627883e-03 2.98578181e+00] [ 7.45529852e-03 9.99971899e-01 -7.87757199e-04 -2.44884996e-02] [ 1.85210105e-03 7.73969395e-04 9.99997985e-01 5.07480759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60255784400005 meters 0.2879851620821471 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.51 [[ 9.99998786e-01 1.54624306e-03 1.93511606e-04 3.00600410e+00] [-1.54581583e-03 9.99996410e-01 -2.18878355e-03 -2.14811574e-02] [-1.96895302e-04 2.18848176e-03 9.99997586e-01 5.07366093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6325578440001 meters 0.2874980933990991 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.02, Z:0.50 [[ 9.99998781e-01 9.02583985e-04 1.27433706e-03 2.96749564e+00] [-9.00445588e-04 9.99998187e-01 -1.67762398e-03 -2.31263721e-02] [-1.27584895e-03 1.67647447e-03 9.99997781e-01 5.03806444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66255784400005 meters 0.2890699777191672 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99985328e-01 -4.61927315e-03 2.82935608e-03 2.98980010e+00] [ 4.61522234e-03 9.99988318e-01 1.43656596e-03 -2.02310310e-02] [-2.83595892e-03 -1.42348677e-03 9.99994965e-01 5.02507093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6925578440001 meters 0.28869446450470426 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99985111e-01 -4.68204018e-03 2.80284948e-03 2.98984145e+00] [ 4.67847238e-03 9.99988239e-01 1.27812594e-03 -1.95704165e-02] [-2.80880076e-03 -1.26499386e-03 9.99995255e-01 5.02549337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72255784400005 meters 0.2868002336191086 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99985033e-01 -4.77923375e-03 2.66316092e-03 2.99010736e+00] [ 4.77647421e-03 9.99988050e-01 1.04158963e-03 -1.85951868e-02] [-2.66810710e-03 -1.02885352e-03 9.99995911e-01 5.02716921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7525578440001 meters 0.2868557631403615 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99984773e-01 -4.84053904e-03 2.65005812e-03 2.99004439e+00] [ 4.83820199e-03 9.99987902e-01 8.87584353e-04 -1.79435582e-02] [-2.65432245e-03 -8.74749322e-04 9.99996095e-01 5.02910958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78255784400005 meters 0.2889058751474509 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.50 [[ 9.99981874e-01 3.89973821e-03 4.58731506e-03 3.00960462e+00] [-3.89828009e-03 9.99992348e-01 -3.26757292e-04 -1.86006835e-02] [-4.58855423e-03 3.08868730e-04 9.99989425e-01 5.03507968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8125578440001 meters 0.28607710656936297 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99981798e-01 -4.90235637e-03 3.51724060e-03 2.98909407e+00] [ 4.90023525e-03 9.99987807e-01 6.11429980e-04 -1.54629855e-02] [-3.52019516e-03 -5.94183544e-04 9.99993628e-01 5.03056685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84255784400005 meters 0.2879054044066093 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99981864e-01 -4.87618675e-03 3.53485044e-03 2.98898721e+00] [ 4.87382464e-03 9.99987894e-01 6.76538771e-04 -1.57303904e-02] [-3.53810658e-03 -6.59298259e-04 9.99993524e-01 5.03198007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8725578440001 meters 0.28658896354377733 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.50 [[ 9.99982150e-01 -4.82539994e-03 3.52341833e-03 2.98891050e+00] [ 4.82259242e-03 9.99988047e-01 8.04879138e-04 -1.62616548e-02] [-3.52726008e-03 -7.87872761e-04 9.99993469e-01 5.03444100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90255784400006 meters 0.2872179570293387 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.50 [[ 9.99978885e-01 3.82376234e-03 5.25427828e-03 3.00730914e+00] [-3.82249228e-03 9.99992663e-01 -2.51741383e-04 -2.08476310e-02] [-5.25520233e-03 2.31651629e-04 9.99986164e-01 5.04930511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93255784400003 meters 0.28721030272051806 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.51 [[ 9.99978696e-01 3.89848208e-03 5.23534054e-03 3.00732137e+00] [-3.89825548e-03 9.99992400e-01 -5.34865448e-05 -2.16647526e-02] [-5.23550927e-03 3.30767104e-05 9.99986294e-01 5.05021789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96255784400006 meters 0.28741642763448383 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.51 [[ 9.99978737e-01 3.96904357e-03 5.17426795e-03 3.00745445e+00] [-3.96978617e-03 9.99992111e-01 1.33254606e-04 -2.24404871e-02] [-5.17369824e-03 -1.53792510e-04 9.99986605e-01 5.05075237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99255784400003 meters 0.2866833775962001 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.50 [[ 9.99978567e-01 4.03479613e-03 5.15618834e-03 3.00757463e+00] [-4.03641176e-03 9.99991808e-01 3.02970975e-04 -2.31602012e-02] [-5.15492367e-03 -3.23776981e-04 9.99986661e-01 5.04911081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02255784400006 meters 0.28751906414309886 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99973814e-01 -4.06841209e-03 5.98496122e-03 3.02806795e+00] [ 4.06105239e-03 9.99990983e-01 1.24133757e-03 -2.03509150e-02] [-5.98995753e-03 -1.21699983e-03 9.99981319e-01 5.05373496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05255784400003 meters 0.28560282002756215 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.50 [[ 9.99979031e-01 3.84736002e-03 5.20916377e-03 3.00758892e+00] [-3.84932381e-03 9.99992524e-01 3.67015557e-04 -2.46040293e-02] [-5.20771278e-03 -3.87059620e-04 9.99986365e-01 5.04548825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08255784400006 meters 0.2870012425059204 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99973729e-01 -3.97426625e-03 6.06196206e-03 3.02669977e+00] [ 3.96499897e-03 9.99990954e-01 1.54001115e-03 -1.98355915e-02] [-6.06802764e-03 -1.51593502e-03 9.99980440e-01 5.05478113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11255784400004 meters 0.2868790240240383 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99973752e-01 -4.00368084e-03 6.03862075e-03 3.02687686e+00] [ 3.99491272e-03 9.99990950e-01 1.46337062e-03 -1.95317054e-02] [-6.04442496e-03 -1.43920844e-03 9.99980697e-01 5.05194094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14255784400007 meters 0.2875502570308255 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99973831e-01 -4.04488449e-03 5.99805215e-03 3.02712413e+00] [ 4.03681777e-03 9.99990932e-01 1.35638660e-03 -1.91054917e-02] [-6.00348419e-03 -1.33213806e-03 9.99981092e-01 5.04855316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17255784400004 meters 0.2869798705881573 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.02, Z:0.51 [[ 9.99994021e-01 1.60752771e-03 3.06164314e-03 3.00550560e+00] [-1.60250365e-03 9.99997367e-01 -1.64271537e-03 -1.86633150e-02] [-3.06427579e-03 1.63779926e-03 9.99993964e-01 5.06501943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20255784400007 meters 0.2880183972518825 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99985664e-01 -3.45425816e-03 4.09151235e-03 3.02973157e+00] [ 3.44712478e-03 9.99992529e-01 1.74922943e-03 -1.71691241e-02] [-4.09752408e-03 -1.73510039e-03 9.99990100e-01 5.04810499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23255784400004 meters 0.28721918004955616 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99985409e-01 -3.45547557e-03 4.15218919e-03 3.02955274e+00] [ 3.44825922e-03 9.99992534e-01 1.74386595e-03 -1.71454090e-02] [-4.15818408e-03 -1.72952269e-03 9.99989859e-01 5.04858340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26255784400007 meters 0.2866189189200709 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99985250e-01 -3.44154035e-03 4.20185652e-03 3.02938417e+00] [ 3.43409140e-03 9.99992522e-01 1.77870440e-03 -1.72847547e-02] [-4.20794658e-03 -1.76424860e-03 9.99989590e-01 5.04955655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29255784400004 meters 0.2887027743640109 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.50 [[ 9.99970299e-01 3.04901743e-03 7.07844064e-03 3.05141975e+00] [-3.04032427e-03 9.99994611e-01 -1.23855431e-03 -1.51985447e-02] [-7.08217887e-03 1.21699676e-03 9.99974180e-01 5.02867770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3225578440001 meters 0.2873151100582608 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99987366e-01 -3.51961923e-03 3.58899898e-03 3.03035344e+00] [ 3.51299082e-03 9.99992115e-01 1.85150248e-03 -1.99941853e-02] [-3.59548727e-03 -1.83887097e-03 9.99991845e-01 5.04780896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35255784400005 meters 0.29043866047253325 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.50 [[ 9.99987877e-01 -3.45744062e-03 3.50610319e-03 3.03054473e+00] [ 3.45038967e-03 9.99992017e-01 2.01510881e-03 -2.06798946e-02] [-3.51304232e-03 -2.00298696e-03 9.99991823e-01 5.04832458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3825578440001 meters 0.28748690536541305 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99973710e-01 5.54429760e-03 4.67327758e-03 3.04999826e+00] [-5.54941633e-03 9.99984015e-01 1.08306261e-03 -2.38281540e-02] [-4.66719806e-03 -1.10896810e-03 9.99988494e-01 5.05950961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41255784400005 meters 0.2871774227616496 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99973529e-01 5.61444946e-03 4.62805699e-03 3.04998577e+00] [-5.62037579e-03 9.99983401e-01 1.26851258e-03 -2.45848690e-02] [-4.62085817e-03 -1.29449042e-03 9.99988486e-01 5.06241782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4425578440001 meters 0.287249070974246 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99988339e-01 1.29958515e-03 4.65108817e-03 3.05004229e+00] [-1.28544612e-03 9.99994548e-01 -3.04164061e-03 -2.46350981e-02] [-4.65501568e-03 3.03562642e-03 9.99984558e-01 5.05900531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47255784400005 meters 0.2874888807575214 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99988428e-01 1.32023741e-03 4.62619065e-03 3.05016670e+00] [-1.30641990e-03 9.99994681e-01 -2.98854986e-03 -2.48723605e-02] [-4.63011164e-03 2.98247153e-03 9.99984833e-01 5.05767469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5025578440001 meters 0.2886131459854061 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.50 [[ 9.99973861e-01 -3.57830185e-03 6.28274336e-03 3.07409863e+00] [ 3.57511835e-03 9.99993475e-01 5.17862985e-04 -2.40566038e-02] [-6.28455543e-03 -4.95387898e-04 9.99980129e-01 5.03770459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53255784400005 meters 0.28759854626450854 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99990692e-01 2.32438661e-03 3.63486268e-03 3.05221648e+00] [-2.31608869e-03 9.99994706e-01 -2.28541699e-03 -2.41842989e-02] [-3.64015563e-03 2.27697706e-03 9.99990782e-01 5.05833832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5625578440001 meters 0.28838239744406 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99990511e-01 2.30131938e-03 3.69884234e-03 3.05193284e+00] [-2.29262742e-03 9.99994605e-01 -2.35243865e-03 -2.38954902e-02] [-3.70423610e-03 2.34393626e-03 9.99990392e-01 5.06122414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59255784400005 meters 0.2884127407643735 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.50 [[ 9.99980804e-01 -2.93867441e-03 5.45484476e-03 3.07477738e+00] [ 2.93252046e-03 9.99995055e-01 1.13581950e-03 -2.37324946e-02] [-5.45815559e-03 -1.11980126e-03 9.99984477e-01 5.04654131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6225578440001 meters 0.2886871152445652 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.50 [[ 9.99980925e-01 -2.88517118e-03 5.46132421e-03 3.07481473e+00] [ 2.87828628e-03 9.99995054e-01 1.26810576e-03 -2.43035332e-02] [-5.46495590e-03 -1.25236232e-03 9.99984283e-01 5.04548267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65255784400006 meters 0.288003294872209 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.50 [[ 9.99981221e-01 -2.79884875e-03 5.45198046e-03 3.07486833e+00] [ 2.79078836e-03 9.99995002e-01 1.48548056e-03 -2.52217186e-02] [-5.45611085e-03 -1.47023734e-03 9.99984035e-01 5.04498976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters 0.2886229008661675 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.50 [[ 9.99981535e-01 -2.74052226e-03 5.42395799e-03 3.07491109e+00] [ 2.73169776e-03 9.99994934e-01 1.63368904e-03 -2.58467945e-02] [-5.42840768e-03 -1.61884226e-03 9.99983956e-01 5.04575883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71255784400006 meters 0.28823092881085277 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99989102e-01 2.74700948e-03 3.77485477e-03 3.05261906e+00] [-2.74129145e-03 9.99995089e-01 -1.51910914e-03 -2.82641928e-02] [-3.77900924e-03 1.50874461e-03 9.99991721e-01 5.05975937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters 0.2884675817886734 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.50 [[ 9.99981777e-01 -2.47665081e-03 5.50566495e-03 3.07559784e+00] [ 2.46632497e-03 9.99995189e-01 1.88149241e-03 -2.78598937e-02] [-5.51029826e-03 -1.86787936e-03 9.99983074e-01 5.04534082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77255784400006 meters 0.28942411177177535 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.50 [[ 9.99981665e-01 -2.46515905e-03 5.53101105e-03 3.07549201e+00] [ 2.45463755e-03 9.99995167e-01 1.90825722e-03 -2.79723256e-02] [-5.53568847e-03 -1.89464560e-03 9.99982883e-01 5.04625276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters 0.2893165755044804 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.50 [[ 9.99980273e-01 -2.53154358e-03 5.74844352e-03 3.07491197e+00] [ 2.52179057e-03 9.99995370e-01 1.70324934e-03 -2.70766206e-02] [-5.75272875e-03 -1.68871937e-03 9.99982027e-01 5.04715738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83255784400006 meters 0.28918585078717907 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.50 [[ 9.99979487e-01 -2.62625862e-03 5.84195788e-03 3.07465758e+00] [ 2.61783058e-03 9.99995522e-01 1.44985249e-03 -2.60092217e-02] [-5.84573941e-03 -1.43452949e-03 9.99981885e-01 5.04733776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86255784400004 meters 0.2882234003936815 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.50 [[ 9.99973763e-01 5.19744461e-03 5.04585210e-03 3.05416466e+00] [-5.19909440e-03 9.99986435e-01 3.13896443e-04 -2.86438731e-02] [-5.04415220e-03 -3.40122068e-04 9.99987220e-01 5.03712016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89255784400007 meters 0.2892292704991087 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.50 [[ 9.99975605e-01 5.00673999e-03 4.87059743e-03 3.05491086e+00] [-5.00578147e-03 9.99987449e-01 -2.08968740e-04 -2.64581574e-02] [-4.87158255e-03 1.84582495e-04 9.99988117e-01 5.02893941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92255784400004 meters 0.2894265941986884 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.50 [[ 9.99976713e-01 4.88555027e-03 4.76487709e-03 3.05533154e+00] [-4.88318197e-03 9.99987948e-01 -5.08540361e-04 -2.52070750e-02] [-4.76730416e-03 4.85260757e-04 9.99988519e-01 5.02541946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95255784400007 meters 0.2903875825716018 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.50 [[ 9.99986296e-01 -2.73635445e-03 4.46319708e-03 3.07507678e+00] [ 2.73393468e-03 9.99996113e-01 5.48171237e-04 -1.90138977e-02] [-4.46467972e-03 -5.35961636e-04 9.99989890e-01 5.04127000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98255784400004 meters 0.29118766562911325 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.50 [[ 9.99982635e-01 5.09656735e-03 2.95878511e-03 3.05556781e+00] [-5.09483017e-03 9.99986845e-01 -5.94368869e-04 -2.24074391e-02] [-2.96177543e-03 5.79284041e-04 9.99995446e-01 5.03682560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01255784400007 meters 0.29033992550162546 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990704e-01 -2.50965959e-03 3.50609279e-03 3.07529083e+00] [ 2.50771467e-03 9.99996699e-01 5.59012822e-04 -1.73755998e-02] [-3.50748415e-03 -5.50215346e-04 9.99993697e-01 5.05274815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04255784400004 meters 0.2891115167154086 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990537e-01 -2.52006386e-03 3.54609206e-03 3.07503871e+00] [ 2.51820827e-03 9.99996690e-01 5.27644507e-04 -1.72253037e-02] [-3.54741002e-03 -5.18709715e-04 9.99993573e-01 5.05618422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0725578440001 meters 0.2887029242704937 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99990250e-01 -2.56863547e-03 3.59189616e-03 3.07488806e+00] [ 2.56720318e-03 9.99996623e-01 4.03311524e-04 -1.66915014e-02] [-3.59291999e-03 -3.94086465e-04 9.99993468e-01 5.05691614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10255784400005 meters 0.28929538786043046 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990656e-01 -2.55867537e-03 3.48443795e-03 3.07516638e+00] [ 2.55719052e-03 9.99996638e-01 4.30524141e-04 -1.68171615e-02] [-3.48552780e-03 -4.21609746e-04 9.99993837e-01 5.05682035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1325578440001 meters 0.2896618630110882 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990940e-01 -2.58307961e-03 3.38346968e-03 3.07547706e+00] [ 2.58183885e-03 9.99996598e-01 3.71028181e-04 -1.65813465e-02] [-3.38441656e-03 -3.62289246e-04 9.99994207e-01 5.05557087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16255784400005 meters 0.2897899525647129 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99991325e-01 -2.60521867e-03 3.24989202e-03 3.07581453e+00] [ 2.60419909e-03 9.99996559e-01 3.17919898e-04 -1.63687643e-02] [-3.25070908e-03 -3.09453775e-04 9.99994669e-01 5.05561560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1925578440001 meters 0.2899496495929444 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99991343e-01 -2.67909239e-03 3.18388085e-03 3.07609424e+00] [ 2.67865743e-03 9.99996402e-01 1.40868843e-04 -1.56288200e-02] [-3.18424679e-03 -1.32339097e-04 9.99994922e-01 5.05317723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22255784400005 meters 0.289459308151463 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99991344e-01 -2.66268668e-03 3.19710812e-03 3.07605056e+00] [ 2.66211936e-03 9.99996440e-01 1.81687309e-04 -1.57977170e-02] [-3.19758052e-03 -1.73174652e-04 9.99994873e-01 5.05340663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2525578440001 meters 0.2885485979904377 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.50 [[ 9.99982753e-01 5.12305493e-03 2.87188570e-03 3.05619769e+00] [-5.12027682e-03 9.99986417e-01 -9.73865652e-04 -2.05557359e-02] [-2.87683586e-03 9.59144006e-04 9.99995402e-01 5.04191670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28255784400005 meters 0.288462544006565 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.50 [[ 9.99982676e-01 5.10988280e-03 2.92188846e-03 3.05593133e+00] [-5.10696274e-03 9.99986453e-01 -1.00596133e-03 -2.03886715e-02] [-2.92698922e-03 9.91021929e-04 9.99995225e-01 5.04512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3125578440001 meters 0.288462544006565 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.50 [[ 9.99982676e-01 5.10988280e-03 2.92188846e-03 3.05593133e+00] [-5.10696274e-03 9.99986453e-01 -1.00596133e-03 -2.03886715e-02] [-2.92698922e-03 9.91021929e-04 9.99995225e-01 5.04512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34255784400005 meters 0.28830974967775286 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990129e-01 -2.62184088e-03 3.58729544e-03 3.07531954e+00] [ 2.62131355e-03 9.99996553e-01 1.51691563e-04 -1.54867521e-02] [-3.58768079e-03 -1.42286639e-04 9.99993554e-01 5.05798295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3725578440001 meters 0.28878762902352134 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99990187e-01 -2.61184708e-03 3.57833280e-03 3.07540584e+00] [ 2.61123326e-03 9.99996575e-01 1.76198048e-04 -1.56018727e-02] [-3.57878075e-03 -1.66852458e-04 9.99993582e-01 5.05662744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40255784400006 meters 0.28837878423355706 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99995764e-01 2.79243262e-03 8.21599821e-04 3.05299937e+00] [-2.78991800e-03 9.99991469e-01 -3.04603728e-03 -1.43397716e-02] [-8.30098665e-04 3.04373218e-03 9.99995023e-01 5.07606727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43255784400003 meters 0.2884499699446776 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99995943e-01 2.73287813e-03 8.03038132e-04 3.05309883e+00] [-2.73030079e-03 9.99991174e-01 -3.19324999e-03 -1.37204601e-02] [-8.11757808e-04 3.19104450e-03 9.99994579e-01 5.07487650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46255784400006 meters 0.288143267187279 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99987027e-01 -4.82868401e-03 1.62159504e-03 3.07149157e+00] [ 4.83194807e-03 9.99986296e-01 -2.01502515e-03 -7.10962539e-03] [-1.61184290e-03 2.02283447e-03 9.99996655e-01 5.09499592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49255784400003 meters 0.2875743449262164 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99992991e-01 3.39860416e-03 1.57111371e-03 3.05023109e+00] [-3.39424521e-03 9.99990406e-01 -2.76882827e-03 -1.10978115e-02] [-1.58050879e-03 2.76347611e-03 9.99994933e-01 5.09195861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52255784400006 meters 0.2886266489957297 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99987030e-01 -4.16264239e-03 2.93470474e-03 3.06887299e+00] [ 4.16696980e-03 9.99990238e-01 -1.46999674e-03 -6.21769623e-03] [-2.92855702e-03 1.48220650e-03 9.99994613e-01 5.10932272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55255784400003 meters 0.2884836784467512 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99986738e-01 -4.17841619e-03 3.01084126e-03 3.06854492e+00] [ 4.18298777e-03 9.99990106e-01 -1.51367757e-03 -6.01284538e-03] [-3.00448670e-03 1.52625181e-03 9.99994322e-01 5.11235783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58255784400006 meters 0.2883009899634881 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99986713e-01 -4.15801568e-03 3.04710567e-03 3.06850953e+00] [ 4.16249445e-03 9.99990264e-01 -1.46498013e-03 -6.22329314e-03] [-3.04098459e-03 1.47764422e-03 9.99994284e-01 5.11113224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61255784400004 meters 0.28809705348920195 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99986979e-01 -4.13643883e-03 2.98865919e-03 3.06873651e+00] [ 4.14067149e-03 9.99990431e-01 -1.41144193e-03 -6.46664884e-03] [-2.98279225e-03 1.42379861e-03 9.99994538e-01 5.10950485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64255784400007 meters 0.2887348994089982 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99987207e-01 -4.09623429e-03 2.96751135e-03 3.06880228e+00] [ 4.10013987e-03 9.99990735e-01 -1.31122907e-03 -6.89533502e-03] [-2.96211275e-03 1.32337951e-03 9.99994737e-01 5.10931610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67255784400004 meters 0.2879153214024716 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99987565e-01 -4.04540154e-03 2.91637565e-03 3.06890692e+00] [ 4.04886633e-03 9.99991103e-01 -1.18312274e-03 -7.43930218e-03] [-2.91156350e-03 1.19491604e-03 9.99995047e-01 5.10996462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70255784400007 meters 0.2876836502948544 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99988397e-01 -3.93633240e-03 2.77707306e-03 3.06918848e+00] [ 3.93884519e-03 9.99991838e-01 -8.99945316e-04 -8.64854559e-03] [-2.77350791e-03 9.10873334e-04 9.99995739e-01 5.11166408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73255784400004 meters 0.2891007439801991 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99988800e-01 -3.86530230e-03 2.73133284e-03 3.06926174e+00] [ 3.86729038e-03 9.99992261e-01 -7.22972417e-04 -9.40212350e-03] [-2.72851719e-03 7.33527177e-04 9.99996009e-01 5.11268708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76255784400007 meters 0.28885378606272394 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99989012e-01 -3.80657165e-03 2.73600172e-03 3.06924441e+00] [ 3.80816496e-03 9.99992582e-01 -5.77376227e-04 -1.00199286e-02] [-2.73378360e-03 5.87789029e-04 9.99996090e-01 5.11291214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79255784400004 meters 0.2882399061563196 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99989027e-01 -3.75093864e-03 2.80651630e-03 3.06903713e+00] [ 3.75219430e-03 9.99992863e-01 -4.42275369e-04 -1.05893245e-02] [-2.80483732e-03 4.52801110e-04 9.99995964e-01 5.11360363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8225578440001 meters 0.28827816633106385 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99989215e-01 4.16771027e-03 2.04919577e-03 3.04891979e+00] [-4.16490573e-03 9.99990387e-01 -1.37097039e-03 -1.53715677e-02] [-2.05488988e-03 1.36242089e-03 9.99996961e-01 5.10409527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85255784400005 meters 0.2888199523379237 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99989201e-01 4.14624039e-03 2.09912091e-03 3.04881354e+00] [-4.14325307e-03 9.99990401e-01 -1.42548354e-03 -1.51375496e-02] [-2.10501116e-03 1.41677096e-03 9.99996781e-01 5.10364602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8825578440001 meters 0.28820137046285604 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99989305e-01 4.15547201e-03 2.03001005e-03 3.04904607e+00] [-4.15263594e-03 9.99990399e-01 -1.39929300e-03 -1.52581181e-02] [-2.03580528e-03 1.39084814e-03 9.99996961e-01 5.10242163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91255784400005 meters 0.2883878956138486 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99989432e-01 4.12455993e-03 2.03097659e-03 3.04912047e+00] [-4.12156194e-03 9.99990414e-01 -1.47811098e-03 -1.49371017e-02] [-2.03705368e-03 1.46972457e-03 9.99996845e-01 5.10072861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9425578440001 meters 0.2885874340276019 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99989438e-01 4.09171825e-03 2.09329429e-03 3.04895381e+00] [-4.08845222e-03 9.99990422e-01 -1.56213971e-03 -1.45758089e-02] [-2.09966608e-03 1.55356488e-03 9.99996589e-01 5.10087510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97255784400005 meters 0.28914521182711084 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99989322e-01 4.10642677e-03 2.11983460e-03 3.04880254e+00] [-4.10319454e-03 9.99990416e-01 -1.52686286e-03 -1.47199407e-02] [-2.12608423e-03 1.51814846e-03 9.99996587e-01 5.10271047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0025578440001 meters 0.28971441045876223 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99989527e-01 4.10643956e-03 2.02069658e-03 3.04914201e+00] [-4.10336462e-03 9.99990421e-01 -1.52352035e-03 -1.47538527e-02] [-2.02693347e-03 1.51521274e-03 9.99996798e-01 5.10088060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03255784400005 meters 0.2891133681508624 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99990053e-01 -4.45722198e-03 1.66349530e-04 3.03007486e+00] [ 4.45725242e-03 9.99990050e-01 -1.83111137e-04 -1.27360943e-02] [-1.65531708e-04 1.83850777e-04 9.99999969e-01 5.09067973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0625578440001 meters 0.28868848577343703 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99989999e-01 -4.47092611e-03 1.14484691e-04 3.03017677e+00] [ 4.47095027e-03 9.99989983e-01 -2.11621221e-04 -1.26014570e-02] [-1.13537402e-04 2.12130960e-04 9.99999971e-01 5.09125635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09255784400005 meters 0.2895123647423281 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99991124e-01 3.92899770e-03 1.52118567e-03 3.04964628e+00] [-3.92647329e-03 9.99990915e-01 -1.65894791e-03 -1.51178568e-02] [-1.52768986e-03 1.65296029e-03 9.99997467e-01 5.10441339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1225578440001 meters 0.28881363394506326 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99983534e-01 -5.69779360e-03 6.83705839e-04 3.02846196e+00] [ 5.69865183e-03 9.99982969e-01 -1.25995016e-03 -1.33035250e-02] [-6.76515259e-04 1.26382561e-03 9.99998973e-01 5.10478244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15255784400006 meters 0.2899601222375647 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99983592e-01 -5.68713083e-03 6.87729441e-04 3.02845341e+00] [ 5.68797489e-03 9.99983065e-01 -1.23164949e-03 -1.34208483e-02] [-6.80713242e-04 1.23554107e-03 9.99999005e-01 5.10478548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters 0.29163348560331787 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99993063e-01 3.29558407e-03 1.73585868e-03 3.04928349e+00] [-3.29164661e-03 9.99992014e-01 -2.26630066e-03 -1.41685605e-02] [-1.74331360e-03 2.26057111e-03 9.99995925e-01 5.10832918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21255784400006 meters 0.290079829144019 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995042e-01 -3.13931831e-03 -2.47053683e-04 3.02805128e+00] [ 3.13954532e-03 9.99994645e-01 9.23923686e-04 -1.38622534e-02] [ 2.44151869e-04 -9.24694742e-04 9.99999543e-01 5.11052419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters 0.29062725348135887 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995030e-01 -3.14409607e-03 -2.34577171e-04 3.02814439e+00] [ 3.14430866e-03 9.99994641e-01 9.11476383e-04 -1.38276992e-02] [ 2.31710144e-04 -9.12209436e-04 9.99999557e-01 5.10782142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27255784400006 meters 0.28920828589831965 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995204e-01 -3.09136614e-03 -1.90808277e-04 3.02808740e+00] [ 3.09156313e-03 9.99994679e-01 1.04088243e-03 -1.43791029e-02] [ 1.87589513e-04 -1.04146734e-03 9.99999440e-01 5.10671797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters 0.28870837418557904 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99995400e-01 -3.02402499e-03 -2.36315943e-04 3.02821102e+00] [ 3.02430996e-03 9.99994689e-01 1.21495707e-03 -1.51142561e-02] [ 2.32640627e-04 -1.21566617e-03 9.99999234e-01 5.10671754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33255784400006 meters 0.29023004568066924 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99991613e-01 4.00679832e-03 8.48513890e-04 3.05049557e+00] [-4.00553288e-03 9.99990871e-01 -1.48784021e-03 -1.63650140e-02] [-8.54467620e-04 1.48442898e-03 9.99998533e-01 5.10112951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36255784400004 meters 0.2893172992954705 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99978015e-01 -6.42403404e-03 -1.64365107e-03 3.02957392e+00] [ 6.42142601e-03 9.99978123e-01 -1.58711774e-03 -2.14016401e-02] [ 1.65381081e-03 1.57652826e-03 9.99997390e-01 5.11097874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39255784400007 meters 0.2900592811761529 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99979160e-01 -6.24050582e-03 -1.65384410e-03 3.02945309e+00] [ 6.23877835e-03 9.99979990e-01 -1.04762843e-03 -2.36027558e-02] [ 1.66034874e-03 1.03728863e-03 9.99998084e-01 5.11482401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42255784400004 meters 0.28919278493219225 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99980433e-01 -6.04071841e-03 -1.62556153e-03 3.02919391e+00] [ 6.03994155e-03 9.99981643e-01 -4.82388224e-04 -2.59317505e-02] [ 1.62844566e-03 4.72560489e-04 9.99998562e-01 5.11950157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45255784400007 meters 0.2871628434949337 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.03, Z:0.51 [[ 9.99995204e-01 2.20982739e-03 -2.17014704e-03 3.00890859e+00] [-2.21151888e-03 9.99997252e-01 -7.77345229e-04 -3.33799115e-02] [ 2.16842328e-03 7.82140821e-04 9.99997343e-01 5.11868388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48255784400004 meters 0.28972733305312387 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99996403e-01 2.57377729e-03 7.54425755e-04 3.05230747e+00] [-2.57305954e-03 9.99996238e-01 -9.50820510e-04 -3.48995298e-02] [-7.56870117e-04 9.48875908e-04 9.99999263e-01 5.11131202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51255784400007 meters 0.2886449109248112 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.51 [[ 9.99989795e-01 -3.96184842e-03 -2.17094689e-03 3.03093095e+00] [ 3.96666804e-03 9.99989668e-01 2.22026076e-03 -3.80918310e-02] [ 2.16212813e-03 -2.22884953e-03 9.99995179e-01 5.12594615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54255784400004 meters 0.2892218625874609 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.51 [[ 9.99989737e-01 -3.91368028e-03 -2.28225489e-03 3.03125512e+00] [ 3.91902368e-03 9.99989579e-01 2.34152725e-03 -3.86161048e-02] [ 2.27306712e-03 -2.35044743e-03 9.99994654e-01 5.12516573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5725578440001 meters 0.2889953260656415 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.51 [[ 9.99989525e-01 -3.89516000e-03 -2.40354676e-03 3.03154768e+00] [ 3.90090358e-03 9.99989536e-01 2.38958580e-03 -3.88282860e-02] [ 2.39421380e-03 -2.39893677e-03 9.99994256e-01 5.12541976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60255784400005 meters 0.2883409676917374 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.51 [[ 9.99989492e-01 -3.94985325e-03 -2.32713245e-03 3.03132276e+00] [ 3.95508487e-03 9.99989652e-01 2.24780197e-03 -3.82241382e-02] [ 2.31822988e-03 -2.25698235e-03 9.99994766e-01 5.12600311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6325578440001 meters 0.2899370119884744 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.04, Z:0.51 [[ 9.99989828e-01 4.50094292e-03 2.90762525e-04 3.05048386e+00] [-4.50119331e-03 9.99989494e-01 8.66291069e-04 -3.81550088e-02] [-2.86860344e-04 -8.67591036e-04 9.99999582e-01 5.13148498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66255784400005 meters 0.2900344054612543 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.04, Z:0.51 [[ 9.99990163e-01 4.41730227e-03 4.01933190e-04 3.05025332e+00] [-4.41756229e-03 9.99990032e-01 6.48363770e-04 -3.72387622e-02] [-3.99065165e-04 -6.50132957e-04 9.99999709e-01 5.13020130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6925578440001 meters 0.28943233806630236 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.04, Z:0.51 [[ 9.99990636e-01 4.30938599e-03 3.96110708e-04 3.05031614e+00] [-4.30953572e-03 9.99990642e-01 3.77926552e-04 -3.61085333e-02] [-3.94478370e-04 -3.79630066e-04 9.99999850e-01 5.12898751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72255784400005 meters 0.28913113275660784 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991544e-01 4.09844547e-03 3.37266144e-04 3.05075597e+00] [-4.09839444e-03 9.99991590e-01 -1.51841195e-04 -3.39008922e-02] [-3.37885621e-04 1.50457661e-04 9.99999932e-01 5.12244293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7525578440001 meters 0.28924306265020794 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991972e-01 3.98843747e-03 3.85448541e-04 3.05067355e+00] [-3.98827454e-03 9.99991958e-01 -4.22549198e-04 -3.27569671e-02] [-3.87130752e-04 4.21008531e-04 9.99999836e-01 5.12142055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78255784400005 meters 0.29046126038099557 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99992235e-01 -3.48426430e-03 1.84116371e-03 3.06979732e+00] [ 3.48278894e-03 9.99993612e-01 8.03919347e-04 -2.71578840e-02] [-1.84395302e-03 -7.97500720e-04 9.99997982e-01 5.13615457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8125578440001 meters 0.2894129480735363 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99992052e-01 -3.47023879e-03 1.96277077e-03 3.06929026e+00] [ 3.46860667e-03 9.99993636e-01 8.34336276e-04 -2.72634636e-02] [-1.96565363e-03 -8.27521565e-04 9.99997726e-01 5.14091175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84255784400005 meters 0.2886111948921515 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99992064e-01 -3.45288107e-03 1.98715915e-03 3.06904006e+00] [ 3.45113480e-03 9.99993656e-01 8.81538324e-04 -2.74230732e-02] [-1.99019039e-03 -8.74673375e-04 9.99997637e-01 5.14544197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8725578440001 meters 0.28883943642285653 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99992570e-01 -3.39001567e-03 1.83506698e-03 3.06940102e+00] [ 3.38803466e-03 9.99993676e-01 1.08156400e-03 -2.82147271e-02] [-1.83872190e-03 -1.07533869e-03 9.99997731e-01 5.14543728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90255784400006 meters 0.2892979902018984 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99992897e-01 -3.35029255e-03 1.72646762e-03 3.06973500e+00] [ 3.34824401e-03 9.99993689e-01 1.18807862e-03 -2.86686965e-02] [-1.73043713e-03 -1.18228955e-03 9.99997804e-01 5.14409698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93255784400003 meters 0.2883149427983446 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99993102e-01 -3.30059960e-03 1.70379921e-03 3.06979867e+00] [ 3.29836356e-03 9.99993698e-01 1.31352991e-03 -2.91988564e-02] [-1.70812391e-03 -1.30790110e-03 9.99997686e-01 5.14400773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96255784400006 meters 0.2887666236388717 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99993193e-01 -3.27137698e-03 1.70653003e-03 3.06981241e+00] [ 3.26901553e-03 9.99993698e-01 1.38473143e-03 -2.95093970e-02] [-1.71104926e-03 -1.37914333e-03 9.99997585e-01 5.14354798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99255784400003 meters 0.2874932677150864 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.52 [[ 9.99997197e-01 2.24759597e-03 -7.45059366e-04 3.04793197e+00] [-2.24888615e-03 9.99995966e-01 -1.73534570e-03 -2.93524053e-02] [ 7.41156004e-04 1.73701639e-03 9.99998217e-01 5.15701402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02255784400006 meters 0.28815060909227347 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.52 [[ 9.99984987e-01 -5.47744639e-03 -1.53794324e-04 3.06742775e+00] [ 5.47737809e-03 9.99984902e-01 -4.41085352e-04 -2.52659431e-02] [ 1.56208023e-04 4.40236341e-04 9.99999891e-01 5.16895813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05255784400003 meters 0.28688808440793956 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.52 [[ 9.99996006e-01 2.34929237e-03 -1.57112241e-03 3.04723936e+00] [-2.35141784e-03 9.99996321e-01 -1.35235374e-03 -2.91329401e-02] [ 1.56793956e-03 1.35604271e-03 9.99997851e-01 5.16066768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08255784400006 meters 0.2891270565319528 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99995894e-01 -2.80279695e-03 5.96393218e-04 3.07100006e+00] [ 2.80166369e-03 9.99994284e-01 1.89261589e-03 -3.00317422e-02] [-6.01694427e-04 -1.89093723e-03 9.99998031e-01 5.13865211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11255784400004 meters 0.2887009598617573 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99995735e-01 -2.85772730e-03 6.02872306e-04 3.07110579e+00] [ 2.85667240e-03 9.99994400e-01 1.74345584e-03 -2.94437024e-02] [-6.07851251e-04 -1.74172619e-03 9.99998298e-01 5.13568978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14255784400007 meters 0.29028698815229204 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.51 [[ 9.99986025e-01 4.38866088e-03 2.94764167e-03 3.09207165e+00] [-4.38605620e-03 9.99989986e-01 -8.89531538e-04 -2.79440641e-02] [-2.95151600e-03 8.76590585e-04 9.99995260e-01 5.12437153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17255784400004 meters 0.28877283729519976 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99998045e-01 -1.90566761e-03 5.27909180e-04 3.06947593e+00] [ 1.90453611e-03 9.99995906e-01 2.13564127e-03 -2.81811750e-02] [-5.31976841e-04 -2.13463167e-03 9.99997580e-01 5.14038343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20255784400007 meters 0.28877283729519976 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99998045e-01 -1.90566761e-03 5.27909180e-04 3.06947593e+00] [ 1.90453611e-03 9.99995906e-01 2.13564127e-03 -2.81811750e-02] [-5.31976841e-04 -2.13463167e-03 9.99997580e-01 5.14038343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23255784400004 meters 0.28991997632190025 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.51 [[ 9.99980167e-01 5.60501743e-03 2.87209702e-03 3.09028896e+00] [-5.60410155e-03 9.99984243e-01 -3.26837107e-04 -2.58311948e-02] [-2.87388369e-03 3.10735102e-04 9.99995822e-01 5.13362876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26255784400007 meters 0.289658728548244 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99981020e-01 5.47964715e-03 2.81651274e-03 3.09046409e+00] [-5.47783016e-03 9.99984784e-01 -6.52431874e-04 -2.44780156e-02] [-2.82004498e-03 6.36991112e-04 9.99995821e-01 5.13278011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29255784400004 meters 0.2902731581311269 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99991768e-01 -3.33214608e-03 2.31518601e-03 3.07108014e+00] [ 3.33168503e-03 9.99994429e-01 2.02967677e-04 -1.80395732e-02] [-2.31584944e-03 -1.95252536e-04 9.99997299e-01 5.11869827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3225578440001 meters 0.28912426186919893 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99991366e-01 -3.39531710e-03 2.39587779e-03 3.07085689e+00] [ 3.39524111e-03 9.99994236e-01 3.57834366e-05 -1.73329506e-02] [-2.39598548e-03 -2.76485448e-05 9.99997129e-01 5.11899881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35255784400005 meters 0.2900646756903024 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.51 [[ 9.99981226e-01 3.03241224e-03 5.32462041e-03 3.09272822e+00] [-3.01615953e-03 9.99990776e-01 -3.05775257e-03 -1.45152658e-02] [-5.33384366e-03 3.04163526e-03 9.99981149e-01 5.10147521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3825578440001 meters 0.29081089876621713 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.51 [[ 9.99981479e-01 3.01501620e-03 5.28689660e-03 3.09269851e+00] [-2.99863096e-03 9.99990685e-01 -3.10441133e-03 -1.43124657e-02] [-5.29620720e-03 3.08850038e-03 9.99981206e-01 5.10426242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41255784400005 meters 0.289557932847694 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99980117e-01 -5.28451391e-03 3.44093975e-03 3.07328091e+00] [ 5.28964667e-03 9.99984908e-01 -1.48428474e-03 -1.33184286e-02] [-3.43304410e-03 1.50245658e-03 9.99992978e-01 5.09319027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4425578440001 meters 0.2886840406222608 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99994154e-01 2.77248969e-03 2.00145913e-03 3.05392181e+00] [-2.76789795e-03 9.99993540e-01 -2.29333176e-03 -1.75798211e-02] [-2.00780444e-03 2.28777851e-03 9.99995367e-01 5.08622618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47255784400005 meters 0.2882304220901324 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99994016e-01 2.83910646e-03 1.97686307e-03 3.05396097e+00] [-2.83492027e-03 9.99993740e-01 -2.11718397e-03 -1.83101135e-02] [-1.98286161e-03 2.11156706e-03 9.99995805e-01 5.08675789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5025578440001 meters 0.2897210123513021 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99981915e-01 -4.99803520e-03 3.34502300e-03 3.07434839e+00] [ 5.00085503e-03 9.99987147e-01 -8.35158955e-04 -1.73433820e-02] [-3.34080585e-03 8.51871826e-04 9.99994057e-01 5.09762452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53255784400005 meters 0.2895705619824675 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99982464e-01 -4.88901372e-03 3.34197149e-03 3.07433476e+00] [ 4.89091656e-03 9.99987882e-01 -5.61440129e-04 -1.84906584e-02] [-3.33918610e-03 5.77775587e-04 9.99994258e-01 5.09818602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5625578440001 meters 0.28855297581286105 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99983032e-01 -4.77888395e-03 3.33130311e-03 3.07425924e+00] [ 4.77986992e-03 9.99988535e-01 -2.88073165e-04 -1.96418653e-02] [-3.32988825e-03 3.03991472e-04 9.99994410e-01 5.10050210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59255784400005 meters 0.28902471241026767 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99983913e-01 -4.57773615e-03 3.34922119e-03 3.07418303e+00] [ 4.57703055e-03 9.99989502e-01 2.18310136e-04 -2.17798718e-02] [-3.35018539e-03 -2.02977137e-04 9.99994368e-01 5.10142353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6225578440001 meters 0.2898435824518358 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:0.51 [[ 9.99984373e-01 -4.48744609e-03 3.33410002e-03 3.07423572e+00] [ 4.48599879e-03 9.99989840e-01 4.41442386e-04 -2.27266806e-02] [-3.33604709e-03 -4.26478719e-04 9.99994344e-01 5.10119990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65255784400006 meters 0.2888803099475525 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991669e-01 3.33066100e-03 2.35991529e-03 3.05422420e+00] [-3.32980697e-03 9.99994389e-01 -3.65726207e-04 -2.79507320e-02] [-2.36112016e-03 3.57865097e-04 9.99997149e-01 5.08943666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters 0.28962111733396184 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991455e-01 3.39671321e-03 2.35620197e-03 3.05421540e+00] [-3.39624625e-03 9.99994212e-01 -2.02155187e-04 -2.86358289e-02] [-2.35687500e-03 1.94151218e-04 9.99997204e-01 5.08989165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71255784400006 meters 0.28938510429233155 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991503e-01 3.40520226e-03 2.32355267e-03 3.05428604e+00] [-3.40479470e-03 9.99994188e-01 -1.79335894e-04 -2.87315011e-02] [-2.32414984e-03 1.71423151e-04 9.99997284e-01 5.09017058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters 0.2893827664459569 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991922e-01 3.33135356e-03 2.24904921e-03 3.05446144e+00] [-3.33053772e-03 9.99994387e-01 -3.66394344e-04 -2.79570687e-02] [-2.25025718e-03 3.58900841e-04 9.99997404e-01 5.09027495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77255784400006 meters 0.2894936044101048 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99993169e-01 3.15640090e-03 1.92346062e-03 3.05549580e+00] [-3.15452482e-03 9.99994547e-01 -9.77622596e-04 -2.55343118e-02] [-1.92653590e-03 9.71548313e-04 9.99997672e-01 5.08276597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters 0.2905641451786149 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99993630e-01 2.99374322e-03 1.94340743e-03 3.05554219e+00] [-2.99091340e-03 9.99994465e-01 -1.45738719e-03 -2.35708638e-02] [-1.94775972e-03 1.45156534e-03 9.99997050e-01 5.08027266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83255784400006 meters 0.2901769018408189 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99993928e-01 2.85506399e-03 1.99796462e-03 3.05542998e+00] [-2.85135993e-03 9.99994216e-01 -1.85431790e-03 -2.19486425e-02] [-2.00324726e-03 1.84860973e-03 9.99996285e-01 5.07959832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86255784400004 meters 0.2896358309240968 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.51 [[ 9.99993964e-01 2.72822772e-03 2.15129819e-03 3.05499445e+00] [-2.72348018e-03 9.99993857e-01 -2.20667940e-03 -2.04782646e-02] [-2.15730530e-03 2.20080706e-03 9.99995251e-01 5.08070165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89255784400007 meters 0.2881752715019101 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99991670e-01 -3.72541221e-03 1.66785026e-03 3.03172152e+00] [ 3.72405448e-03 9.99992732e-01 8.16426167e-04 -1.73503166e-02] [-1.67087967e-03 -8.10208201e-04 9.99998276e-01 5.09041707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92255784400004 meters 0.29173339305642737 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:0.51 [[ 9.99996724e-01 -2.19586498e-03 1.31569862e-03 3.07343952e+00] [ 2.19465563e-03 9.99997169e-01 9.19907803e-04 -1.23743163e-02] [-1.31771489e-03 -9.17017284e-04 9.99998711e-01 5.10228428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95255784400007 meters 0.2901476469425495 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995998e-01 -2.69486959e-03 8.61130323e-04 3.03419637e+00] [ 2.69373449e-03 9.99995505e-01 1.31659719e-03 -1.45037346e-02] [-8.64674510e-04 -1.31427226e-03 9.99998763e-01 5.07590552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98255784400004 meters 0.28999266419622965 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995872e-01 -2.75402543e-03 8.18907027e-04 3.03431702e+00] [ 2.75307111e-03 9.99995533e-01 1.16421561e-03 -1.38767081e-02] [-8.22109648e-04 -1.16195630e-03 9.99998987e-01 5.07541599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01255784400007 meters 0.28861048004797696 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995383e-01 -2.86767658e-03 1.00526869e-03 3.03363499e+00] [ 2.86680139e-03 9.99995511e-01 8.70958277e-04 -1.26084140e-02] [-1.00776180e-03 -8.68072350e-04 9.99999115e-01 5.08039328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04255784400004 meters 0.290097279625206 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995213e-01 -2.92202125e-03 1.01775613e-03 3.03349264e+00] [ 2.92127263e-03 9.99995462e-01 7.36267485e-04 -1.20279852e-02] [-1.01990290e-03 -7.33290818e-04 9.99999211e-01 5.08270428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0725578440001 meters 0.2890035146131887 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99995146e-01 -2.94672943e-03 1.01273814e-03 3.03341697e+00] [ 2.94605076e-03 9.99995435e-01 6.70972917e-04 -1.17513462e-02] [-1.01471069e-03 -6.67986082e-04 9.99999262e-01 5.08461498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10255784400005 meters 0.2917069456818112 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99981174e-01 5.85231979e-03 1.84436272e-03 3.05312063e+00] [-5.85124988e-03 9.99982710e-01 -5.84962563e-04 -1.42956811e-02] [-1.84775422e-03 5.74159723e-04 9.99998128e-01 5.09352498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1325578440001 meters 0.2893201168591975 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99996568e-01 -2.61710096e-03 1.23261055e-04 3.03401026e+00] [ 2.61700100e-03 9.99996252e-01 8.04288890e-04 -1.29339776e-02] [-1.25365498e-04 -8.03963555e-04 9.99999669e-01 5.07729947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16255784400005 meters 0.28882386418683365 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99996503e-01 -2.64412578e-03 4.73924907e-05 3.03452644e+00] [ 2.64408997e-03 9.99996230e-01 7.40408737e-04 -1.26680729e-02] [-4.93500459e-05 -7.40280838e-04 9.99999725e-01 5.06977060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1925578440001 meters 0.2891121225366973 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99996496e-01 -2.64552553e-03 1.00394714e-04 3.03436326e+00] [ 2.64545097e-03 9.99996230e-01 7.35611971e-04 -1.26451670e-02] [-1.02340415e-04 -7.35343803e-04 9.99999724e-01 5.07034576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22255784400005 meters 0.28905315949742155 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99996447e-01 -2.65756762e-03 2.10153822e-04 3.03399177e+00] [ 2.65741981e-03 9.99996224e-01 7.00517619e-04 -1.24844347e-02] [-2.12014701e-04 -6.99956663e-04 9.99999733e-01 5.07260876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2525578440001 meters 0.2899644715953211 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99983230e-01 5.53951205e-03 1.68928040e-03 3.05303435e+00] [-5.53781169e-03 9.99984157e-01 -1.00958187e-03 -1.42490634e-02] [-1.69484623e-03 1.00021003e-03 9.99998064e-01 5.09026658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28255784400005 meters 0.28882637905994574 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99990548e-01 -4.07898636e-03 1.50518784e-03 3.03228993e+00] [ 4.08013293e-03 9.99991388e-01 -7.59459720e-04 -1.02428663e-02] [-1.50207705e-03 7.65593908e-04 9.99998579e-01 5.08346316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3125578440001 meters 0.289584084147185 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99990347e-01 -4.11408405e-03 1.54303313e-03 3.03237480e+00] [ 4.11539856e-03 9.99991171e-01 -8.49694920e-04 -9.88300808e-03] [-1.53952379e-03 8.56036914e-04 9.99998449e-01 5.07938804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34255784400005 meters 0.2894579196725452 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99990079e-01 -4.15795309e-03 1.59796864e-03 3.03237361e+00] [ 4.15949291e-03 9.99990887e-01 -9.61495876e-04 -9.42405715e-03] [-1.59395623e-03 9.68133076e-04 9.99998261e-01 5.07625019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3725578440001 meters 0.2893675610550535 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99989590e-01 -4.24595075e-03 1.67062581e-03 3.03221081e+00] [ 4.24793707e-03 9.99990273e-01 -1.18722017e-03 -8.48316901e-03] [-1.66556868e-03 1.19430452e-03 9.99997900e-01 5.07560409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40255784400006 meters 0.2890507734541114 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99989648e-01 -4.24665054e-03 1.63422997e-03 3.03226531e+00] [ 4.24859338e-03 9.99990270e-01 -1.18721321e-03 -8.47800465e-03] [-1.62917239e-03 1.19414410e-03 9.99997960e-01 5.07643467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43255784400003 meters 0.29119459933544994 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99984779e-01 4.63487160e-03 2.99335703e-03 3.05290484e+00] [-4.62835922e-03 9.99986915e-01 -2.17888565e-03 -9.94982616e-03] [-3.00341672e-03 2.16499815e-03 9.99993146e-01 5.07744608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46255784400006 meters 0.28956529080657034 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99998119e-01 -1.93280450e-03 1.61597993e-04 3.03139019e+00] [ 1.93269430e-03 9.99997902e-01 6.79344333e-04 -1.12210259e-02] [-1.62910693e-04 -6.79030736e-04 9.99999756e-01 5.09117369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49255784400003 meters 0.28947260647503054 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99998032e-01 -1.97552127e-03 1.83403469e-04 3.03138655e+00] [ 1.97541620e-03 9.99997886e-01 5.71277424e-04 -1.07720014e-02] [-1.84531652e-04 -5.70914002e-04 9.99999820e-01 5.08995544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52255784400006 meters 0.2877028706464284 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99998086e-01 -1.94213986e-03 2.37795891e-04 3.03106386e+00] [ 1.94198315e-03 9.99997898e-01 6.57478653e-04 -1.11057305e-02] [-2.39072307e-04 -6.57015599e-04 9.99999756e-01 5.09445675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55255784400003 meters 0.2898673614697099 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.51 [[ 9.99989151e-01 4.13263151e-03 2.14936118e-03 3.05417149e+00] [-4.12715731e-03 9.99988244e-01 -2.54512510e-03 -1.09682601e-02] [-2.15985398e-03 2.53622674e-03 9.99994451e-01 5.07853407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58255784400006 meters 0.2883145299524684 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99988591e-01 -4.77536243e-03 1.20169512e-04 3.03418746e+00] [ 4.77553661e-03 9.99987482e-01 -1.49350027e-03 -1.21097748e-02] [-1.13036002e-04 1.49405710e-03 9.99998878e-01 5.07267413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61255784400004 meters 0.2884812932321571 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:0.51 [[ 9.99989147e-01 -4.65708303e-03 1.33415895e-04 3.03410165e+00] [ 4.65723169e-03 9.99988509e-01 -1.13653975e-03 -1.35799358e-02] [-1.28121402e-04 1.13714876e-03 9.99999345e-01 5.07418753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64255784400007 meters 0.2880700054162839 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99989918e-01 -4.46214660e-03 5.03913532e-04 3.03296458e+00] [ 4.46235490e-03 9.99989958e-01 -4.13010781e-04 -1.63644834e-02] [-5.02065557e-04 4.15255258e-04 9.99999788e-01 5.08095377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67255784400004 meters 0.2876467097952505 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99990622e-01 -4.30256046e-03 4.94479490e-04 3.03289620e+00] [ 4.30251827e-03 9.99990740e-01 8.63642541e-05 -1.83882709e-02] [-4.94846499e-04 -8.42359371e-05 9.99999874e-01 5.08319765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70255784400007 meters 0.2891484296666447 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99991216e-01 -4.17016505e-03 4.20599491e-04 3.03310295e+00] [ 4.16995747e-03 9.99991184e-01 4.93230514e-04 -2.00286178e-02] [-4.22652636e-04 -4.91472300e-04 9.99999790e-01 5.08232923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73255784400004 meters 0.2882020849895439 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99991865e-01 -4.01395868e-03 3.98436935e-04 3.03317626e+00] [ 4.01358001e-03 9.99991497e-01 9.46678978e-04 -2.18956462e-02] [-4.02233478e-04 -9.45072118e-04 9.99999473e-01 5.08169507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76255784400007 meters 0.28836991339039364 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.02, Z:0.51 [[ 9.99992676e-01 -3.77618726e-03 6.22501465e-04 3.03256287e+00] [ 3.77515962e-03 9.99991523e-01 1.64381086e-03 -2.48046156e-02] [-6.28703526e-04 -1.64144878e-03 9.99998455e-01 5.08287060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79255784400004 meters 0.2884551741656333 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993044e-01 -3.66777338e-03 6.78396723e-04 3.03239960e+00] [ 3.66647498e-03 9.99991463e-01 1.90536462e-03 -2.59318545e-02] [-6.85379377e-04 -1.90286404e-03 9.99997955e-01 5.08330346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8225578440001 meters 0.28732580297010857 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993226e-01 -3.61460846e-03 6.95022714e-04 3.03230288e+00] [ 3.61318635e-03 9.99991398e-01 2.03662076e-03 -2.64854192e-02] [-7.02378322e-04 -2.03409571e-03 9.99997685e-01 5.08447952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85255784400005 meters 0.28736066462298737 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993465e-01 -3.56144816e-03 6.20918945e-04 3.03253281e+00] [ 3.56009383e-03 9.99991311e-01 2.16880632e-03 -2.70541669e-02] [-6.28637642e-04 -2.16658162e-03 9.99997455e-01 5.08356592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8825578440001 meters 0.28674414763995265 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993667e-01 -3.51853274e-03 5.35205931e-04 3.03281533e+00] [ 3.51730722e-03 9.99991229e-01 2.27376480e-03 -2.75054864e-02] [-5.43201553e-04 -2.27186791e-03 9.99997272e-01 5.08208131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91255784400005 meters 0.2872149537391238 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993773e-01 -3.49591722e-03 4.82708446e-04 3.03301060e+00] [ 3.49478254e-03 9.99991175e-01 2.33181321e-03 -2.77546332e-02] [-4.90856012e-04 -2.33011173e-03 9.99997165e-01 5.08069412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9425578440001 meters 0.28767544183962124 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99993841e-01 -3.46056770e-03 5.85208635e-04 3.03263479e+00] [ 3.45914276e-03 9.99991092e-01 2.41865650e-03 -2.81080169e-02] [-5.93573346e-04 -2.41661728e-03 9.99996904e-01 5.08335154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97255784400005 meters 0.2882778163794727 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99984186e-01 4.97569403e-03 2.62113646e-03 3.05142238e+00] [-4.97894928e-03 9.99986840e-01 1.23686406e-03 -3.15193399e-02] [-2.61494771e-03 -1.24989500e-03 9.99995800e-01 5.09526452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0025578440001 meters 0.28709270114821983 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99992299e-01 -3.71876620e-03 1.25374450e-03 3.03113281e+00] [ 3.71549259e-03 9.99989709e-01 2.60336329e-03 -3.14194601e-02] [-1.26341290e-03 -2.59868497e-03 9.99995825e-01 5.08899117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03255784400005 meters 0.28766377394031595 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.03, Z:0.51 [[ 9.99992797e-01 -3.64059025e-03 1.07325515e-03 3.03174130e+00] [ 3.63756230e-03 9.99989436e-01 2.80985777e-03 -3.23254051e-02] [-1.08347335e-03 -2.80593350e-03 9.99995476e-01 5.08536327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0625578440001 meters 0.2889185475403471 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991908e-01 3.40356246e-03 2.14467824e-03 3.05462104e+00] [-3.40397622e-03 9.99994189e-01 1.89304738e-04 -3.33852600e-02] [-2.14402146e-03 -1.96603640e-04 9.99997682e-01 5.07222339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09255784400005 meters 0.2882125615186999 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991790e-01 3.46304122e-03 2.10401597e-03 3.05475562e+00] [-3.46375763e-03 9.99993944e-01 3.36949084e-04 -3.40115219e-02] [-2.10283636e-03 -3.44234119e-04 9.99997730e-01 5.07151977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1225578440001 meters 0.2882125615186999 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991790e-01 3.46304122e-03 2.10401597e-03 3.05475562e+00] [-3.46375763e-03 9.99993944e-01 3.36949084e-04 -3.40115219e-02] [-2.10283636e-03 -3.44234119e-04 9.99997730e-01 5.07151977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15255784400006 meters 0.28703544163672495 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:0.51 [[ 9.99991632e-01 3.52616638e-03 2.07395709e-03 3.05477718e+00] [-3.52719968e-03 9.99993657e-01 4.94777751e-04 -3.46788703e-02] [-2.07219926e-03 -5.02088871e-04 9.99997727e-01 5.07267086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters 0.28855317937701486 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99981470e-01 -3.48497790e-03 4.99154151e-03 3.07655496e+00] [ 3.47389526e-03 9.99991486e-01 2.22723574e-03 -3.65560936e-02] [-4.99926088e-03 -2.20985438e-03 9.99985062e-01 5.05928777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21255784400006 meters 0.28866107284069586 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99994775e-01 2.36935968e-03 2.19929572e-03 3.05586155e+00] [-2.36791118e-03 9.99996978e-01 -6.60987405e-04 -3.70986144e-02] [-2.20085519e-03 6.55776214e-04 9.99997363e-01 5.06947204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters 0.2864727325089726 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99994946e-01 2.36906541e-03 2.12022794e-03 3.05612454e+00] [-2.36766879e-03 9.99996979e-01 -6.60983886e-04 -3.71057330e-02] [-2.12178744e-03 6.55960548e-04 9.99997534e-01 5.06796861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27255784400006 meters 0.28836225661108594 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99995225e-01 2.34943948e-03 2.00727309e-03 3.05660535e+00] [-2.34801651e-03 9.99996991e-01 -7.10969538e-04 -3.69054595e-02] [-2.00893743e-03 7.06253033e-04 9.99997733e-01 5.06336660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters 0.28725078821580813 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99995287e-01 2.31956611e-03 2.01125609e-03 3.05665567e+00] [-2.31798686e-03 9.99997004e-01 -7.87181528e-04 -3.65841174e-02] [-2.01307598e-03 7.82515753e-04 9.99997668e-01 5.06205637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33255784400006 meters 0.2875034947773817 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99995386e-01 2.28013517e-03 2.00742868e-03 3.05669731e+00] [-2.27835856e-03 9.99997011e-01 -8.86863785e-04 -3.61603261e-02] [-2.00944485e-03 8.82286051e-04 9.99997592e-01 5.06139556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36255784400004 meters 0.28729046160610033 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.51 [[ 9.99995523e-01 2.24065909e-03 1.98312831e-03 3.05674822e+00] [-2.23870698e-03 9.99997008e-01 -9.86031769e-04 -3.57390159e-02] [-1.98533174e-03 9.81587712e-04 9.99997547e-01 5.06169056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39255784400007 meters 0.2869035724589518 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.51 [[ 9.99986440e-01 -5.19783943e-03 -3.20183279e-04 3.03680828e+00] [ 5.19821333e-03 9.99985795e-01 1.17821667e-03 -3.40191961e-02] [ 3.14054550e-04 -1.17986507e-03 9.99999255e-01 5.05986060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42255784400004 meters 0.28771077489081437 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.50 [[ 9.99997704e-01 1.77952240e-03 1.19415065e-03 3.05898098e+00] [-1.77769884e-03 9.99997255e-01 -1.52640708e-03 -3.45045445e-02] [-1.19686364e-03 1.52428074e-03 9.99998122e-01 5.04991892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45255784400007 meters 0.2877197725262469 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99997754e-01 1.75267365e-03 1.19148749e-03 3.05894636e+00] [-1.75077022e-03 9.99997193e-01 -1.59670060e-03 -3.42095470e-02] [-1.19428264e-03 1.59461099e-03 9.99998015e-01 5.05089293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48255784400004 meters 0.2865669674647732 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.50 [[ 9.99977876e-01 -6.65164641e-03 -6.20153765e-05 3.03953346e+00] [ 6.65162489e-03 9.99977820e-01 -3.41008567e-04 -3.01645286e-02] [ 6.42822694e-05 3.40588520e-04 9.99999940e-01 5.03880203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51255784400007 meters 0.28681836938277827 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.50 [[ 9.99977360e-01 -6.72889391e-03 -3.46474554e-05 3.03948476e+00] [ 6.72887459e-03 9.99977220e-01 -5.30429327e-04 -2.93641300e-02] [ 3.82158688e-05 5.30184179e-04 9.99999859e-01 5.03838112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54255784400004 meters 0.2858443201845264 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.03, Z:0.50 [[ 9.99998132e-01 1.76320507e-03 -7.92359809e-04 3.01852151e+00] [-1.76433194e-03 9.99997430e-01 -1.42372122e-03 -2.97634526e-02] [ 7.89847460e-04 1.42511655e-03 9.99998673e-01 5.03046132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5725578440001 meters 0.28808271726054097 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.50 [[ 9.99992368e-01 -3.76977490e-03 1.02620479e-03 3.04219739e+00] [ 3.76849368e-03 9.99992121e-01 1.24758728e-03 -2.60433326e-02] [-1.03089982e-03 -1.24371051e-03 9.99998695e-01 5.01088858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60255784400005 meters 0.2880863713746112 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99991801e-01 -3.92545703e-03 9.94453247e-04 3.04235920e+00] [ 3.92459619e-03 9.99991924e-01 8.66112357e-04 -2.44278543e-02] [-9.97845103e-04 -8.62202428e-04 9.99999130e-01 5.00929211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6325578440001 meters 0.2872616556101364 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99991365e-01 -4.03418741e-03 9.97433021e-04 3.04241094e+00] [ 4.03359035e-03 9.99991685e-01 5.99888028e-04 -2.33033357e-02] [-9.99844788e-04 -5.95859612e-04 9.99999323e-01 5.00812077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66255784400005 meters 0.286582606859672 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99991049e-01 -4.10926593e-03 1.00764709e-03 3.04235409e+00] [ 4.10884676e-03 9.99991471e-01 4.17706534e-04 -2.25292110e-02] [-1.00935496e-03 -4.13562528e-04 9.99999405e-01 5.00889837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6925578440001 meters 0.2891853952568507 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.50 [[ 9.99989749e-01 -3.22198053e-03 3.18141386e-03 3.08518397e+00] [ 3.22011107e-03 9.99994640e-01 5.92566910e-04 -2.13275539e-02] [-3.18330605e-03 -5.82316330e-04 9.99994764e-01 5.00600681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72255784400005 meters 0.2863170079608328 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99994681e-01 -3.26156724e-03 -3.13926106e-05 3.04018213e+00] [ 3.26159867e-03 9.99994120e-01 1.05926646e-03 -2.08475889e-02] [ 2.79375572e-05 -1.05936321e-03 9.99999438e-01 5.02835055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7525578440001 meters 0.28888107245044603 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.50 [[ 9.99993458e-01 3.16084489e-03 1.75877168e-03 3.06264819e+00] [-3.15714610e-03 9.99992807e-01 -2.10186853e-03 -2.03800966e-02] [-1.76540271e-03 2.09630208e-03 9.99996244e-01 5.01341911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78255784400005 meters 0.2870104468397412 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99995163e-01 -3.00521511e-03 -8.01741110e-04 3.04112728e+00] [ 3.00607023e-03 9.99994912e-01 1.06751265e-03 -2.01741347e-02] [ 7.98528926e-04 -1.06991757e-03 9.99999109e-01 5.02748504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8125578440001 meters 0.28779264178807007 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:0.50 [[ 9.99994784e-01 -3.11784052e-03 -8.42845389e-04 3.04135058e+00] [ 3.11850047e-03 9.99994831e-01 7.82823235e-04 -1.89749109e-02] [ 8.40400315e-04 -7.85447566e-04 9.99999338e-01 5.02498946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84255784400005 meters 0.2856652983063504 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.02, Z:0.50 [[ 9.99996547e-01 -2.57109891e-03 5.43947186e-04 3.00217573e+00] [ 2.57025633e-03 9.99995505e-01 1.54408527e-03 -1.71607669e-02] [-5.47914737e-04 -1.54268185e-03 9.99998660e-01 4.99242777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8725578440001 meters 0.2885049461464481 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:0.50 [[ 9.99993434e-01 -1.73728534e-03 3.18017151e-03 3.04574827e+00] [ 1.73196314e-03 9.99997096e-01 1.67554859e-03 -1.60380141e-02] [-3.18307318e-03 -1.67002965e-03 9.99993540e-01 4.98273379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90255784400006 meters 0.2877079239271163 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99993143e-01 -1.84330479e-03 3.21174647e-03 3.04559454e+00] [ 1.83881806e-03 9.99997330e-01 1.39936860e-03 -1.48727716e-02] [-3.21431736e-03 -1.39345318e-03 9.99993863e-01 4.98449967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93255784400003 meters 0.28645802646207463 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99992956e-01 -1.96830364e-03 3.19593087e-03 3.04555031e+00] [ 1.96488308e-03 9.99997494e-01 1.07307630e-03 -1.35053005e-02] [-3.19803500e-03 -1.06678912e-03 9.99994317e-01 4.98654267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96255784400006 meters 0.2883313413272156 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99992722e-01 -2.17948789e-03 3.13135467e-03 3.04576798e+00] [ 2.17791808e-03 9.99997501e-01 5.04641691e-04 -1.11272693e-02] [-3.13244670e-03 -4.97818184e-04 9.99994970e-01 4.98552929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99255784400003 meters 0.28729563549434833 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99992450e-01 -2.28135256e-03 3.14578119e-03 3.04570145e+00] [ 2.28059343e-03 9.99997369e-01 2.44882934e-04 -1.00355224e-02] [-3.14633158e-03 -2.37706837e-04 9.99995022e-01 4.98629878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02255784400006 meters 0.2867995830138963 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99992218e-01 -2.38257280e-03 3.14445013e-03 3.04566694e+00] [ 2.38261345e-03 9.99997162e-01 -9.18293853e-06 -8.95649279e-03] [-3.14441932e-03 1.66748762e-05 9.99995056e-01 4.98725845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05255784400003 meters 0.28741274943688633 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99991881e-01 -2.58932928e-03 3.08770650e-03 3.04576805e+00] [ 2.59094851e-03 9.99996508e-01 -5.20528700e-04 -6.78754271e-03] [-3.08634790e-03 5.28524563e-04 9.99995098e-01 4.98839650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08255784400006 meters 0.2873580505127369 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:0.50 [[ 9.99991765e-01 -2.69812546e-03 3.03147453e-03 3.04597127e+00] [ 2.70053690e-03 9.99996040e-01 -7.91655236e-04 -5.64502696e-03] [-3.02932654e-03 7.99835326e-04 9.99995092e-01 4.98717709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11255784400004 meters 0.288564886999702 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99991799e-01 -2.80322426e-03 2.92303891e-03 3.04631832e+00] [ 2.80631636e-03 9.99995507e-01 -1.05427262e-03 -4.53778036e-03] [-2.92007042e-03 1.06246694e-03 9.99995172e-01 4.98576403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14255784400007 meters 0.28814718983175414 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99991586e-01 -2.92353489e-03 2.87758487e-03 3.04648406e+00] [ 2.92743881e-03 9.99994799e-01 -1.35338775e-03 -3.27380818e-03] [-2.87361323e-03 1.36180032e-03 9.99994944e-01 4.98480277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17255784400004 meters 0.2871564039300874 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99991092e-01 -3.06923084e-03 2.89751624e-03 3.04619174e+00] [ 3.07424593e-03 9.99993782e-01 -1.72796246e-03 -1.72561467e-03] [-2.89219471e-03 1.73685474e-03 9.99994309e-01 4.99042726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20255784400007 meters 0.28732308666849127 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99990881e-01 -3.10383335e-03 2.93328760e-03 3.04601328e+00] [ 3.10918563e-03 9.99993507e-01 -1.82187393e-03 -1.34011312e-03] [-2.92761376e-03 1.83097745e-03 9.99994038e-01 4.99254817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23255784400004 meters 0.2880401388623709 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99990559e-01 -3.15974942e-03 2.98295838e-03 3.04582301e+00] [ 3.16561848e-03 9.99993059e-01 -1.96486282e-03 -7.36386936e-04] [-2.97672920e-03 1.97428718e-03 9.99993621e-01 4.99414764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26255784400007 meters 0.28707474888944745 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.00, Z:0.50 [[ 9.99990257e-01 -3.21766502e-03 3.02188076e-03 3.04569130e+00] [ 3.22402629e-03 9.99992592e-01 -2.10256357e-03 -1.54930394e-04] [-3.01509303e-03 2.11228571e-03 9.99993224e-01 4.99492110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29255784400004 meters 0.28677621740297626 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:0.50 [[ 9.99989867e-01 -3.40256676e-03 2.94765941e-03 3.04582990e+00] [ 3.41002251e-03 9.99990990e-01 -2.52805586e-03 1.65381822e-03] [-2.93903097e-03 2.53808183e-03 9.99992460e-01 4.99610116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3225578440001 meters 0.28921437896973223 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:0.50 [[ 9.99980038e-01 4.93486809e-03 3.94603245e-03 3.06515799e+00] [-4.91935028e-03 9.99980167e-01 -3.93259304e-03 -1.46449405e-03] [-3.96536102e-03 3.91310262e-03 9.99984482e-01 5.00600684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35255784400005 meters 0.2886943062431388 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:0.50 [[ 9.99988707e-01 -3.50020461e-03 3.21459563e-03 3.04529340e+00] [ 3.50984257e-03 9.99989348e-01 -2.99745505e-03 3.13873293e-03] [-3.20406968e-03 3.00870393e-03 9.99990341e-01 4.99560064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3825578440001 meters 0.2872204282704615 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:0.50 [[ 0.99998828 -0.00355676 0.00328535 3.04509121] [ 0.00356708 0.99998871 -0.00313997 0.00373001] [-0.00327415 0.00315165 0.99998967 0.49962847] [ 0. 0. 0. 1. ]] SLAMing on 436.41255784400005 meters 0.2882261318269574 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:0.50 [[ 9.99972937e-01 5.09259706e-03 5.30955000e-03 3.06541359e+00] [-5.07226794e-03 9.99979781e-01 -3.83524397e-03 1.23752926e-03] [-5.32897400e-03 3.80820872e-03 9.99978550e-01 4.99489270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4425578440001 meters 0.28732513817068944 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 9.99978832e-01 -3.23585234e-03 5.64494158e-03 3.04567218e+00] [ 3.25215381e-03 9.99990562e-01 -2.88101589e-03 7.67372933e-03] [-5.63556576e-03 2.89931312e-03 9.99979917e-01 4.97838812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47255784400005 meters 0.288024387215169 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 9.99979002e-01 -3.25389479e-03 5.60424212e-03 3.04584811e+00] [ 3.27035357e-03 9.99990359e-01 -2.93018573e-03 7.87422014e-03] [-5.59465358e-03 2.94845206e-03 9.99980003e-01 4.97681126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5025578440001 meters 0.2872568322262882 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 9.99979564e-01 -3.28495190e-03 5.48455327e-03 3.04621830e+00] [ 3.30149960e-03 9.99990017e-01 -3.01082373e-03 8.21858784e-03] [-5.47460811e-03 3.02886946e-03 9.99980427e-01 4.97543342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53255784400005 meters 0.2876654934201025 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998007 -0.00340053 0.00531873 3.04689692] [ 0.00341816 0.99998868 -0.00331036 0.00954073] [-0.00530741 0.00332847 0.99998038 0.49697801] [ 0. 0. 0. 1. ]] SLAMing on 436.5625578440001 meters 0.2877224301742858 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998031 -0.00343272 0.00525397 3.04724529] [ 0.00345058 0.99998829 -0.00339404 0.00990289] [-0.00524226 0.00341211 0.99998044 0.49656531] [ 0. 0. 0. 1. ]] SLAMing on 436.59255784400005 meters 0.28724644341976013 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998045 -0.00342769 0.00522919 3.04739167] [ 0.00344541 0.99998834 -0.00338405 0.0098599 ] [-0.00521753 0.003402 0.9999806 0.49637469] [ 0. 0. 0. 1. ]] SLAMing on 436.6225578440001 meters 0.2889789531258565 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998051 -0.0034675 0.00519219 3.04752975] [ 0.00348563 0.99998784 -0.00348752 0.01029311] [-0.00518003 0.00350555 0.99998044 0.49628314] [ 0. 0. 0. 1. ]] SLAMing on 436.65255784400006 meters 0.28847776079647464 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.9999805 -0.00352846 0.00515261 3.04765224] [ 0.00354725 0.99998708 -0.00364232 0.01094423] [-0.00513969 0.00366052 0.99998009 0.49624637] [ 0. 0. 0. 1. ]] SLAMing on 436.68255784400003 meters 0.28981782581500487 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998081 -0.00367382 0.00498909 3.04811302] [ 0.00369382 0.99998515 -0.004006 0.01250697] [-0.0049743 0.00402436 0.99997953 0.49618283] [ 0. 0. 0. 1. ]] SLAMing on 436.71255784400006 meters 0.28850344921302984 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998055 -0.00376328 0.00497351 3.04814358] [ 0.00378434 0.99998388 -0.00423331 0.01346518] [-0.0049575 0.00425204 0.99997867 0.49621882] [ 0. 0. 0. 1. ]] SLAMing on 436.74255784400003 meters 0.2887378018292386 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 0.99998014 -0.00385796 0.00498378 3.04816994] [ 0.00388027 0.99998246 -0.00447392 0.01448437] [-0.00496644 0.00449317 0.99997757 0.49611637] [ 0. 0. 0. 1. ]] SLAMing on 436.77255784400006 meters 0.2881473193783863 Centerline is valid? [False, False] Translation: X:3.05, Y:0.02, Z:0.50 [[ 9.99987319e-01 3.33854835e-04 5.02494484e-03 3.04816838e+00] [-3.31282112e-04 9.99999814e-01 -5.12813834e-04 1.57042696e-02] [-5.02511511e-03 5.11142657e-04 9.99987243e-01 4.95852902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters 0.2883290781476201 Centerline is valid? [False, False] Translation: X:3.05, Y:0.02, Z:0.50 [[ 9.99987553e-01 2.20232101e-04 4.98459619e-03 3.04829645e+00] [-2.16269275e-04 9.99999660e-01 -7.95539553e-04 1.69095833e-02] [-4.98476970e-03 7.94451635e-04 9.99987260e-01 4.95823504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83255784400006 meters 0.2896342232479965 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.50 [[ 9.99955328e-01 -6.18522441e-03 7.14741573e-03 3.06902679e+00] [ 6.16972647e-03 9.99978573e-01 2.18834749e-03 1.73933510e-02] [-7.16079800e-03 -2.14415213e-03 9.99972062e-01 4.95313108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86255784400004 meters 0.28916462893048467 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.50 [[ 9.99955282e-01 -6.21627190e-03 7.12681451e-03 3.06905519e+00] [ 6.20140586e-03 9.99978553e-01 2.10613433e-03 1.77354593e-02] [-7.13975396e-03 -2.06184388e-03 9.99972386e-01 4.95367495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89255784400007 meters 0.2917331846896035 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99963378e-01 2.00914019e-03 8.31896418e-03 3.08794445e+00] [-2.01613852e-03 9.99997621e-01 8.32949121e-04 1.29642558e-02] [-8.31727088e-03 -8.49690801e-04 9.99965050e-01 4.96114635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92255784400004 meters 0.28841389062785966 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.9999738 -0.0045799 0.00560504 3.06621146] [ 0.00456094 0.99998385 0.00339062 0.01215365] [-0.00562048 -0.00336497 0.99997854 0.49785329] [ 0. 0. 0. 1. ]] SLAMing on 436.95255784400007 meters 0.2884538154906833 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.99997405 -0.00453013 0.00560089 3.06641602] [ 0.00451037 0.99998358 0.00353434 0.0115729 ] [-0.00561681 -0.00350899 0.99997807 0.49736112] [ 0. 0. 0. 1. ]] SLAMing on 436.98255784400004 meters 0.2885712149000793 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.9999742 -0.00450641 0.00559318 3.06648258] [ 0.00448634 0.99998347 0.003595 0.01132359] [-0.00560929 -0.00356981 0.9999779 0.49724704] [ 0. 0. 0. 1. ]] SLAMing on 437.01255784400007 meters 0.2885712149000793 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.9999742 -0.00450641 0.00559318 3.06648258] [ 0.00448634 0.99998347 0.003595 0.01132359] [-0.00560929 -0.00356981 0.9999779 0.49724704] [ 0. 0. 0. 1. ]] SLAMing on 437.04255784400004 meters 0.288918676921375 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.99997415 -0.00445453 0.00564382 3.06633287] [ 0.00443352 0.99998322 0.00373004 0.0107515 ] [-0.00566034 -0.00370492 0.99997712 0.49729442] [ 0. 0. 0. 1. ]] SLAMing on 437.0725578440001 meters 0.29119836623851325 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.99997418 -0.00439322 0.00568753 3.06607004] [ 0.00437114 0.99998289 0.00388864 0.01004461] [-0.00570452 -0.00386368 0.99997626 0.49761841] [ 0. 0. 0. 1. ]] SLAMing on 437.10255784400005 meters 0.28819267181517033 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.50 [[ 9.99992756e-01 2.49110417e-03 2.87807519e-03 3.04522494e+00] [-2.49528954e-03 9.99995833e-01 1.45155241e-03 1.14545770e-02] [-2.87444723e-03 -1.45872352e-03 9.99994805e-01 4.98908724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1325578440001 meters 0.2881989439919338 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.99997778 -0.00408199 0.00526983 3.06614453] [ 0.00406012 0.99998313 0.00415494 0.01154825] [-0.0052867 -0.00413345 0.99997748 0.49833515] [ 0. 0. 0. 1. ]] SLAMing on 437.16255784400005 meters 0.2873401033493422 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:0.50 [[ 0.99997754 -0.00416643 0.00524936 3.06606727] [ 0.00414578 0.99998365 0.00393788 0.01246784] [-0.00526568 -0.00391603 0.99997847 0.49863907] [ 0. 0. 0. 1. ]] SLAMing on 437.1925578440001 meters 0.2898790415538732 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99970950e-01 4.03200096e-03 6.46859323e-03 3.08576292e+00] [-4.04956096e-03 9.99988145e-01 2.70385916e-03 9.39000057e-03] [-6.45761458e-03 -2.72997557e-03 9.99975423e-01 4.99570221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22255784400005 meters 0.28830671120050066 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99970984e-01 3.89438546e-03 6.54711052e-03 3.08542004e+00] [-3.90977719e-03 9.99989620e-01 2.33976718e-03 1.09214416e-02] [-6.53793060e-03 -2.36529704e-03 9.99975830e-01 4.99951583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2525578440001 meters 0.2870468598158278 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99971358e-01 3.80170959e-03 6.54444109e-03 3.08533648e+00] [-3.81555075e-03 9.99990508e-01 2.10376402e-03 1.19224436e-02] [-6.53638107e-03 -2.12867442e-03 9.99976372e-01 5.00177362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28255784400005 meters 0.2872003985340932 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99971919e-01 3.70751010e-03 6.51266682e-03 3.08537142e+00] [-3.71972926e-03 9.99991342e-01 1.86510410e-03 1.29356178e-02] [-6.50569554e-03 -1.88927709e-03 9.99977053e-01 5.00300040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3125578440001 meters 0.2890618473066913 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99972817e-01 3.60640930e-03 6.43104023e-03 3.08564655e+00] [-3.61683795e-03 9.99992162e-01 1.61071982e-03 1.40239531e-02] [-6.42518091e-03 -1.63393607e-03 9.99978023e-01 5.00180635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34255784400005 meters 0.28669628291222965 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.50 [[ 9.99979897e-01 -4.54921466e-03 4.41706060e-03 3.06636499e+00] [ 4.53846314e-03 9.99986722e-01 2.44106935e-03 1.90901015e-02] [-4.42810690e-03 -2.42097361e-03 9.99987265e-01 4.99509505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3725578440001 meters 0.2883959512223808 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.50 [[ 9.99979833e-01 -4.67008429e-03 4.30386541e-03 3.06678680e+00] [ 4.66091975e-03 9.99986855e-01 2.13694982e-03 2.03992442e-02] [-4.31378857e-03 -2.11684675e-03 9.99988455e-01 4.99219867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40255784400006 meters 0.28808588586739203 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.50 [[ 9.99979842e-01 -4.72713356e-03 4.23912496e-03 3.06703081e+00] [ 4.71873338e-03 9.99986888e-01 1.98940002e-03 2.10308624e-02] [-4.24847354e-03 -1.96935661e-03 9.99989036e-01 4.99047370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43255784400003 meters 0.2899444655532371 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:0.50 [[ 9.99984497e-01 3.79399484e-03 4.07572229e-03 3.08727691e+00] [-3.79834207e-03 9.99992225e-01 1.05940464e-03 1.64510172e-02] [-4.07167122e-03 -1.07486920e-03 9.99991133e-01 4.99703877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46255784400006 meters 0.2892336449162012 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:0.50 [[ 9.99984659e-01 3.85139040e-03 3.98102066e-03 3.08773298e+00] [-3.85628819e-03 9.99991816e-01 1.22334373e-03 1.57632591e-02] [-3.97627650e-03 -1.23867693e-03 9.99991327e-01 4.99136344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49255784400003 meters 0.2902890636998616 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:0.50 [[ 9.99984315e-01 3.90483060e-03 4.01513117e-03 3.08764250e+00] [-3.91032729e-03 9.99991427e-01 1.36205682e-03 1.51762967e-02] [-4.00977815e-03 -1.37773593e-03 9.99991012e-01 4.99131138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52255784400006 meters 0.29064323143234233 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99984120e-01 3.95150094e-03 4.01801080e-03 3.08753548e+00] [-3.95748120e-03 9.99991072e-01 1.48150340e-03 1.46679411e-02] [-4.01212076e-03 -1.49738108e-03 9.99990830e-01 4.99341764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55255784400003 meters 0.28978305154607437 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.50 [[ 9.99984109e-01 3.93606684e-03 4.03588482e-03 3.08744353e+00] [-3.94192610e-03 9.99991187e-01 1.44486702e-03 1.48254651e-02] [-4.03016216e-03 -1.46075322e-03 9.99990812e-01 4.99446307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58255784400006 meters 0.2872653144232471 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.50 [[ 9.99989132e-01 4.15640687e-03 2.11194163e-03 3.04221929e+00] [-4.15950454e-03 9.99990277e-01 1.46447272e-03 1.96129820e-02] [-2.10583415e-03 -1.47324143e-03 9.99996698e-01 5.01393129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61255784400004 meters 0.29032741501739356 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:0.50 [[ 9.99993182e-01 3.38069900e-03 1.48529671e-03 3.08171421e+00] [-3.38209852e-03 9.99993838e-01 9.40746307e-04 1.74377684e-02] [-1.48210718e-03 -9.45763313e-04 9.99998454e-01 5.04419079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64255784400007 meters 0.2891788557976819 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.50 [[ 9.99986817e-01 -5.11465273e-03 4.53698235e-04 3.06296883e+00] [ 5.11394368e-03 9.99985722e-01 1.55044446e-03 2.49814911e-02] [-4.61621742e-04 -1.54810384e-03 9.99998695e-01 5.03690249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67255784400004 meters 0.2902737638725213 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:0.50 [[ 9.99994568e-01 3.15213379e-03 9.63120407e-04 3.08351940e+00] [-3.15243422e-03 9.99994983e-01 3.10577814e-04 2.30622297e-02] [-9.62136592e-04 -3.13612301e-04 9.99999488e-01 5.04669246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70255784400007 meters 0.28797484234020515 Centerline is valid? [False, False] Translation: X:3.06, Y:0.03, Z:0.51 [[ 9.99994977e-01 -3.15158477e-03 3.37312758e-04 3.06114579e+00] [ 3.15056812e-03 9.99990617e-01 2.97319173e-03 2.74839521e-02] [-3.46679858e-04 -2.97211407e-03 9.99995523e-01 5.05321782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73255784400004 meters 0.2888728680745759 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:0.51 [[ 9.99984640e-01 4.87221344e-03 2.64213262e-03 3.08108273e+00] [-4.87594065e-03 9.99987124e-01 1.40608033e-03 2.93116437e-02] [-2.63524788e-03 -1.41894162e-03 9.99995521e-01 5.05902676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76255784400007 meters 0.287920675331294 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:0.51 [[ 9.99985474e-01 4.72065347e-03 2.60134261e-03 3.08103967e+00] [-4.72331520e-03 9.99988327e-01 1.01802223e-03 3.09396422e-02] [-2.59650652e-03 -1.03029440e-03 9.99996098e-01 5.06276428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79255784400004 meters 0.28842342364554385 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:0.51 [[ 9.99986126e-01 4.56424505e-03 2.62991842e-03 3.08099198e+00] [-4.56590227e-03 9.99989381e-01 6.24481227e-04 3.25955662e-02] [-2.62704020e-03 -6.36480513e-04 9.99996347e-01 5.06264175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8225578440001 meters 0.2875995983479784 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:0.51 [[ 9.99986897e-01 4.42930749e-03 2.56634322e-03 3.08123944e+00] [-4.43004550e-03 9.99990148e-01 2.81957600e-04 3.40550170e-02] [-2.56506906e-03 -2.93322923e-04 9.99996667e-01 5.06108928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85255784400005 meters 0.28795744355484126 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99987518e-01 4.33642373e-03 2.48174446e-03 3.08155050e+00] [-4.33655297e-03 9.99990596e-01 4.66934857e-05 3.50594522e-02] [-2.48151864e-03 -5.74551192e-05 9.99996919e-01 5.05918333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8825578440001 meters 0.2893473370929519 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99987888e-01 4.22637520e-03 2.52236873e-03 3.08133166e+00] [-4.22582980e-03 9.99991047e-01 -2.21513433e-04 3.62007967e-02] [-2.52328235e-03 2.10851649e-04 9.99996794e-01 5.06208612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91255784400005 meters 0.28939304261054216 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99988265e-01 4.14717958e-03 2.50415118e-03 3.08119613e+00] [-4.14614079e-03 9.99991317e-01 -4.19876233e-04 3.70418667e-02] [-2.50587074e-03 4.09488742e-04 9.99996776e-01 5.06636614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9425578440001 meters 0.28784914851171145 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99988804e-01 4.05767591e-03 2.43460849e-03 3.08123737e+00] [-4.05611581e-03 9.99991566e-01 -6.45394904e-04 3.79912278e-02] [-2.43720676e-03 6.35512624e-04 9.99996828e-01 5.06957999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97255784400005 meters 0.2882802211153872 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99989330e-01 3.98424000e-03 2.33791640e-03 3.08148604e+00] [-3.98229432e-03 9.99991721e-01 -8.36294169e-04 3.88003573e-02] [-2.34122904e-03 8.26974974e-04 9.99996917e-01 5.06968145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0025578440001 meters 0.28991311845578943 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:0.51 [[ 9.99983365e-01 -5.21608759e-03 2.46194959e-03 3.10254722e+00] [ 5.21720812e-03 9.99986290e-01 -4.48935238e-04 4.21456848e-02] [-2.45957415e-03 4.61772274e-04 9.99996869e-01 5.07579658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03255784400005 meters 0.28741385878244063 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99992172e-01 3.44290904e-03 1.94990880e-03 3.08079029e+00] [-3.43961215e-03 9.99992654e-01 -1.69163122e-03 4.25558650e-02] [-1.95571861e-03 1.68491104e-03 9.99996668e-01 5.07094171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0625578440001 meters 0.28787050232106104 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99992689e-01 3.33812634e-03 1.86521760e-03 3.08093379e+00] [-3.33446821e-03 9.99992518e-01 -1.96091575e-03 4.36915204e-02] [-1.87174943e-03 1.95468191e-03 9.99996338e-01 5.07283631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09255784400005 meters 0.28818930969222767 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:0.51 [[ 9.99993188e-01 3.23965067e-03 1.76885205e-03 3.08113067e+00] [-3.23573777e-03 9.99992322e-01 -2.21051281e-03 4.47425180e-02] [-1.77599975e-03 2.20477421e-03 9.99995992e-01 5.07420208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1225578440001 meters 0.28759965656831193 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99993819e-01 3.09656585e-03 1.66546316e-03 3.08134539e+00] [-3.09227955e-03 9.99991916e-01 -2.57008494e-03 4.62634935e-02] [-1.67340813e-03 2.56491898e-03 9.99995310e-01 5.07568139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15255784400006 meters 0.28813160022934364 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99994774e-01 2.88751185e-03 1.45406296e-03 3.08197260e+00] [-2.88297040e-03 9.99990990e-01 -3.11574848e-03 4.85764924e-02] [-1.46304662e-03 3.11154017e-03 9.99994089e-01 5.07431375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters 0.28785296417587974 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99995129e-01 2.79155451e-03 1.39620517e-03 3.08217453e+00] [-2.78685062e-03 9.99990473e-01 -3.35972235e-03 4.96007944e-02] [-1.40557072e-03 3.35581497e-03 9.99993381e-01 5.07335653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21255784400006 meters 0.2888675840532857 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99995465e-01 2.67976724e-03 1.37433069e-03 3.08227523e+00] [-2.67474546e-03 9.99989787e-01 -3.64289544e-03 5.07974545e-02] [-1.38407877e-03 3.63920293e-03 9.99992420e-01 5.07267993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters 0.2898822816498341 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.51 [[ 9.99986608e-01 -3.73922225e-03 3.57806491e-03 3.10340392e+00] [ 3.74204187e-03 9.99992693e-01 -7.81659644e-04 5.25666540e-02] [-3.57511597e-03 7.95038444e-04 9.99993293e-01 5.06319422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27255784400006 meters 0.28731150508408 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99983343e-01 5.23336437e-03 2.43408318e-03 3.08201554e+00] [-5.22891296e-03 9.99984652e-01 -1.83156623e-03 5.46032995e-02] [-2.44363107e-03 1.81880812e-03 9.99995360e-01 5.06208746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters 0.28782435271191964 Centerline is valid? [False, False] Translation: X:3.10, Y:0.06, Z:0.51 [[ 9.99990721e-01 -2.97277467e-03 3.11763502e-03 3.10075899e+00] [ 2.97631863e-03 9.99994929e-01 -1.13272344e-03 6.45922520e-02] [-3.11425188e-03 1.14199201e-03 9.99994499e-01 5.07964039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33255784400006 meters 0.2864244603833745 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.51 [[ 9.99980655e-01 6.05360067e-03 1.42970120e-03 3.07966873e+00] [-6.05061269e-03 9.99979521e-01 -2.08509210e-03 6.74128324e-02] [-1.44229423e-03 2.07640120e-03 9.99996804e-01 5.08093169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36255784400004 meters 0.288997888559706 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99996257e-01 -3.20267320e-04 2.71720261e-03 3.10296697e+00] [ 3.18155247e-04 9.99999647e-01 7.77693627e-04 6.93096132e-02] [-2.71745072e-03 -7.76826223e-04 9.99996006e-01 5.06664136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39255784400007 meters 0.28810568730016695 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99996327e-01 -5.97951677e-04 2.64350130e-03 3.10318192e+00] [ 5.97619106e-04 9.99999813e-01 1.26595092e-04 7.20782667e-02] [-2.64357651e-03 -1.25014821e-04 9.99996498e-01 5.06651348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42255784400004 meters 0.2905105607827645 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99996075e-01 -6.34589675e-04 2.72913343e-03 3.10300846e+00] [ 6.34504685e-04 9.99999798e-01 3.20072466e-05 7.24773835e-02] [-2.72915320e-03 -3.02754730e-05 9.99996275e-01 5.06568716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45255784400007 meters 0.28998216306549834 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995755e-01 -6.67236149e-04 2.83617544e-03 3.10279441e+00] [ 6.67396669e-04 9.99999776e-01 -5.56513171e-05 7.28444464e-02] [-2.83613767e-03 5.75439349e-05 9.99995976e-01 5.06454109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48255784400004 meters 0.28969284003631807 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995408e-01 -6.66673111e-04 2.95619836e-03 3.10246518e+00] [ 6.66826970e-04 9.99999776e-01 -5.10609122e-05 7.28187453e-02] [-2.95616366e-03 5.30319505e-05 9.99995629e-01 5.06524061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51255784400007 meters 0.2885194263749454 Centerline is valid? [False, False] Translation: X:3.06, Y:0.08, Z:0.50 [[ 9.99993179e-01 -1.02140905e-05 3.69339574e-03 3.06444507e+00] [ 1.09870090e-05 9.99999978e-01 -2.09250202e-04 7.62812002e-02] [-3.69339352e-03 2.09289354e-04 9.99993157e-01 5.03127311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54255784400004 meters 0.2896212552209715 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.50 [[ 9.99993856e-01 2.67162722e-05 3.50524169e-03 3.06510979e+00] [-2.63309517e-05 9.99999994e-01 -1.09973040e-04 7.59010069e-02] [-3.50524461e-03 1.09880068e-04 9.99993851e-01 5.02568513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5725578440001 meters 0.2899960304983925 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.50 [[ 9.99993799e-01 6.70863073e-05 3.52110983e-03 3.06513467e+00] [-6.70582479e-05 9.99999998e-01 -8.08696360e-06 7.54787539e-02] [-3.52111036e-03 7.85079400e-06 9.99993801e-01 5.02411089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60255784400005 meters 0.29067293925078797 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.50 [[ 9.99993807e-01 1.06401876e-04 3.51773233e-03 3.06507791e+00] [-1.06721994e-04 9.99999990e-01 9.08136963e-05 7.50581897e-02] [-3.51772264e-03 -9.11885534e-05 9.99993809e-01 5.02539441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6325578440001 meters 0.29087901569508684 Centerline is valid? [False, False] Translation: X:3.06, Y:0.07, Z:0.50 [[ 9.99993807e-01 1.15281277e-04 3.51749908e-03 3.06497390e+00] [-1.15691662e-04 9.99999987e-01 1.16466471e-04 7.49372087e-02] [-3.51748560e-03 -1.16872696e-04 9.99993807e-01 5.02775616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66255784400005 meters 0.28921979976605056 Centerline is valid? [False, False] Translation: X:3.06, Y:0.07, Z:0.50 [[ 9.99993725e-01 1.44313536e-04 3.53974104e-03 3.06485558e+00] [-1.44989425e-04 9.99999971e-01 1.90687263e-04 7.46183428e-02] [-3.53971342e-03 -1.91199291e-04 9.99993717e-01 5.02903396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6925578440001 meters 0.2910173706814064 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.50 [[ 9.99981635e-01 5.98919032e-03 9.26508832e-04 3.04406811e+00] [-5.98587039e-03 9.99975799e-01 -3.54547979e-03 7.60305851e-02] [-9.47720963e-04 3.53986872e-03 9.99993286e-01 5.03516109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72255784400005 meters 0.2906624489704382 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.50 [[ 9.99992187e-01 -3.66593348e-03 1.47870537e-03 3.06560990e+00] [ 3.67064537e-03 9.99988154e-01 -3.19647057e-03 7.63809379e-02] [-1.46696980e-03 3.20187339e-03 9.99993798e-01 5.03749103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7525578440001 meters 0.2890272440293527 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.51 [[ 9.99989754e-01 4.18740194e-03 1.71969010e-03 3.08483251e+00] [-4.18018861e-03 9.99982539e-01 -4.17693897e-03 6.92074308e-02] [-1.73715060e-03 4.16970754e-03 9.99989798e-01 5.05217856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78255784400005 meters 0.28862876419414824 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.51 [[ 9.99988970e-01 4.34032760e-03 1.79457684e-03 3.08459001e+00] [-4.33349003e-03 9.99983403e-01 -3.79662391e-03 6.75884263e-02] [-1.81102564e-03 3.78880525e-03 9.99991183e-01 5.05278350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8125578440001 meters 0.28764141909990204 Centerline is valid? [False, False] Translation: X:3.06, Y:0.06, Z:0.51 [[ 9.99991765e-01 -3.99902772e-03 6.91440476e-04 3.06326315e+00] [ 4.00058919e-03 9.99989417e-01 -2.27185134e-03 6.43206574e-02] [-6.82347962e-04 2.27459880e-03 9.99997180e-01 5.05034135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84255784400005 meters 0.2883585265640844 Centerline is valid? [False, False] Translation: X:3.06, Y:0.06, Z:0.50 [[ 9.99992778e-01 -3.72966334e-03 7.29787990e-04 3.06322918e+00] [ 3.73079200e-03 9.99991837e-01 -1.55135733e-03 6.13183771e-02] [-7.23995993e-04 1.55406881e-03 9.99998530e-01 5.04867103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8725578440001 meters 0.28758593549912953 Centerline is valid? [False, False] Translation: X:3.06, Y:0.06, Z:0.50 [[ 9.99993735e-01 -3.45950305e-03 7.49852832e-04 3.06320728e+00] [ 3.46010943e-03 9.99993687e-01 -8.08890292e-04 5.82340413e-02] [-7.47049740e-04 8.11479797e-04 9.99999392e-01 5.04759754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90255784400006 meters 0.28874727298507624 Centerline is valid? [False, False] Translation: X:3.09, Y:0.05, Z:0.50 [[ 9.99996619e-01 2.32457227e-03 1.16523687e-03 3.08736989e+00] [-2.32060581e-03 9.99991548e-01 -3.39387040e-03 5.23891026e-02] [-1.17311632e-03 3.39115487e-03 9.99993562e-01 5.03165418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93255784400003 meters 0.28874727298507624 Centerline is valid? [False, False] Translation: X:3.09, Y:0.05, Z:0.50 [[ 9.99996619e-01 2.32457227e-03 1.16523687e-03 3.08736989e+00] [-2.32060581e-03 9.99991548e-01 -3.39387040e-03 5.23891026e-02] [-1.17311632e-03 3.39115487e-03 9.99993562e-01 5.03165418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96255784400006 meters 0.28896138960223033 Centerline is valid? [False, False] Translation: X:3.07, Y:0.05, Z:0.50 [[ 9.99990538e-01 -4.18645106e-03 -1.18185263e-03 3.06653722e+00] [ 4.18614707e-03 9.99991204e-01 -2.59572708e-04 4.92846704e-02] [ 1.18292893e-03 2.54622843e-04 9.99999268e-01 5.04188886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99255784400003 meters 0.2866532744216079 Centerline is valid? [False, False] Translation: X:3.07, Y:0.05, Z:0.50 [[ 9.99991053e-01 -4.06417262e-03 -1.17308917e-03 3.06635606e+00] [ 4.06423002e-03 9.99991740e-01 4.65488550e-05 4.79716965e-02] [ 1.17289029e-03 -5.13161428e-05 9.99999311e-01 5.04513401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02255784400006 meters 0.28894633652052365 Centerline is valid? [False, False] Translation: X:3.09, Y:0.05, Z:0.50 [[ 9.99997580e-01 1.87361719e-03 1.15343420e-03 3.08845702e+00] [-1.87052014e-03 9.99994659e-01 -2.68031400e-03 4.50967231e-02] [-1.15844992e-03 2.67814999e-03 9.99995743e-01 5.03138974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05255784400003 meters 0.28738239586155134 Centerline is valid? [False, False] Translation: X:3.07, Y:0.05, Z:0.50 [[ 9.99976236e-01 -6.59470958e-03 2.00920035e-03 3.06705512e+00] [ 6.59793990e-03 9.99976945e-01 -1.60540434e-03 4.83011235e-02] [-1.99856685e-03 1.61862277e-03 9.99996693e-01 5.02544349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08255784400006 meters 0.2880640198660611 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99995171e-01 1.59920500e-03 2.66452385e-03 3.08672924e+00] [-1.59275698e-03 9.99995803e-01 -2.42031994e-03 4.18307722e-02] [-2.66838325e-03 2.41606432e-03 9.99993521e-01 5.03286864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11255784400004 meters 0.28957219237883053 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99994998e-01 1.72494861e-03 2.65126037e-03 3.08687977e+00] [-1.71935262e-03 9.99996293e-01 -2.11152317e-03 4.05262457e-02] [-2.65489281e-03 2.10695416e-03 9.99994256e-01 5.03004555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14255784400007 meters 0.2886254064711914 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:0.50 [[ 9.99979565e-01 -6.36751862e-03 5.68963448e-04 3.06723474e+00] [ 6.36806759e-03 9.99979255e-01 -9.68324061e-04 4.28316895e-02] [-5.62785823e-04 9.71927471e-04 9.99999369e-01 5.02763637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17255784400004 meters 0.28748361143939577 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:0.50 [[ 9.99980229e-01 -6.27103803e-03 4.64295790e-04 3.06752190e+00] [ 6.27137659e-03 9.99980067e-01 -7.31350074e-04 4.18384873e-02] [-4.59700211e-04 7.34247388e-04 9.99999625e-01 5.02693977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20255784400007 meters 0.28840666704259676 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99997778e-01 2.03216305e-03 5.61361581e-04 3.08752483e+00] [-2.03129128e-03 9.99996737e-01 -1.54917388e-03 3.64738207e-02] [-5.64507923e-04 1.54803015e-03 9.99998642e-01 5.04042253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23255784400004 meters 0.28929430058536065 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99997660e-01 2.09855017e-03 5.24673291e-04 3.08749784e+00] [-2.09782726e-03 9.99996855e-01 -1.37460362e-03 3.57363323e-02] [-5.27556316e-04 1.37349973e-03 9.99998918e-01 5.04293883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26255784400007 meters 0.28884542139651465 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99997687e-01 2.07896228e-03 5.51033580e-04 3.08736302e+00] [-2.07817734e-03 9.99996831e-01 -1.42125633e-03 3.59333807e-02] [-5.53986572e-04 1.42010790e-03 9.99998838e-01 5.04450570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29255784400004 meters 0.28844454411067455 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99997785e-01 2.02372597e-03 5.77881370e-04 3.08718666e+00] [-2.02281900e-03 9.99996728e-01 -1.56577577e-03 3.65325008e-02] [-5.81048181e-04 1.56460335e-03 9.99998607e-01 5.04711557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3225578440001 meters 0.2875985218304738 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99998059e-01 1.92099796e-03 4.38600242e-04 3.08755385e+00] [-1.92015680e-03 9.99996332e-01 -1.91024478e-03 3.79161388e-02] [-4.42268210e-04 1.90939889e-03 9.99998079e-01 5.04674807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35255784400005 meters 0.28880029927760276 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.50 [[ 9.99998285e-01 1.81935357e-03 3.45978638e-04 3.08773483e+00] [-1.81859145e-03 9.99995947e-01 -2.19051966e-03 3.90773350e-02] [-3.49962566e-04 2.18988671e-03 9.99997541e-01 5.04804524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3825578440001 meters 0.28840024341751935 Centerline is valid? [False, False] Translation: X:3.11, Y:0.04, Z:0.51 [[ 9.99976582e-01 -6.76153233e-03 1.05729831e-03 3.10744214e+00] [ 6.76288741e-03 9.99976308e-01 -1.28335720e-03 4.38023479e-02] [-1.04859580e-03 1.29047754e-03 9.99998618e-01 5.06074613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41255784400005 meters 0.28706213683503623 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:0.51 [[ 9.99997460e-01 2.24269532e-03 2.24333687e-04 3.08576049e+00] [-2.24219928e-03 9.99995094e-01 -2.18750001e-03 4.49907231e-02] [-2.29238482e-04 2.18699145e-03 9.99997582e-01 5.05791634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4425578440001 meters 0.2875597097138998 Centerline is valid? [False, False] Translation: X:3.09, Y:0.05, Z:0.51 [[ 9.99997890e-01 2.03755043e-03 2.60194499e-04 3.08561530e+00] [-2.03676968e-03 9.99993526e-01 -2.96647949e-03 4.80597392e-02] [-2.66237166e-04 2.96594328e-03 9.99995566e-01 5.06019962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47255784400005 meters 0.2875768827697575 Centerline is valid? [False, False] Translation: X:3.09, Y:0.05, Z:0.51 [[ 9.99998231e-01 1.87117920e-03 1.90869117e-04 3.08575578e+00] [-1.87050874e-03 9.99992284e-01 -3.45436796e-03 5.00482240e-02] [-1.97331386e-04 3.45400482e-03 9.99994015e-01 5.06123575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5025578440001 meters 0.2859153767301526 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:0.51 [[ 9.99993720e-01 -3.21256661e-03 -1.49637448e-03 3.06267123e+00] [ 3.21240006e-03 9.99994834e-01 -1.13689002e-04 5.34696931e-02] [ 1.49673199e-03 1.08881335e-04 9.99998874e-01 5.07634830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53255784400005 meters 0.2885477999314274 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:0.51 [[ 9.99987706e-01 4.95827818e-03 5.55397344e-05 3.08338181e+00] [-4.95819511e-03 9.99986718e-01 -1.40734033e-03 5.39058242e-02] [-6.25169816e-05 1.40704765e-03 9.99999008e-01 5.08172155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5625578440001 meters 0.28670551179513737 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.51 [[ 9.99988470e-01 4.80204636e-03 -2.62806251e-05 3.08355869e+00] [-4.80208694e-03 9.99986740e-01 -1.86016999e-03 5.57603056e-02] [ 1.73476541e-05 1.86027474e-03 9.99998270e-01 5.08259766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59255784400005 meters 0.28610888960296316 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.51 [[ 9.99989596e-01 4.56089518e-03 -7.69457424e-05 3.08360102e+00] [-4.56108629e-03 9.99985955e-01 -2.69949843e-03 5.90967564e-02] [ 6.46325322e-05 2.69982130e-03 9.99996353e-01 5.08503284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6225578440001 meters 0.2869723909866579 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.51 [[ 9.99990306e-01 4.40307680e-03 -2.99416758e-05 3.08338892e+00] [-4.40314908e-03 9.99985382e-01 -3.13807638e-03 6.09133551e-02] [ 1.61240469e-05 3.13817779e-03 9.99995076e-01 5.08746120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65255784400006 meters 0.2870204131326679 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.51 [[ 9.99990979e-01 4.24718111e-03 -5.09960230e-05 3.08339088e+00] [-4.24733604e-03 9.99984614e-01 -3.56804276e-03 6.27103374e-02] [ 3.58411146e-05 3.56822717e-03 9.99993633e-01 5.08888375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters 0.2875476848943787 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99992197e-01 -3.87534438e-03 7.67054762e-04 3.10188880e+00] [ 3.87708243e-03 9.99989891e-01 -2.27749880e-03 6.90690177e-02] [-7.58220915e-04 2.28045496e-03 9.99997112e-01 5.10596790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71255784400006 meters 0.28479811752017026 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995524e-01 -2.22730214e-03 1.99756452e-03 3.09702583e+00] [ 2.22936017e-03 9.99996986e-01 -1.02863964e-03 7.07830731e-02] [-1.99526740e-03 1.03308832e-03 9.99997476e-01 5.13356249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters 0.28677937463470343 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995355e-01 -2.35057670e-03 1.94012649e-03 3.09718474e+00] [ 2.35321248e-03 9.99996310e-01 -1.35740134e-03 7.21642102e-02] [-1.93692866e-03 1.36196056e-03 9.99997197e-01 5.13317380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77255784400006 meters 0.28710830234125884 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995233e-01 -2.46253449e-03 1.86302218e-03 3.09737420e+00] [ 2.46562449e-03 9.99995586e-01 -1.65812345e-03 7.34207480e-02] [-1.85893077e-03 1.66270906e-03 9.99996890e-01 5.13316834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80255784400003 meters 0.2862997313186694 Centerline is valid? [False, False] Translation: X:3.10, Y:0.07, Z:0.51 [[ 9.99995039e-01 -2.57396257e-03 1.81563071e-03 3.09751894e+00] [ 2.57750994e-03 9.99994769e-01 -1.95416622e-03 7.46648597e-02] [-1.81059126e-03 1.95883634e-03 9.99996442e-01 5.13256412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83255784400006 meters 0.28801953053493357 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99994762e-01 -2.69938511e-03 1.78609828e-03 3.09760118e+00] [ 2.70344925e-03 9.99993753e-01 -2.27693662e-03 7.60265856e-02] [-1.77994080e-03 2.28175332e-03 9.99995813e-01 5.13238805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86255784400004 meters 0.2866110425686654 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997405e-01 1.45848082e-03 1.74990031e-03 3.09771935e+00] [-1.46134087e-03 9.99997597e-01 1.63424251e-03 7.78478322e-02] [-1.74751260e-03 -1.63679547e-03 9.99997134e-01 5.13156250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89255784400007 meters 0.28694834739151037 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997443e-01 1.32562662e-03 1.83201110e-03 3.09750836e+00] [-1.32800767e-03 9.99998274e-01 1.29908907e-03 7.92745499e-02] [-1.83028583e-03 -1.30151868e-03 9.99997478e-01 5.13164150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92255784400004 meters 0.2871475933493562 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997456e-01 1.21760539e-03 1.89892995e-03 3.09728521e+00] [-1.21955390e-03 9.99998731e-01 1.02529057e-03 8.04269561e-02] [-1.89767914e-03 -1.02760381e-03 9.99997671e-01 5.13285342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95255784400007 meters 0.28664137015176383 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997515e-01 1.14603229e-03 1.91204985e-03 3.09716910e+00] [-1.14765113e-03 9.99998984e-01 8.45769540e-04 8.11936410e-02] [-1.91107863e-03 -8.47961805e-04 9.99997814e-01 5.13464678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98255784400004 meters 0.28572234634489896 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997516e-01 1.07214473e-03 1.95408877e-03 3.09699831e+00] [-1.07343701e-03 9.99999206e-01 6.60389747e-04 8.19924378e-02] [-1.95337919e-03 -6.62485698e-04 9.99997873e-01 5.13603906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01255784400007 meters 0.28712310168192695 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997521e-01 9.62282611e-04 2.00775903e-03 3.09667040e+00] [-9.63041483e-04 9.99999465e-01 3.77037096e-04 8.32021895e-02] [-2.00739514e-03 -3.78969717e-04 9.99997913e-01 5.14048758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04255784400004 meters 0.28603853354307485 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997498e-01 9.34959653e-04 2.03223401e-03 3.09652968e+00] [-9.35593520e-04 9.99999514e-01 3.10978323e-04 8.34863725e-02] [-2.03194227e-03 -3.12878890e-04 9.99997887e-01 5.14221502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0725578440001 meters 0.2861878672998431 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997489e-01 9.23564296e-04 2.04161181e-03 3.09658280e+00] [-9.24145155e-04 9.99999533e-01 2.83584719e-04 8.36074229e-02] [-2.04134894e-03 -2.85470752e-04 9.99997876e-01 5.14056920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10255784400005 meters 0.28652662992310124 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997711e-01 9.63806059e-04 1.91028578e-03 3.09699294e+00] [-9.64534768e-04 9.99999462e-01 3.80581452e-04 8.31905337e-02] [-1.90991795e-03 -3.82423118e-04 9.99998103e-01 5.13876133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1325578440001 meters 0.2857064758735845 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997767e-01 9.46358776e-04 1.88977784e-03 3.09708876e+00] [-9.46995045e-04 9.99999495e-01 3.35823359e-04 8.33780225e-02] [-1.88945908e-03 -3.37612219e-04 9.99998158e-01 5.13774898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16255784400005 meters 0.2874772384252869 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997771e-01 9.35062571e-04 1.89309619e-03 3.09706406e+00] [-9.35652816e-04 9.99999514e-01 3.10926434e-04 8.34931674e-02] [-1.89280453e-03 -3.12697022e-04 9.99998160e-01 5.13811278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1925578440001 meters 0.2856581523784862 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997683e-01 9.57424727e-04 1.92818135e-03 3.09682105e+00] [-9.58136044e-04 9.99999473e-01 3.68015607e-04 8.32457067e-02] [-1.92782798e-03 -3.69862214e-04 9.99998073e-01 5.14161542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22255784400005 meters 0.2860585008804833 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997665e-01 9.58195895e-04 1.93688879e-03 3.09666242e+00] [-9.58921990e-04 9.99999470e-01 3.73983134e-04 8.32244248e-02] [-1.93652941e-03 -3.75839586e-04 9.99998054e-01 5.14471235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2525578440001 meters 0.2867092532214248 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997665e-01 9.55932229e-04 1.93785116e-03 3.09660697e+00] [-9.56655016e-04 9.99999473e-01 3.72091100e-04 8.32372464e-02] [-1.93749444e-03 -3.73944086e-04 9.99998053e-01 5.14587284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28255784400005 meters 0.2866205112663978 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99997899e-01 9.50319141e-04 1.81608605e-03 3.09706152e+00] [-9.50969812e-04 9.99999484e-01 3.57451575e-04 8.33024491e-02] [-1.81574542e-03 -3.59177868e-04 9.99998287e-01 5.14175563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3125578440001 meters 0.2865708443437262 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99998238e-01 9.05408610e-04 1.64449312e-03 3.09760125e+00] [-9.05785491e-04 9.99999564e-01 2.28447102e-04 8.38340901e-02] [-1.64428556e-03 -2.29936257e-04 9.99998622e-01 5.13849257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34255784400005 meters 0.2854533005181761 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.51 [[ 9.99998443e-01 8.36186847e-04 1.55388101e-03 3.09787350e+00] [-8.36247216e-04 9.99999650e-01 3.82009771e-05 8.46409599e-02] [-1.55384852e-03 -3.95003463e-05 9.99998792e-01 5.13705549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3725578440001 meters 0.28569294562456177 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99998579e-01 7.77023059e-04 1.49623499e-03 3.09806226e+00] [-7.76825377e-04 9.99999689e-01 -1.32696251e-04 8.53421459e-02] [-1.49633763e-03 1.31533749e-04 9.99998872e-01 5.13574528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40255784400006 meters 0.287174478549774 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:0.51 [[ 9.99984400e-01 -5.17159397e-03 2.11058601e-03 3.12048906e+00] [ 5.16447422e-03 9.99981002e-01 3.36497628e-03 8.80298779e-02] [-2.12794820e-03 -3.35402372e-03 9.99992111e-01 5.12819063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43255784400003 meters 0.2863838742235624 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99998754e-01 1.07094268e-03 -1.15982358e-03 3.10133389e+00] [-1.07097866e-03 9.99999426e-01 -3.04042974e-05 9.04066591e-02] [ 1.15979035e-03 3.16464059e-05 9.99999327e-01 5.12254743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46255784400006 meters 0.28769053474003214 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99998745e-01 1.00088881e-03 -1.22825959e-03 3.10167740e+00] [-1.00114400e-03 9.99999477e-01 -2.07169814e-04 9.11789232e-02] [ 1.22805160e-03 2.08399219e-04 9.99999224e-01 5.11849824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49255784400003 meters 0.2871230987282491 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99998826e-01 9.55537031e-04 -1.19806606e-03 3.10159284e+00] [-9.55926623e-04 9.99999490e-01 -3.24653386e-04 9.16718652e-02] [ 1.19775523e-03 3.25798268e-04 9.99999230e-01 5.11863514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52255784400006 meters 0.28772636657307654 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99999031e-01 8.70716235e-04 -1.08577318e-03 3.10117534e+00] [-8.71305021e-04 9.99999474e-01 -5.41917844e-04 9.26137359e-02] [ 1.08530075e-03 5.42863359e-04 9.99999264e-01 5.12164870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55255784400003 meters 0.2873080585485219 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.51 [[ 9.99999287e-01 7.73209312e-04 -9.10273118e-04 3.10032100e+00] [-7.73952087e-04 9.99999368e-01 -8.15922480e-04 9.38214716e-02] [ 9.09641664e-04 8.16626406e-04 9.99999253e-01 5.13208902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58255784400006 meters 0.28550639079478013 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.52 [[ 9.99980605e-01 -5.21963193e-03 -3.39776448e-03 3.07772351e+00] [ 5.22643730e-03 9.99984348e-01 1.99710614e-03 9.26252244e-02] [ 3.38728714e-03 -2.01482561e-03 9.99992233e-01 5.15058680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61255784400004 meters 0.2885908247262699 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:0.51 [[ 9.99989168e-01 -4.36583907e-03 -1.61328140e-03 3.12122501e+00] [ 4.37100398e-03 9.99985289e-01 3.21195591e-03 9.44419111e-02] [ 1.59923478e-03 -3.21897277e-03 9.99993540e-01 5.14595415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64255784400007 meters 0.28676499425771484 Centerline is valid? [False, False] Translation: X:3.10, Y:0.10, Z:0.52 [[ 9.99987980e-01 1.83672505e-03 -4.54603858e-03 3.10012748e+00] [-1.83600925e-03 9.99998301e-01 1.61623544e-04 9.54058103e-02] [ 4.54632772e-03 -1.53275032e-04 9.99989654e-01 5.15866177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67255784400004 meters 0.28786192540715755 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:0.51 [[ 9.99986983e-01 -4.40102720e-03 -2.58160214e-03 3.12201152e+00] [ 4.40935743e-03 9.99985062e-01 3.23000208e-03 9.61623607e-02] [ 2.56734825e-03 -3.24134324e-03 9.99991451e-01 5.14851819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70255784400007 meters 0.2875023723050718 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99999151e-01 1.19105002e-03 5.29313553e-04 3.10659980e+00] [-1.19141526e-03 9.99999052e-01 6.90250525e-04 9.35092091e-02] [-5.28490929e-04 -6.90880571e-04 9.99999622e-01 5.09834698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73255784400004 meters 0.2868196745407631 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99999075e-01 1.21438387e-03 6.12332529e-04 3.10628110e+00] [-1.21484217e-03 9.99998982e-01 7.48624043e-04 9.32700564e-02] [-6.11422788e-04 -7.49367238e-04 9.99999532e-01 5.10082435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76255784400007 meters 0.2867138130861376 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99999063e-01 1.20338658e-03 6.52698082e-04 3.10606592e+00] [-1.20385748e-03 9.99999015e-01 7.21548499e-04 9.33838172e-02] [-6.51829138e-04 -7.22333578e-04 9.99999527e-01 5.10328996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79255784400004 meters 0.2867428266973831 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99999056e-01 1.18739644e-03 6.90728333e-04 3.10592254e+00] [-1.18786957e-03 9.99999060e-01 6.84960791e-04 9.35515652e-02] [-6.89914363e-04 -6.85780640e-04 9.99999527e-01 5.10431833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8225578440001 meters 0.2867428266973831 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99999056e-01 1.18739644e-03 6.90728333e-04 3.10592254e+00] [-1.18786957e-03 9.99999060e-01 6.84960791e-04 9.35515652e-02] [-6.89914363e-04 -6.85780640e-04 9.99999527e-01 5.10431833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85255784400005 meters 0.2857407928064684 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:0.51 [[ 9.99998999e-01 1.24553246e-03 6.71042326e-04 3.10585002e+00] [-1.24609105e-03 9.99998877e-01 8.32655449e-04 9.29383408e-02] [-6.70004473e-04 -8.33490795e-04 9.99999428e-01 5.10712223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8825578440001 meters 0.28823673181478476 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99999562e-01 7.18119201e-04 -6.00266802e-04 3.14553280e+00] [-7.17707808e-04 9.99999508e-01 6.85285275e-04 9.43659689e-02] [ 6.00758623e-04 -6.84854159e-04 9.99999585e-01 5.13816346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91255784400005 meters 0.2876875202234498 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99999495e-01 8.06952275e-04 -5.98694034e-04 3.14553993e+00] [-8.06412685e-04 9.99999269e-01 9.00974086e-04 9.34503590e-02] [ 5.99420639e-04 -9.00490837e-04 9.99999415e-01 5.13803567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9425578440001 meters 0.2876902913808792 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99999396e-01 9.24825604e-04 -5.94432614e-04 3.14550055e+00] [-9.24115909e-04 9.99998861e-01 1.19307031e-03 9.22215444e-02] [ 5.95535319e-04 -1.19252027e-03 9.99999112e-01 5.13884947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97255784400005 meters 0.2876816771335736 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99999056e-01 1.22502792e-03 -6.22569909e-04 3.14559281e+00] [-1.22377724e-03 9.99997241e-01 2.00531727e-03 8.88723929e-02] [ 6.25024760e-04 -2.00455349e-03 9.99997796e-01 5.13898953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0025578440001 meters 0.2878001386971678 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99998767e-01 1.41622050e-03 -6.78787186e-04 3.14574205e+00] [-1.41452274e-03 9.99995887e-01 2.49515855e-03 8.68299949e-02] [ 6.82318089e-04 -2.49419531e-03 9.99996657e-01 5.13915569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03255784400005 meters 0.28657939536383975 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:0.51 [[ 9.99995851e-01 -2.80812107e-03 -6.42637182e-04 3.14570628e+00] [ 2.80713693e-03 9.99994894e-01 -1.52721739e-03 8.55493145e-02] [ 6.46922511e-04 1.52540708e-03 9.99998627e-01 5.13832996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0625578440001 meters 0.28651100642921723 Centerline is valid? [False, False] Translation: X:3.15, Y:0.08, Z:0.51 [[ 9.99996448e-01 -2.56685933e-03 -7.17208188e-04 3.14590254e+00] [ 2.56619950e-03 9.99996285e-01 -9.19407429e-04 8.29875313e-02] [ 7.19565512e-04 9.17563665e-04 9.99999320e-01 5.13868612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09255784400005 meters 0.2869333319971956 Centerline is valid? [False, False] Translation: X:3.15, Y:0.08, Z:0.51 [[ 9.99997000e-01 -2.33160428e-03 -7.50890208e-04 3.14606861e+00] [ 2.33135634e-03 9.99997228e-01 -3.30907101e-04 8.05050420e-02] [ 7.51659671e-04 3.29155516e-04 9.99999663e-01 5.13746401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1225578440001 meters 0.28647234415903045 Centerline is valid? [False, False] Translation: X:3.15, Y:0.08, Z:0.51 [[ 9.99997463e-01 -2.12032176e-03 -7.59780922e-04 3.14620863e+00] [ 2.12046588e-03 9.99997734e-01 1.88935905e-04 7.83050437e-02] [ 7.59378596e-04 -1.90546515e-04 9.99999694e-01 5.13531870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15255784400006 meters 0.2866759707551472 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99998084e-01 -1.76154458e-03 -8.54258943e-04 3.14674957e+00] [ 1.76240349e-03 9.99997941e-01 1.00573656e-03 7.48129168e-02] [ 8.52485535e-04 -1.00724018e-03 9.99999129e-01 5.13012166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters 0.2871825614006508 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99998268e-01 -1.62065854e-03 -9.15599507e-04 3.14701733e+00] [ 1.62189267e-03 9.99997775e-01 1.34875904e-03 7.33530428e-02] [ 9.13411592e-04 -1.35024171e-03 9.99998671e-01 5.12803829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21255784400006 meters 0.28692797738111525 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99998485e-01 -1.49858952e-03 -8.86072744e-04 3.14701474e+00] [ 1.50005021e-03 9.99997513e-01 1.65014011e-03 7.20810864e-02] [ 8.83597658e-04 -1.65146676e-03 9.99998246e-01 5.12674303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24255784400003 meters 0.2863664401958406 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99998937e-01 -1.22528957e-03 -7.90826493e-04 3.14703377e+00] [ 1.22710126e-03 9.99996615e-01 2.29447901e-03 6.93524308e-02] [ 7.88012415e-04 -2.29544699e-03 9.99997055e-01 5.12194390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27255784400006 meters 0.28715074633470344 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99999081e-01 -1.06964227e-03 -8.32736317e-04 3.14722074e+00] [ 1.07185836e-03 9.99995874e-01 2.66533656e-03 6.77859748e-02] [ 8.29881924e-04 -2.66622668e-03 9.99996101e-01 5.12073344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30255784400003 meters 0.28675248847265106 Centerline is valid? [False, False] Translation: X:3.15, Y:0.07, Z:0.51 [[ 9.99999217e-01 -9.08762426e-04 -8.60425271e-04 3.14728255e+00] [ 9.11389101e-04 9.99994911e-01 3.05730921e-03 6.61448298e-02] [ 8.57642524e-04 -3.05809100e-03 9.99994956e-01 5.12137016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33255784400006 meters 0.2881354541629082 Centerline is valid? [False, False] Translation: X:3.15, Y:0.06, Z:0.51 [[ 9.99999309e-01 -6.85866247e-04 -9.54879917e-04 3.14753078e+00] [ 6.89312764e-04 9.99993233e-01 3.61373461e-03 6.38105950e-02] [ 9.52394917e-04 -3.61439032e-03 9.99993015e-01 5.12198272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36255784400004 meters 0.2867503523940199 Centerline is valid? [False, False] Translation: X:3.13, Y:0.06, Z:0.51 [[ 9.99986006e-01 4.87114614e-03 -2.06394278e-03 3.12523613e+00] [-4.87047217e-03 9.99988084e-01 3.31445367e-04 5.91036158e-02] [ 2.06553271e-03 -3.21388353e-04 9.99997815e-01 5.13012354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39255784400007 meters 0.2862170049560236 Centerline is valid? [False, False] Translation: X:3.13, Y:0.06, Z:0.51 [[ 9.99984268e-01 5.20849806e-03 -2.08201531e-03 3.12527550e+00] [-5.20592715e-03 9.99985682e-01 1.23833712e-03 5.53435970e-02] [ 2.08843538e-03 -1.22747882e-03 9.99997066e-01 5.13041536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42255784400004 meters 0.28730485543708895 Centerline is valid? [False, False] Translation: X:3.15, Y:0.06, Z:0.51 [[ 9.99993993e-01 -3.34085929e-03 -9.23085527e-04 3.14592319e+00] [ 3.34293823e-03 9.99991859e-01 2.25987147e-03 5.66287137e-02] [ 9.15528099e-04 -2.26294372e-03 9.99997020e-01 5.13225276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45255784400007 meters 0.28594746314733727 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99994902e-01 2.57179175e-03 -1.89280281e-03 3.12436136e+00] [-2.57356275e-03 9.99996252e-01 -9.33810628e-04 5.29185950e-02] [ 1.89039415e-03 9.38677114e-04 9.99997773e-01 5.13501866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48255784400004 meters 0.2872400211558104 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99994715e-01 2.67325648e-03 -1.85050203e-03 3.12417386e+00] [-2.67452027e-03 9.99996192e-01 -6.80804833e-04 5.18654712e-02] [ 1.84867502e-03 6.85750440e-04 9.99998056e-01 5.13695659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51255784400007 meters 0.2859786211037537 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.51 [[ 9.99976774e-01 -5.74867355e-03 -3.66105778e-03 3.10442568e+00] [ 5.75061047e-03 9.99983331e-01 5.18753136e-04 5.26810296e-02] [ 3.65801461e-03 -5.39794405e-04 9.99993164e-01 5.13213783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54255784400004 meters 0.2872103151489501 Centerline is valid? [False, False] Translation: X:3.13, Y:0.05, Z:0.51 [[ 9.99992222e-01 2.68579321e-03 -2.88841390e-03 3.12511870e+00] [-2.68711653e-03 9.99996286e-01 -4.54364678e-04 4.99552084e-02] [ 2.88718284e-03 4.62122649e-04 9.99995725e-01 5.14151898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5725578440001 meters 0.28742458708629565 Centerline is valid? [False, False] Translation: X:3.13, Y:0.05, Z:0.51 [[ 9.99991931e-01 2.71651206e-03 -2.95961772e-03 3.12567436e+00] [-2.71762215e-03 9.99996238e-01 -3.71122921e-04 4.95495390e-02] [ 2.95859842e-03 3.79163049e-04 9.99995551e-01 5.13193460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60255784400005 meters 0.28861194587969907 Centerline is valid? [False, False] Translation: X:3.13, Y:0.05, Z:0.51 [[ 9.99992011e-01 2.70123311e-03 -2.94654077e-03 3.12576830e+00] [-2.70243752e-03 9.99996266e-01 -4.04849006e-04 4.96974537e-02] [ 2.94543618e-03 4.12808614e-04 9.99995577e-01 5.12917353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6325578440001 meters 0.2866610998831166 Centerline is valid? [False, False] Translation: X:3.13, Y:0.05, Z:0.51 [[ 9.99992628e-01 2.66670495e-03 -2.76281494e-03 3.12506466e+00] [-2.66807655e-03 9.99996319e-01 -4.92881205e-04 5.01441527e-02] [ 2.76149040e-03 5.00248973e-04 9.99996062e-01 5.13497918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66255784400005 meters 0.28678565334590256 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99992778e-01 2.65972580e-03 -2.71472603e-03 3.12475134e+00] [-2.66111476e-03 9.99996330e-01 -5.08154973e-04 5.02394510e-02] [ 2.71336451e-03 5.15375501e-04 9.99996186e-01 5.13925301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6925578440001 meters 0.28590459136718943 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99992957e-01 2.65599777e-03 -2.65158018e-03 3.12438846e+00] [-2.65737910e-03 9.99996335e-01 -5.17556713e-04 5.03007014e-02] [ 2.65019583e-03 5.24599322e-04 9.99996351e-01 5.14371424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72255784400005 meters 0.28459147339432317 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.51 [[ 9.99976081e-01 -6.27501162e-03 -2.90874875e-03 3.10214585e+00] [ 6.27560035e-03 9.99980290e-01 1.93318960e-04 5.15556836e-02] [ 2.90747834e-03 -2.11568480e-04 9.99995751e-01 5.14409470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7525578440001 meters 0.28604909767864306 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99999728e-01 7.37565564e-04 -1.41879242e-05 3.12293677e+00] [-7.37591198e-04 9.99997922e-01 -1.90062371e-03 5.17570578e-02] [ 1.27860601e-05 1.90063366e-03 9.99998194e-01 5.13613613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78255784400005 meters 0.2865921917888884 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99999683e-01 7.95631218e-04 -2.44649640e-06 3.12296041e+00] [-7.95634289e-04 9.99998138e-01 -1.75786973e-03 5.11506970e-02] [ 1.04787581e-06 1.75787112e-03 9.99998455e-01 5.13505646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8125578440001 meters 0.2876727826258023 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.51 [[ 9.99999678e-01 7.99444745e-04 -6.29895054e-05 3.12339607e+00] [-7.99553432e-04 9.99998158e-01 -1.74477782e-03 5.10831339e-02] [ 6.15945359e-05 1.74482762e-03 9.99998476e-01 5.12900956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84255784400005 meters 0.2860815974600995 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.51 [[ 9.99984688e-01 -4.77022644e-03 -2.80502319e-03 3.10132692e+00] [ 4.77518388e-03 9.99987044e-01 1.76331057e-03 4.91554295e-02] [ 2.79657546e-03 -1.77667807e-03 9.99994511e-01 5.14257264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8725578440001 meters 0.28582958888125143 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.51 [[ 9.99984178e-01 -4.80673642e-03 -2.92202809e-03 3.10166193e+00] [ 4.81163690e-03 9.99987026e-01 1.67237170e-03 4.95307834e-02] [ 2.91395153e-03 -1.68640498e-03 9.99994332e-01 5.14144375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90255784400006 meters 0.28741604266151016 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99991935e-01 3.42371563e-03 -2.09944253e-03 3.12199770e+00] [-3.42318025e-03 9.99994107e-01 2.58548112e-04 4.82724195e-02] [ 2.10031535e-03 -2.51359257e-04 9.99997763e-01 5.15370328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93255784400003 meters 0.28645085333370623 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99992373e-01 3.33718773e-03 -2.02900107e-03 3.12185752e+00] [-3.33711299e-03 9.99994431e-01 4.02172999e-05 4.91791681e-02] [ 2.02912399e-03 -3.34459873e-05 9.99997941e-01 5.15265280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96255784400006 meters 0.286724137682987 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99992836e-01 3.28179291e-03 -1.88611409e-03 3.12143462e+00] [-3.28199079e-03 9.99994609e-01 -1.01831397e-04 4.98084014e-02] [ 1.88576973e-03 1.08020876e-04 9.99998216e-01 5.15395875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99255784400003 meters 0.2880936377242368 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99993373e-01 3.23112074e-03 -1.67717207e-03 3.12093081e+00] [-3.23151893e-03 9.99994751e-01 -2.34759115e-04 5.04067384e-02] [ 1.67640473e-03 2.40177372e-04 9.99998566e-01 5.15341342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02255784400006 meters 0.28668315735994215 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:0.52 [[ 9.99990875e-01 -3.09368843e-03 -2.94601494e-03 3.09716932e+00] [ 3.10185770e-03 9.99991346e-01 2.77246692e-03 4.93906230e-02] [ 2.93741229e-03 -2.78157974e-03 9.99991817e-01 5.16931393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05255784400003 meters 0.2878004301126937 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99994032e-01 3.45251783e-03 -1.22877027e-04 3.11868748e+00] [-3.45253276e-03 9.99994033e-01 -1.21545314e-04 5.25395483e-02] [ 1.22456656e-04 1.21968826e-04 9.99999985e-01 5.15823366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08255784400006 meters 0.2864150982065149 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99994161e-01 3.41263496e-03 -1.78544162e-04 3.11888237e+00] [-3.41267343e-03 9.99994154e-01 -2.15610634e-04 5.29389498e-02] [ 1.77807318e-04 2.16218688e-04 9.99999961e-01 5.15696787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11255784400004 meters 0.2879843747261409 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99994328e-01 3.36382031e-03 -1.69281783e-04 3.11893678e+00] [-3.36387644e-03 9.99994287e-01 -3.32373219e-04 5.34340469e-02] [ 1.68162772e-04 3.32940777e-04 9.99999930e-01 5.15518445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14255784400007 meters 0.28654982511916494 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99994483e-01 3.32030448e-03 -9.92292354e-05 3.11869905e+00] [-3.32034790e-03 9.99994391e-01 -4.40628910e-04 5.39028947e-02] [ 9.77656566e-05 4.40955954e-04 9.99999898e-01 5.15629456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17255784400004 meters 0.2860791159932411 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99994488e-01 3.32037195e-03 -4.05622126e-06 3.11836584e+00] [-3.32037341e-03 9.99994390e-01 -4.41601100e-04 5.39206822e-02] [ 2.58991860e-06 4.41612134e-04 9.99999902e-01 5.15828934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20255784400007 meters 0.28922099556888936 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:0.51 [[ 9.99992535e-01 -2.96274382e-03 2.48021024e-03 3.14129013e+00] [ 2.95749346e-03 9.99993384e-01 2.11789874e-03 5.37164945e-02] [-2.48646862e-03 -2.11054773e-03 9.99994682e-01 5.13761026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23255784400004 meters 0.28618601219079737 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99997350e-01 2.30201497e-03 -4.00585250e-05 3.11892919e+00] [-2.30206602e-03 9.99996473e-01 -1.32480568e-03 5.29262763e-02] [ 3.70086612e-05 1.32489438e-03 9.99999122e-01 5.15402428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26255784400007 meters 0.2881078792986383 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:0.51 [[ 9.99994293e-01 -3.32100238e-03 6.19618952e-04 3.14204025e+00] [ 3.31959074e-03 9.99991924e-01 2.26551938e-03 5.43478944e-02] [-6.27137743e-04 -2.26344957e-03 9.99997242e-01 5.14223106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29255784400004 meters 0.2858985961353084 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.52 [[ 9.99996598e-01 1.88209498e-03 -1.80606936e-03 3.11980743e+00] [-1.88432313e-03 9.99997465e-01 -1.23279850e-03 5.32050478e-02] [ 1.80374453e-03 1.23619752e-03 9.99997609e-01 5.15544283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3225578440001 meters 0.2876446339237039 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:0.51 [[ 9.99988428e-01 -4.73437034e-03 8.53645003e-04 3.14306274e+00] [ 4.73340801e-03 9.99988164e-01 1.12583828e-03 5.06961071e-02] [-8.58965034e-04 -1.12178461e-03 9.99999002e-01 5.12812419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35255784400005 meters 0.2868846808631739 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.51 [[ 9.99994615e-01 3.18330489e-03 7.97243677e-04 3.12402060e+00] [-3.18326834e-03 9.99994932e-01 -4.71061914e-05 4.38615159e-02] [-7.97389590e-04 4.45680972e-05 9.99999681e-01 5.11623641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3825578440001 meters 0.2882184681799072 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:0.51 [[ 9.99988226e-01 -4.41941990e-03 2.00393032e-03 3.14316494e+00] [ 4.41599506e-03 9.99988787e-01 1.71027758e-03 4.70122647e-02] [-2.01146629e-03 -1.70140809e-03 9.99996530e-01 5.13209253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41255784400005 meters 0.2859696848449099 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.51 [[ 9.99999240e-01 1.21546568e-03 -2.08004864e-04 3.12096452e+00] [-1.21574119e-03 9.99998377e-01 -1.32959571e-03 4.43853876e-02] [ 2.06388448e-04 1.32984758e-03 9.99999094e-01 5.14717784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4425578440001 meters 0.28618608068169865 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.51 [[ 9.99998850e-01 1.43586411e-03 -4.87287367e-04 3.12189091e+00] [-1.43621210e-03 9.99998713e-01 -7.14522026e-04 4.17144196e-02] [ 4.86260783e-04 7.15221052e-04 9.99999626e-01 5.14247179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47255784400005 meters 0.28692002422476004 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.51 [[ 9.99998646e-01 1.57035956e-03 -4.92566031e-04 3.12185781e+00] [-1.57054578e-03 9.99998695e-01 -3.77911677e-04 4.02968990e-02] [ 4.91971931e-04 3.78684762e-04 9.99999807e-01 5.14376436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5025578440001 meters 0.28625536587857275 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.51 [[ 9.99998484e-01 1.69601323e-03 -3.95555776e-04 3.12147416e+00] [-1.69603827e-03 9.99998560e-01 -6.29702146e-05 3.89765368e-02] [ 3.95448408e-04 6.36409968e-05 9.99999920e-01 5.14712775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53255784400005 meters 0.2866153769667111 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99998250e-01 1.84016594e-03 -3.36865407e-04 3.12120803e+00] [-1.84006545e-03 9.99998263e-01 2.98371091e-04 3.74659371e-02] [ 3.37413874e-04 -2.97750714e-04 9.99999899e-01 5.15002568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5625578440001 meters 0.28574800416750973 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99997541e-01 2.16400838e-03 -4.84131337e-04 3.12187075e+00] [-2.16348059e-03 9.99997068e-01 1.08805333e-03 3.39632574e-02] [ 4.86484474e-04 -1.08700324e-03 9.99999291e-01 5.14492275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59255784400005 meters 0.2871602260925993 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99997120e-01 2.31908229e-03 -6.17793009e-04 3.12240336e+00] [-2.31817576e-03 9.99996241e-01 1.46406256e-03 3.23277711e-02] [ 6.21185968e-04 -1.46262619e-03 9.99998737e-01 5.14140541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6225578440001 meters 0.2874398434974106 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996748e-01 2.45570320e-03 -6.88753587e-04 3.12262986e+00] [-2.45445921e-03 9.99995366e-01 1.80121511e-03 3.08949601e-02] [ 6.93173644e-04 -1.79951874e-03 9.99998141e-01 5.14079075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65255784400006 meters 0.2859876022217001 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996526e-01 2.54030878e-03 -7.03772326e-04 3.12260479e+00] [-2.53888672e-03 9.99994749e-01 2.01420301e-03 3.00029655e-02] [ 7.08885328e-04 -2.01240921e-03 9.99997724e-01 5.14231583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters 0.28703388920449713 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996339e-01 2.62484291e-03 -6.56859447e-04 3.12242784e+00] [-2.62337402e-03 9.99994079e-01 2.22720274e-03 2.91244078e-02] [ 6.62701615e-04 -2.22547140e-03 9.99997304e-01 5.14386430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71255784400006 meters 0.28686939596299227 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996266e-01 2.68717782e-03 -4.97693322e-04 3.12212534e+00] [-2.68598664e-03 9.99993563e-01 2.37880219e-03 2.85030669e-02] [ 5.04082383e-04 -2.37745651e-03 9.99997047e-01 5.14199418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters 0.28686939596299227 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996266e-01 2.68717782e-03 -4.97693322e-04 3.12212534e+00] [-2.68598664e-03 9.99993563e-01 2.37880219e-03 2.85030669e-02] [ 5.04082383e-04 -2.37745651e-03 9.99997047e-01 5.14199418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77255784400006 meters 0.2866168217373069 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996305e-01 2.67620239e-03 -4.76372787e-04 3.12210414e+00] [-2.67507381e-03 9.99993651e-01 2.35419455e-03 2.86107451e-02] [ 4.82670064e-04 -2.35291152e-03 9.99997115e-01 5.14121961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters 0.28753928120972433 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996402e-01 2.64274254e-03 -4.59426199e-04 3.12216175e+00] [-2.64169232e-03 9.99993930e-01 2.27169864e-03 2.89561757e-02] [ 4.65426925e-04 -2.27047680e-03 9.99997314e-01 5.13888645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83255784400006 meters 0.2870083595795715 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.51 [[ 9.99996555e-01 2.58883273e-03 -4.34654709e-04 3.12215101e+00] [-2.58789892e-03 9.99994371e-01 2.13539565e-03 2.95269564e-02] [ 4.40180444e-04 -2.13426345e-03 9.99997626e-01 5.13753869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86255784400004 meters 0.2884406378426296 Centerline is valid? [False, False] Translation: X:3.16, Y:0.03, Z:0.52 [[ 9.99995478e-01 2.78332774e-03 -1.13914785e-03 3.16026000e+00] [-2.78183778e-03 9.99995276e-01 1.30746606e-03 3.48912426e-02] [ 1.14278157e-03 -1.30429122e-03 9.99998496e-01 5.17366903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89255784400007 meters 0.28679541966495226 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.52 [[ 9.99998496e-01 1.45310124e-03 9.47246883e-04 3.11886401e+00] [-1.45364504e-03 9.99998779e-01 5.73650577e-04 3.29549256e-02] [-9.46412154e-04 -5.75026674e-04 9.99999387e-01 5.15272791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92255784400004 meters 0.28721484706451444 Centerline is valid? [False, False] Translation: X:3.14, Y:0.04, Z:0.52 [[ 9.99977600e-01 -6.33051592e-03 2.17360021e-03 3.13633517e+00] [ 6.32695252e-03 9.99978636e-01 1.64238077e-03 4.14029295e-02] [-2.18395089e-03 -1.62859171e-03 9.99996289e-01 5.16970467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95255784400007 meters 0.2862368798303363 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99996175e-01 2.08663834e-03 1.81525186e-03 3.11529672e+00] [-2.08804841e-03 9.99997520e-01 7.75240442e-04 3.87784390e-02] [-1.81362971e-03 -7.79027811e-04 9.99998052e-01 5.16492999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98255784400004 meters 0.28725845420550233 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99996360e-01 1.94516964e-03 1.87000238e-03 3.11513688e+00] [-1.94596502e-03 9.99998017e-01 4.23610813e-04 4.02584853e-02] [-1.86917467e-03 -4.27248230e-04 9.99998162e-01 5.16498171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01255784400007 meters 0.28712835615814764 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99996844e-01 1.67944117e-03 1.86836489e-03 3.11518106e+00] [-1.67903658e-03 9.99998567e-01 -2.18094798e-04 4.29684974e-02] [-1.86872849e-03 2.14957057e-04 9.99998231e-01 5.16335948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04255784400004 meters 0.2886050324743827 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99997036e-01 1.61424586e-03 1.82275008e-03 3.11519546e+00] [-1.61356149e-03 9.99998627e-01 -3.76869689e-04 4.36455469e-02] [-1.82335594e-03 3.73927453e-04 9.99998268e-01 5.16540493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0725578440001 meters 0.2870342861270875 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99997157e-01 1.56648926e-03 1.79767603e-03 3.11514727e+00] [-1.56560284e-03 9.99998652e-01 -4.94394801e-04 4.41520379e-02] [-1.79844808e-03 4.91578949e-04 9.99998262e-01 5.16770209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10255784400005 meters 0.28627902140664174 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99997656e-01 1.54312984e-03 1.51855959e-03 3.11578401e+00] [-1.54229923e-03 9.99998661e-01 -5.47995622e-04 4.43423956e-02] [-1.51940319e-03 5.45652264e-04 9.99998697e-01 5.16851035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1325578440001 meters 0.2880906404502362 Centerline is valid? [False, False] Translation: X:3.16, Y:0.05, Z:0.52 [[ 9.99999281e-01 1.05014305e-03 -5.78620657e-04 3.15611135e+00] [-1.05110365e-03 9.99998066e-01 -1.66234488e-03 4.78898069e-02] [ 5.76873838e-04 1.66295188e-03 9.99998451e-01 5.19990801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16255784400005 meters 0.2858765626858751 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:0.52 [[ 9.99999771e-01 6.57113826e-04 1.63017057e-04 3.11752925e+00] [-6.56917603e-04 9.99999063e-01 -1.20084558e-03 4.34587430e-02] [-1.63805997e-04 1.20073822e-03 9.99999266e-01 5.16842166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1925578440001 meters 0.28710063964465726 Centerline is valid? [False, False] Translation: X:3.14, Y:0.04, Z:0.52 [[ 9.99986303e-01 -4.95581827e-03 1.68332341e-03 3.13956632e+00] [ 4.95198545e-03 9.99985154e-01 2.27352754e-03 4.48979395e-02] [-1.69456561e-03 -2.26516060e-03 9.99995999e-01 5.15814448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22255784400005 meters 0.28696924124291723 Centerline is valid? [False, False] Translation: X:3.14, Y:0.04, Z:0.52 [[ 9.99986519e-01 -4.91382873e-03 1.67813813e-03 3.13954166e+00] [ 4.90983419e-03 9.99985123e-01 2.37622246e-03 4.44640512e-02] [-1.68978952e-03 -2.36795105e-03 9.99995769e-01 5.15909949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2525578440001 meters 0.28653633518133265 Centerline is valid? [False, False] Translation: X:3.14, Y:0.04, Z:0.52 [[ 9.99986792e-01 -4.83371593e-03 1.74698529e-03 3.13918850e+00] [ 4.82919920e-03 9.99985010e-01 2.58048102e-03 4.36147783e-02] [-1.75943241e-03 -2.57201039e-03 9.99995145e-01 5.16338023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28255784400005 meters 0.28667747474424415 Centerline is valid? [False, False] Translation: X:3.16, Y:0.04, Z:0.52 [[ 9.99985926e-01 3.39259987e-03 4.07897465e-03 3.15670997e+00] [-3.39904017e-03 9.99992986e-01 1.57300699e-03 3.85549652e-02] [-4.07360946e-03 -1.58684945e-03 9.99990444e-01 5.18576497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3125578440001 meters 0.2858968003102876 Centerline is valid? [False, False] Translation: X:3.16, Y:0.04, Z:0.52 [[ 9.99985554e-01 3.53377656e-03 4.05012450e-03 3.15672415e+00] [-3.54176943e-03 9.99991791e-01 1.96801713e-03 3.69312544e-02] [-4.04313673e-03 -1.98233331e-03 9.99989862e-01 5.18740716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34255784400005 meters 0.2871220006227575 Centerline is valid? [False, False] Translation: X:3.16, Y:0.04, Z:0.52 [[ 9.99985694e-01 3.68992076e-03 3.87262050e-03 3.15720403e+00] [-3.69931163e-03 9.99990228e-01 2.42058433e-03 3.50686133e-02] [-3.86365089e-03 -2.43487573e-03 9.99989572e-01 5.18687274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3725578440001 meters 0.2863055751856977 Centerline is valid? [False, False] Translation: X:3.16, Y:0.03, Z:0.52 [[ 9.99985588e-01 3.88241566e-03 3.70811604e-03 3.15769491e+00] [-3.89344011e-03 9.99988009e-01 2.97048286e-03 3.27961720e-02] [-3.69653892e-03 -2.98487738e-03 9.99988713e-01 5.18524173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40255784400006 meters 0.28627336803836173 Centerline is valid? [False, False] Translation: X:3.16, Y:0.03, Z:0.52 [[ 9.99993537e-01 -6.56994550e-05 3.59472353e-03 3.15792474e+00] [ 6.73387287e-05 9.99999894e-01 -4.55903063e-04 2.89036144e-02] [-3.59469320e-03 4.56142180e-04 9.99993435e-01 5.18669742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43255784400003 meters 0.28647519826360107 Centerline is valid? [False, False] Translation: X:3.16, Y:0.03, Z:0.52 [[ 9.99993468e-01 1.46142297e-04 3.61140122e-03 3.15771215e+00] [-1.46545076e-04 9.99999983e-01 1.11265660e-04 2.65576269e-02] [-3.61138490e-03 -1.11794166e-04 9.99993473e-01 5.19076452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46255784400006 meters 0.2865773534718977 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.52 [[ 9.99993263e-01 3.88001132e-04 3.65018102e-03 3.15750043e+00] [-3.90674554e-04 9.99999656e-01 7.31723601e-04 2.39635076e-02] [-3.64989585e-03 -7.33144704e-04 9.99993070e-01 5.19344669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49255784400003 meters 0.28700359978674683 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.52 [[ 9.99993034e-01 6.07825653e-04 3.68265459e-03 3.15736185e+00] [-6.12527596e-04 9.99998999e-01 1.27578766e-03 2.16830841e-02] [-3.68187544e-03 -1.27803451e-03 9.99992405e-01 5.19477574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52255784400006 meters 0.28722793987615813 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.52 [[ 9.99992777e-01 9.88779685e-04 3.66989673e-03 3.15745900e+00] [-9.96622264e-04 9.99997223e-01 2.13578947e-03 1.80692851e-02] [-3.66777472e-03 -2.13943154e-03 9.99990985e-01 5.19407417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55255784400003 meters 0.2867884283026457 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.52 [[ 9.99992867e-01 1.14539809e-03 3.59913956e-03 3.15771119e+00] [-1.15447224e-03 9.99996158e-01 2.52013371e-03 1.64473215e-02] [-3.59623917e-03 -2.52427084e-03 9.99990348e-01 5.19284253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58255784400006 meters 0.28884804540803066 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:0.52 [[ 9.99998092e-01 1.75853875e-03 8.50293675e-04 3.19971280e+00] [-1.76079995e-03 9.99994896e-01 2.66592003e-03 1.59531547e-02] [-8.45601212e-04 -2.66741215e-03 9.99996085e-01 5.21482089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61255784400004 meters 0.2867242940108009 Centerline is valid? [False, False] Translation: X:3.16, Y:0.01, Z:0.52 [[ 9.99999156e-01 7.78321911e-04 1.04051520e-03 3.16324115e+00] [-7.81402353e-04 9.99995304e-01 2.96337558e-03 1.02930560e-02] [-1.03820386e-03 -2.96418614e-03 9.99995068e-01 5.17459511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64255784400007 meters 0.2867014069676015 Centerline is valid? [False, False] Translation: X:3.16, Y:0.01, Z:0.52 [[ 9.99999069e-01 9.54487089e-04 9.74700018e-04 3.16347710e+00] [-9.57792641e-04 9.99993773e-01 3.39653641e-03 8.46589443e-03] [-9.71451998e-04 -3.39746681e-03 9.99993757e-01 5.17363324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67255784400004 meters 0.2875164987399723 Centerline is valid? [False, False] Translation: X:3.16, Y:0.00, Z:0.52 [[ 9.99998472e-01 1.43731850e-03 9.95215113e-04 3.16314076e+00] [-1.44185523e-03 9.99988505e-01 4.57292791e-03 3.42805925e-03] [-9.88630918e-04 -4.57435588e-03 9.99989049e-01 5.17957998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70255784400007 meters 0.2862454341782181 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.52 [[ 9.99979885e-01 6.32966592e-03 4.04927269e-04 3.14024680e+00] [-6.33006378e-03 9.99979476e-01 9.88927301e-04 -1.11846724e-03] [-3.98659379e-04 -9.91470625e-04 9.99999429e-01 5.18550777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73255784400004 meters 0.28677602167282196 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.52 [[ 9.99978745e-01 6.50514650e-03 4.37816372e-04 3.14024641e+00] [-6.50576382e-03 9.99977824e-01 1.42365944e-03 -2.94692242e-03] [-4.28545550e-04 -1.42647751e-03 9.99998891e-01 5.18396083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76255784400007 meters 0.28650615203607965 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.52 [[ 9.99997511e-01 2.17001046e-03 5.18680586e-04 3.14005746e+00] [-2.16850232e-03 9.99993471e-01 -2.89073390e-03 -2.68377608e-03] [-5.24950122e-04 2.88960194e-03 9.99995687e-01 5.18268307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79255784400004 meters 0.28783519790186146 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.52 [[ 9.99997104e-01 2.33791643e-03 5.71656284e-04 3.13982953e+00] [-2.33649398e-03 9.99994204e-01 -2.47643303e-03 -4.39837923e-03] [-5.77442664e-04 2.47509019e-03 9.99996770e-01 5.18504213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8225578440001 meters 0.2872517302372274 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99996958e-01 2.40671985e-03 5.39325926e-04 3.13991555e+00] [-2.40547025e-03 9.99994449e-01 -2.30576127e-03 -5.12454398e-03] [-5.44872253e-04 2.30445692e-03 9.99997196e-01 5.18502900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85255784400005 meters 0.2882643072146375 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99996847e-01 2.46471278e-03 4.81489847e-04 3.14017314e+00] [-2.46366740e-03 9.99994633e-01 -2.15979590e-03 -5.75806006e-03] [-4.86810539e-04 2.15860286e-03 9.99997552e-01 5.18267634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8825578440001 meters 0.28836679965720063 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99996709e-01 2.53937353e-03 3.64145298e-04 3.14063896e+00] [-2.53864864e-03 9.99994822e-01 -1.97748635e-03 -6.57690538e-03] [-3.69164989e-04 1.97655541e-03 9.99997978e-01 5.17929991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91255784400005 meters 0.28774123133261803 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99996278e-01 2.71665675e-03 2.53281074e-04 3.14106438e+00] [-2.71627175e-03 9.99995174e-01 -1.50822120e-03 -8.58673260e-03] [-2.57377170e-04 1.50752760e-03 9.99998831e-01 5.17633294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9425578440001 meters 0.28725560275102696 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99995944e-01 2.83376867e-03 2.84905586e-04 3.14097550e+00] [-2.83342347e-03 9.99995260e-01 -1.20481673e-03 -9.84728724e-03] [-2.88318407e-04 1.20400458e-03 9.99999234e-01 5.17663026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97255784400005 meters 0.28742871827100036 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:0.52 [[ 9.99995576e-01 2.95874870e-03 3.06731699e-04 3.14078290e+00] [-2.95847783e-03 9.99995237e-01 -8.79818066e-04 -1.11888819e-02] [-3.09333398e-04 8.78906715e-04 9.99999566e-01 5.17973920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0025578440001 meters 0.2881385536049539 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:0.52 [[ 9.99986960e-01 -4.84458500e-03 1.61576498e-03 3.16090975e+00] [ 4.84407824e-03 9.99988217e-01 3.17403661e-04 -9.32052033e-03] [-1.61728363e-03 -3.09572630e-04 9.99998644e-01 5.19007419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03255784400005 meters 0.2859907537145672 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.02, Z:0.52 [[ 9.99985554e-01 -5.25466896e-03 -1.13180203e-03 3.11670724e+00] [ 5.25580376e-03 9.99985686e-01 1.00201979e-03 -1.58243377e-02] [ 1.12652054e-03 -1.00795384e-03 9.99998857e-01 5.20870572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0625578440001 meters 0.28841878736809423 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99997654e-01 2.11699806e-03 4.58933057e-04 3.14007759e+00] [-2.11651177e-03 9.99997201e-01 -1.05751620e-03 -1.67070339e-02] [-4.61170532e-04 1.05654239e-03 9.99999336e-01 5.18731896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09255784400005 meters 0.2880157351721159 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99997610e-01 2.15444394e-03 3.70915336e-04 3.14040228e+00] [-2.15408655e-03 9.99997218e-01 -9.61255696e-04 -1.71335305e-02] [-3.72985275e-04 9.60454415e-04 9.99999469e-01 5.18512880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1225578440001 meters 0.2877913161930431 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99997536e-01 2.19536722e-03 3.28784957e-04 3.14054073e+00] [-2.19508402e-03 9.99997222e-01 -8.59233623e-04 -1.75721406e-02] [-3.30670377e-04 8.58509795e-04 9.99999577e-01 5.18450754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15255784400006 meters 0.2887785036873798 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99997454e-01 2.23397008e-03 3.17114237e-04 3.14054646e+00] [-2.23372774e-03 9.99997215e-01 -7.62508932e-04 -1.79778125e-02] [-3.18816776e-04 7.61798644e-04 9.99999659e-01 5.18509930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters 0.2876389686895973 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99997307e-01 2.28084989e-03 4.28878880e-04 3.14008151e+00] [-2.28057297e-03 9.99997191e-01 -6.45051941e-04 -1.84260052e-02] [-4.30348942e-04 6.44072114e-04 9.99999700e-01 5.18922891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21255784400006 meters 0.2898630785295818 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:0.52 [[ 9.99989620e-01 -3.54673509e-03 2.86011026e-03 3.16122202e+00] [ 3.54009315e-03 9.99991033e-01 2.32399619e-03 -1.84194555e-02] [-2.86832721e-03 -2.31384701e-03 9.99993209e-01 5.17936997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters 0.2868034241990777 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.02, Z:0.52 [[ 9.99991833e-01 -4.03944477e-03 1.32458001e-04 3.11653520e+00] [ 4.03904331e-03 9.99987630e-01 2.90266472e-03 -2.44805596e-02] [-1.44181517e-04 -2.90210601e-03 9.99995778e-01 5.20147675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27255784400006 meters 0.2877128610645829 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99993091e-01 2.59165126e-03 2.66471297e-03 3.13826511e+00] [-2.59186218e-03 9.99996638e-01 7.57019519e-05 -2.45651403e-02] [-2.66450781e-03 -8.26079976e-05 9.99996447e-01 5.18719886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters 0.2894351016641212 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99993113e-01 2.59210987e-03 2.65606421e-03 3.13841203e+00] [-2.59232879e-03 9.99996637e-01 7.89819872e-05 -2.45955474e-02] [-2.65585055e-03 -8.58668350e-05 9.99996470e-01 5.18448418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33255784400006 meters 0.2877645514001948 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99993323e-01 2.58109802e-03 2.58667560e-03 3.13865982e+00] [-2.58124842e-03 9.99996667e-01 5.48040342e-05 -2.45036217e-02] [-2.58652553e-03 -6.14805206e-05 9.99996653e-01 5.18284014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36255784400004 meters 0.2888953133272551 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:0.52 [[ 9.99980125e-01 -5.15112708e-03 3.63523938e-03 3.15832640e+00] [ 5.14684906e-03 9.99986053e-01 1.18519534e-03 -2.02897091e-02] [-3.64129377e-03 -1.16646175e-03 9.99992690e-01 5.19029120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39255784400007 meters 0.28871166648767854 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.02, Z:0.52 [[ 9.99998303e-01 4.29166759e-04 1.79146218e-03 3.13599187e+00] [-4.25874342e-04 9.99998221e-01 -1.83781524e-03 -2.21049896e-02] [-1.79224772e-03 1.83704919e-03 9.99996707e-01 5.20621232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42255784400004 meters 0.28966201836269556 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.02, Z:0.52 [[ 9.99997682e-01 1.43966830e-03 1.60117291e-03 3.17330192e+00] [-1.43617351e-03 9.99996589e-01 -2.18165724e-03 -1.96420532e-02] [-1.60430831e-03 2.17935262e-03 9.99996338e-01 5.24676338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45255784400007 meters 0.28920828696742445 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99987392e-01 -4.98935007e-03 -5.68261449e-04 3.15138151e+00] [ 4.99001662e-03 9.99986856e-01 1.17763451e-03 -2.12778911e-02] [ 5.62378349e-04 -1.18045530e-03 9.99999145e-01 5.25907832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48255784400004 meters 0.2896287820694835 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99987413e-01 -4.98198238e-03 -5.93931834e-04 3.15154277e+00] [ 4.98268954e-03 9.99986872e-01 1.19516882e-03 -2.13713607e-02] [ 5.87969727e-04 -1.19811316e-03 9.99999109e-01 5.25701207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51255784400007 meters 0.2890731509742557 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99987660e-01 -4.92615889e-03 -6.42951874e-04 3.15177891e+00] [ 4.92701050e-03 9.99986978e-01 1.32975014e-03 -2.19766490e-02] [ 6.36392941e-04 -1.33290156e-03 9.99998909e-01 5.25489761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54255784400004 meters 0.2889573762034634 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99997253e-01 5.47144850e-04 -2.27932314e-03 3.12986721e+00] [-5.51127325e-04 9.99998322e-01 -1.74695669e-03 -2.47549833e-02] [ 2.27836348e-03 1.74820809e-03 9.99995876e-01 5.26542534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5725578440001 meters 0.2886478501203054 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99996810e-01 7.88263273e-04 -2.39985225e-03 3.12999969e+00] [-7.90804345e-04 9.99999128e-01 -1.05808021e-03 -2.75829136e-02] [ 2.39901611e-03 1.05997465e-03 9.99996561e-01 5.26944804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60255784400005 meters 0.28990996835620964 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.53 [[ 9.99965577e-01 -6.51025413e-03 -5.14410257e-03 3.11005172e+00] [ 6.51863661e-03 9.99977450e-01 1.61444967e-03 -3.01217186e-02] [ 5.13347609e-03 -1.64792663e-03 9.99985466e-01 5.27351681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6325578440001 meters 0.28990996835620964 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.53 [[ 9.99965577e-01 -6.51025413e-03 -5.14410257e-03 3.11005172e+00] [ 6.51863661e-03 9.99977450e-01 1.61444967e-03 -3.01217186e-02] [ 5.13347609e-03 -1.64792663e-03 9.99985466e-01 5.27351681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66255784400005 meters 0.29009220492501275 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987978e-01 2.30146773e-03 -4.32976781e-03 3.13031495e+00] [-2.29907951e-03 9.99997202e-01 5.56476643e-04 -3.38300342e-02] [ 4.33103640e-03 -5.46515473e-04 9.99990472e-01 5.28182294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6925578440001 meters 0.2892000505264339 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987361e-01 2.34390629e-03 -4.44786572e-03 3.13074083e+00] [-2.34101682e-03 9.99997045e-01 6.54726872e-04 -3.42787811e-02] [ 4.44938720e-03 -6.44306069e-04 9.99989894e-01 5.27936875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72255784400005 meters 0.2882856287965044 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987479e-01 2.28266203e-03 -4.45315679e-03 3.13085846e+00] [-2.28043996e-03 9.99997273e-01 5.04001528e-04 -3.36520509e-02] [ 4.45429511e-03 -4.93840061e-04 9.99989958e-01 5.27695082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7525578440001 meters 0.2908754268522519 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987930e-01 2.19218832e-03 -4.39695120e-03 3.13078440e+00] [-2.19100761e-03 9.99997562e-01 2.73328594e-04 -3.26717204e-02] [ 4.39753967e-03 -2.63691541e-04 9.99990296e-01 5.27530462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78255784400005 meters 0.29110026260021304 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988508e-01 2.09975373e-03 -4.30995662e-03 3.13058504e+00] [-2.09965428e-03 9.99997795e-01 2.75987786e-05 -3.16411196e-02] [ 4.31000507e-03 -1.85490425e-05 9.99990712e-01 5.27479450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8125578440001 meters 0.28924871195410173 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99989426e-01 1.97499250e-03 -4.15307956e-03 3.13003555e+00] [-1.97635241e-03 9.99997995e-01 -3.23367484e-04 -3.01148863e-02] [ 4.15243258e-03 3.31572014e-04 9.99991324e-01 5.27836290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84255784400005 meters 0.28817411806922383 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99989694e-01 1.91751113e-03 -4.11519778e-03 3.12992430e+00] [-1.91944969e-03 9.99998049e-01 -4.67174046e-04 -2.95041048e-02] [ 4.11429394e-03 4.75068146e-04 9.99991423e-01 5.27855952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8725578440001 meters 0.2878613197601677 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99989589e-01 1.85495394e-03 -4.16898092e-03 3.13014229e+00] [-1.85755041e-03 9.99998083e-01 -6.19020782e-04 -2.88795995e-02] [ 4.16782467e-03 6.26758429e-04 9.99991118e-01 5.27665996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90255784400006 meters 0.2891550345806931 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99989704e-01 -4.05232071e-03 -2.04228263e-03 3.15131717e+00] [ 4.05666136e-03 9.99989512e-01 2.12575231e-03 -2.64440463e-02] [ 2.03364698e-03 -2.13401527e-03 9.99995655e-01 5.26448540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93255784400003 meters 0.28952720960305656 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99989598e-01 -4.08667371e-03 -2.02534093e-03 3.15121468e+00] [ 4.09080147e-03 9.99989556e-01 2.03812312e-03 -2.60670566e-02] [ 2.01699063e-03 -2.04638719e-03 9.99995872e-01 5.26568353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96255784400006 meters 0.2915603545884186 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99989679e-01 -4.11478040e-03 -1.92637517e-03 3.15076472e+00] [ 4.11855487e-03 9.99989599e-01 1.95951902e-03 -2.56971975e-02] [ 1.91829214e-03 -1.96743268e-03 9.99996225e-01 5.27037606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99255784400003 meters 0.29001579699943547 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99989475e-01 -4.17433340e-03 -1.90371325e-03 3.15066041e+00] [ 4.17778983e-03 9.99989625e-01 1.81527450e-03 -2.50762577e-02] [ 1.89611594e-03 -1.82320871e-03 9.99996540e-01 5.27120490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02255784400006 meters 0.2888652220116834 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99989681e-01 3.41992270e-03 -2.99020679e-03 3.13164235e+00] [-3.41880693e-03 9.99994084e-01 3.78174893e-04 -2.84738122e-02] [ 2.99148243e-03 -3.67948051e-04 9.99995458e-01 5.25608024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05255784400003 meters 0.28901145574248616 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99990125e-01 3.28673945e-03 -2.99122982e-03 3.13179884e+00] [-3.28660169e-03 9.99994598e-01 5.09718219e-05 -2.71123103e-02] [ 2.99138119e-03 -4.11403376e-05 9.99995525e-01 5.25259021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08255784400006 meters 0.2900768431797518 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99989545e-01 -4.17811415e-03 -1.85826810e-03 3.15026816e+00] [ 4.18004121e-03 9.99990729e-01 1.03434943e-03 -1.81166806e-02] [ 1.85392925e-03 -1.04210626e-03 9.99997738e-01 5.26370570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11255784400004 meters 0.29001451836999476 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99989228e-01 -4.26293481e-03 -1.83594369e-03 3.15021594e+00] [ 4.26446325e-03 9.99990563e-01 8.29403163e-04 -1.72503052e-02] [ 1.83239067e-03 -8.37223543e-04 9.99997971e-01 5.26340310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14255784400007 meters 0.28802837122221164 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99989925e-01 3.38733018e-03 -2.94552485e-03 3.13134487e+00] [-3.38921685e-03 9.99994054e-01 -6.35764962e-04 -2.07153806e-02] [ 2.94335379e-03 6.45741579e-04 9.99995460e-01 5.25244619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17255784400004 meters 0.28800284084928235 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99990166e-01 3.31656706e-03 -2.94432982e-03 3.13114947e+00] [-3.31903927e-03 9.99994143e-01 -8.35160439e-04 -1.98691812e-02] [ 2.94154271e-03 8.44924572e-04 9.99995317e-01 5.25672541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20255784400007 meters 0.28836576032988004 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99988738e-01 -4.17744084e-03 -2.25233160e-03 3.15055535e+00] [ 4.17854522e-03 9.99991152e-01 4.85846431e-04 -1.51548172e-02] [ 2.25028208e-03 -4.95252429e-04 9.99997345e-01 5.27588599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23255784400004 meters 0.2876146160072179 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99988770e-01 -4.17273687e-03 -2.24663900e-03 3.15051950e+00] [ 4.17385376e-03 9.99991168e-01 4.92676378e-04 -1.51920563e-02] [ 2.24456335e-03 -5.02047988e-04 9.99997355e-01 5.27631907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26255784400007 meters 0.2864992760566186 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986315e-01 3.86984821e-03 -3.52042112e-03 3.13104884e+00] [-3.87119772e-03 9.99992436e-01 -3.76602344e-04 -1.97788658e-02] [ 3.51893710e-03 3.90225437e-04 9.99993732e-01 5.27155902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29255784400004 meters 0.2869657683513415 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986529e-01 3.93266836e-03 -3.38752571e-03 3.13051629e+00] [-3.93334814e-03 9.99992246e-01 -1.94034630e-04 -2.05107858e-02] [ 3.38673637e-03 2.07356335e-04 9.99994243e-01 5.27711554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3225578440001 meters 0.28725888033814945 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986456e-01 3.98040603e-03 -3.35337301e-03 3.13035966e+00] [-3.98068677e-03 9.99992074e-01 -7.70471871e-05 -2.09914385e-02] [ 3.35303975e-03 9.03948711e-05 9.99994374e-01 5.27870078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35255784400005 meters 0.2871568429042325 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986626e-01 3.96086510e-03 -3.32554380e-03 3.13030045e+00] [-3.96129614e-03 9.99992146e-01 -1.23038370e-04 -2.07872929e-02] [ 3.32503035e-03 1.36210188e-04 9.99994463e-01 5.27847056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3825578440001 meters 0.2878919850272972 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986798e-01 3.94251723e-03 -3.29542638e-03 3.13027896e+00] [-3.94309575e-03 9.99992212e-01 -1.69072380e-04 -2.05973738e-02] [ 3.29473414e-03 1.82064329e-04 9.99994556e-01 5.27724547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41255784400005 meters 0.28731504290953513 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986846e-01 3.92893527e-03 -3.29709014e-03 3.13027107e+00] [-3.92962164e-03 9.99992259e-01 -2.01722367e-04 -2.04545584e-02] [ 3.29627206e-03 2.14676030e-04 9.99994544e-01 5.27747318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4425578440001 meters 0.28714516563476267 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986469e-01 3.94572625e-03 -3.39027392e-03 3.13054151e+00] [-3.94628503e-03 9.99992201e-01 -1.58147555e-04 -2.06470057e-02] [ 3.38962347e-03 1.71524403e-04 9.99994240e-01 5.27668669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47255784400005 meters 0.287807682908841 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986399e-01 3.91883246e-03 -3.44152132e-03 3.13066369e+00] [-3.91960845e-03 9.99992294e-01 -2.18765168e-04 -2.03829734e-02] [ 3.44063749e-03 2.32251608e-04 9.99994054e-01 5.27687039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5025578440001 meters 0.28711140172259014 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986255e-01 3.91670449e-03 -3.48559031e-03 3.13067691e+00] [-3.91749307e-03 9.99992303e-01 -2.19442961e-04 -2.03612412e-02] [ 3.48470398e-03 2.33094721e-04 9.99993901e-01 5.27900793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53255784400005 meters 0.2866693819985055 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986354e-01 3.92052943e-03 -3.45274235e-03 3.13058022e+00] [-3.92127987e-03 9.99992290e-01 -2.10603518e-04 -2.03935336e-02] [ 3.45189005e-03 2.24139814e-04 9.99994017e-01 5.27927586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5625578440001 meters 0.2877864311380831 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99986029e-01 4.04266771e-03 -3.40572572e-03 3.13065552e+00] [-4.04245225e-03 9.99991827e-01 7.01466661e-05 -2.16232953e-02] [ 3.40598146e-03 -5.63782025e-05 9.99994198e-01 5.27543100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59255784400005 meters 0.2878789560255405 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99985742e-01 4.11458339e-03 -3.40390974e-03 3.13065534e+00] [-4.11377297e-03 9.99991508e-01 2.45053253e-04 -2.23597053e-02] [ 3.40488913e-03 -2.31046847e-04 9.99994177e-01 5.27535842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6225578440001 meters 0.2859326937707199 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.53 [[ 9.99977878e-01 -4.72219592e-03 -4.68449241e-03 3.11130626e+00] [ 4.72941633e-03 9.99987644e-01 1.53146508e-03 -2.10629239e-02] [ 4.67720265e-03 -1.55358611e-03 9.99987855e-01 5.26590158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65255784400006 meters 0.2876741718550655 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987397e-01 3.79576498e-03 -3.28608988e-03 3.13055606e+00] [-3.79508308e-03 9.99992776e-01 2.13722108e-04 -2.41027041e-02] [ 3.28687738e-03 -2.01248430e-04 9.99994578e-01 5.27863712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters 0.2890429228385971 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987247e-01 3.81813651e-03 -3.30581973e-03 3.13069617e+00] [-3.81725277e-03 9.99992677e-01 2.73595785e-04 -2.43640021e-02] [ 3.30684015e-03 -2.60973146e-04 9.99994498e-01 5.27669386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71255784400006 meters 0.28865430616475796 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987382e-01 3.78686270e-03 -3.30091442e-03 3.13079936e+00] [-3.78622663e-03 9.99992812e-01 1.98923290e-04 -2.40618852e-02] [ 3.30164399e-03 -1.86422769e-04 9.99994532e-01 5.27417208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters 0.2879850593808268 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987533e-01 3.74335536e-03 -3.30473787e-03 3.13081673e+00] [-3.74305482e-03 9.99992990e-01 9.71225494e-05 -2.36152426e-02] [ 3.30507827e-03 -8.47515236e-05 9.99994535e-01 5.27394777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77255784400006 meters 0.2883350471356 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987783e-01 3.70555940e-03 -3.27156626e-03 3.13072314e+00] [-3.70556569e-03 9.99993134e-01 4.13836549e-06 -2.32165313e-02] [ 3.27155914e-03 7.98468878e-06 9.99994648e-01 5.27414545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters 0.28832246875430156 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99987976e-01 3.66588504e-03 -3.25717964e-03 3.13066858e+00] [-3.66620277e-03 9.99993275e-01 -9.15807316e-05 -2.28027379e-02] [ 3.25682201e-03 1.03521111e-04 9.99994691e-01 5.27446489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83255784400006 meters 0.2885395412856998 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99991271e-01 -3.77368000e-03 -1.79359755e-03 3.14944491e+00] [ 3.77604189e-03 9.99992006e-01 1.31528446e-03 -1.85338184e-02] [ 1.78861975e-03 -1.32204568e-03 9.99997527e-01 5.28868385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86255784400004 meters 0.28789238251866606 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99991673e-01 -3.71273441e-03 -1.69389674e-03 3.14903025e+00] [ 3.71520750e-03 9.99992034e-01 1.45920168e-03 -1.91254846e-02] [ 1.68846562e-03 -1.46548271e-03 9.99997501e-01 5.29232356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89255784400007 meters 0.2882932753882531 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99992138e-01 -3.61994716e-03 -1.61831521e-03 3.14873372e+00] [ 3.62268355e-03 9.99992008e-01 1.69116925e-03 -2.00834243e-02] [ 1.61218033e-03 -1.69701860e-03 9.99997260e-01 5.29493506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92255784400004 meters 0.28808910487307443 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99992361e-01 -3.52495076e-03 -1.68914625e-03 3.14882899e+00] [ 3.52824256e-03 9.99991875e-01 1.94979113e-03 -2.11425227e-02] [ 1.68225961e-03 -1.95573595e-03 9.99996673e-01 5.29697222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95255784400007 meters 0.28722811284220495 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.53 [[ 9.99992501e-01 -3.32291714e-03 -1.98886828e-03 3.14954610e+00] [ 3.32817289e-03 9.99990963e-01 2.64513054e-03 -2.39332581e-02] [ 1.98006076e-03 -2.65173001e-03 9.99994524e-01 5.29741241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98255784400004 meters 0.28757976704469596 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99992884e-01 -3.14088601e-03 -2.08952389e-03 3.14975008e+00] [ 3.14742107e-03 9.99990143e-01 3.13163270e-03 -2.59555270e-02] [ 2.07966719e-03 -3.13818703e-03 9.99992913e-01 5.29876387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01255784400007 meters 0.2860813340565313 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99993483e-01 -2.94792292e-03 -2.08406253e-03 3.14976606e+00] [ 2.95546810e-03 9.99989056e-01 3.62665852e-03 -2.80412669e-02] [ 2.07334862e-03 -3.63279426e-03 9.99991252e-01 5.29814258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04255784400004 meters 0.2869533472727542 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99993850e-01 -2.76436268e-03 -2.15848603e-03 3.14998801e+00] [ 2.77314374e-03 9.99987849e-01 4.07581962e-03 -2.99528826e-02] [ 2.14719276e-03 -4.08178034e-03 9.99989364e-01 5.29765411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0725578440001 meters 0.2882121135005083 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99994155e-01 -2.51893662e-03 -2.31190148e-03 3.15042027e+00] [ 2.52965293e-03 9.99986016e-01 4.64412148e-03 -3.23549440e-02] [ 2.30017090e-03 -4.64994264e-03 9.99986544e-01 5.29734557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10255784400005 meters 0.2878506093485633 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99994371e-01 -2.45734522e-03 -2.28469957e-03 3.15037733e+00] [ 2.46828496e-03 9.99985444e-01 4.79783569e-03 -3.29920838e-02] [ 2.27287637e-03 -4.80344797e-03 9.99985880e-01 5.29691170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1325578440001 meters 0.2870547291382275 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99986369e-01 3.05810708e-03 -4.23205173e-03 3.12854357e+00] [-3.05095104e-03 9.99993907e-01 1.69633960e-03 -3.47129702e-02] [ 4.23721354e-03 -1.68340470e-03 9.99989606e-01 5.30536209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16255784400005 meters 0.2875378558330903 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99986454e-01 3.05661992e-03 -4.21305760e-03 3.12861587e+00] [-3.04948762e-03 9.99993908e-01 1.69828829e-03 -3.47146535e-02] [ 4.21822296e-03 -1.68541761e-03 9.99989683e-01 5.30275340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1925578440001 meters 0.28783180996435886 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99986817e-01 3.05467434e-03 -4.12737879e-03 3.12853350e+00] [-3.04766181e-03 9.99993904e-01 1.70424920e-03 -3.47044000e-02] [ 4.13255955e-03 -1.69164788e-03 9.99990030e-01 5.29986831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22255784400005 meters 0.2884369022745161 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987226e-01 2.96205906e-03 -4.09552848e-03 3.12854953e+00] [-2.95609736e-03 9.99994564e-01 1.46094717e-03 -3.36991046e-02] [ 4.09983363e-03 -1.44882173e-03 9.99990546e-01 5.29754763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2525578440001 meters 0.2882741899997581 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987491e-01 2.85070089e-03 -4.10979597e-03 3.12871237e+00] [-2.84589383e-03 9.99995260e-01 1.17503312e-03 -3.25069208e-02] [ 4.11312615e-03 -1.16332238e-03 9.99990864e-01 5.29452419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28255784400005 meters 0.2889485601027004 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988408e-01 2.67425364e-03 -4.00391219e-03 3.12865257e+00] [-2.67161638e-03 9.99996211e-01 6.63874011e-04 -3.03940053e-02] [ 4.00567238e-03 -6.53169399e-04 9.99991764e-01 5.28978085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3125578440001 meters 0.28976164867229653 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988674e-01 2.56469133e-03 -4.00921687e-03 3.12879921e+00] [-2.56313475e-03 9.99996638e-01 3.93340588e-04 -2.92718958e-02] [ 4.01021219e-03 -3.83059970e-04 9.99991886e-01 5.28674601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34255784400005 meters 0.28851731524001545 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988683e-01 2.49453857e-03 -4.05108497e-03 3.12900610e+00] [-2.49364666e-03 9.99996866e-01 2.25201846e-04 -2.85724851e-02] [ 4.05163405e-03 -2.15097323e-04 9.99991769e-01 5.28446781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3725578440001 meters 0.28697933275456516 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988649e-01 2.44538187e-03 -4.08927881e-03 3.12915817e+00] [-2.44496021e-03 9.99997005e-01 1.08108754e-04 -2.80873094e-02] [ 4.08953093e-03 -9.81094031e-05 9.99991633e-01 5.28321748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40255784400006 meters 0.28713180179009645 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988394e-01 2.43837851e-03 -4.15532349e-03 3.12920421e+00] [-2.43800564e-03 9.99997024e-01 9.47945015e-05 -2.80001759e-02] [ 4.15554227e-03 -8.46626991e-05 9.99991362e-01 5.28577145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43255784400003 meters 0.28838069019132956 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988231e-01 2.45264471e-03 -4.18597112e-03 3.12920498e+00] [-2.45211263e-03 9.99996985e-01 1.32236846e-04 -2.81397055e-02] [ 4.18628282e-03 -1.21970817e-04 9.99991230e-01 5.28741838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46255784400006 meters 0.2880082363746232 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987996e-01 2.48167282e-03 -4.22475147e-03 3.12932806e+00] [-2.48081260e-03 9.99996901e-01 2.08842720e-04 -2.84695345e-02] [ 4.22525666e-03 -1.98359396e-04 9.99991054e-01 5.28688580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49255784400003 meters 0.2867789506797896 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987786e-01 2.50126863e-03 -4.26276630e-03 3.12945968e+00] [-2.50017352e-03 9.99996840e-01 2.62212190e-04 -2.86931607e-02] [ 4.26340870e-03 -2.51551332e-04 9.99990880e-01 5.28608745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52255784400006 meters 0.28753610005641445 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987505e-01 2.51018085e-03 -4.32313763e-03 3.12961665e+00] [-2.50895436e-03 9.99996811e-01 2.89104772e-04 -2.88047260e-02] [ 4.32384955e-03 -2.78254605e-04 9.99990613e-01 5.28599095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55255784400003 meters 0.28753610005641445 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987505e-01 2.51018085e-03 -4.32313763e-03 3.12961665e+00] [-2.50895436e-03 9.99996811e-01 2.89104772e-04 -2.88047260e-02] [ 4.32384955e-03 -2.78254605e-04 9.99990613e-01 5.28599095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58255784400006 meters 0.28737939943305973 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987500e-01 2.50143985e-03 -4.32925677e-03 3.12934600e+00] [-2.50029257e-03 9.99996838e-01 2.70397352e-04 -2.86567496e-02] [ 4.32991946e-03 -2.59569563e-04 9.99990592e-01 5.29224688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61255784400004 meters 0.28689702911655485 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987616e-01 2.45246174e-03 -4.33051762e-03 3.12929222e+00] [-2.45182727e-03 9.99996983e-01 1.51814000e-04 -2.81402143e-02] [ 4.33087687e-03 -1.41194439e-04 9.99990612e-01 5.29342529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64255784400007 meters 0.2865487299332882 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987689e-01 2.40583949e-03 -4.33975388e-03 3.12933759e+00] [-2.40568948e-03 9.99997106e-01 3.97857344e-05 -2.76643717e-02] [ 4.33983703e-03 -2.93451444e-05 9.99990582e-01 5.29291794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67255784400004 meters 0.28644921375102217 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987868e-01 2.37252781e-03 -4.31682330e-03 3.12932762e+00] [-2.37273073e-03 9.99997184e-01 -4.18861603e-05 -2.73195250e-02] [ 4.31671177e-03 5.21283114e-05 9.99990682e-01 5.29180377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70255784400007 meters 0.28640598476051743 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987741e-01 2.36937210e-03 -4.34796603e-03 3.12944877e+00] [-2.36960379e-03 9.99997191e-01 -4.81356631e-05 -2.73042955e-02] [ 4.34783977e-03 5.84380298e-05 9.99990546e-01 5.29084680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73255784400004 meters 0.2859913418655813 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987895e-01 2.37782776e-03 -4.30764344e-03 3.12926342e+00] [-2.37797064e-03 9.99997172e-01 -2.80465033e-05 -2.73707005e-02] [ 4.30756457e-03 3.82896135e-05 9.99990722e-01 5.29270415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76255784400007 meters 0.28590370135890764 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987928e-01 2.36197355e-03 -4.30877195e-03 3.12925753e+00] [-2.36228303e-03 9.99997208e-01 -6.67397562e-05 -2.72026709e-02] [ 4.30860228e-03 7.69174894e-05 9.99990715e-01 5.29286704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79255784400004 meters 0.2858079880544513 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987913e-01 2.32269053e-03 -4.33346296e-03 3.12937792e+00] [-2.32341505e-03 9.99997288e-01 -1.62165508e-04 -2.68038108e-02] [ 4.33307455e-03 1.72231981e-04 9.99990597e-01 5.29155781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8225578440001 meters 0.2865128712712149 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987855e-01 2.26824814e-03 -4.37550215e-03 3.12975375e+00] [-2.26954483e-03 9.99997382e-01 -2.91409928e-04 -2.62853153e-02] [ 4.37482971e-03 3.01336787e-04 9.99990385e-01 5.28563789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85255784400005 meters 0.28493223851191335 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988040e-01 2.27419961e-03 -4.32994717e-03 3.12972402e+00] [-2.27542132e-03 9.99997373e-01 -2.77248338e-04 -2.63490162e-02] [ 4.32930528e-03 2.87097476e-04 9.99990587e-01 5.28378642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8825578440001 meters 0.2862349992326114 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987960e-01 2.32983273e-03 -4.31875195e-03 3.12975531e+00] [-2.33046200e-03 9.99997275e-01 -1.40680224e-04 -2.69394162e-02] [ 4.31841242e-03 1.50743217e-04 9.99990664e-01 5.28253375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91255784400005 meters 0.2876115924386266 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99977206e-01 -6.14093403e-03 -2.80642772e-03 3.15135727e+00] [ 6.14202754e-03 9.99981065e-01 3.81189618e-04 -2.73671022e-02] [ 2.80403372e-03 -3.98418085e-04 9.99995989e-01 5.28340594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9425578440001 meters 0.2856591855426892 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99995344e-01 1.87422144e-03 -2.40825324e-03 3.13163739e+00] [-1.87515055e-03 9.99998168e-01 -3.83601852e-04 -3.31173056e-02] [ 2.40752988e-03 3.88115903e-04 9.99997027e-01 5.27062241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97255784400005 meters 0.2846314352301627 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99995436e-01 1.95868121e-03 -2.30016416e-03 3.13124116e+00] [-1.95907015e-03 9.99998067e-01 -1.66854734e-04 -3.39933463e-02] [ 2.29983290e-03 1.71360156e-04 9.99997341e-01 5.27365661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0025578440001 meters 0.2853034011857886 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99995467e-01 2.01378486e-03 -2.23838797e-03 3.13101268e+00] [-2.01384377e-03 9.99997972e-01 -2.40661947e-05 -3.45753640e-02] [ 2.23833496e-03 2.85738492e-05 9.99997495e-01 5.27548086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03255784400005 meters 0.28436558419327207 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99995304e-01 2.08280291e-03 -2.24798028e-03 3.13099605e+00] [-2.08245775e-03 9.99997820e-01 1.55870730e-04 -3.53142150e-02] [ 2.24830003e-03 -1.51188675e-04 9.99997461e-01 5.27641732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0625578440001 meters 0.28465108948780726 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994710e-01 2.18634891e-03 -2.40822368e-03 3.13151826e+00] [-2.18527878e-03 9.99997512e-01 4.46906342e-04 -3.65563612e-02] [ 2.40919478e-03 -4.41641338e-04 9.99997000e-01 5.27352155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09255784400005 meters 0.28510570817584 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994613e-01 2.23604671e-03 -2.40285122e-03 3.13151272e+00] [-2.23467866e-03 9.99997340e-01 5.71878174e-04 -3.70739231e-02] [ 2.40412357e-03 -5.66505493e-04 9.99996950e-01 5.27337280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1225578440001 meters 0.2844800245245772 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994744e-01 2.27107094e-03 -2.31411205e-03 3.13121757e+00] [-2.26955678e-03 9.99997209e-01 6.56731552e-04 -3.74076662e-02] [ 2.31559708e-03 -6.51476091e-04 9.99997107e-01 5.27498214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15255784400006 meters 0.2842866688330946 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994855e-01 2.29343401e-03 -2.24294471e-03 3.13093203e+00] [-2.29184311e-03 9.99997121e-01 7.11601688e-04 -3.76154809e-02] [ 2.24457026e-03 -7.06457550e-04 9.99997231e-01 5.27738616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters 0.28393768173103806 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994744e-01 2.33654931e-03 -2.24780524e-03 3.13080717e+00] [-2.33471111e-03 9.99996938e-01 8.20052663e-04 -3.80436651e-02] [ 2.24971445e-03 -8.14800377e-04 9.99997137e-01 5.28040375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21255784400006 meters 0.2847290977628849 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99994590e-01 2.32234631e-03 -2.32961738e-03 3.13108996e+00] [-2.32051379e-03 9.99996996e-01 7.89013835e-04 -3.79259121e-02] [ 2.33144275e-03 -7.83603657e-04 9.99996975e-01 5.27876879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters 0.2834104529992243 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.53 [[ 0.99997979 -0.00443181 -0.00455855 3.10937875] [ 0.00444873 0.99998323 0.00370818 -0.03801315] [ 0.00454204 -0.00372839 0.99998273 0.52903087] [ 0. 0. 0. 1. ]] SLAMing on 447.27255784400006 meters 0.2838684585561966 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99986044e-01 4.29456926e-03 -3.07707167e-03 3.12874577e+00] [-4.28763883e-03 9.99988265e-01 2.25534928e-03 -3.88544521e-02] [ 3.08672131e-03 -2.24212443e-03 9.99992722e-01 5.29779446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters 0.2841583549293487 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99987098e-01 4.10035519e-03 -2.99853429e-03 3.12864762e+00] [-4.09506132e-03 9.99990050e-01 1.76949991e-03 -3.68344551e-02] [ 3.00576003e-03 -1.75719790e-03 9.99993939e-01 5.29544953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33255784400006 meters 0.2837086690040265 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99987598e-01 3.98327755e-03 -2.98955574e-03 3.12867189e+00] [-3.97886068e-03 9.99990986e-01 1.48192938e-03 -3.56358718e-02] [ 2.99543173e-03 -1.47001598e-03 9.99994433e-01 5.29437005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36255784400004 meters 0.2829865233786265 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988113e-01 3.87068335e-03 -2.96522932e-03 3.12869753e+00] [-3.86713575e-03 9.99991801e-01 1.20119912e-03 -3.44714658e-02] [ 2.96985447e-03 -1.18971789e-03 9.99994882e-01 5.29243680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39255784400007 meters 0.2831843010019197 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988350e-01 3.80316199e-03 -2.97254941e-03 3.12875324e+00] [-3.80010774e-03 9.99992247e-01 1.03245671e-03 -3.37715498e-02] [ 2.97645296e-03 -1.02114867e-03 9.99995049e-01 5.29160015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42255784400004 meters 0.2824075045403398 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99988324e-01 3.76289250e-03 -3.03197257e-03 3.12890548e+00] [-3.76009316e-03 9.99992500e-01 9.28446195e-04 -3.33437484e-02] [ 3.03544348e-03 -9.17034855e-04 9.99994973e-01 5.29143967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45255784400007 meters 0.28326291380012225 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987995e-01 3.75305734e-03 -3.15038456e-03 3.12924329e+00] [-3.75022624e-03 9.99992559e-01 9.04078504e-04 -3.32565711e-02] [ 3.15375417e-03 -8.92252995e-04 9.99994629e-01 5.29031488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48255784400004 meters 0.2833788993870232 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99986721e-01 3.72006366e-03 -3.56644024e-03 3.13044978e+00] [-3.71691284e-03 9.99992696e-01 8.89683087e-04 -3.33514985e-02] [ 3.56972387e-03 -8.76415126e-04 9.99993244e-01 5.28489396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51255784400007 meters 0.28289522252029464 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99986042e-01 3.78173432e-03 -3.68983283e-03 3.13087116e+00] [-3.77781619e-03 9.99992293e-01 1.06826402e-03 -3.41003293e-02] [ 3.69384429e-03 -1.05430960e-03 9.99992622e-01 5.28199914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54255784400004 meters 0.2832419770476476 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99985781e-01 3.84526315e-03 -3.69471185e-03 3.13096761e+00] [-3.84069201e-03 9.99991851e-01 1.24351091e-03 -3.48184264e-02] [ 3.69946337e-03 -1.22930298e-03 9.99992401e-01 5.27991994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5725578440001 meters 0.28203077938926857 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99985985e-01 3.91383753e-03 -3.56542188e-03 3.13059801e+00] [-3.90865142e-03 9.99991295e-01 1.46036537e-03 -3.57066459e-02] [ 3.57110648e-03 -1.44640891e-03 9.99992578e-01 5.28141574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60255784400005 meters 0.2828714075787181 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99989410e-01 -4.02315099e-03 -2.23495978e-03 3.15132563e+00] [ 4.02858876e-03 9.99988923e-01 2.43389920e-03 -3.45454883e-02] [ 2.22514308e-03 -2.44287715e-03 9.99994541e-01 5.29083029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6325578440001 meters 0.2808481876178652 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987700e-01 1.25300500e-03 -4.79902138e-03 3.12827163e+00] [-1.25599829e-03 9.99999019e-01 -6.20764965e-04 -3.35695269e-02] [ 4.79823885e-03 6.26784892e-04 9.99988292e-01 5.30935827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66255784400005 meters 0.2820090335136128 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99987628e-01 1.27095269e-03 -4.80928474e-03 3.12842478e+00] [-1.27373950e-03 9.99999023e-01 -5.76444638e-04 -3.37663001e-02] [ 4.80854740e-03 5.82563282e-04 9.99988269e-01 5.30655631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6925578440001 meters 0.2826460095787434 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99986805e-01 -4.67682596e-03 -2.12552863e-03 3.14916089e+00] [ 4.68178977e-03 9.99986311e-01 2.33638264e-03 -3.40675506e-02] [ 2.11457268e-03 -2.34630309e-03 9.99995012e-01 5.29535415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72255784400005 meters 0.282387739240034 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:0.53 [[ 9.99987344e-01 -4.60391990e-03 -2.02892414e-03 3.14909171e+00] [ 4.60899371e-03 9.99986245e-01 2.50319711e-03 -3.48135198e-02] [ 2.01737171e-03 -2.51251672e-03 9.99994809e-01 5.29164609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7525578440001 meters 0.28077552696608615 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:0.53 [[ 9.99991243e-01 1.25079618e-03 -3.99364208e-03 3.12751239e+00] [-1.25275385e-03 9.99999096e-01 -4.87734519e-04 -3.50462893e-02] [ 3.99302841e-03 4.92733298e-04 9.99991906e-01 5.29875086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78255784400005 meters 0.2802355644575333 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99991731e-01 1.17352585e-03 -3.89375351e-03 3.12729795e+00] [-1.17624548e-03 9.99999066e-01 -6.96242027e-04 -3.41807820e-02] [ 3.89293281e-03 7.00816279e-04 9.99992177e-01 5.29805122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8125578440001 meters 0.2810548595041641 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99991765e-01 1.07941761e-03 -3.91224722e-03 3.12747708e+00] [-1.08310316e-03 9.99998972e-01 -9.40057416e-04 -3.31752159e-02] [ 3.91122848e-03 9.44287042e-04 9.99991905e-01 5.29519076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84255784400005 meters 0.28195647713930905 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99992090e-01 9.80419217e-04 -3.85472123e-03 3.12750503e+00] [-9.85015699e-04 9.99998806e-01 -1.19071146e-03 -3.21446521e-02] [ 3.85354923e-03 1.19449900e-03 9.99991862e-01 5.29150734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8725578440001 meters 0.28199806412025447 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99992354e-01 9.00050657e-04 -3.80552385e-03 3.12742754e+00] [-9.05352699e-04 9.99998622e-01 -1.39175582e-03 -3.13083271e-02] [ 3.80426595e-03 1.39519052e-03 9.99991790e-01 5.29056085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90255784400006 meters 0.28155876611746466 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99992565e-01 8.40396291e-04 -3.76359489e-03 3.12734028e+00] [-8.46197685e-04 9.99998456e-01 -1.54012321e-03 -3.06910532e-02] [ 3.76229476e-03 1.54329650e-03 9.99991732e-01 5.29019107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93255784400003 meters 0.28174575758565457 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99993061e-01 7.56385929e-04 -3.64764523e-03 3.12706277e+00] [-7.62780562e-04 9.99998174e-01 -1.75201295e-03 -2.97958607e-02] [ 3.64631338e-03 1.75478315e-03 9.99991813e-01 5.28996946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96255784400006 meters 0.28015109209336014 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.53 [[ 9.99964198e-01 -5.99594407e-03 -5.97081152e-03 3.10547378e+00] [ 6.00280973e-03 9.99981342e-01 1.13261500e-03 -2.99254268e-02] [ 5.96390902e-03 -1.16841610e-03 9.99981533e-01 5.30198650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99255784400003 meters 0.2792968461337651 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.53 [[ 9.99974651e-01 1.92173431e-03 -6.85592860e-03 3.08626130e+00] [-1.92297787e-03 9.99998136e-01 -1.74797743e-04 -3.26946267e-02] [ 6.85557990e-03 1.87977111e-04 9.99976483e-01 5.28710167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02255784400006 meters 0.2804699454036151 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.53 [[ 9.99962537e-01 -6.02214076e-03 -6.21759281e-03 3.10720066e+00] [ 6.02615268e-03 9.99981646e-01 6.26719371e-04 -2.89241899e-02] [ 6.21370450e-03 -6.64164056e-04 9.99980474e-01 5.29942862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05255784400003 meters 0.28067476126158003 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.53 [[ 9.99961803e-01 -6.10824215e-03 -6.25157638e-03 3.10745275e+00] [ 6.11093396e-03 9.99981243e-01 4.11569068e-04 -2.80445429e-02] [ 6.24894516e-03 -4.49756318e-04 9.99980374e-01 5.29571164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08255784400006 meters 0.28172763885901075 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99975146e-01 3.87711876e-03 -5.88855583e-03 3.12907710e+00] [-3.87685230e-03 9.99992483e-01 5.66643120e-05 -2.85167757e-02] [ 5.88873127e-03 -3.38338425e-05 9.99982661e-01 5.29010490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11255784400004 meters 0.28046043276120153 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99975983e-01 3.77444508e-03 -5.81271203e-03 3.12881012e+00] [-3.77569421e-03 9.99992851e-01 -2.03937186e-04 -2.74257367e-02] [ 5.81190073e-03 2.25879311e-04 9.99983085e-01 5.29202039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14255784400007 meters 0.28087079438625023 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99976908e-01 3.66662833e-03 -5.72178508e-03 3.12848038e+00] [-3.66942964e-03 9.99993153e-01 -4.79165842e-04 -2.62768226e-02] [ 5.71998898e-03 5.00150465e-04 9.99983516e-01 5.29466624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17255784400004 meters 0.2807442694805062 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.53 [[ 9.99977702e-01 3.55822399e-03 -5.65112618e-03 3.12826890e+00] [-3.56251485e-03 9.99993373e-01 -7.49407021e-04 -2.51368794e-02] [ 5.64842217e-03 7.69522531e-04 9.99983751e-01 5.29561337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20255784400007 meters 0.27965763987542314 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.53 [[ 9.99972195e-01 -2.90805333e-03 -6.86673804e-03 3.10672508e+00] [ 2.92373922e-03 9.99993137e-01 2.27539750e-03 -2.13962869e-02] [ 6.86007393e-03 -2.29541078e-03 9.99973835e-01 5.29684920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23255784400004 meters 0.2799803070916183 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99981423e-01 3.71221894e-03 -4.83461746e-03 3.12849493e+00] [-3.71594506e-03 9.99992806e-01 -7.61961367e-04 -2.08547891e-02] [ 4.83175411e-03 7.79912384e-04 9.99988023e-01 5.28372754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26255784400007 meters 0.28068443887783295 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:0.53 [[ 9.99981612e-01 3.67863767e-03 -4.82116580e-03 3.12855441e+00] [-3.68275712e-03 9.99992861e-01 -8.45852153e-04 -2.05051479e-02] [ 4.81801979e-03 8.63591782e-04 9.99988020e-01 5.28171445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29255784400004 meters 0.27919146641286213 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.53 [[ 9.99977314e-01 -5.02160042e-03 -4.48945367e-03 3.10779561e+00] [ 5.02193758e-03 9.99987388e-01 6.38318111e-05 -1.53629050e-02] [ 4.48907651e-03 -8.63761191e-05 9.99989920e-01 5.27127765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3225578440001 meters 0.2794492076776219 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.53 [[ 9.99977146e-01 -5.09639820e-03 -4.44238694e-03 3.10768714e+00] [ 5.09591471e-03 9.99987009e-01 -1.20149013e-04 -1.45912765e-02] [ 4.44294156e-03 9.75082420e-05 9.99990125e-01 5.27116375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35255784400005 meters 0.2807757219665757 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.53 [[ 9.99976704e-01 -5.17066202e-03 -4.45604601e-03 3.10785091e+00] [ 5.16935186e-03 9.99986592e-01 -3.05487540e-04 -1.38209798e-02] [ 4.45756583e-03 2.82445553e-04 9.99990025e-01 5.26839309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3825578440001 meters 0.280297812507063 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.53 [[ 9.99975870e-01 -5.26252820e-03 -4.53498049e-03 3.10819654e+00] [ 5.26012437e-03 9.99986019e-01 -5.41828013e-04 -1.28352450e-02] [ 4.53776847e-03 5.17960377e-04 9.99989570e-01 5.26514113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41255784400005 meters 0.2797051898042101 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.53 [[ 9.99974824e-01 -5.38259390e-03 -4.62374664e-03 3.10860723e+00] [ 5.37868720e-03 9.99985168e-01 -8.56940593e-04 -1.15334274e-02] [ 4.62829062e-03 8.32049332e-04 9.99988943e-01 5.26092112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4425578440001 meters 0.2797051898042101 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.53 [[ 9.99974824e-01 -5.38259390e-03 -4.62374664e-03 3.10860723e+00] [ 5.37868720e-03 9.99985168e-01 -8.56940593e-04 -1.15334274e-02] [ 4.62829062e-03 8.32049332e-04 9.99988943e-01 5.26092112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47255784400005 meters 0.28145067234060545 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.53 [[ 9.99986526e-01 3.39300033e-03 -3.92888789e-03 3.12930698e+00] [-3.40157432e-03 9.99991843e-01 -2.17767384e-03 -1.17804656e-02] [ 3.92146700e-03 2.19100890e-03 9.99989911e-01 5.26755715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5025578440001 meters 0.27961800749145327 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.00, Z:0.53 [[ 9.99972111e-01 -4.71160540e-03 -5.79473723e-03 3.11179965e+00] [ 4.70432525e-03 9.99988129e-01 -1.26932720e-03 -1.83685841e-03] [ 5.80064901e-03 1.24203147e-03 9.99982405e-01 5.25171253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53255784400005 meters 0.2798497455621 Centerline is valid? [False, False] Translation: X:3.11, Y:0.00, Z:0.53 [[ 9.99970750e-01 -4.93142729e-03 -5.84631147e-03 3.11199147e+00] [ 4.92032701e-03 9.99986068e-01 -1.91154583e-03 7.53117000e-04] [ 5.85565666e-03 1.88272415e-03 9.99981083e-01 5.25041464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5625578440001 meters 0.27909215467523424 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:0.52 [[ 9.99967835e-01 3.62262573e-03 -7.15578469e-03 3.08989176e+00] [-3.64225919e-03 9.99989633e-01 -2.73259422e-03 2.55924851e-03] [ 7.14581134e-03 2.75856955e-03 9.99970663e-01 5.24980914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59255784400005 meters 0.27908653130021105 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.52 [[ 9.99977814e-01 -1.90687443e-03 -6.38237384e-03 3.11354902e+00] [ 1.90529168e-03 9.99998153e-01 -2.54058459e-04 9.68358381e-03] [ 6.38284651e-03 2.41892538e-04 9.99979600e-01 5.23626236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6225578440001 meters 0.279822399593601 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.52 [[ 9.99977542e-01 -2.09121257e-03 -6.36727196e-03 3.11356727e+00] [ 2.08659795e-03 9.99997556e-01 -7.31296919e-04 1.16569194e-02] [ 6.36878569e-03 7.17994559e-04 9.99979461e-01 5.23513511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65255784400006 meters 0.27977220920424645 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.52 [[ 9.99977033e-01 -2.25478651e-03 -6.39140940e-03 3.11373798e+00] [ 2.24753579e-03 9.99996823e-01 -1.14140231e-03 1.33571298e-02] [ 6.39396271e-03 1.12701117e-03 9.99978923e-01 5.23291690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6825578440001 meters 0.28042367474417457 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.52 [[ 9.99976383e-01 -2.39947140e-03 -6.44013788e-03 3.11398300e+00] [ 2.38991695e-03 9.99996033e-01 -1.49086539e-03 1.48210581e-02] [ 6.44368962e-03 1.47543879e-03 9.99978151e-01 5.23047061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71255784400006 meters 0.28097034688446026 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.52 [[ 9.99977526e-01 1.69834758e-03 -6.48560493e-03 3.11407794e+00] [-1.68469627e-03 9.99996355e-01 2.10974608e-03 1.78095990e-02] [ 6.48916437e-03 -2.09877239e-03 9.99976743e-01 5.23103044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters 0.27967086462147117 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.52 [[ 9.99991532e-01 9.64439280e-04 -4.00079189e-03 3.07342126e+00] [-9.58062511e-04 9.99998268e-01 1.59548711e-03 2.13763151e-02] [ 4.00232371e-03 -1.59164059e-03 9.99990724e-01 5.19772934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77255784400006 meters 0.280930688048112 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.52 [[ 9.99991985e-01 8.20516580e-04 -3.91874143e-03 3.07317208e+00] [-8.15668800e-04 9.99998900e-01 1.23851378e-03 2.28783743e-02] [ 3.91975335e-03 -1.23530746e-03 9.99991555e-01 5.19872626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80255784400003 meters 0.2800624633780548 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.52 [[ 9.99992373e-01 7.08290271e-04 -3.84075279e-03 3.07290351e+00] [-7.04610539e-04 9.99999292e-01 9.59344117e-04 2.40586150e-02] [ 3.84142957e-03 -9.56630566e-04 9.99992164e-01 5.20037616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83255784400006 meters 0.27948888879330114 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99992933e-01 5.95822804e-04 -3.71190398e-03 3.07242994e+00] [-5.93315343e-04 9.99999595e-01 6.76583552e-04 2.52578811e-02] [ 3.71230560e-03 -6.74376441e-04 9.99992882e-01 5.20387613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86255784400004 meters 0.27833496103868843 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99993072e-01 5.45019906e-04 -3.68217310e-03 3.07243215e+00] [-5.42998825e-04 9.99999701e-01 5.49860148e-04 2.57888711e-02] [ 3.68247168e-03 -5.47856923e-04 9.99993070e-01 5.20220463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89255784400007 meters 0.27883721250297133 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99993027e-01 4.90195911e-04 -3.70223248e-03 3.07255991e+00] [-4.88654813e-04 9.99999794e-01 4.17154979e-04 2.63573204e-02] [ 3.70243621e-03 -4.15342956e-04 9.99993060e-01 5.20053731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92255784400004 meters 0.2778793435848446 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99993096e-01 4.49451150e-04 -3.68865242e-03 3.07258703e+00] [-4.48285147e-04 9.99999849e-01 3.16926323e-04 2.67789026e-02] [ 3.68879431e-03 -3.15270566e-04 9.99993147e-01 5.19919043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95255784400007 meters 0.27840538371431506 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99993203e-01 4.14480943e-04 -3.66354393e-03 3.07255467e+00] [-4.13642656e-04 9.99999888e-01 2.29573434e-04 2.71413273e-02] [ 3.66363867e-03 -2.28056475e-04 9.99993263e-01 5.19854592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98255784400004 meters 0.2791628782899967 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:0.52 [[ 9.99993070e-01 4.36076223e-04 -3.69739466e-03 3.07261510e+00] [-4.35028287e-04 9.99999865e-01 2.84225054e-04 2.69013281e-02] [ 3.69751811e-03 -2.82614613e-04 9.99993124e-01 5.19902516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01255784400007 meters 0.27887324164405175 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.52 [[ 9.99997589e-01 2.25043502e-04 -2.18432793e-03 3.03423107e+00] [-2.23888523e-04 9.99999835e-01 5.28987234e-04 2.61751702e-02] [ 2.18444662e-03 -5.28496913e-04 9.99997474e-01 5.15711171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04255784400004 meters 0.27971572129103245 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.52 [[ 9.99997451e-01 2.37908332e-04 -2.24540289e-03 3.03449072e+00] [-2.36648878e-04 9.99999815e-01 5.61152736e-04 2.60360549e-02] [ 2.24553597e-03 -5.60619933e-04 9.99997322e-01 5.15466788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0725578440001 meters 0.279191081536775 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.52 [[ 9.99997423e-01 2.21886567e-04 -2.25943168e-03 3.03472092e+00] [-2.20706713e-04 9.99999839e-01 5.22426877e-04 2.62006557e-02] [ 2.25954723e-03 -5.21926859e-04 9.99997311e-01 5.15014662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10255784400005 meters 0.2785377203729142 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.51 [[ 9.99997506e-01 1.98463665e-04 -2.22449718e-03 3.03466245e+00] [-1.97430339e-04 9.99999873e-01 4.64731426e-04 2.64494841e-02] [ 2.22458913e-03 -4.64291084e-04 9.99997418e-01 5.14942503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1325578440001 meters 0.2787946069374294 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.52 [[ 9.99997762e-01 1.57253656e-04 -2.10977526e-03 3.03433806e+00] [-1.56504585e-04 9.99999925e-01 3.55208029e-04 2.69130253e-02] [ 2.10983096e-03 -3.54877045e-04 9.99997711e-01 5.15038145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16255784400005 meters 0.27884369455333097 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.52 [[ 9.99997829e-01 1.29271665e-04 -2.07963570e-03 3.03427214e+00] [-1.28691465e-04 9.99999953e-01 2.79122899e-04 2.72189627e-02] [ 2.07967168e-03 -2.78854662e-04 9.99997799e-01 5.15018809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1925578440001 meters 0.2807426594281326 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.51 [[ 9.99997745e-01 9.46511620e-05 -2.12158722e-03 3.03446730e+00] [-9.42394381e-05 9.99999977e-01 1.94163218e-04 2.75769957e-02] [ 2.12160554e-03 -1.93962843e-04 9.99997731e-01 5.14820479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22255784400005 meters 0.2794718745495844 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.51 [[ 9.99997528e-01 1.04864333e-04 -2.22107269e-03 3.03498213e+00] [-1.04373228e-04 9.99999970e-01 2.21226503e-04 2.74581837e-02] [ 2.22109582e-03 -2.20994136e-04 9.99997509e-01 5.14180788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2525578440001 meters 0.27990726559262313 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.51 [[ 9.99997625e-01 1.67326904e-04 -2.17320903e-03 3.03484960e+00] [-1.66517414e-04 9.99999917e-01 3.72661933e-04 2.68202979e-02] [ 2.17327121e-03 -3.72299171e-04 9.99997569e-01 5.14208698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28255784400005 meters 0.2791521320917019 Centerline is valid? [False, False] Translation: X:3.03, Y:0.03, Z:0.51 [[ 9.99997780e-01 2.37891793e-04 -2.09384287e-03 3.03451315e+00] [-2.36752646e-04 9.99999824e-01 5.44277391e-04 2.61128604e-02] [ 2.09397198e-03 -5.43780459e-04 9.99997660e-01 5.14508968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3125578440001 meters 0.2784208018617699 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.52 [[ 9.99997804e-01 5.01774159e-04 -2.03460454e-03 3.03410147e+00] [-4.99236988e-04 9.99999097e-01 1.24732539e-03 2.31823899e-02] [ 2.03522858e-03 -1.24630690e-03 9.99997152e-01 5.15078011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34255784400005 meters 0.279899670619951 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.51 [[ 9.99997489e-01 6.66379944e-04 -2.13948283e-03 3.03449165e+00] [-6.62815802e-04 9.99998392e-01 1.66616678e-03 2.14062400e-02] [ 2.14058969e-03 -1.66474451e-03 9.99996323e-01 5.14800348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3725578440001 meters 0.279920177189107 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.51 [[ 9.99997204e-01 8.03128696e-04 -2.22428106e-03 3.03491282e+00] [-7.98655081e-04 9.99997658e-01 2.01142191e-03 1.99323396e-02] [ 2.22589128e-03 -2.00963985e-03 9.99995503e-01 5.14361743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40255784400006 meters 0.28027213910683385 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.51 [[ 9.99996988e-01 9.45989428e-04 -2.26457240e-03 3.03510596e+00] [-9.40643984e-04 9.99996772e-01 2.36036764e-03 1.84515342e-02] [ 2.26679797e-03 -2.35823037e-03 9.99994650e-01 5.14186334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4325578440001 meters 0.2785910622335017 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.51 [[ 9.99996914e-01 1.04139199e-03 -2.25546955e-03 3.03508272e+00] [-1.03554660e-03 9.99996106e-01 2.59126774e-03 1.74817124e-02] [ 2.25815929e-03 -2.58892410e-03 9.99994099e-01 5.14189561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46255784400006 meters 0.281018109077082 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.51 [[ 9.99996983e-01 1.15714780e-03 -2.16669715e-03 3.03481107e+00] [-1.15089078e-03 9.99995171e-01 2.88683999e-03 1.62633403e-02] [ 2.17002718e-03 -2.88433765e-03 9.99993486e-01 5.14318689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49255784400003 meters 0.27947578353031155 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:0.52 [[ 9.99964440e-01 6.84854094e-03 -4.92109894e-03 3.01334900e+00] [-6.84984186e-03 9.99976509e-01 -2.47549361e-04 1.67430946e-02] [ 4.91928799e-03 2.81249307e-04 9.99987861e-01 5.15482733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52255784400006 meters 0.2798485067319422 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.52 [[ 9.99987844e-01 -1.51038674e-03 -4.69373919e-03 3.03321481e+00] [ 1.51340000e-03 9.99998651e-01 6.38488425e-04 2.07762069e-02] [ 4.69276850e-03 -6.45584169e-04 9.99988781e-01 5.16198594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55255784400003 meters 0.2790437499286653 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.52 [[ 9.99987689e-01 -1.50453547e-03 -4.72853119e-03 3.03342488e+00] [ 1.50765462e-03 9.99998648e-01 6.56149451e-04 2.06924361e-02] [ 4.72753760e-03 -6.63270365e-04 9.99988605e-01 5.15911436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58255784400006 meters 0.2817085191460347 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.51 [[ 9.99982667e-01 5.48281175e-03 -2.14557948e-03 3.05559752e+00] [-5.48719383e-03 9.99982861e-01 -2.04184843e-03 2.31657071e-02] [ 2.13434764e-03 2.05358625e-03 9.99995614e-01 5.13987943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61255784400004 meters 0.2815079596919884 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.51 [[ 9.99982863e-01 5.45254514e-03 -2.13143956e-03 3.05567725e+00] [-5.45705470e-03 9.99982872e-01 -2.11567159e-03 2.34652795e-02] [ 2.11986726e-03 2.12726671e-03 9.99995490e-01 5.13741631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64255784400007 meters 0.28046293617609636 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.51 [[ 9.99982836e-01 5.47760301e-03 -2.07926322e-03 3.05556728e+00] [-5.48187876e-03 9.99982860e-01 -2.05627444e-03 2.32142096e-02] [ 2.06796413e-03 2.06763742e-03 9.99995724e-01 5.13688505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67255784400004 meters 0.2789646453016575 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.51 [[ 9.99986626e-01 -1.79327864e-03 -4.85105846e-03 3.03521935e+00] [ 1.79494166e-03 9.99998332e-01 3.38484385e-04 2.19919096e-02] [ 4.85044337e-03 -3.47187225e-04 9.99988176e-01 5.14393075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70255784400007 meters 0.28050594554314884 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.51 [[ 9.99986736e-01 -1.61169276e-03 -4.89177857e-03 3.03525563e+00] [ 1.61571906e-03 9.99998359e-01 8.19233891e-04 1.99824873e-02] [ 4.89045019e-03 -8.27126765e-04 9.99987700e-01 5.14574751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73255784400004 meters 0.28132034635586584 Centerline is valid? [False, False] Translation: X:3.04, Y:0.02, Z:0.51 [[ 9.99987107e-01 -1.47621514e-03 -4.85859035e-03 3.03509813e+00] [ 1.48182944e-03 9.99998238e-01 1.15214299e-03 1.85774735e-02] [ 4.85688098e-03 -1.15932774e-03 9.99987533e-01 5.14745821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76255784400007 meters 0.28169812897237584 Centerline is valid? [False, False] Translation: X:3.03, Y:0.02, Z:0.51 [[ 9.99987535e-01 -1.34594407e-03 -4.80816836e-03 3.03491208e+00] [ 1.35305539e-03 9.99997995e-01 1.47606168e-03 1.72156122e-02] [ 4.80617202e-03 -1.48254900e-03 9.99987351e-01 5.14878139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79255784400004 meters 0.2794219361313866 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:0.51 [[ 9.99992605e-01 -2.17657399e-03 -3.17051879e-03 2.99597244e+00] [ 2.18459716e-03 9.99994415e-01 2.52929139e-03 1.02355196e-02] [ 3.16499590e-03 -2.53619899e-03 9.99991775e-01 5.11428088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8225578440001 meters 0.2809905480908164 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:0.51 [[ 9.99977603e-01 6.40516788e-03 -1.94103296e-03 3.01549118e+00] [-6.40238145e-03 9.99978470e-01 1.43837241e-03 6.07467113e-03] [ 1.95020419e-03 -1.42591296e-03 9.99997082e-01 5.12523615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85255784400005 meters 0.2813984895317101 Centerline is valid? [False, False] Translation: X:3.04, Y:0.01, Z:0.51 [[ 9.99997378e-01 -1.83297851e-03 -1.37281276e-03 3.03581636e+00] [ 1.83641883e-03 9.99995166e-01 2.50898113e-03 8.13771065e-03] [ 1.36820721e-03 -2.51149561e-03 9.99995910e-01 5.13253637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8825578440001 meters 0.28144919519243633 Centerline is valid? [False, False] Translation: X:3.04, Y:0.01, Z:0.51 [[ 9.99997473e-01 -1.75219594e-03 -1.40812766e-03 3.03594967e+00] [ 1.75599457e-03 9.99994811e-01 2.70095329e-03 7.32093632e-03] [ 1.40338775e-03 -2.70341913e-03 9.99995361e-01 5.13178820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91255784400005 meters 0.2800340990328868 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:0.51 [[ 9.99987722e-01 3.51279512e-03 -3.49517377e-03 3.01471996e+00] [-3.51550256e-03 9.99993525e-01 -7.68781642e-04 5.04719853e-03] [ 3.49245057e-03 7.81059495e-04 9.99993596e-01 5.13723758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9425578440001 meters 0.28023651937704486 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:0.51 [[ 9.99986529e-01 3.65079194e-03 -3.68957698e-03 3.01530493e+00] [-3.65241045e-03 9.99993237e-01 -4.32028398e-04 3.61647695e-03] [ 3.68797478e-03 4.45498428e-04 9.99993100e-01 5.13523905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97255784400005 meters 0.2819043743539144 Centerline is valid? [False, False] Translation: X:3.04, Y:0.01, Z:0.51 [[ 9.99988702e-01 -4.25810669e-03 -2.11271888e-03 3.03500862e+00] [ 4.25964268e-03 9.99990666e-01 7.23054955e-04 6.69928734e-03] [ 2.10962031e-03 -7.32046214e-04 9.99997507e-01 5.13786837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0025578440001 meters 0.2808102689607099 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:0.51 [[ 9.99989338e-01 -4.14072431e-03 -2.04415027e-03 3.03478006e+00] [ 4.14279139e-03 9.99990911e-01 1.00802071e-03 5.50186798e-03] [ 2.03995776e-03 -1.01647845e-03 9.99997403e-01 5.13922248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03255784400005 meters 0.2797913184353186 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:0.51 [[ 9.99989933e-01 -4.02281139e-03 -1.98779459e-03 3.03461700e+00] [ 4.02539532e-03 9.99991056e-01 1.29760901e-03 4.28889652e-03] [ 1.98255677e-03 -1.30559761e-03 9.99997182e-01 5.13983515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0625578440001 meters 0.2815558770890429 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:0.51 [[ 9.99995418e-01 2.97385739e-03 -5.65528610e-04 3.05589507e+00] [-2.97455003e-03 9.99994822e-01 -1.22789246e-03 2.68037214e-04] [ 5.61874104e-04 1.22956903e-03 9.99999086e-01 5.13781058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09255784400005 meters 0.28115560724551253 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:0.51 [[ 9.99994890e-01 3.14105912e-03 -5.95212993e-04 3.05589815e+00] [-3.14154536e-03 9.99994731e-01 -8.17754283e-04 -1.44762974e-03] [ 5.92641242e-04 8.19619993e-04 9.99999488e-01 5.13950062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1225578440001 meters 0.28205561935980855 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:0.51 [[ 9.99994259e-01 3.33530847e-03 -5.97671442e-04 3.05584208e+00] [-3.33551281e-03 9.99994379e-01 -3.41226721e-04 -3.45794829e-03] [ 5.96529986e-04 3.43218303e-04 9.99999763e-01 5.14089317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15255784400006 meters 0.2825394167513786 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99993651e-01 3.51989635e-03 -5.55957994e-04 3.05564227e+00] [-3.51984009e-03 9.99993800e-01 1.02138620e-04 -5.33064672e-03] [ 5.56314064e-04 -1.00181088e-04 9.99999840e-01 5.14290917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1825578440001 meters 0.2822431248272562 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99992380e-01 3.85114770e-03 -6.39203642e-04 3.05582015e+00] [-3.85056755e-03 9.99992176e-01 9.06383624e-04 -8.73222808e-03] [ 6.42689257e-04 -9.03915421e-04 9.99999385e-01 5.14395328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21255784400006 meters 0.28043591609831275 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.01, Z:0.51 [[ 9.99984703e-01 -4.57535052e-03 -3.10813729e-03 3.03697889e+00] [ 4.58350603e-03 9.99986059e-01 2.62188424e-03 -9.29963763e-03] [ 3.09609792e-03 -2.63609029e-03 9.99991733e-01 5.13804309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters 0.281322600998237 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.52 [[ 9.99988190e-01 4.07380560e-03 -2.65013234e-03 3.05669455e+00] [-4.07026494e-03 9.99990819e-01 1.34005219e-03 -1.35316124e-02] [ 2.65556712e-03 -1.32924962e-03 9.99995591e-01 5.15440911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27255784400006 meters 0.2813599765836333 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.52 [[ 9.99987733e-01 4.13471831e-03 -2.72731878e-03 3.05682501e+00] [-4.13067041e-03 9.99990361e-01 1.48817079e-03 -1.41515119e-02] [ 2.73344566e-03 -1.47688688e-03 9.99995174e-01 5.15589756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters 0.28137231170946 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99987368e-01 4.23583129e-03 -2.70583944e-03 3.05664150e+00] [-4.23113475e-03 9.99989536e-01 1.73907720e-03 -1.51833484e-02] [ 2.71317757e-03 -1.72760646e-03 9.99994827e-01 5.15884484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33255784400006 meters 0.28124464224831885 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99987112e-01 4.28860786e-03 -2.71717874e-03 3.05667369e+00] [-4.28353766e-03 9.99989079e-01 1.86905883e-03 -1.57351228e-02] [ 2.72516472e-03 -1.85739561e-03 9.99994562e-01 5.15885417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36255784400004 meters 0.28124464224831885 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99987112e-01 4.28860786e-03 -2.71717874e-03 3.05667369e+00] [-4.28353766e-03 9.99989079e-01 1.86905883e-03 -1.57351228e-02] [ 2.72516472e-03 -1.85739561e-03 9.99994562e-01 5.15885417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39255784400007 meters 0.2815831346828485 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99986695e-01 4.34376785e-03 -2.78243259e-03 3.05689416e+00] [-4.33818746e-03 9.99988573e-01 2.00848595e-03 -1.63389088e-02] [ 2.79112520e-03 -1.99638851e-03 9.99994112e-01 5.15776703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42255784400004 meters 0.2840895870410006 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.52 [[ 9.99988804e-01 -4.23553466e-03 -2.10990749e-03 3.07937678e+00] [ 4.24026276e-03 9.99988498e-01 2.24149147e-03 -1.45710558e-02] [ 2.10038931e-03 -2.25041294e-03 9.99995262e-01 5.15661401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45255784400007 meters 0.2813037282207582 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99992443e-01 1.43680970e-03 -3.61254311e-03 3.05728558e+00] [-1.43953652e-03 9.99998681e-01 -7.52335415e-04 -1.65500250e-02] [ 3.61145738e-03 7.57530117e-04 9.99993192e-01 5.16699641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48255784400004 meters 0.2817048888426803 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.52 [[ 9.99992596e-01 1.41849087e-03 -3.57712578e-03 3.05716805e+00] [-1.42134747e-03 9.99998673e-01 -7.96158486e-04 -1.63519794e-02] [ 3.57599169e-03 8.01236930e-04 9.99993285e-01 5.16754770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51255784400007 meters 0.28303960167453535 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.52 [[ 9.99992628e-01 -3.69755163e-03 -1.03543561e-03 3.07892295e+00] [ 3.70019374e-03 9.99989874e-01 2.56150587e-03 -1.60261851e-02] [ 1.02595383e-03 -2.56531829e-03 9.99996183e-01 5.15509011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54255784400004 meters 0.28236833774312314 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.52 [[ 9.99992547e-01 -3.73717285e-03 -9.69511027e-04 3.07888965e+00] [ 3.73954899e-03 9.99989980e-01 2.46073469e-03 -1.56185450e-02] [ 9.60305122e-04 -2.46434188e-03 9.99996502e-01 5.15209260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5725578440001 meters 0.28272286724156304 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.51 [[ 9.99992330e-01 -3.78273118e-03 -1.01507095e-03 3.07916930e+00] [ 3.78511070e-03 9.99990069e-01 2.35260003e-03 -1.51867649e-02] [ 1.00616161e-03 -2.35642414e-03 9.99996717e-01 5.14853439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60255784400005 meters 0.28329613630915307 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99992147e-01 -3.82870957e-03 -1.02278108e-03 3.07938686e+00] [ 3.83099140e-03 9.99990156e-01 2.23844083e-03 -1.47438235e-02] [ 1.01420067e-03 -2.24234152e-03 9.99996972e-01 5.14424983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6325578440001 meters 0.2819658134802172 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.52 [[ 9.99991056e-01 1.69224079e-03 -3.87612025e-03 3.05801838e+00] [-1.69548414e-03 9.99998215e-01 -8.33618479e-04 -1.42162881e-02] [ 3.87470264e-03 8.40182924e-04 9.99992140e-01 5.15669047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66255784400005 meters 0.28363341614042153 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99989877e-01 -3.80509726e-03 -2.40130763e-03 3.08103535e+00] [ 3.81014841e-03 9.99990531e-01 2.10243956e-03 -1.18486562e-02] [ 2.39328491e-03 -2.11156762e-03 9.99994907e-01 5.14089851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6925578440001 meters 0.2817686419848578 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99987203e-01 3.59436665e-03 -3.56005872e-03 3.06220700e+00] [-3.59230123e-03 9.99993376e-01 5.86390576e-04 -1.54446009e-02] [ 3.56214284e-03 -5.73594269e-04 9.99993491e-01 5.12325513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72255784400005 meters 0.28236059451413587 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99987383e-01 3.53910931e-03 -3.56480392e-03 3.06228822e+00] [-3.53750258e-03 9.99993639e-01 4.56925354e-04 -1.48968768e-02] [ 3.56639835e-03 -4.44309086e-04 9.99993542e-01 5.12175880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7525578440001 meters 0.2817084187307451 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99988338e-01 3.42299348e-03 -3.40692960e-03 3.06188311e+00] [-3.42243271e-03 9.99994129e-01 1.70413377e-04 -1.36458865e-02] [ 3.40749292e-03 -1.58751403e-04 9.99994182e-01 5.12151894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78255784400005 meters 0.28335637715321443 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99988549e-01 3.36760561e-03 -3.40016889e-03 3.06196341e+00] [-3.36749737e-03 9.99994329e-01 3.75566792e-05 -1.30874166e-02] [ 3.40027608e-03 -2.61061894e-05 9.99994219e-01 5.11938080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8125578440001 meters 0.28265582224164665 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99988524e-01 3.33942726e-03 -3.43503209e-03 3.06221472e+00] [-3.33954767e-03 9.99994423e-01 -2.93185816e-05 -1.28352055e-02] [ 3.43491502e-03 4.07896986e-05 9.99994100e-01 5.11591079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84255784400005 meters 0.2823789562325066 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99988323e-01 3.31241686e-03 -3.51888513e-03 3.06253360e+00] [-3.31275118e-03 9.99994509e-01 -8.91829313e-05 -1.26031834e-02] [ 3.51857040e-03 1.00839081e-04 9.99993805e-01 5.11356234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8725578440001 meters 0.28414743751474286 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99984060e-01 -4.29028558e-03 -3.67060475e-03 3.08216373e+00] [ 4.29441925e-03 9.99990153e-01 1.11901449e-03 -7.59955740e-03] [ 3.66576771e-03 -1.13475977e-03 9.99992637e-01 5.12944358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90255784400006 meters 0.2838076874236172 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99983920e-01 -4.28716702e-03 -3.71213999e-03 3.08237264e+00] [ 4.29138423e-03 9.99990155e-01 1.12884107e-03 -7.65773272e-03] [ 3.70726391e-03 -1.14475314e-03 9.99992473e-01 5.12728604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9325578440001 meters 0.28273396757455116 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99981954e-01 3.11375951e-03 -5.13767190e-03 3.06418173e+00] [-3.11501854e-03 9.99995120e-01 -2.37075765e-04 -1.34216669e-02] [ 5.13690864e-03 2.53075430e-04 9.99986774e-01 5.11149267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96255784400006 meters 0.28257675359252915 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:0.51 [[ 9.99981693e-01 3.16830773e-03 -5.15509423e-03 3.06407851e+00] [-3.16887164e-03 9.99994974e-01 -1.01225744e-04 -1.39694213e-02] [ 5.15474760e-03 1.17559723e-04 9.99986707e-01 5.11476646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99255784400003 meters 0.2831722021303259 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99986545e-01 -4.24325065e-03 -2.98414767e-03 3.08324340e+00] [ 4.24690280e-03 9.99990239e-01 1.21858115e-03 -1.10911845e-02] [ 2.97894780e-03 -1.23123814e-03 9.99994805e-01 5.12659776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02255784400006 meters 0.285032119778564 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.51 [[ 9.99987259e-01 -4.13069795e-03 -2.90172992e-03 3.08281185e+00] [ 4.13503932e-03 9.99990338e-01 1.49172712e-03 -1.22349388e-02] [ 2.89554001e-03 -1.50370688e-03 9.99994677e-01 5.13178932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05255784400003 meters 0.28323545097984765 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99990911e-01 4.01687623e-03 -1.42898699e-03 3.06246612e+00] [-4.01484184e-03 9.99990927e-01 1.42368767e-03 -2.08977381e-02] [ 1.43469280e-03 -1.41793758e-03 9.99997966e-01 5.12587226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08255784400006 meters 0.28302381717953645 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99990184e-01 4.14347080e-03 -1.56943343e-03 3.06283061e+00] [-4.14069976e-03 9.99989870e-01 1.76478547e-03 -2.23357202e-02] [ 1.57672987e-03 -1.75826960e-03 9.99997211e-01 5.12576722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11255784400004 meters 0.28446720485682525 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:0.51 [[ 9.99989389e-01 4.28734824e-03 -1.68565784e-03 3.06313611e+00] [-4.28373124e-03 9.99988527e-01 2.14353605e-03 -2.39388669e-02] [ 1.69482858e-03 -2.13629240e-03 9.99996282e-01 5.12572380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14255784400007 meters 0.28372031875851517 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99988466e-01 4.55662005e-03 -1.51829921e-03 3.06249664e+00] [-4.55217631e-03 9.99985383e-01 2.91750175e-03 -2.70965615e-02] [ 1.53157097e-03 -2.91055653e-03 9.99994591e-01 5.13104247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17255784400004 meters 0.28356405634945725 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998998e-01 2.05638871e-04 -1.40082720e-03 3.06197743e+00] [-2.07626292e-04 9.99998972e-01 -1.41875089e-03 -2.66373132e-02] [ 1.40053401e-03 1.41904031e-03 9.99998012e-01 5.13405531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20255784400007 meters 0.28278265122878316 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99999002e-01 3.72169339e-04 -1.36273522e-03 3.06175240e+00] [-3.73534435e-04 9.99999429e-01 -1.00161491e-03 -2.83791176e-02] [ 1.36236167e-03 1.00212294e-03 9.99998570e-01 5.13692950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23255784400004 meters 0.284848318680446 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99986553e-01 -4.86879868e-03 1.78557340e-03 3.08347831e+00] [ 4.86476315e-03 9.99985619e-01 2.25749553e-03 -3.05342786e-02] [-1.79653901e-03 -2.24877878e-03 9.99995858e-01 5.12079254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26255784400007 meters 0.28508794184058717 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99987011e-01 -4.79070134e-03 1.73992661e-03 3.08369022e+00] [ 4.78644020e-03 9.99985556e-01 2.44499599e-03 -3.13528856e-02] [-1.75161473e-03 -2.43663618e-03 9.99995497e-01 5.11898205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29255784400004 meters 0.2824754663578437 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998839e-01 7.04632748e-04 -1.35120316e-03 3.06181030e+00] [-7.05244135e-04 9.99999649e-01 -4.52053252e-04 -3.04380353e-02] [ 1.35088415e-03 4.53005656e-04 9.99998985e-01 5.13581718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3225578440001 meters 0.2832440614107524 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998862e-01 6.37282886e-04 -1.36775326e-03 3.06204173e+00] [-6.38140030e-04 9.99999600e-01 -6.26334753e-04 -2.97344170e-02] [ 1.36735356e-03 6.27206858e-04 9.99998868e-01 5.13147360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35255784400005 meters 0.28486589112592364 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998865e-01 5.44125435e-04 -1.40489837e-03 3.06211483e+00] [-5.45356519e-04 9.99999468e-01 -8.76045379e-04 -2.86867620e-02] [ 1.40442094e-03 8.76810555e-04 9.99998629e-01 5.13187517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3825578440001 meters 0.2855315169636884 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998755e-01 5.50865613e-04 -1.47878116e-03 3.06226343e+00] [-5.52132779e-04 9.99999481e-01 -8.56626991e-04 -2.87676220e-02] [ 1.47830850e-03 8.57442408e-04 9.99998540e-01 5.13278513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41255784400005 meters 0.28490990438999525 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998649e-01 5.84734422e-04 -1.53643285e-03 3.06231001e+00] [-5.85921140e-04 9.99999530e-01 -7.72048420e-04 -2.91149947e-02] [ 1.53598069e-03 7.72947605e-04 9.99998522e-01 5.13497863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4425578440001 meters 0.2838437433205969 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998457e-01 7.02637513e-04 -1.60977872e-03 3.06235105e+00] [-7.03373377e-04 9.99999648e-01 -4.56600450e-04 -3.04198705e-02] [ 1.60945733e-03 4.57732021e-04 9.99998600e-01 5.13828227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47255784400005 meters 0.2844414877990504 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998437e-01 7.77445057e-04 -1.58803284e-03 3.06224875e+00] [-7.77874313e-04 9.99999661e-01 -2.69707158e-04 -3.11966410e-02] [ 1.58782262e-03 2.70942027e-04 9.99998703e-01 5.13941430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5025578440001 meters 0.28413767441166393 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998400e-01 8.42121304e-04 -1.57808152e-03 3.06219551e+00] [-8.42297487e-04 9.99999639e-01 -1.10982699e-04 -3.18649365e-02] [ 1.57798749e-03 1.12311736e-04 9.99998749e-01 5.14007187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53255784400005 meters 0.2833948780789973 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998306e-01 8.98424486e-04 -1.60626229e-03 3.06224968e+00] [-8.98375609e-04 9.99999596e-01 3.11500661e-05 -3.24628192e-02] [ 1.60628962e-03 -2.97069865e-05 9.99998709e-01 5.14049040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5625578440001 meters 0.284547409115231 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998002e-01 9.34659960e-04 -1.76717939e-03 3.06272947e+00] [-9.34427678e-04 9.99999555e-01 1.32263307e-04 -3.29029795e-02] [ 1.76730223e-03 -1.30611741e-04 9.99998430e-01 5.13892946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59255784400005 meters 0.2854731009784226 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99997831e-01 8.93353261e-04 -1.88130143e-03 3.06315351e+00] [-8.93278985e-04 9.99999600e-01 4.03209120e-05 -3.25298391e-02] [ 1.88133670e-03 -3.86402975e-05 9.99998230e-01 5.13610815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6225578440001 meters 0.2854341928872513 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99997742e-01 8.56655983e-04 -1.94477014e-03 3.06340732e+00] [-8.56750534e-04 9.99999632e-01 -4.77851934e-05 -3.21787532e-02] [ 1.94472849e-03 4.94512683e-05 9.99998108e-01 5.13403961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65255784400006 meters 0.28465628984587643 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99997816e-01 7.78394613e-04 -1.93949135e-03 3.06339019e+00] [-7.78861138e-04 9.99999668e-01 -2.39795991e-04 -3.13606412e-02] [ 1.93930405e-03 2.41306062e-04 9.99998090e-01 5.13401743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6825578440001 meters 0.28429938857419956 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998724e-01 6.89279035e-04 -1.44138271e-03 3.06198271e+00] [-6.90118464e-04 9.99999593e-01 -5.81961141e-04 -2.97945606e-02] [ 1.44098099e-03 5.82955123e-04 9.99998792e-01 5.13928787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71255784400006 meters 0.2844152529912266 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998938e-01 5.96896135e-04 -1.32970494e-03 3.06162849e+00] [-5.97987655e-04 9.99999484e-01 -8.20627286e-04 -2.87635294e-02] [ 1.32921443e-03 8.21421561e-04 9.99998779e-01 5.14073842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters 0.28612750448689683 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99999016e-01 5.37466961e-04 -1.29595985e-03 3.06155569e+00] [-5.38720767e-04 9.99999387e-01 -9.67318135e-04 -2.81431555e-02] [ 1.29543915e-03 9.68015343e-04 9.99998692e-01 5.14036533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77255784400006 meters 0.2865435566149666 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998998e-01 5.58392804e-04 -1.30083036e-03 3.06153910e+00] [-5.59583843e-04 9.99999424e-01 -9.15414994e-04 -2.83561748e-02] [ 1.30031845e-03 9.16142000e-04 9.99998735e-01 5.14100757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80255784400003 meters 0.28535327228255947 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998770e-01 6.98433331e-04 -1.40417076e-03 3.06178594e+00] [-6.99191386e-04 9.99999610e-01 -5.39441482e-04 -2.99432171e-02] [ 1.40379345e-03 5.40422603e-04 9.99998869e-01 5.14151248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83255784400006 meters 0.28433890795542505 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998678e-01 7.88140619e-04 -1.42216215e-03 3.06179763e+00] [-7.88584126e-04 9.99999641e-01 -3.11320127e-04 -3.08985850e-02] [ 1.42191627e-03 3.12441210e-04 9.99998940e-01 5.14231978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86255784400004 meters 0.2857598035747309 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998524e-01 8.92083722e-04 -1.46850204e-03 3.06187114e+00] [-8.92156211e-04 9.99999601e-01 -4.87080752e-05 -3.20065271e-02] [ 1.46845800e-03 5.00181365e-05 9.99998921e-01 5.14346211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89255784400007 meters 0.28520934581889584 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998392e-01 9.59507376e-04 -1.51503321e-03 3.06194106e+00] [-9.59328516e-04 9.99999533e-01 1.18779086e-04 -3.27077075e-02] [ 1.51514647e-03 -1.17325480e-04 9.99998845e-01 5.14459401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92255784400004 meters 0.28481066546505146 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998306e-01 9.68636429e-04 -1.56542589e-03 3.06207630e+00] [-9.68417258e-04 9.99999521e-01 1.40759665e-04 -3.28238481e-02] [ 1.56556148e-03 -1.39243441e-04 9.99998765e-01 5.14451002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95255784400007 meters 0.2852011175952285 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998379e-01 8.90300129e-04 -1.56481126e-03 3.06214591e+00] [-8.90386404e-04 9.99999602e-01 -5.44386317e-05 -3.20037953e-02] [ 1.56476217e-03 5.58318301e-05 9.99998774e-01 5.14285805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98255784400004 meters 0.28685226772611266 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998477e-01 8.07355556e-04 -1.54732015e-03 3.06220857e+00] [-8.07766433e-04 9.99999639e-01 -2.64934654e-04 -3.11283921e-02] [ 1.54710569e-03 2.66184124e-04 9.99998768e-01 5.14043183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01255784400007 meters 0.28587806988670283 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998683e-01 7.36381853e-04 -1.44642563e-03 3.06189240e+00] [-7.37025304e-04 9.99999630e-01 -4.44373661e-04 -3.03376338e-02] [ 1.44609787e-03 4.45439128e-04 9.99998855e-01 5.14158046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04255784400004 meters 0.28539669472884416 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998885e-01 6.99686784e-04 -1.31939880e-03 3.06140118e+00] [-7.00401607e-04 9.99999608e-01 -5.41395211e-04 -2.98789020e-02] [ 1.31901948e-03 5.42318717e-04 9.99998983e-01 5.14532965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0725578440001 meters 0.2861491180850742 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99989552e-01 -4.38300992e-03 1.29793619e-03 3.08384327e+00] [ 4.37953405e-03 9.99986848e-01 2.66883894e-03 -3.02800979e-02] [-1.30961667e-03 -2.66312670e-03 9.99995596e-01 5.12689548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10255784400005 meters 0.28666211339709347 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99989565e-01 -4.41760151e-03 1.16432793e-03 3.08432282e+00] [ 4.41457005e-03 9.99986893e-01 2.59344432e-03 -2.99947574e-02] [-1.17576947e-03 -2.58827725e-03 9.99995959e-01 5.12389326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1325578440001 meters 0.2858553585085284 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99995824e-01 2.84948494e-03 -4.81149934e-04 3.06632881e+00] [-2.84893814e-03 9.99995300e-01 1.13333150e-03 -3.45555373e-02] [ 4.84377084e-04 -1.13195600e-03 9.99999242e-01 5.10556469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16255784400005 meters 0.28699005755607754 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.51 [[ 9.99989437e-01 -4.56455971e-03 -5.38318724e-04 3.08638455e+00] [ 4.56575221e-03 9.99987079e-01 2.23521675e-03 -2.81515886e-02] [ 5.28108988e-04 -2.23765097e-03 9.99997357e-01 5.11766200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1925578440001 meters 0.284819910421439 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998031e-01 6.04597576e-04 -1.89035309e-03 3.06226805e+00] [-6.06400169e-04 9.99999362e-01 -9.53146902e-04 -2.85989514e-02] [ 1.88977561e-03 9.54291335e-04 9.99997759e-01 5.13792850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22255784400005 meters 0.28580431841773285 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998099e-01 6.19833611e-04 -1.84895179e-03 3.06205532e+00] [-6.21531135e-04 9.99999386e-01 -9.17667665e-04 -2.87275151e-02] [ 1.84838185e-03 9.18815101e-04 9.99997870e-01 5.14032436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2525578440001 meters 0.28580431841773285 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998099e-01 6.19833611e-04 -1.84895179e-03 3.06205532e+00] [-6.21531135e-04 9.99999386e-01 -9.17667665e-04 -2.87275151e-02] [ 1.84838185e-03 9.18815101e-04 9.99997870e-01 5.14032436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28255784400005 meters 0.2848554216481751 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.51 [[ 9.99998148e-01 6.38229391e-04 -1.81568300e-03 3.06192806e+00] [-6.39821893e-04 9.99999411e-01 -8.76635817e-04 -2.88947921e-02] [ 1.81512244e-03 8.77795907e-04 9.99997967e-01 5.14125289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3125578440001 meters 0.28818148055216203 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.51 [[ 9.99986051e-01 -4.91307447e-03 -1.93892348e-03 3.08595839e+00] [ 4.91720090e-03 9.99985644e-01 2.12921318e-03 -2.59548283e-02] [ 1.92843467e-03 -2.13871756e-03 9.99995854e-01 5.12593405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34255784400005 meters 0.28587003529881877 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99989986e-01 2.34375954e-03 -3.81246282e-03 3.06740805e+00] [-2.34115511e-03 9.99997023e-01 6.87457542e-04 -2.95880333e-02] [ 3.81406271e-03 -6.78525091e-04 9.99992496e-01 5.10900011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3725578440001 meters 0.28563238205977626 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99989965e-01 2.30187290e-03 -3.84321732e-03 3.06756802e+00] [-2.29962159e-03 9.99997182e-01 5.90103031e-04 -2.91849401e-02] [ 3.84456483e-03 -5.81259164e-04 9.99992441e-01 5.10724791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40255784400006 meters 0.28468166324535166 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99990373e-01 2.26803489e-03 -3.75620132e-03 3.06721282e+00] [-2.26614677e-03 9.99997304e-01 5.06845572e-04 -2.87842974e-02] [ 3.75734073e-03 -4.98328589e-04 9.99992817e-01 5.10999545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4325578440001 meters 0.28484862488987583 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:0.51 [[ 9.99990796e-01 2.25368722e-03 -3.65075666e-03 3.06676802e+00] [-2.25199085e-03 9.99997354e-01 4.68707706e-04 -2.85680896e-02] [ 3.65180333e-03 -4.60481922e-04 9.99993226e-01 5.11385489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46255784400006 meters 0.286340234209023 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99985203e-01 -5.17352790e-03 -1.68206529e-03 3.08577402e+00] [ 5.17629505e-03 9.99985250e-01 1.64492132e-03 -2.42149754e-02] [ 1.67353043e-03 -1.65360385e-03 9.99997232e-01 5.12242062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49255784400003 meters 0.28592736333678553 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99984905e-01 -5.23192341e-03 -1.67812744e-03 3.08594313e+00] [ 5.23444854e-03 9.99985169e-01 1.50388425e-03 -2.36372474e-02] [ 1.67023434e-03 -1.51264562e-03 9.99997461e-01 5.11844858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52255784400006 meters 0.285693117436776 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99984591e-01 -5.28049725e-03 -1.71310630e-03 3.08615009e+00] [ 5.28287262e-03 9.99985086e-01 1.38504008e-03 -2.31649245e-02] [ 1.70576705e-03 -1.39406886e-03 9.99997573e-01 5.11585130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55255784400003 meters 0.2856637266694743 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99984280e-01 -5.33199367e-03 -1.73498937e-03 3.08629858e+00] [ 5.33418279e-03 9.99984980e-01 1.25957696e-03 -2.26580800e-02] [ 1.72824725e-03 -1.26881191e-03 9.99997702e-01 5.11378293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58255784400006 meters 0.28513146732980066 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99983435e-01 -5.50295839e-03 -1.68707932e-03 3.08628553e+00] [ 5.50430278e-03 9.99984537e-01 7.93268797e-04 -2.07109898e-02] [ 1.68268791e-03 -8.02541852e-04 9.99998262e-01 5.11090179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61255784400004 meters 0.28487599978291755 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.51 [[ 9.99982796e-01 -5.62893988e-03 -1.64982020e-03 3.08623592e+00] [ 5.62972455e-03 9.99984042e-01 4.71350203e-04 -1.93547904e-02] [ 1.64714067e-03 -4.80630127e-04 9.99998528e-01 5.10957483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64255784400007 meters 0.2862161329389938 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.51 [[ 9.99995456e-01 3.00742483e-03 2.06069530e-04 3.10568156e+00] [-3.00717026e-03 9.99994728e-01 -1.22474859e-03 -1.85851876e-02] [-2.09751783e-04 1.22412334e-03 9.99999229e-01 5.11716176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67255784400004 meters 0.28575900484623373 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.51 [[ 9.99995772e-01 2.89256752e-03 2.98235268e-04 3.10541211e+00] [-2.89211178e-03 9.99994667e-01 -1.51741293e-03 -1.73254328e-02] [-3.02622897e-04 1.51654398e-03 9.99998804e-01 5.11776126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70255784400007 meters 0.28542382283929 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.51 [[ 9.99995933e-01 2.82619172e-03 3.82557597e-04 3.10513842e+00] [-2.82554265e-03 9.99994586e-01 -1.68670009e-03 -1.65898182e-02] [-3.87322464e-04 1.68561230e-03 9.99998504e-01 5.11897177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73255784400004 meters 0.2846897589377406 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.51 [[ 9.99996176e-01 2.73570536e-03 4.03681795e-04 3.10502691e+00] [-2.73493085e-03 9.99994442e-01 -1.90683800e-03 -1.56273470e-02] [-4.08896098e-04 1.90572666e-03 9.99998101e-01 5.12012459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76255784400007 meters 0.2850929565040648 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99996402e-01 2.65271088e-03 3.99181416e-04 3.10505751e+00] [-2.65186697e-03 9.99994279e-01 -2.09998353e-03 -1.47831537e-02] [-4.04749781e-04 2.09891740e-03 9.99997715e-01 5.11960450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79255784400004 meters 0.2848219251224457 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99996423e-01 2.64548459e-03 3.94254842e-04 3.10504491e+00] [-2.64464329e-03 9.99994257e-01 -2.11934179e-03 -1.46976428e-02] [-3.99859264e-04 2.11829155e-03 9.99997676e-01 5.12015336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8225578440001 meters 0.28717231750480393 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99991199e-01 -3.01225354e-03 2.92047752e-03 3.12708762e+00] [ 3.00999760e-03 9.99995168e-01 7.76542616e-04 -1.44141204e-02] [-2.92280255e-03 -7.67745151e-04 9.99995434e-01 5.10356698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85255784400005 meters 0.2839686841540067 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.02, Z:0.51 [[ 9.99998493e-01 1.66169632e-03 5.03464563e-04 3.10481167e+00] [-1.66030234e-03 9.99994822e-01 -2.75666223e-03 -1.51725852e-02] [-5.08042691e-04 2.75582217e-03 9.99996074e-01 5.11362120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8825578440001 meters 0.2858604127844517 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99998564e-01 1.63960938e-03 4.28517213e-04 3.10510252e+00] [-1.63840084e-03 9.99994722e-01 -2.80556390e-03 -1.49723434e-02] [-4.33114981e-04 2.80485779e-03 9.99995973e-01 5.11128701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91255784400005 meters 0.28658403934733 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99990446e-01 -3.66608014e-03 2.38088271e-03 3.12748529e+00] [ 3.66489602e-03 9.99993158e-01 5.01516217e-04 -1.42031612e-02] [-2.38270502e-03 -4.92785738e-04 9.99997040e-01 5.09842415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9425578440001 meters 0.2865307167489857 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99990633e-01 -3.68046577e-03 2.27763992e-03 3.12772472e+00] [ 3.67940220e-03 9.99993120e-01 4.70975751e-04 -1.40737200e-02] [-2.27935766e-03 -4.62590986e-04 9.99997295e-01 5.09899471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97255784400005 meters 0.2858397756872443 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99990663e-01 -3.68894903e-03 2.25058625e-03 3.12771548e+00] [ 3.68794669e-03 9.99993099e-01 4.49359235e-04 -1.39753878e-02] [-2.25222838e-03 -4.41054997e-04 9.99997366e-01 5.10065194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0025578440001 meters 0.2860059437001024 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.02, Z:0.51 [[ 9.99988500e-01 4.40115728e-03 1.90492169e-03 3.10639079e+00] [-4.40021405e-03 9.99990194e-01 -4.99066071e-04 -1.59240777e-02] [-1.90709948e-03 4.90678269e-04 9.99998061e-01 5.09465535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03255784400005 meters 0.28512527157743217 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99988890e-01 4.27556669e-03 1.98484870e-03 3.10615457e+00] [-4.27395699e-03 9.99990535e-01 -8.14527458e-04 -1.45555579e-02] [-1.98831248e-03 8.06035251e-04 9.99997698e-01 5.09525985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0625578440001 meters 0.2856320534859156 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99989257e-01 4.16220618e-03 2.04014011e-03 3.10607991e+00] [-4.15995864e-03 9.99990737e-01 -1.10466521e-03 -1.33333094e-02] [-2.04471905e-03 1.09616644e-03 9.99997309e-01 5.09374298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09255784400005 meters 0.2847703340268609 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99989743e-01 4.06666550e-03 1.99407656e-03 3.10626078e+00] [-4.06400331e-03 9.99990848e-01 -1.33728825e-03 -1.23572937e-02] [-1.99949661e-03 1.32917060e-03 9.99997118e-01 5.09232489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1225578440001 meters 0.28521674329047786 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99990100e-01 4.01804244e-03 1.91161976e-03 3.10649322e+00] [-4.01526893e-03 9.99990884e-01 -1.45250234e-03 -1.18742603e-02] [-1.91743855e-03 1.44481230e-03 9.99997118e-01 5.09181008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15255784400006 meters 0.2861256629833385 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99989726e-01 -4.14682522e-03 1.83065891e-03 3.12877551e+00] [ 4.14831076e-03 9.99991069e-01 -8.08431620e-04 -8.66209794e-03] [-1.82729014e-03 8.16017456e-04 9.99997998e-01 5.09646536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1825578440001 meters 0.28534539270823606 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99990539e-01 -4.04074920e-03 1.61061667e-03 3.12934901e+00] [ 4.04158523e-03 9.99991700e-01 -5.16160764e-04 -9.91879815e-03] [-1.60851763e-03 5.22665325e-04 9.99998570e-01 5.09621447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21255784400006 meters 0.286204129321077 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99991220e-01 -3.93229966e-03 1.44779196e-03 3.12982490e+00] [ 3.93262458e-03 9.99992243e-01 -2.21649612e-04 -1.12099624e-02] [-1.44690913e-03 2.27341288e-04 9.99998927e-01 5.09482915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24255784400003 meters 0.28652853460755545 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.01, Z:0.51 [[ 9.99991823e-01 -3.74733659e-03 1.52046908e-03 3.12933318e+00] [ 3.74681596e-03 9.99992921e-01 3.45115727e-04 -1.35264214e-02] [-1.52175158e-03 -3.39415987e-04 9.99998785e-01 5.10240300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27255784400006 meters 0.2843480412328396 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.51 [[ 9.99998407e-01 1.74923856e-03 -3.54351927e-04 3.10551095e+00] [-1.75007607e-03 9.99995643e-01 -2.37713702e-03 -1.49387292e-02] [ 3.50192203e-04 2.37775337e-03 9.99997112e-01 5.12655493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30255784400003 meters 0.2854339029073612 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.01, Z:0.51 [[ 9.99983998e-01 -5.58664763e-03 8.91105633e-04 3.12454512e+00] [ 5.58727715e-03 9.99984142e-01 -7.05530556e-04 -1.20898260e-02] [-8.87149952e-04 7.10498120e-04 9.99999354e-01 5.14160285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33255784400006 meters 0.28541047046211787 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.01, Z:0.51 [[ 9.99984752e-01 -5.45370455e-03 8.67827834e-04 3.12462212e+00] [ 5.45403936e-03 9.99985053e-01 -3.83904402e-04 -1.34713704e-02] [-8.65721161e-04 3.88631715e-04 9.99999550e-01 5.14141075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36255784400004 meters 0.28506470501938735 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.02, Z:0.51 [[ 9.99986688e-01 -5.09757731e-03 7.99307940e-04 3.12465844e+00] [ 5.09720559e-03 9.99986900e-01 4.66407223e-04 -1.71592548e-02] [-8.01675017e-04 -4.62326777e-04 9.99999572e-01 5.14433610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39255784400007 meters 0.2843411292085171 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.02, Z:0.51 [[ 9.99987629e-01 -4.91201803e-03 7.83307704e-04 3.12455049e+00] [ 4.91129708e-03 9.99987517e-01 9.19668049e-04 -1.90886393e-02] [-7.87815352e-04 -9.15809615e-04 9.99999270e-01 5.14767030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42255784400004 meters 0.2837070060863022 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99996055e-01 2.75315912e-03 5.57104872e-04 3.10541800e+00] [-2.75319957e-03 9.99996207e-01 7.18598125e-05 -2.59547383e-02] [-5.56904917e-04 -7.33933499e-05 9.99999842e-01 5.13223238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45255784400007 meters 0.28452370383840214 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995587e-01 2.91326083e-03 5.81789580e-04 3.10529010e+00] [-2.91353860e-03 9.99995642e-01 4.77156840e-04 -2.76486628e-02] [-5.80396962e-04 -4.78849800e-04 9.99999717e-01 5.13371319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48255784400004 meters 0.28482606627456725 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995088e-01 3.07391730e-03 6.11642661e-04 3.10517862e+00] [-3.07445673e-03 9.99994884e-01 8.82949057e-04 -2.93637007e-02] [-6.08925419e-04 -8.84825189e-04 9.99999423e-01 5.13447584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51255784400007 meters 0.28550697467347835 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99998546e-01 1.60355775e-03 -5.79960132e-04 3.11061265e+00] [-1.60371340e-03 9.99998678e-01 -2.68007759e-04 -3.19279141e-02] [ 5.79529599e-04 2.68937459e-04 9.99999796e-01 5.10014351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54255784400004 meters 0.28335852868379524 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999748e-01 5.58522264e-04 4.37690394e-04 3.07235102e+00] [-5.58825796e-04 9.99999603e-01 6.93669850e-04 -3.64697053e-02] [-4.37302790e-04 -6.93914268e-04 9.99999664e-01 5.06680678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5725578440001 meters 0.2831339037029318 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999718e-01 6.46662250e-04 3.81572779e-04 3.07248998e+00] [-6.47012644e-04 9.99999369e-01 9.18879340e-04 -3.74256197e-02] [-3.80978333e-04 -9.19125963e-04 9.99999505e-01 5.06686109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60255784400005 meters 0.28345892451675053 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999668e-01 7.39169435e-04 3.41625388e-04 3.07256104e+00] [-7.39562612e-04 9.99999063e-01 1.15221175e-03 -3.84135448e-02] [-3.40773388e-04 -1.15246402e-03 9.99999278e-01 5.06752726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6325578440001 meters 0.2844706949452817 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999625e-01 8.24749999e-04 2.64403765e-04 3.07279019e+00] [-8.25110580e-04 9.99998726e-01 1.36655695e-03 -3.93335305e-02] [-2.63276361e-04 -1.36677460e-03 9.99999031e-01 5.06686208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66255784400005 meters 0.28435528509223945 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999524e-01 9.36191986e-04 2.74559078e-04 3.07283403e+00] [-9.36639511e-04 9.99998226e-01 1.63440379e-03 -4.04937078e-02] [-2.73028475e-04 -1.63466017e-03 9.99998627e-01 5.06542861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6925578440001 meters 0.2844921205144842 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999540e-01 9.09440893e-04 3.06199900e-04 3.07276265e+00] [-9.09920132e-04 9.99998356e-01 1.56863450e-03 -4.02118159e-02] [-3.04772816e-04 -1.56891239e-03 9.99998723e-01 5.06522498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72255784400005 meters 0.284765005862278 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999658e-01 8.06838024e-04 1.79810257e-04 3.07330051e+00] [-8.07071468e-04 9.99998827e-01 1.30201492e-03 -3.91142968e-02] [-1.78759531e-04 -1.30215959e-03 9.99999136e-01 5.06004018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7525578440001 meters 0.2844968049473132 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:0.51 [[ 9.99999738e-01 7.21878863e-04 5.89073869e-05 3.07377987e+00] [-7.21943004e-04 9.99999139e-01 1.09619180e-03 -3.82561989e-02] [-5.81160185e-05 -1.09623404e-03 9.99999397e-01 5.05596842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78255784400005 meters 0.28632599061305875 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99994763e-01 1.43159358e-03 -2.90234560e-03 3.11489396e+00] [-1.43380644e-03 9.99998683e-01 -7.60503878e-04 -3.36500264e-02] [ 2.90125304e-03 7.64661297e-04 9.99995499e-01 5.08095716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8125578440001 meters 0.28550893731155674 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.03, Z:0.51 [[ 9.99994695e-01 1.34905383e-03 -2.96494040e-03 3.11515378e+00] [-1.35190533e-03 9.99998625e-01 -9.59944529e-04 -3.28114128e-02] [ 2.96364131e-03 9.63947754e-04 9.99995144e-01 5.07871575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84255784400005 meters 0.285091668929228 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.03, Z:0.51 [[ 9.99994779e-01 1.28704833e-03 -2.96410521e-03 3.11518179e+00] [-1.29035563e-03 9.99998547e-01 -1.11414249e-03 -3.21637467e-02] [ 2.96266694e-03 1.11796142e-03 9.99994986e-01 5.07803449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8725578440001 meters 0.28493153406278093 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.03, Z:0.51 [[ 9.99994938e-01 1.24429942e-03 -2.92857100e-03 3.11502924e+00] [-1.24787247e-03 9.99998479e-01 -1.21855394e-03 -3.16986823e-02] [ 2.92705030e-03 1.22220225e-03 9.99994969e-01 5.07939305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90255784400006 meters 0.2849449858990487 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995169e-01 1.25239230e-03 -2.84497740e-03 3.11456510e+00] [-1.25581002e-03 9.99998492e-01 -1.19984865e-03 -3.17241349e-02] [ 2.84347043e-03 1.20341560e-03 9.99995233e-01 5.08530518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9325578440001 meters 0.2848099331920972 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995294e-01 1.27260269e-03 -2.79135779e-03 3.11429866e+00] [-1.27581863e-03 9.99998524e-01 -1.15063082e-03 -3.19034037e-02] [ 2.78988937e-03 1.15418667e-03 9.99995442e-01 5.08815830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96255784400006 meters 0.284605549728176 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995300e-01 1.30352389e-03 -2.77498934e-03 3.11413079e+00] [-1.30652077e-03 9.99998565e-01 -1.07842442e-03 -3.22037677e-02] [ 2.77357961e-03 1.08204494e-03 9.99995568e-01 5.09091116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99255784400003 meters 0.2841913325837653 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995477e-01 1.29280798e-03 -2.71563063e-03 3.11393651e+00] [-1.29581643e-03 9.99998548e-01 -1.10636239e-03 -3.20748051e-02] [ 2.71419637e-03 1.10987635e-03 9.99995701e-01 5.09184195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02255784400006 meters 0.2844189273758411 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995538e-01 1.29738605e-03 -2.69092518e-03 3.11384813e+00] [-1.30034034e-03 9.99998553e-01 -1.09640967e-03 -3.21138384e-02] [ 2.68949882e-03 1.09990390e-03 9.99995778e-01 5.09235414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05255784400003 meters 0.28427083228831546 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99995585e-01 1.32096321e-03 -2.66193655e-03 3.11372045e+00] [-1.32372786e-03 9.99998586e-01 -1.03709424e-03 -3.23506377e-02] [ 2.66056282e-03 1.04061334e-03 9.99995919e-01 5.09354068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08255784400006 meters 0.28311192385395506 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.51 [[ 9.99962468e-01 -7.70605452e-03 -3.95973765e-03 3.09415227e+00] [ 7.70698955e-03 9.99970276e-01 2.20928723e-04 -3.09771455e-02] [ 3.95791747e-03 -2.51438087e-04 9.99992136e-01 5.08647143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11255784400004 meters 0.2837491385427044 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.03, Z:0.51 [[ 9.99994575e-01 1.14873409e-03 -3.08700538e-03 3.11328466e+00] [-1.15198255e-03 9.99998784e-01 -1.05072945e-03 -3.45451780e-02] [ 3.08579462e-03 1.05427992e-03 9.99994683e-01 5.10118295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14255784400007 meters 0.28339109107199956 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99994477e-01 1.20025479e-03 -3.09925161e-03 3.11330232e+00] [-1.20311970e-03 9.99998851e-01 -9.22690847e-04 -3.50797969e-02] [ 3.09814058e-03 9.26414522e-04 9.99994772e-01 5.10148555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17255784400004 meters 0.28339109107199956 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99994477e-01 1.20025479e-03 -3.09925161e-03 3.11330232e+00] [-1.20311970e-03 9.99998851e-01 -9.22690847e-04 -3.50797969e-02] [ 3.09814058e-03 9.26414522e-04 9.99994772e-01 5.10148555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20255784400007 meters 0.2840182099306465 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99994324e-01 1.25626027e-03 -3.12623293e-03 3.11332999e+00] [-1.25872204e-03 9.99998899e-01 -7.85611919e-04 -3.56599933e-02] [ 3.12524255e-03 7.89542519e-04 9.99994805e-01 5.10236301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23255784400004 meters 0.2830242618223256 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993919e-01 1.41852577e-03 -3.18574532e-03 3.11332195e+00] [-1.41972863e-03 9.99998922e-01 -3.75343960e-04 -3.73672132e-02] [ 3.18520945e-03 3.79864572e-04 9.99994855e-01 5.10582857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26255784400007 meters 0.28302483182749055 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993782e-01 1.47357550e-03 -3.20369878e-03 3.11337885e+00] [-1.47434865e-03 9.99998885e-01 -2.38982632e-04 -3.79401082e-02] [ 3.20334304e-03 2.43704515e-04 9.99994840e-01 5.10555811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29255784400004 meters 0.2833878343004849 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993666e-01 1.50477699e-03 -3.22558927e-03 3.11345224e+00] [-1.50530858e-03 9.99998854e-01 -1.62384757e-04 -3.82729075e-02] [ 3.22534122e-03 1.67239236e-04 9.99994785e-01 5.10519082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3225578440001 meters 0.2852670630848609 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993747e-01 1.49717778e-03 -3.20394823e-03 3.11340537e+00] [-1.49776163e-03 9.99998862e-01 -1.79838305e-04 -3.81942767e-02] [ 3.20367533e-03 1.84635931e-04 9.99994851e-01 5.10501848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35255784400005 meters 0.2846299262617386 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993685e-01 1.45995252e-03 -3.24025432e-03 3.11362607e+00] [-1.46088068e-03 9.99998893e-01 -2.84098815e-04 -3.77943011e-02] [ 3.23983596e-03 2.88830646e-04 9.99994710e-01 5.10180629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3825578440001 meters 0.28524917717397896 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:0.51 [[ 9.99993441e-01 1.36331106e-03 -3.35536210e-03 3.11407766e+00] [-1.36506588e-03 9.99998933e-01 -5.20755755e-04 -3.68029264e-02] [ 3.35464856e-03 5.25332630e-04 9.99994235e-01 5.09821181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41255784400005 meters 0.2843695997723691 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995662e-01 4.75874227e-04 -2.90672710e-03 3.07731613e+00] [-4.76113628e-04 9.99999883e-01 -8.16694896e-05 -3.85119358e-02] [ 2.90668790e-03 8.30530677e-05 9.99995772e-01 5.05624424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4425578440001 meters 0.28411071100208346 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995390e-01 4.29851770e-04 -3.00573273e-03 3.07771813e+00] [-4.30443971e-04 9.99999888e-01 -1.96379578e-04 -3.80481166e-02] [ 3.00564798e-03 1.97672472e-04 9.99995463e-01 5.05264656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47255784400005 meters 0.28549231319193963 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995474e-01 4.00414300e-04 -2.98201169e-03 3.07771872e+00] [-4.01220186e-04 9.99999883e-01 -2.69655714e-04 -3.77448627e-02] [ 2.98190336e-03 2.70850937e-04 9.99995517e-01 5.05127745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5025578440001 meters 0.28525093482374875 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995846e-01 3.74797059e-04 -2.85774362e-03 3.07733263e+00] [-3.75762318e-04 9.99999873e-01 -3.37240317e-04 -3.74318072e-02] [ 2.85761686e-03 3.38312749e-04 9.99995860e-01 5.05279887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53255784400005 meters 0.2861635805282184 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995757e-01 3.48789447e-04 -2.89209468e-03 3.07747042e+00] [-3.49949806e-04 9.99999858e-01 -4.00721189e-04 -3.71752340e-02] [ 2.89195450e-03 4.01731577e-04 9.99995738e-01 5.05167652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5625578440001 meters 0.28650678895864756 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.50 [[ 9.99995588e-01 3.11709093e-04 -2.95418641e-03 3.07773041e+00] [-3.13159771e-04 9.99999831e-01 -4.90608284e-04 -3.68228963e-02] [ 2.95403298e-03 4.91531251e-04 9.99995516e-01 5.04946657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59255784400005 meters 0.2847875889781049 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.50 [[ 9.99995439e-01 2.62638492e-04 -3.00871263e-03 3.07793325e+00] [-2.64466790e-04 9.99999781e-01 -6.07286244e-04 -3.63378692e-02] [ 3.00855247e-03 6.08079179e-04 9.99995289e-01 5.04802199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6225578440001 meters 0.2850920487933569 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995615e-01 1.70095330e-04 -2.95665257e-03 3.07769026e+00] [-1.72590345e-04 9.99999629e-01 -8.43630059e-04 -3.53045639e-02] [ 2.95650797e-03 8.44136649e-04 9.99995273e-01 5.05030079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65255784400006 meters 0.2851903576755033 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99995597e-01 1.22879048e-04 -2.96478106e-03 3.07765347e+00] [-1.25724100e-04 9.99999532e-01 -9.59448795e-04 -3.48066582e-02] [ 2.96466178e-03 9.59817315e-04 9.99995145e-01 5.05150318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6825578440001 meters 0.28506317717379787 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99995741e-01 9.41639353e-05 -2.91711414e-03 3.07751010e+00] [-9.71764553e-05 9.99999462e-01 -1.03258104e-03 -3.44925110e-02] [ 2.91701534e-03 1.03286012e-03 9.99995212e-01 5.05194572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71255784400006 meters 0.28570495354157716 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99995880e-01 7.57170824e-05 -2.86948948e-03 3.07737816e+00] [-7.88133156e-05 9.99999415e-01 -1.07892112e-03 -3.42878538e-02] [ 2.86940611e-03 1.07914283e-03 9.99995301e-01 5.05213473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters 0.2842166182256127 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.51 [[ 9.99996005e-01 1.42254062e-04 -2.82290117e-03 3.07721223e+00] [-1.44834585e-04 9.99999572e-01 -9.13955391e-04 -3.49699522e-02] [ 2.82276995e-03 9.14360594e-04 9.99995598e-01 5.05326738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77255784400006 meters 0.28557208413332025 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995905e-01 2.59905084e-04 -2.84996783e-03 3.07728398e+00] [-2.61638509e-04 9.99999781e-01 -6.07870049e-04 -3.62513597e-02] [ 2.84980922e-03 6.08613221e-04 9.99995754e-01 5.05329818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters 0.28600915577939273 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:0.51 [[ 9.99995632e-01 4.17112141e-04 -2.92611906e-03 3.07746236e+00] [-4.17669034e-04 9.99999895e-01 -1.89709329e-04 -3.79926822e-02] [ 2.92603962e-03 1.90930650e-04 9.99995701e-01 5.05376299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83255784400006 meters 0.2835796143311989 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.05, Z:0.50 [[ 9.99999387e-01 -8.68613737e-04 -6.86643129e-04 3.03800109e+00] [ 8.69766893e-04 9.99998209e-01 1.68089884e-03 -4.85303667e-02] [ 6.85181847e-04 -1.68149503e-03 9.99998352e-01 5.02706125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86255784400004 meters 0.28467352889564307 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.05, Z:0.50 [[ 9.99999488e-01 -7.28669305e-04 -7.01987088e-04 3.03788007e+00] [ 7.30099078e-04 9.99997655e-01 2.03865143e-03 -5.00056173e-02] [ 7.00499940e-04 -2.03916291e-03 9.99997676e-01 5.03079606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89255784400007 meters 0.28377406205534333 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.05, Z:0.50 [[ 9.99985029e-01 4.77854665e-03 -2.66600214e-03 3.01636649e+00] [-4.78105649e-03 9.99988133e-01 -9.35845466e-04 -5.23865585e-02] [ 2.66149852e-03 9.48577762e-04 9.99996008e-01 5.04122513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92255784400004 meters 0.2854714184627926 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.05, Z:0.50 [[ 9.99999249e-01 -6.10291018e-04 -1.06287425e-03 3.04003355e+00] [ 6.12346371e-04 9.99997941e-01 1.93451828e-03 -5.21651684e-02] [ 1.06169144e-03 -1.93516768e-03 9.99997564e-01 5.02407622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95255784400007 meters 0.2862406898782058 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.05, Z:0.50 [[ 9.99980901e-01 4.66228955e-03 -4.05709530e-03 3.01891243e+00] [-4.66757701e-03 9.99988269e-01 -1.29477283e-03 -5.10417696e-02] [ 4.05101110e-03 1.31368490e-03 9.99990932e-01 5.03121249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98255784400004 meters 0.28631997820007493 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.05, Z:0.50 [[ 9.99987322e-01 -3.00754197e-03 -4.03867692e-03 3.03855757e+00] [ 3.00634396e-03 9.99995435e-01 -3.02671535e-04 -4.54378378e-02] [ 4.03956878e-03 2.90526045e-04 9.99991799e-01 5.03921057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01255784400007 meters 0.2867194130351301 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99987940e-01 -3.14947444e-03 -3.76832120e-03 3.03815157e+00] [ 3.14652370e-03 9.99994739e-01 -7.88708699e-04 -4.35777389e-02] [ 3.77078539e-03 7.76842075e-04 9.99992589e-01 5.03371849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04255784400004 meters 0.2865233192937892 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99988118e-01 -3.28066884e-03 -3.60560855e-03 3.03772627e+00] [ 3.27652272e-03 9.99993965e-01 -1.15521448e-03 -4.20515931e-02] [ 3.60937667e-03 1.14338690e-03 9.99992833e-01 5.03393905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0725578440001 meters 0.29040504179277193 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.50 [[ 9.99991245e-01 4.15529197e-03 -4.93821074e-04 3.05740804e+00] [-4.15720737e-03 9.99983584e-01 -3.94316004e-03 -3.89441929e-02] [ 4.77427986e-04 3.94517843e-03 9.99992104e-01 5.02703589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10255784400005 meters 0.2859907107671576 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.50 [[ 9.99992184e-01 3.92363810e-03 -4.87657221e-04 3.05769294e+00] [-3.92579902e-03 9.99982114e-01 -4.51222507e-03 -3.65833988e-02] [ 4.69944160e-04 4.51410425e-03 9.99989701e-01 5.02040761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1325578440001 meters 0.2862332169369623 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.50 [[ 9.99992276e-01 3.88244582e-03 -6.11455528e-04 3.05817061e+00] [-3.88522421e-03 9.99981825e-01 -4.61020868e-03 -3.62220513e-02] [ 5.93545530e-04 4.61254871e-03 9.99989186e-01 5.01666328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16255784400005 meters 0.28688871629876767 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.50 [[ 9.99992306e-01 3.86151550e-03 -6.89993211e-04 3.05844719e+00] [-3.86469134e-03 9.99981664e-01 -4.66224664e-03 -3.60297149e-02] [ 6.71977221e-04 4.66487738e-03 9.99988894e-01 5.01487896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1925578440001 meters 0.28565612082035546 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:0.50 [[ 9.99992481e-01 3.81270784e-03 -7.08415655e-04 3.05833813e+00] [-3.81607546e-03 9.99981127e-01 -4.81480174e-03 -3.54251656e-02] [ 6.90044853e-04 4.81746890e-03 9.99988158e-01 5.01847728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22255784400005 meters 0.28553586683926 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.50 [[ 9.99992600e-01 3.77023065e-03 -7.65629482e-04 3.05845675e+00] [-3.77395216e-03 9.99980781e-01 -4.91888106e-03 -3.49896977e-02] [ 7.47069451e-04 4.92173411e-03 9.99987609e-01 5.01900157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2525578440001 meters 0.28588023186527994 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:0.50 [[ 9.99992798e-01 3.72386011e-03 -7.31993215e-04 3.05837412e+00] [-3.72750023e-03 9.99980372e-01 -5.03606249e-03 -3.45016949e-02] [ 7.13225255e-04 5.03875473e-03 9.99987051e-01 5.01892023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28255784400005 meters 0.28601664568124874 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.50 [[ 9.99985370e-01 -4.95928919e-03 -2.15996928e-03 3.03936304e+00] [ 4.95150972e-03 9.99981289e-01 -3.59223332e-03 -3.20393439e-02] [ 2.17774378e-03 3.58148565e-03 9.99991215e-01 5.00684917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3125578440001 meters 0.28603947441502864 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:0.50 [[ 9.99985076e-01 -4.97329876e-03 -2.26154840e-03 3.03968029e+00] [ 4.96507513e-03 9.99981095e-01 -3.62747475e-03 -3.19189193e-02] [ 2.27954616e-03 3.61619185e-03 9.99990863e-01 5.00542073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34255784400005 meters 0.2851976004658873 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.04, Z:0.50 [[ 9.99991099e-01 3.00109956e-03 -2.96570643e-03 3.02029507e+00] [-3.01411677e-03 9.99985801e-01 -4.39456516e-03 -3.71145330e-02] [ 2.95247579e-03 4.40346502e-03 9.99985946e-01 4.99654436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3725578440001 meters 0.2859283046355728 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99997773e-01 -2.06876320e-03 -4.18176297e-04 3.04220665e+00] [ 2.06837423e-03 9.99997430e-01 -9.28459819e-04 -3.79095458e-02] [ 4.20095986e-04 9.27592806e-04 9.99999482e-01 4.98447233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40255784400006 meters 0.28621782903666043 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99997943e-01 -1.97262256e-03 -4.71491899e-04 3.04222669e+00] [ 1.97229740e-03 9.99997818e-01 -6.89110899e-04 -3.89084648e-02] [ 4.72850226e-04 6.88179560e-04 9.99999651e-01 4.98707290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4325578440001 meters 0.2855357216558218 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99998063e-01 -1.89630849e-03 -5.27450667e-04 3.04224058e+00] [ 1.89604286e-03 9.99998076e-01 -5.03670013e-04 -3.96903442e-02] [ 5.28404765e-04 5.02668969e-04 9.99999734e-01 4.98994039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46255784400006 meters 0.2847112929665266 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99998182e-01 -1.82865075e-03 -5.41146431e-04 3.04213436e+00] [ 1.82846883e-03 9.99998272e-01 -3.36488167e-04 -4.03832646e-02] [ 5.41760815e-04 3.35498086e-04 9.99999797e-01 4.99307636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49255784400003 meters 0.28525240340014363 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99998248e-01 -1.80271132e-03 -5.03464592e-04 3.04201911e+00] [ 1.80257420e-03 9.99998338e-01 -2.72677210e-04 -4.06494569e-02] [ 5.03955314e-04 2.71769200e-04 9.99999836e-01 4.99357419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52255784400006 meters 0.28608176084329334 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99998178e-01 -1.89473477e-03 -2.32549695e-04 3.04119144e+00] [ 1.89460386e-03 9.99998047e-01 -5.61858125e-04 -3.93382548e-02] [ 2.33613813e-04 5.61416511e-04 9.99999815e-01 4.99708121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55255784400003 meters 0.2861272416355149 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99998049e-01 -1.97202678e-03 -1.10993311e-04 3.04084330e+00] [ 1.97193987e-03 9.99997753e-01 -7.77766926e-04 -3.84293276e-02] [ 1.12526839e-04 7.77546537e-04 9.99999691e-01 4.99803980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58255784400006 meters 0.2860130393830753 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.04, Z:0.50 [[ 9.99997647e-01 -2.15882784e-03 -2.11424564e-04 3.04113894e+00] [ 2.15853039e-03 9.99996694e-01 -1.39715881e-03 -3.60147430e-02] [ 2.14440090e-04 1.39669915e-03 9.99999002e-01 4.99593618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61255784400004 meters 0.2887575455125234 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.50 [[ 9.99997929e-01 3.85558628e-04 -1.99824996e-03 3.08023454e+00] [-3.88295449e-04 9.99998987e-01 -1.36940218e-03 -3.01922663e-02] [ 1.99771995e-03 1.37017526e-03 9.99997066e-01 5.02805643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64255784400007 meters 0.2864524670431727 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.50 [[ 9.99998106e-01 2.55267012e-04 -1.92931032e-03 3.08011667e+00] [-2.58591035e-04 9.99998482e-01 -1.72285416e-03 -2.87447907e-02] [ 1.92886761e-03 1.72334980e-03 9.99996655e-01 5.02656938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67255784400004 meters 0.2862261906848537 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.03, Z:0.50 [[ 9.99998401e-01 1.47661249e-04 -1.78196070e-03 3.07970375e+00] [-1.51245965e-04 9.99997965e-01 -2.01170290e-03 -2.75197660e-02] [ 1.78166003e-03 2.01196920e-03 9.99996389e-01 5.02739953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70255784400007 meters 0.2865126536066666 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.50 [[ 9.99998834e-01 -7.80935229e-05 -1.52490647e-03 3.07882797e+00] [ 7.40795611e-05 9.99996533e-01 -2.63214668e-03 -2.47669786e-02] [ 1.52510674e-03 2.63203064e-03 9.99995373e-01 5.03229911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73255784400004 meters 0.28636409572508903 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.50 [[ 9.99998893e-01 -1.93213063e-04 -1.47516879e-03 3.07860944e+00] [ 1.88901733e-04 9.99995713e-01 -2.92218177e-03 -2.35238737e-02] [ 1.47572707e-03 2.92189988e-03 9.99994642e-01 5.03413345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76255784400007 meters 0.28635482387491934 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.50 [[ 9.99998823e-01 -3.53596917e-04 -1.49301067e-03 3.07874896e+00] [ 3.48639968e-04 9.99994431e-01 -3.31905886e-03 -2.18720864e-02] [ 1.49417597e-03 3.31853443e-03 9.99993377e-01 5.03193238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79255784400004 meters 0.2857760753662284 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.02, Z:0.50 [[ 9.99998660e-01 -5.23171330e-04 -1.55109401e-03 3.07900122e+00] [ 5.17363248e-04 9.99992863e-01 -3.74254654e-03 -2.01166643e-02] [ 1.55304094e-03 3.74173905e-03 9.99991794e-01 5.02930952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8225578440001 meters 0.2852698231841787 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.50 [[ 9.99994722e-01 2.05962014e-03 -2.51269497e-03 3.08356504e+00] [-2.06509136e-03 9.99995498e-01 -2.17678199e-03 -1.28048458e-02] [ 2.50820031e-03 2.18195945e-03 9.99994474e-01 4.99468434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85255784400005 meters 0.2846476159258188 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.50 [[ 9.99995211e-01 1.81259743e-03 -2.50866015e-03 3.08383813e+00] [-1.81958955e-03 9.99994459e-01 -2.78772255e-03 -1.02663907e-02] [ 2.50359323e-03 2.79227393e-03 9.99992968e-01 4.98847993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8825578440001 meters 0.2866922579110803 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.01, Z:0.50 [[ 9.99995711e-01 1.58717343e-03 -2.46157074e-03 3.08387018e+00] [-1.59540349e-03 9.99993133e-01 -3.34506885e-03 -7.94234236e-03] [ 2.45624463e-03 3.34898170e-03 9.99991376e-01 4.98486972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91255784400005 meters 0.28655520330317397 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99980643e-01 -5.96224382e-03 -1.77907628e-03 3.10247508e+00] [ 5.95781591e-03 9.99979167e-01 -2.48388698e-03 3.19291604e-04] [ 1.79384876e-03 2.47323950e-03 9.99995333e-01 5.00171625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9425578440001 meters 0.28653800509716676 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996141e-01 -2.23022194e-03 -1.65650885e-03 3.10109139e+00] [ 2.23132819e-03 9.99997289e-01 6.66274882e-04 3.19212508e-03] [ 1.65501842e-03 -6.69968526e-04 9.99998406e-01 5.01945898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97255784400005 meters 0.28486213853665693 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996170e-01 -2.26838328e-03 -1.58595613e-03 3.10076400e+00] [ 2.26927875e-03 9.99997267e-01 5.63053199e-04 3.65294504e-03] [ 1.58467457e-03 -5.66650019e-04 9.99998584e-01 5.02273063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0025578440001 meters 0.2863238138878448 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996197e-01 -2.25232946e-03 -1.59158279e-03 3.10072144e+00] [ 2.25328593e-03 9.99997282e-01 5.99415616e-04 3.49937141e-03] [ 1.59022838e-03 -6.02999627e-04 9.99998554e-01 5.02400492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03255784400005 meters 0.2848559632228673 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996135e-01 -2.23346048e-03 -1.65551385e-03 3.10094076e+00] [ 2.23453567e-03 9.99997294e-01 6.47896459e-04 3.28004287e-03] [ 1.65406232e-03 -6.51593260e-04 9.99998420e-01 5.02281019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0625578440001 meters 0.2848559632228673 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996135e-01 -2.23346048e-03 -1.65551385e-03 3.10094076e+00] [ 2.23453567e-03 9.99997294e-01 6.47896459e-04 3.28004287e-03] [ 1.65406232e-03 -6.51593260e-04 9.99998420e-01 5.02281019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09255784400005 meters 0.28501355927340505 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99996083e-01 -2.16154091e-03 -1.77835640e-03 3.10124873e+00] [ 2.16305416e-03 9.99997300e-01 8.49441867e-04 2.42678667e-03] [ 1.77651549e-03 -8.53285221e-04 9.99998058e-01 5.02280036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1225578440001 meters 0.2841001106882997 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:0.50 [[ 9.99990681e-01 3.10305652e-03 -3.00164183e-03 3.07814030e+00] [-3.11047502e-03 9.99992112e-01 -2.46997796e-03 8.77950537e-04] [ 2.99395367e-03 2.47929148e-03 9.99992445e-01 5.03598517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15255784400006 meters 0.2840860525756324 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.51 [[ 9.99987630e-01 -4.45387676e-03 -2.21422199e-03 3.09761859e+00] [ 4.45148064e-03 9.99989503e-01 -1.08589972e-03 4.31218783e-03] [ 2.21903521e-03 1.07602972e-03 9.99996959e-01 5.05412576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1825578440001 meters 0.2833649697571051 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99988866e-01 3.63868486e-03 -3.00459870e-03 3.07782874e+00] [-3.64392108e-03 9.99991849e-01 -1.73910287e-03 -9.19595754e-04] [ 2.99824616e-03 1.75003203e-03 9.99993974e-01 5.04884370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21255784400006 meters 0.283418046969007 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.51 [[ 9.99988219e-01 3.76497962e-03 -3.06378178e-03 3.07790741e+00] [-3.76937587e-03 9.99991873e-01 -1.43040194e-03 -2.21607095e-03] [ 3.05837145e-03 1.44193363e-03 9.99994284e-01 5.05038983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters 0.28443026773568186 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.51 [[ 9.99988308e-01 3.78854268e-03 -3.00526258e-03 3.07770752e+00] [-3.79268370e-03 9.99991865e-01 -1.37342223e-03 -2.44383571e-03] [ 3.00003486e-03 1.38480418e-03 9.99994541e-01 5.05153933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27255784400006 meters 0.2860266605172519 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.51 [[ 9.99991238e-01 -3.85863510e-03 -1.62300922e-03 3.09628151e+00] [ 3.85858661e-03 9.99992555e-01 -3.30050888e-05 1.57898978e-03] [ 1.62312449e-03 2.67422780e-05 9.99998682e-01 5.06447897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters 0.2848284685625503 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.51 [[ 9.99989855e-01 3.87646899e-03 -2.29401103e-03 3.07593176e+00] [-3.87869337e-03 9.99992011e-01 -9.65992961e-04 -2.99369436e-03] [ 2.29024806e-03 9.74880926e-04 9.99996902e-01 5.05393280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33255784400006 meters 0.28532572663411654 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99989218e-01 3.88854649e-03 -2.53821942e-03 3.07674588e+00] [-3.89087953e-03 9.99992012e-01 -9.14876087e-04 -3.20843773e-03] [ 2.53464160e-03 9.24742129e-04 9.99996360e-01 5.04820184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36255784400004 meters 0.28542589896105913 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99989264e-01 3.87085171e-03 -2.54704985e-03 3.07684378e+00] [-3.87330183e-03 9.99992040e-01 -9.57716702e-04 -3.03934955e-03] [ 2.54332240e-03 9.67571914e-04 9.99996298e-01 5.04647421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39255784400007 meters 0.2845079780296137 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99989361e-01 3.86152062e-03 -2.52329667e-03 3.07677410e+00] [-3.86400303e-03 9.99992055e-01 -9.79661664e-04 -2.93895248e-03] [ 2.51949364e-03 9.89401267e-04 9.99996337e-01 5.04667526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42255784400004 meters 0.2860987868295027 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99989650e-01 3.81893026e-03 -2.47293825e-03 3.07665835e+00] [-3.82163519e-03 9.99992103e-01 -1.09001361e-03 -2.47276416e-03] [ 2.46875603e-03 1.09945300e-03 9.99996348e-01 5.04638321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45255784400007 meters 0.2866062207268132 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99990055e-01 3.70261581e-03 -2.48596617e-03 3.07683904e+00] [-3.70613051e-03 9.99992137e-01 -1.41070238e-03 -1.16162620e-03] [ 2.48072333e-03 1.41990167e-03 9.99995915e-01 5.04269905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48255784400004 meters 0.28750561158044213 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99997641e-01 -1.72651200e-03 -1.31836151e-03 3.10049047e+00] [ 1.72858933e-03 9.99997264e-01 1.57618000e-03 1.17137883e-03] [ 1.31563661e-03 -1.57845518e-03 9.99997889e-01 5.02341750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51255784400007 meters 0.28641414164519774 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:0.50 [[ 9.99981410e-01 5.69827946e-03 -2.17002441e-03 3.08152939e+00] [-5.69812167e-03 9.99983762e-01 7.88875148e-05 -2.58626663e-03] [ 2.17043870e-03 -6.65209852e-05 9.99997642e-01 5.00579746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54255784400004 meters 0.2847478947753051 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99998336e-01 -1.57663752e-03 -9.17287594e-04 3.09989870e+00] [ 1.57802614e-03 9.99997607e-01 1.51508509e-03 2.89835989e-03] [ 9.14896659e-04 -1.51653007e-03 9.99998432e-01 5.03063252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5725578440001 meters 0.286734221194274 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99998471e-01 -1.54128633e-03 -8.26635030e-04 3.09944728e+00] [ 1.54260953e-03 9.99997526e-01 1.60246225e-03 2.58386803e-03] [ 8.24163132e-04 -1.60373497e-03 9.99998374e-01 5.03585953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60255784400005 meters 0.2845623630617596 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99998518e-01 -1.51109136e-03 -8.24395381e-04 3.09928994e+00] [ 1.51247657e-03 9.99997441e-01 1.68224706e-03 2.28041203e-03] [ 8.21851243e-04 -1.68349145e-03 9.99998245e-01 5.03947643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6325578440001 meters 0.2845989118397105 Centerline is valid? [False, False] Translation: X:3.12, Y:0.00, Z:0.50 [[ 9.99987858e-01 4.81001471e-03 1.07098970e-03 3.12168717e+00] [-4.80823183e-03 9.99987061e-01 -1.66110667e-03 2.43509227e-03] [-1.07896579e-03 1.65593693e-03 9.99998047e-01 5.02308480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66255784400005 meters 0.28394676718676265 Centerline is valid? [False, False] Translation: X:3.10, Y:0.00, Z:0.50 [[ 9.99983923e-01 -5.58315378e-03 -9.91247873e-04 3.10122018e+00] [ 5.58137425e-03 9.99982824e-01 -1.78903021e-03 7.55213726e-04] [ 1.00121928e-03 1.78346892e-03 9.99997908e-01 5.02389299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6925578440001 meters 0.28426241987882006 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.00, Z:0.50 [[ 9.99993124e-01 3.70376989e-03 -1.85483360e-04 3.12063242e+00] [-3.70422443e-03 9.99989981e-01 -2.51327141e-03 -3.33648171e-03] [ 1.76172923e-04 2.51394120e-03 9.99996825e-01 5.03436146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72255784400005 meters 0.2843133991919103 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.00, Z:0.50 [[ 9.99992909e-01 3.75872787e-03 -2.32778879e-04 3.12065032e+00] [-3.75926835e-03 9.99990133e-01 -2.36664268e-03 -3.93290465e-03] [ 2.23881017e-04 2.36750097e-03 9.99997172e-01 5.03665010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7525578440001 meters 0.2848092240512356 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99992125e-01 -3.86400185e-03 9.04875932e-04 3.14050683e+00] [ 3.86500138e-03 9.99991920e-01 -1.10547901e-03 -1.19854469e-03] [-9.00597047e-04 1.10896766e-03 9.99998980e-01 5.05162974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78255784400005 meters 0.28317655996144775 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.01, Z:0.50 [[ 9.99990884e-01 4.09557842e-03 1.20780376e-03 3.12038331e+00] [-4.09303372e-03 9.99989415e-01 -2.10187720e-03 -6.29427674e-03] [-1.21639938e-03 2.09691446e-03 9.99997062e-01 5.04370229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8125578440001 meters 0.28380837826594724 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.01, Z:0.50 [[ 9.99990955e-01 4.09027993e-03 1.16630665e-03 3.12057058e+00] [-4.08780896e-03 9.99989412e-01 -2.11319834e-03 -6.25859569e-03] [-1.17493787e-03 2.10841159e-03 9.99997087e-01 5.04182734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84255784400005 meters 0.2834604054894798 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.01, Z:0.50 [[ 9.99991078e-01 4.06035236e-03 1.16517455e-03 3.12065024e+00] [-4.05779489e-03 9.99989371e-01 -2.18895423e-03 -5.95313763e-03] [-1.17405009e-03 2.18420666e-03 9.99996925e-01 5.04010644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8725578440001 meters 0.28435006140923863 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991920e-01 -3.45328689e-03 2.05779343e-03 3.14002497e+00] [ 3.45526503e-03 9.99993571e-01 -9.58513621e-04 -1.09151369e-03] [-2.05447018e-03 9.65616098e-04 9.99997423e-01 5.05511023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90255784400006 meters 0.28277828915403314 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991496e-01 -3.49973214e-03 2.18179521e-03 3.13940145e+00] [ 3.50211062e-03 9.99993276e-01 -1.08728243e-03 -5.14692420e-04] [-2.17797534e-03 1.09491407e-03 9.99997029e-01 5.06250241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9325578440001 meters 0.28195231145014654 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991514e-01 -3.50250430e-03 2.16911810e-03 3.13932406e+00] [ 3.50489005e-03 9.99993256e-01 -1.09704930e-03 -4.64513607e-04] [-2.16526105e-03 1.10464251e-03 9.99997046e-01 5.06493554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96255784400006 meters 0.2818792033893126 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991574e-01 -3.51639219e-03 2.11829057e-03 3.13942383e+00] [ 3.51880114e-03 9.99993165e-01 -1.13456226e-03 -3.13340482e-04] [-2.11428653e-03 1.14200654e-03 9.99997113e-01 5.06553046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99255784400003 meters 0.28212374894390174 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991487e-01 -3.53537128e-03 2.12761455e-03 3.13940684e+00] [ 3.53790107e-03 9.99993038e-01 -1.18643824e-03 -1.05246039e-04] [-2.12340524e-03 1.19395543e-03 9.99997033e-01 5.06537886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02255784400006 meters 0.2824740991927908 Centerline is valid? [False, False] Translation: X:3.14, Y:0.00, Z:0.51 [[ 9.99991484e-01 -3.54749814e-03 2.10900755e-03 3.13940230e+00] [ 3.55007203e-03 9.99992957e-01 -1.21793606e-03 3.24451943e-05] [-2.10467207e-03 1.22541282e-03 9.99997034e-01 5.06652644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05255784400003 meters 0.2818847800191027 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991557e-01 -3.53711344e-03 2.09164660e-03 3.13939811e+00] [ 3.53961952e-03 9.99993021e-01 -1.19565025e-03 -6.31616409e-05] [-2.08740285e-03 1.20304379e-03 9.99997098e-01 5.06760687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08255784400006 meters 0.2813448382305942 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991663e-01 -3.52355999e-03 2.06370312e-03 3.13956909e+00] [ 3.52596634e-03 9.99993107e-01 -1.16356148e-03 -2.14342901e-04] [-2.05958902e-03 1.17082833e-03 9.99997194e-01 5.06533296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11255784400004 meters 0.28199491187900805 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991667e-01 -3.52935087e-03 2.05154831e-03 3.13973728e+00] [ 3.53177503e-03 9.99993068e-01 -1.17920601e-03 -1.66775841e-04] [-2.04737225e-03 1.18644179e-03 9.99997200e-01 5.06226232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14255784400007 meters 0.28254884169057126 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991512e-01 -3.53017242e-03 2.12459818e-03 3.13957687e+00] [ 3.53269707e-03 9.99993057e-01 -1.18571807e-03 -1.50095739e-04] [-2.12039764e-03 1.19321357e-03 9.99997040e-01 5.06176817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17255784400004 meters 0.2811351489025746 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991673e-01 -3.50128506e-03 2.09645613e-03 3.13964103e+00] [ 3.50362595e-03 9.99993242e-01 -1.11396552e-03 -4.51735114e-04] [-2.09254165e-03 1.12130144e-03 9.99997182e-01 5.06191883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20255784400007 meters 0.2814315959777351 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99991913e-01 -3.48378240e-03 2.00915153e-03 3.13997298e+00] [ 3.48593697e-03 9.99993352e-01 -1.06987046e-03 -6.53941373e-04] [-2.00541098e-03 1.07686558e-03 9.99997409e-01 5.05936550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23255784400004 meters 0.2820678874455771 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.51 [[ 9.99992098e-01 -3.47292369e-03 1.93445744e-03 3.14025924e+00] [ 3.47494695e-03 9.99993418e-01 -1.04352889e-03 -7.81864763e-04] [-1.93082061e-03 1.05024278e-03 9.99997584e-01 5.05707067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26255784400007 meters 0.2842382162504037 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.00, Z:0.50 [[ 9.99988484e-01 3.77026467e-03 2.96934585e-03 3.16334300e+00] [-3.75973490e-03 9.99986653e-01 -3.54379175e-03 -1.44219128e-03] [-2.98266725e-03 3.53258699e-03 9.99989312e-01 5.04122681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29255784400004 meters 0.2826381686154404 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99989693e-01 -4.45642910e-03 8.68080285e-04 3.14436333e+00] [ 4.45797635e-03 9.99988463e-01 -1.78867091e-03 -9.50325119e-04] [-8.60099185e-04 1.79252236e-03 9.99998024e-01 5.02839574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3225578440001 meters 0.2838620242950561 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990016e-01 -4.36870642e-03 9.39820037e-04 3.14415912e+00] [ 4.37016924e-03 9.99989234e-01 -1.56010597e-03 -1.90016938e-03] [-9.32994274e-04 1.56419757e-03 9.99998341e-01 5.02889560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35255784400005 meters 0.2818110338833566 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990304e-01 -4.28693309e-03 1.00727622e-03 3.14390773e+00] [ 4.28828761e-03 9.99989899e-01 -1.34644281e-03 -2.79115287e-03] [-1.00149394e-03 1.35074924e-03 9.99998586e-01 5.03074639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3825578440001 meters 0.28316401791759216 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990550e-01 -4.20438510e-03 1.10634427e-03 3.14362870e+00] [ 4.20563766e-03 9.99990515e-01 -1.13228338e-03 -3.68857633e-03] [-1.10157322e-03 1.13692556e-03 9.99998747e-01 5.03145244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41255784400005 meters 0.2819525709071772 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990835e-01 -4.14453137e-03 1.07355316e-03 3.14356254e+00] [ 4.14558310e-03 9.99990928e-01 -9.79312790e-04 -4.31881402e-03] [-1.06948463e-03 9.83754318e-04 9.99998944e-01 5.03476927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4425578440001 meters 0.2813507136341716 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990917e-01 -4.12752085e-03 1.06278689e-03 3.14357588e+00] [ 4.12851576e-03 9.99991040e-01 -9.35651192e-04 -4.49802003e-03] [-1.05891545e-03 9.40030426e-04 9.99998998e-01 5.03508091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47255784400005 meters 0.28140981934626647 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:0.50 [[ 9.99990882e-01 -4.14141754e-03 1.04116171e-03 3.14375262e+00] [ 4.14243052e-03 9.99990947e-01 -9.72663868e-04 -4.35843018e-03] [-1.03712408e-03 9.76967939e-04 9.99998985e-01 5.03229095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5025578440001 meters 0.2837297518853535 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.00, Z:0.51 [[ 9.99997183e-01 -2.25688703e-03 -7.35199200e-04 3.18352636e+00] [ 2.25660909e-03 9.99997382e-01 -3.78648877e-04 -3.60998524e-03] [ 7.36051843e-04 3.76988753e-04 9.99999658e-01 5.06294258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53255784400005 meters 0.28129363447440553 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.00, Z:0.51 [[ 9.99989030e-01 3.88699627e-03 -2.61362676e-03 3.16141269e+00] [-3.89539221e-03 9.99987245e-01 -3.21499005e-03 -2.65230054e-03] [ 2.60109677e-03 3.22513589e-03 9.99991416e-01 5.07357968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5625578440001 meters 0.28289523605622374 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991637e-01 -3.85576979e-03 -1.36344943e-03 3.18089867e+00] [ 3.85294680e-03 9.99990441e-01 -2.06707983e-03 7.22685855e-04] [ 1.37140658e-03 2.06180925e-03 9.99996934e-01 5.08855316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59255784400005 meters 0.2821163875952467 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991819e-01 -3.83512077e-03 -1.28561300e-03 3.18067760e+00] [ 3.83251651e-03 9.99990611e-01 -2.02208022e-03 5.25216746e-04] [ 1.29335585e-03 2.01713655e-03 9.99997129e-01 5.08909897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6225578440001 meters 0.28347841038210403 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991891e-01 -3.82529369e-03 -1.25891420e-03 3.18054908e+00] [ 3.82276910e-03 9.99990690e-01 -2.00170741e-03 4.38294167e-04] [ 1.26655960e-03 1.99687864e-03 9.99997204e-01 5.09047539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65255784400006 meters 0.2827235712470309 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.00, Z:0.51 [[ 9.99992356e-01 -3.76162197e-03 -1.06698538e-03 3.17987022e+00] [ 3.75968290e-03 9.99991288e-01 -1.81355330e-03 -3.30345623e-04] [ 1.07379799e-03 1.80952791e-03 9.99997786e-01 5.09574239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6825578440001 meters 0.2818039139381146 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.00, Z:0.51 [[ 9.99992586e-01 -3.71413498e-03 -1.01675622e-03 3.17966677e+00] [ 3.71240927e-03 9.99991674e-01 -1.69392370e-03 -8.27810519e-04] [ 1.02303922e-03 1.69013652e-03 9.99998048e-01 5.09745001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71255784400006 meters 0.28324233648079333 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.00, Z:0.51 [[ 9.99994328e-01 3.31226776e-03 6.09811921e-04 3.20230030e+00] [-3.30965041e-03 9.99985517e-01 -4.24417228e-03 -1.82019443e-03] [-6.23860924e-04 4.24212994e-03 9.99990808e-01 5.07956646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters 0.28413710807253595 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.00, Z:0.51 [[ 9.99994449e-01 3.29326329e-03 5.06776144e-04 3.20269735e+00] [-3.29105943e-03 9.99985383e-01 -4.28983925e-03 -1.64348217e-03] [-5.20896307e-04 4.28814761e-03 9.99990670e-01 5.07660752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77255784400006 meters 0.28235130240875883 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991935e-01 -3.45362347e-03 -2.04991345e-03 3.18317592e+00] [ 3.45044814e-03 9.99992845e-01 -1.55053004e-03 1.49713416e-03] [ 2.05525373e-03 1.54344442e-03 9.99996697e-01 5.07791550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters 0.2805450510644331 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991601e-01 -3.53073913e-03 -2.08124986e-03 3.18322812e+00] [ 3.52711376e-03 9.99992261e-01 -1.74302057e-03 2.29404235e-03] [ 2.08738791e-03 1.73566512e-03 9.99996315e-01 5.07863377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83255784400006 meters 0.2810673003284865 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99991201e-01 -3.61783514e-03 -2.12327868e-03 3.18331909e+00] [ 3.61367107e-03 9.99991546e-01 -1.96172515e-03 3.20219860e-03] [ 2.13035793e-03 1.95403506e-03 9.99995822e-01 5.07906978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86255784400004 meters 0.28298571461446076 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990751e-01 -3.75756806e-03 -2.09260286e-03 3.18343127e+00] [ 3.75275895e-03 9.99990319e-01 -2.29735060e-03 4.60726704e-03] [ 2.10121505e-03 2.28947631e-03 9.99995172e-01 5.07518013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89255784400007 meters 0.28178128368172395 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990708e-01 -3.77853473e-03 -2.07541470e-03 3.18357218e+00] [ 3.77365305e-03 9.99990116e-01 -2.35105087e-03 4.81705575e-03] [ 2.08427771e-03 2.34319713e-03 9.99995083e-01 5.07118284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92255784400004 meters 0.2817257780240552 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990772e-01 -3.76088395e-03 -2.07635676e-03 3.18368616e+00] [ 3.75607703e-03 9.99990268e-01 -2.31413785e-03 4.63524758e-03] [ 2.08503975e-03 2.30631754e-03 9.99995167e-01 5.06866502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95255784400007 meters 0.2824031410017107 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990833e-01 -3.70839601e-03 -2.14051030e-03 3.18391478e+00] [ 3.70372743e-03 9.99990763e-01 -2.18092246e-03 4.06213482e-03] [ 2.14857826e-03 2.17297460e-03 9.99995331e-01 5.06701340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98255784400004 meters 0.2824031410017107 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990833e-01 -3.70839601e-03 -2.14051030e-03 3.18391478e+00] [ 3.70372743e-03 9.99990763e-01 -2.18092246e-03 4.06213482e-03] [ 2.14857826e-03 2.17297460e-03 9.99995331e-01 5.06701340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01255784400007 meters 0.2836592989891743 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:0.51 [[ 9.99990895e-01 -3.64313211e-03 -2.22221614e-03 3.18412744e+00] [ 3.63865167e-03 9.99991346e-01 -2.01692273e-03 3.36268352e-03] [ 2.22954482e-03 2.00881849e-03 9.99995497e-01 5.06669240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04255784400004 meters 0.28479470007105545 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.00, Z:0.51 [[ 9.99980555e-01 5.91252499e-03 -1.98307135e-03 3.20467637e+00] [-5.91679947e-03 9.99980170e-01 -2.15659098e-03 -2.09755905e-03] [ 1.97028113e-03 2.16828248e-03 9.99995708e-01 5.06993605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0725578440001 meters 0.28414376832785265 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.00, Z:0.51 [[ 9.99980090e-01 6.01341890e-03 -1.91251591e-03 3.20451224e+00] [-6.01706223e-03 9.99980083e-01 -1.90498045e-03 -3.15785826e-03] [ 1.90102237e-03 1.91645025e-03 9.99996357e-01 5.06939808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10255784400005 meters 0.28395562923520173 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.00, Z:0.51 [[ 9.99979633e-01 6.11297768e-03 -1.83456006e-03 3.20431488e+00] [-6.11600224e-03 9.99979940e-01 -1.64760093e-03 -4.23168603e-03] [ 1.82445151e-03 1.65878754e-03 9.99996960e-01 5.06911544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1325578440001 meters 0.283925337204699 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:0.51 [[ 9.99987913e-01 4.07638564e-04 -4.89983823e-03 3.22015774e+00] [-4.02416042e-04 9.99999350e-01 1.06679466e-03 -5.82867297e-03] [ 4.90026991e-03 -1.06480999e-03 9.99987427e-01 5.12832908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16255784400005 meters 0.2830269236595895 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:0.51 [[ 9.99987670e-01 4.91400254e-04 -4.94141799e-03 3.22021547e+00] [-4.85109874e-04 9.99999071e-01 1.27410886e-03 -6.69285144e-03] [ 4.94203949e-03 -1.27169602e-03 9.99986979e-01 5.12914995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1925578440001 meters 0.28374935409328356 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:0.51 [[ 9.99987497e-01 4.59380906e-04 -4.97937641e-03 3.22027740e+00] [-4.53411464e-04 9.99999177e-01 1.19989570e-03 -6.36436652e-03] [ 4.97992352e-03 -1.19762300e-03 9.99986883e-01 5.12993818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22255784400005 meters 0.2853805090781308 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:0.51 [[ 9.99987666e-01 4.17733262e-04 -4.94909657e-03 3.22024862e+00] [-4.12289167e-04 9.99999309e-01 1.10098714e-03 -5.94631677e-03] [ 4.94955306e-03 -1.09893311e-03 9.99987147e-01 5.12896202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2525578440001 meters 0.2823330448977762 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:0.51 [[ 9.99988059e-01 3.80711759e-04 -4.87195429e-03 3.21996333e+00] [-3.75782853e-04 9.99999417e-01 1.01256520e-03 -5.56660619e-03] [ 4.87233694e-03 -1.01072231e-03 9.99987619e-01 5.13102094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28255784400005 meters 0.28232385765742557 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:0.51 [[ 9.99988772e-01 2.71300546e-04 -4.73109142e-03 3.21931899e+00] [-2.67864265e-04 9.99999700e-01 7.26937338e-04 -4.33003483e-03] [ 4.73128722e-03 -7.25661885e-04 9.99988544e-01 5.13843477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3125578440001 meters 0.28268309090244953 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:0.51 [[ 9.99989030e-01 1.71121579e-04 -4.68083703e-03 3.21914801e+00] [-1.68891465e-04 9.99999872e-01 4.76826152e-04 -3.26762887e-03] [ 4.68091803e-03 -4.76030368e-04 9.99988931e-01 5.13959265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34255784400005 meters 0.28172650504818714 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:0.51 [[ 9.99989336e-01 4.32276001e-05 -4.61801556e-03 3.21895210e+00] [-4.24906951e-05 9.99999986e-01 1.59669789e-04 -1.93675079e-03] [ 4.61802240e-03 -1.59471863e-04 9.99989324e-01 5.14064317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3725578440001 meters 0.28293436067015665 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:0.51 [[ 9.99989429e-01 -8.35562699e-05 -4.59725261e-03 3.21886530e+00] [ 8.28680918e-05 9.99999985e-01 -1.49883631e-04 -6.34974748e-04] [ 4.59726507e-03 1.49501081e-04 9.99989421e-01 5.14161059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40255784400006 meters 0.28307059453487937 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:0.51 [[ 9.99989713e-01 -2.03814478e-04 -4.53126023e-03 3.21860102e+00] [ 2.01798775e-04 9.99999880e-01 -4.45296641e-04 6.12560793e-04] [ 4.53135045e-03 4.44377657e-04 9.99989635e-01 5.14395152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4325578440001 meters 0.28145757159801493 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:0.51 [[ 9.99989891e-01 -3.52240308e-04 -4.48253947e-03 3.21843568e+00] [ 3.48619890e-04 9.99999612e-01 -8.08426919e-04 2.13695293e-03] [ 4.48282250e-03 8.06856044e-04 9.99989627e-01 5.14514767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46255784400006 meters 0.28336270392423085 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.51 [[ 9.99989660e-01 -7.09239281e-04 -4.49176268e-03 3.21850461e+00] [ 7.01938505e-04 9.99998431e-01 -1.62673785e-03 5.56278258e-03] [ 4.49290937e-03 1.62356809e-03 9.99988589e-01 5.14495455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49255784400003 meters 0.28324922186142626 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.51 [[ 9.99989219e-01 -8.76327452e-04 -4.56005191e-03 3.21881617e+00] [ 8.67153564e-04 9.99997597e-01 -2.01338294e-03 7.18144842e-03] [ 4.56180533e-03 2.00940697e-03 9.99987576e-01 5.14249865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52255784400006 meters 0.28067674747259846 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.51 [[ 9.99988853e-01 -1.01430242e-03 -4.61137396e-03 3.21906578e+00] [ 1.00352718e-03 9.99996762e-01 -2.33838057e-03 8.54798621e-03] [ 4.61373086e-03 2.33372687e-03 9.99986634e-01 5.14023608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55255784400003 meters 0.2845722066817663 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:0.51 [[ 9.99973234e-01 -6.90514026e-03 -2.41866369e-03 3.24025059e+00] [ 6.90618161e-03 9.99976063e-01 4.22460175e-04 1.27667520e-02] [ 2.41568865e-03 -4.39152599e-04 9.99996986e-01 5.13564623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58255784400006 meters 0.28252030740031353 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.51 [[ 9.99992456e-01 2.05390968e-03 -3.29686932e-03 3.21841869e+00] [-2.05436314e-03 9.99997881e-01 -1.34162651e-04 1.32779021e-02] [ 3.29658677e-03 1.40934606e-04 9.99994556e-01 5.13674045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61255784400004 meters 0.28181221698791564 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.51 [[ 9.99992657e-01 1.90979137e-03 -3.32251955e-03 3.21859756e+00] [-1.91142108e-03 9.99998054e-01 -4.87398456e-04 1.47561747e-02] [ 3.32158225e-03 4.93745610e-04 9.99994362e-01 5.13458850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64255784400007 meters 0.2823949424831041 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:0.51 [[ 9.99992842e-01 1.63417369e-03 -3.41264389e-03 3.21921426e+00] [-1.63810417e-03 9.99997998e-01 -1.14926067e-03 1.75710284e-02] [ 3.41075897e-03 1.15484271e-03 9.99993517e-01 5.12699197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67255784400004 meters 0.28279547749056666 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:0.51 [[ 9.99992903e-01 1.44590670e-03 -3.47887520e-03 3.21957197e+00] [-1.45154045e-03 9.99997638e-01 -1.61743746e-03 1.95342582e-02] [ 3.47652832e-03 1.62247571e-03 9.99992641e-01 5.12337447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70255784400007 meters 0.2842205558169865 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:0.51 [[ 9.99992769e-01 1.24600929e-03 -3.59299508e-03 3.21999081e+00] [-1.25367158e-03 9.99996943e-01 -2.13110063e-03 2.16686525e-02] [ 3.59032873e-03 2.13558966e-03 9.99991274e-01 5.12111874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73255784400004 meters 0.2830284275776116 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:0.51 [[ 9.99992631e-01 1.01333845e-03 -3.70292815e-03 3.22035975e+00] [-1.02361186e-03 9.99995630e-01 -2.77356115e-03 2.43057875e-02] [ 3.70010141e-03 2.77733107e-03 9.99989298e-01 5.11933938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76255784400007 meters 0.2830638563692305 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:0.51 [[ 9.99991947e-01 6.44433301e-04 -3.96118765e-03 3.22110009e+00] [-6.60717708e-04 9.99991331e-01 -4.11105823e-03 2.95132884e-02] [ 3.95850401e-03 4.11364235e-03 9.99983704e-01 5.11726450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79255784400004 meters 0.28380171868827797 Centerline is valid? [False, False] Translation: X:3.24, Y:0.03, Z:0.51 [[ 9.99986287e-01 -4.51899379e-03 -2.64657527e-03 3.24388266e+00] [ 4.51691726e-03 9.99989487e-01 -7.90064095e-04 3.37833383e-02] [ 2.65011774e-03 7.78098900e-04 9.99996186e-01 5.11113439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8225578440001 meters 0.28259012061855404 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:0.51 [[ 9.99985238e-01 4.13666923e-03 -3.52289611e-03 3.22245114e+00] [-4.14396672e-03 9.99989278e-01 -2.06667304e-03 3.71429418e-02] [ 3.51430920e-03 2.08124130e-03 9.99991659e-01 5.10545369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85255784400005 meters 0.28388508263322965 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:0.51 [[ 9.99986372e-01 3.82503497e-03 -3.55320542e-03 3.22263747e+00] [-3.83534127e-03 9.99988445e-01 -2.89829202e-03 4.05521315e-02] [ 3.54207829e-03 2.91188028e-03 9.99989487e-01 5.10381362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8825578440001 meters 0.2846236615051029 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:0.51 [[ 9.99987976e-01 -1.61802324e-03 -4.62914234e-03 3.24640212e+00] [ 1.61689228e-03 9.99998662e-01 -2.48045532e-04 5.07526254e-02] [ 4.62953749e-03 2.40557725e-04 9.99989255e-01 5.09948577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91255784400005 meters 0.28420739225792113 Centerline is valid? [False, False] Translation: X:3.25, Y:0.05, Z:0.51 [[ 9.99987171e-01 -1.89586176e-03 -4.69714769e-03 3.24665680e+00] [ 1.89168740e-03 9.99997812e-01 -8.92986102e-04 5.34587931e-02] [ 4.69883040e-03 8.84089111e-04 9.99988570e-01 5.09829167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9425578440001 meters 0.28223411088613964 Centerline is valid? [False, False] Translation: X:3.21, Y:0.06, Z:0.51 [[ 9.99992874e-01 -1.63532729e-03 -3.40273879e-03 3.20775511e+00] [ 1.63079762e-03 9.99997781e-01 -1.33353172e-03 5.95842465e-02] [ 3.40491200e-03 1.32797304e-03 9.99993322e-01 5.06528802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97255784400005 meters 0.28401314488146506 Centerline is valid? [False, False] Translation: X:3.21, Y:0.06, Z:0.51 [[ 9.99992250e-01 -1.90076458e-03 -3.44769905e-03 3.20789235e+00] [ 1.89400086e-03 9.99996278e-01 -1.96401233e-03 6.22236738e-02] [ 3.45141934e-03 1.95746716e-03 9.99992128e-01 5.06540575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0025578440001 meters 0.2839036731799305 Centerline is valid? [False, False] Translation: X:3.21, Y:0.06, Z:0.51 [[ 9.99991581e-01 -2.16493495e-03 -3.48582566e-03 3.20800450e+00] [ 2.15597466e-03 9.99994368e-01 -2.57220039e-03 6.47735019e-02] [ 3.49137468e-03 2.56466338e-03 9.99990616e-01 5.06571470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03255784400005 meters 0.28480045570434076 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:0.51 [[ 9.99990811e-01 -2.46290701e-03 -3.50892797e-03 3.20809504e+00] [ 2.45152179e-03 9.99991729e-01 -3.24525928e-03 6.75921654e-02] [ 3.51689172e-03 3.23662724e-03 9.99988578e-01 5.06568531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0625578440001 meters 0.2835900947387097 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:0.51 [[ 9.99993947e-01 1.24467309e-03 -3.24915662e-03 3.20731752e+00] [-1.24633230e-03 9.99999094e-01 -5.08683782e-04 7.39430403e-02] [ 3.24852053e-03 5.12730232e-04 9.99994592e-01 5.07091208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09255784400005 meters 0.2834249944616111 Centerline is valid? [False, False] Translation: X:3.21, Y:0.08, Z:0.51 [[ 9.99994290e-01 9.14805790e-04 -3.25309406e-03 3.20728175e+00] [-9.19045890e-04 9.99998730e-01 -1.30214954e-03 7.72508283e-02] [ 3.25189872e-03 1.30513184e-03 9.99993861e-01 5.07224632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1225578440001 meters 0.2838651703462788 Centerline is valid? [False, False] Translation: X:3.21, Y:0.08, Z:0.51 [[ 9.99994505e-01 2.69981578e-04 -3.30417469e-03 3.20767800e+00] [-2.78740372e-04 9.99996448e-01 -2.65065326e-03 8.29993580e-02] [ 3.30344733e-03 2.65155970e-03 9.99991028e-01 5.06894900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15255784400006 meters 0.2834033162701187 Centerline is valid? [False, False] Translation: X:3.19, Y:0.09, Z:0.51 [[ 9.99975477e-01 -5.21787047e-03 -4.67105052e-03 3.18544196e+00] [ 5.22036114e-03 9.99986238e-01 5.21179945e-04 8.81593230e-02] [ 4.66826678e-03 -5.45551734e-04 9.99988955e-01 5.07402910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1825578440001 meters 0.2826087361220075 Centerline is valid? [False, False] Translation: X:3.18, Y:0.09, Z:0.51 [[ 9.99989421e-01 -1.05498132e-03 -4.47723289e-03 3.18496153e+00] [ 1.07413317e-03 9.99990275e-01 4.27736230e-03 9.02521052e-02] [ 4.47267681e-03 -4.28212620e-03 9.99980829e-01 5.07421239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21255784400006 meters 0.28181034851245346 Centerline is valid? [False, False] Translation: X:3.18, Y:0.09, Z:0.51 [[ 9.99989506e-01 -1.26406181e-03 -4.40349370e-03 3.18470185e+00] [ 1.28067381e-03 9.99992067e-01 3.77168486e-03 9.23865116e-02] [ 4.39869113e-03 -3.77728472e-03 9.99983192e-01 5.07620044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters 0.2828218203930283 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:0.51 [[ 9.99990488e-01 4.17433374e-03 -1.26469532e-03 3.20565976e+00] [-4.17416766e-03 9.99991279e-01 1.33936604e-04 9.50117518e-02] [ 1.26524338e-03 -1.28656280e-04 9.99999191e-01 5.06617754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27255784400006 meters 0.28278394952930946 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:0.51 [[ 9.99992249e-01 3.72317045e-03 -1.28031404e-03 3.20560669e+00] [-3.72430378e-03 9.99992674e-01 -8.83954807e-04 9.93128222e-02] [ 1.27701355e-03 8.88716234e-04 9.99998790e-01 5.06869746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30255784400003 meters 0.2846849441370207 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.51 [[ 9.99989690e-01 -4.37702665e-03 -1.20888089e-03 3.22496753e+00] [ 4.37745384e-03 9.99990357e-01 3.50959001e-04 1.05943005e-01] [ 1.20733307e-03 -3.56247203e-04 9.99999208e-01 5.08642595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33255784400006 meters 0.28334453983333246 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:0.51 [[ 9.99988171e-01 -4.64900451e-03 -1.43021002e-03 3.22559775e+00] [ 4.64844719e-03 9.99989119e-01 -3.92758081e-04 1.09032962e-01] [ 1.43202039e-03 3.86105180e-04 9.99998900e-01 5.08505946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36255784400004 meters 0.2840268938576625 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:0.51 [[ 9.99998346e-01 -9.16966529e-04 -1.57054211e-03 3.22591021e+00] [ 9.20751601e-04 9.99996670e-01 2.41101669e-03 1.15522074e-01] [ 1.56832606e-03 -2.41245879e-03 9.99995860e-01 5.08499323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39255784400007 meters 0.2823623617484837 Centerline is valid? [False, False] Translation: X:3.20, Y:0.12, Z:0.51 [[ 9.99960640e-01 8.23700666e-03 -3.29707059e-03 3.20453528e+00] [-8.23270594e-03 9.99965245e-01 1.31586212e-03 1.21099987e-01] [ 3.30779477e-03 -1.28866651e-03 9.99993699e-01 5.08820398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42255784400004 meters 0.284401522580963 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:0.51 [[ 9.99995556e-01 2.20090878e-03 -2.01105079e-03 3.22709999e+00] [-2.19246831e-03 9.99988820e-01 4.18964981e-03 1.25783007e-01] [ 2.02024934e-03 -4.18522202e-03 9.99989201e-01 5.08249202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45255784400007 meters 0.28371021886415865 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:0.51 [[ 9.99996462e-01 1.84522598e-03 -1.91595553e-03 3.22669363e+00] [-1.83904891e-03 9.99993122e-01 3.22078655e-03 1.29795798e-01] [ 1.92188544e-03 -3.21725162e-03 9.99992978e-01 5.08631451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48255784400004 meters 0.28367387567612407 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.51 [[ 9.99997534e-01 1.20461747e-03 -1.86574421e-03 3.22631992e+00] [-1.20197551e-03 9.99998274e-01 1.41650748e-03 1.37164857e-01] [ 1.86744734e-03 -1.41426141e-03 9.99997256e-01 5.09237120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51255784400007 meters 0.28327738517769585 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.51 [[ 9.99997558e-01 9.02742038e-04 -2.01743499e-03 3.22682293e+00] [-9.01405716e-04 9.99999374e-01 6.63197756e-04 1.40327340e-01] [ 2.01803243e-03 -6.61377609e-04 9.99997745e-01 5.09046102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54255784400004 meters 0.2844494788285739 Centerline is valid? [False, False] Translation: X:3.27, Y:0.14, Z:0.51 [[ 9.99989996e-01 5.57612496e-04 -4.43816973e-03 3.26805034e+00] [-5.54476330e-04 9.99999596e-01 7.07833949e-04 1.43323862e-01] [ 4.43856263e-03 -7.05366008e-04 9.99989901e-01 5.11860289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5725578440001 meters 0.28442112518012175 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989730e-01 3.26533638e-04 -4.52040488e-03 3.26848400e+00] [-3.25777885e-04 9.99999933e-01 1.67922292e-04 1.45668019e-01] [ 4.52045941e-03 -1.66447919e-04 9.99989769e-01 5.11427244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60255784400005 meters 0.2857486646746852 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989298e-01 1.57502614e-04 -4.62385579e-03 3.26891037e+00] [-1.58655124e-04 9.99999956e-01 -2.48887363e-04 1.47446928e-01] [ 4.62381639e-03 2.49618297e-04 9.99989279e-01 5.11081769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6325578440001 meters 0.2852569232811835 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989090e-01 -6.16126309e-05 -4.67073688e-03 3.26915656e+00] [ 5.77518942e-05 9.99999657e-01 -8.26710160e-04 1.49825763e-01] [ 4.67078622e-03 8.26431397e-04 9.99988750e-01 5.10817922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66255784400005 meters 0.2863589540835637 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989314e-01 -1.17439056e-04 -4.62157973e-03 3.26898531e+00] [ 1.12989990e-04 9.99999530e-01 -9.62921425e-04 1.50388441e-01] [ 4.62169064e-03 9.62388942e-04 9.99988857e-01 5.10926967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6925578440001 meters 0.28696557731523753 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989311e-01 -2.08167280e-04 -4.61883992e-03 3.26893427e+00] [ 2.02708806e-04 9.99999281e-01 -1.18222139e-03 1.51296088e-01] [ 4.61908270e-03 1.18127247e-03 9.99988634e-01 5.11033906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72255784400005 meters 0.28655331776466997 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99988891e-01 -2.60519765e-04 -4.70642837e-03 3.26925745e+00] [ 2.54346998e-04 9.99999107e-01 -1.31211176e-03 1.51852129e-01] [ 4.70676600e-03 1.31090011e-03 9.99988064e-01 5.10829954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7525578440001 meters 0.2849752831521046 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:0.51 [[ 9.99958763e-01 -5.43914209e-03 -7.27246610e-03 3.24753645e+00] [ 5.45326111e-03 9.99983282e-01 1.92301766e-03 1.53780421e-01] [ 7.26188495e-03 -1.96259701e-03 9.99971706e-01 5.11546798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78255784400005 meters 0.28683368782304713 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99970766e-01 5.90561708e-04 -7.62357642e-03 3.27371319e+00] [-5.98238271e-04 9.99999316e-01 -1.00470925e-03 1.54215931e-01] [ 7.62297786e-03 1.00924059e-03 9.99970435e-01 5.08741295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8125578440001 meters 0.2864473366857604 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99970682e-01 5.47719004e-04 -7.63769821e-03 3.27390005e+00] [-5.56195555e-04 9.99999232e-01 -1.10775063e-03 1.54663584e-01] [ 7.63708561e-03 1.11196621e-03 9.99970219e-01 5.08433494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84255784400005 meters 0.28963809796117435 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99972120e-01 5.13852753e-04 -7.44949685e-03 3.27322907e+00] [-5.22706302e-04 9.99999159e-01 -1.18657785e-03 1.54946966e-01] [ 7.44888087e-03 1.19043867e-03 9.99971548e-01 5.08894261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8725578440001 meters 0.28963809796117435 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99972120e-01 5.13852753e-04 -7.44949685e-03 3.27322907e+00] [-5.22706302e-04 9.99999159e-01 -1.18657785e-03 1.54946966e-01] [ 7.44888087e-03 1.19043867e-03 9.99971548e-01 5.08894261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90255784400006 meters 0.2866557122113506 Centerline is valid? [False, False] Translation: X:3.29, Y:0.15, Z:0.51 [[ 9.99975258e-01 -5.98588533e-03 -3.69488888e-03 3.29287537e+00] [ 5.99258818e-03 9.99980414e-01 1.80568749e-03 1.52521466e-01] [ 3.68400787e-03 -1.82778476e-03 9.99991544e-01 5.08181110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9325578440001 meters 0.2865886762543784 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989590e-01 3.23795724e-03 -3.21493060e-03 3.27131569e+00] [-3.23503919e-03 9.99994351e-01 9.12441006e-04 1.49628886e-01] [ 3.21786688e-03 -9.02031080e-04 9.99994416e-01 5.07646073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96255784400006 meters 0.28853121737129506 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989681e-01 3.28628227e-03 -3.13666404e-03 3.27119261e+00] [-3.28304241e-03 9.99994073e-01 1.03748917e-03 1.49118788e-01] [ 3.14005493e-03 -1.02718066e-03 9.99994542e-01 5.07469175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99255784400003 meters 0.2858712701610628 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99989488e-01 3.31952694e-03 -3.16306838e-03 3.27143677e+00] [-3.31599746e-03 9.99993874e-01 1.12043413e-03 1.48801381e-01] [ 3.16676831e-03 -1.10993363e-03 9.99994370e-01 5.07075147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02255784400006 meters 0.28640074160997236 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99988999e-01 3.41037505e-03 -3.22051439e-03 3.27179707e+00] [-3.40605992e-03 9.99993296e-01 1.34442329e-03 1.47887362e-01] [ 3.22507778e-03 -1.33343924e-03 9.99993910e-01 5.06575432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05255784400003 meters 0.2861915762886552 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:0.51 [[ 9.99981985e-01 -4.59030652e-03 -3.86769646e-03 3.25188458e+00] [ 4.59900066e-03 9.99986911e-01 2.24199681e-03 1.52639417e-01] [ 3.85735438e-03 -2.25974396e-03 9.99990007e-01 5.05714626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08255784400006 meters 0.28517419886328627 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:0.51 [[ 9.99982035e-01 -4.61024400e-03 -3.83076341e-03 3.25172109e+00] [ 4.61866768e-03 9.99986929e-01 2.19302541e-03 1.52829721e-01] [ 3.82060295e-03 -2.21067904e-03 9.99990258e-01 5.05878548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11255784400004 meters 0.28500400101043416 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:0.51 [[ 9.99981920e-01 -4.63598474e-03 -3.82984235e-03 3.25158555e+00] [ 4.64415980e-03 9.99986951e-01 2.12844177e-03 1.53086680e-01] [ 3.81992495e-03 -2.14618969e-03 9.99990401e-01 5.06184664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14255784400007 meters 0.28780278451381675 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99997826e-01 1.90374693e-03 -8.50467731e-04 3.27264320e+00] [-1.90382314e-03 9.99998184e-01 -8.88076426e-05 1.53800612e-01] [ 8.50297120e-04 9.04265897e-05 9.99999634e-01 5.05165234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17255784400004 meters 0.28652661321277995 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.51 [[ 9.99997906e-01 1.87500328e-03 -8.19788368e-04 3.27263111e+00] [-1.87513510e-03 9.99998229e-01 -1.60054464e-04 1.54099011e-01] [ 8.19486814e-04 1.61591343e-04 9.99999651e-01 5.05026333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20255784400007 meters 0.2857058193979657 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99997978e-01 1.83651180e-03 -8.19795358e-04 3.27266782e+00] [-1.83672011e-03 9.99998281e-01 -2.53417409e-04 1.54502558e-01] [ 8.19328545e-04 2.54922631e-04 9.99999632e-01 5.04950396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23255784400004 meters 0.2871116378127606 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99997968e-01 1.82425783e-03 -8.57708751e-04 3.27284507e+00] [-1.82450142e-03 9.99998295e-01 -2.83304476e-04 1.54645221e-01] [ 8.57190469e-04 2.84868791e-04 9.99999592e-01 5.04778668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26255784400007 meters 0.2863818510543614 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:0.50 [[ 9.99979930e-01 -6.14457710e-03 -1.54424516e-03 3.25225284e+00] [ 6.14565464e-03 9.99980874e-01 6.94007161e-04 1.57844144e-01] [ 1.53995124e-03 -7.03483630e-04 9.99998567e-01 5.03811026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29255784400004 meters 0.28762711187751894 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998245e-01 1.86832685e-03 1.42502839e-04 3.27192034e+00] [-1.86833022e-03 9.99998254e-01 2.35003126e-05 1.52684887e-01] [-1.42458684e-04 -2.37665137e-05 9.99999990e-01 5.04298761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3225578440001 meters 0.28588625117249716 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998166e-01 1.90367824e-03 2.09472825e-04 3.27165877e+00] [-1.90370237e-03 9.99998181e-01 1.15060065e-04 1.52283135e-01] [-2.09253406e-04 -1.15458628e-04 9.99999971e-01 5.04500745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35255784400005 meters 0.2859654394621904 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998068e-01 1.95094801e-03 2.40666111e-04 3.27150720e+00] [-1.95100464e-03 9.99998069e-01 2.35295058e-04 1.51770674e-01] [-2.40206598e-04 -2.35764144e-04 9.99999943e-01 5.04650712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3825578440001 meters 0.2851188900885423 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998038e-01 1.97972580e-03 6.75528755e-05 3.27207489e+00] [-1.97974621e-03 9.99997994e-01 3.03486126e-04 1.51520315e-01] [-6.69519207e-05 -3.03619268e-04 9.99999952e-01 5.04338640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41255784400005 meters 0.28618556222865627 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998013e-01 1.99357704e-03 1.64300904e-05 3.27240316e+00] [-1.99358247e-03 9.99997956e-01 3.37902516e-04 1.51412958e-01] [-1.57564221e-05 -3.37934599e-04 9.99999943e-01 5.03898080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4425578440001 meters 0.28797100812020104 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998026e-01 1.98667435e-03 -2.39603069e-05 3.27263917e+00] [-1.98666658e-03 9.99997975e-01 3.19847769e-04 1.51512782e-01] [ 2.45956918e-05 -3.19799536e-04 9.99999949e-01 5.03612431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47255784400005 meters 0.2847047020147179 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998086e-01 1.95375008e-03 -1.04502711e-04 3.27262829e+00] [-1.95372540e-03 9.99998064e-01 2.35685663e-04 1.51851509e-01] [ 1.04962980e-04 -2.35481042e-04 9.99999967e-01 5.04090939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5025578440001 meters 0.28360937982023965 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:0.50 [[ 9.99998165e-01 1.90853363e-03 -1.62969131e-04 3.27273134e+00] [-1.90851413e-03 9.99998172e-01 1.19741427e-04 1.52335217e-01] [ 1.63197363e-04 -1.19430178e-04 9.99999980e-01 5.04193827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53255784400005 meters 0.28557635363947 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:0.51 [[ 9.99998058e-01 1.09894232e-03 -1.63611306e-03 3.31175165e+00] [-1.09836630e-03 9.99999335e-01 3.52927413e-04 1.50731690e-01] [ 1.63649982e-03 -3.51129676e-04 9.99998599e-01 5.07749051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5625578440001 meters 0.286642051117376 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:0.51 [[ 9.99998034e-01 9.87385944e-04 -1.71936583e-03 3.31197290e+00] [-9.87290774e-04 9.99999511e-01 5.61996427e-05 1.51970555e-01] [ 1.71942048e-03 -5.45020182e-05 9.99998520e-01 5.07735118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59255784400005 meters 0.28489209182839614 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:0.51 [[ 9.99998186e-01 7.85496873e-04 -1.73519005e-03 3.31201515e+00] [-7.86575356e-04 9.99999498e-01 -6.20941328e-04 1.54640689e-01] [ 1.73470144e-03 6.22305059e-04 9.99998302e-01 5.07725722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6225578440001 meters 0.28453542041315316 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.51 [[ 9.99998317e-01 6.24872826e-04 -1.72521530e-03 3.31191899e+00] [-6.26733326e-04 9.99999222e-01 -1.07808616e-03 1.56487922e-01] [ 1.72454030e-03 1.07916560e-03 9.99997931e-01 5.07902676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65255784400006 meters 0.2845108199937597 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.51 [[ 9.99998458e-01 4.46938006e-04 -1.69806613e-03 3.31170817e+00] [-4.49641009e-04 9.99998632e-01 -1.59176460e-03 1.58576985e-01] [ 1.69735239e-03 1.59252567e-03 9.99997291e-01 5.08245942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6825578440001 meters 0.2863236381270432 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.51 [[ 9.99998559e-01 2.71043241e-04 -1.67577977e-03 3.31149044e+00] [-2.74554715e-04 9.99997767e-01 -2.09555210e-03 1.60609382e-01] [ 1.67520804e-03 2.09600917e-03 9.99996400e-01 5.08653818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71255784400006 meters 0.2850605062915243 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.51 [[ 9.99998584e-01 7.03111198e-06 -1.68288798e-03 3.31132050e+00] [-1.20063137e-05 9.99995630e-01 -2.95635572e-03 1.63976347e-01] [ 1.68285984e-03 2.95637174e-03 9.99994214e-01 5.09148620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters 0.2834838885775783 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998604e-01 -1.27225731e-04 -1.66594723e-03 3.31124790e+00] [ 1.21700119e-04 9.99994493e-01 -3.31648011e-03 1.65456388e-01] [ 1.66636000e-03 3.31627274e-03 9.99993113e-01 5.09234737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77255784400006 meters 0.2847600119815996 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998528e-01 -2.67851344e-04 -1.69479204e-03 3.31124658e+00] [ 2.61603388e-04 9.99993174e-01 -3.68571040e-03 1.66976764e-01] [ 1.69576769e-03 3.68526161e-03 9.99991772e-01 5.09425676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80255784400003 meters 0.28444597644443564 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998471e-01 -3.94858860e-04 -1.70364868e-03 3.31128875e+00] [ 3.88021668e-04 9.99991878e-01 -4.01172976e-03 1.68329173e-01] [ 1.70521890e-03 4.01106257e-03 9.99990502e-01 5.09389958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83255784400006 meters 0.28642735467790525 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998251e-01 -6.13855946e-04 -1.76673538e-03 3.31131316e+00] [ 6.05711016e-04 9.99989204e-01 -4.60700723e-03 1.70766537e-01] [ 1.76954435e-03 4.60592904e-03 9.99987827e-01 5.09710901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86255784400004 meters 0.2863931204756805 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998058e-01 -7.24890683e-04 -1.83276257e-03 3.31147286e+00] [ 7.15923151e-04 9.99987793e-01 -4.88883528e-03 1.71947279e-01] [ 1.83628407e-03 4.88751367e-03 9.99986370e-01 5.09743585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89255784400007 meters 0.28433595876210394 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998036e-01 -8.26319406e-04 -1.80144765e-03 3.31141535e+00] [ 8.17042526e-04 9.99986434e-01 -5.14434856e-03 1.73012320e-01] [ 1.80567409e-03 5.14286660e-03 9.99985145e-01 5.09705447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92255784400004 meters 0.28546844141375477 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998097e-01 -9.55547227e-04 -1.70095167e-03 3.31106921e+00] [ 9.46202259e-04 9.99984502e-01 -5.48631686e-03 1.74406248e-01] [ 1.70616774e-03 5.48469697e-03 9.99983503e-01 5.09935024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95255784400007 meters 0.2820922543676549 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99998363e-01 -1.19932378e-03 -1.35458798e-03 3.30989636e+00] [ 1.19080526e-03 9.99979622e-01 -6.27203729e-03 1.77562435e-01] [ 1.36208258e-03 6.27041397e-03 9.99979413e-01 5.10803069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98255784400004 meters 0.2818333915053177 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99998141e-01 -1.32912676e-03 -1.39680376e-03 3.31004135e+00] [ 1.31986176e-03 9.99977262e-01 -6.61312146e-03 1.78990025e-01] [ 1.40556168e-03 6.61126558e-03 9.99977158e-01 5.10719699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01255784400007 meters 0.28132303462786795 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.51 [[ 9.99974670e-01 -5.42306778e-03 -4.60964532e-03 3.28878440e+00] [ 5.41067341e-03 9.99981725e-01 -2.69702243e-03 1.79461824e-01] [ 4.62418722e-03 2.67201283e-03 9.99985739e-01 5.11400420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04255784400004 meters 0.2846132181760391 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99975483e-01 -1.36909395e-03 -6.86718621e-03 3.34943615e+00] [ 1.34863683e-03 9.99994642e-01 -2.98271381e-03 1.77911615e-01] [ 6.87123304e-03 2.97337934e-03 9.99971972e-01 5.12601732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0725578440001 meters 0.2832312496932852 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99974897e-01 -1.44719282e-03 -6.93623191e-03 3.34967904e+00] [ 1.42515942e-03 9.99993927e-01 -3.18045764e-03 1.78743909e-01] [ 6.94079252e-03 3.17049256e-03 9.99970886e-01 5.12457457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10255784400005 meters 0.28478803710012013 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:0.51 [[ 9.99979416e-01 -5.09689185e-03 -3.89733387e-03 3.37237070e+00] [ 5.10593693e-03 9.99984286e-01 2.31442130e-03 1.78026528e-01] [ 3.88547627e-03 -2.33427320e-03 9.99989727e-01 5.09979411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1325578440001 meters 0.28366630361986633 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99979416e-01 4.22484018e-03 -4.82894521e-03 3.35171607e+00] [-4.21853558e-03 9.99990237e-01 1.31502626e-03 1.77872084e-01] [ 4.83445384e-03 -1.29462812e-03 9.99987476e-01 5.09326487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16255784400005 meters 0.2834101766699204 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99979808e-01 4.10099408e-03 -4.85439516e-03 3.35189829e+00] [-4.09616372e-03 9.99991106e-01 1.00457295e-03 1.79190801e-01] [ 4.85847173e-03 -9.84668270e-04 9.99987713e-01 5.09069134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1925578440001 meters 0.2835738988041688 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99980087e-01 3.89147189e-03 -4.96814294e-03 3.35244389e+00] [-3.88938173e-03 9.99992344e-01 4.30303711e-04 1.81643526e-01] [ 4.96977942e-03 -4.10972138e-04 9.99987566e-01 5.08479148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22255784400005 meters 0.28412050189266 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99980237e-01 3.77556759e-03 -5.02704171e-03 3.35254818e+00] [-3.77493594e-03 9.99992866e-01 1.35131553e-04 1.82878993e-01] [ 5.02751605e-03 -1.16152122e-04 9.99987355e-01 5.08583594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2525578440001 meters 0.2831721573453089 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99980511e-01 3.66538547e-03 -5.05391241e-03 3.35249376e+00] [-3.66618010e-03 9.99993269e-01 -1.47974796e-04 1.84042274e-01] [ 5.05333601e-03 1.66500465e-04 9.99987218e-01 5.08843447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28255784400005 meters 0.28508521536068726 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:0.51 [[ 9.99990351e-01 -3.29418806e-03 -2.90614516e-03 3.37395713e+00] [ 3.30162327e-03 9.99991280e-01 2.55736864e-03 1.85249643e-01] [ 2.89769536e-03 -2.56693896e-03 9.99992507e-01 5.07587056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3125578440001 meters 0.28406781261621705 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.51 [[ 9.99975937e-01 5.93497209e-03 -3.59178492e-03 3.35309482e+00] [-5.92952091e-03 9.99981255e-01 1.52643020e-03 1.83897161e-01] [ 3.60077691e-03 -1.50509591e-03 9.99992385e-01 5.07059960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34255784400005 meters 0.28337380343632274 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99977371e-01 5.79781243e-03 -3.41213918e-03 3.35258039e+00] [-5.79401588e-03 9.99982586e-01 1.12149260e-03 1.85556836e-01] [ 3.41858197e-03 -1.10169723e-03 9.99993550e-01 5.07234656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3725578440001 meters 0.2833340257255993 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99978166e-01 5.71662601e-03 -3.31487522e-03 3.35218554e+00] [-5.71360906e-03 9.99983255e-01 9.18879215e-04 1.86401049e-01] [ 3.32007260e-03 -8.99919251e-04 9.99994084e-01 5.07580784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40255784400006 meters 0.28368859887861136 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99979041e-01 5.62366047e-03 -3.20812457e-03 3.35172747e+00] [-5.62148066e-03 9.99983963e-01 6.88080629e-04 1.87350748e-01] [ 3.21194266e-03 -6.70031797e-04 9.99994617e-01 5.08013859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4325578440001 meters 0.28181184606110027 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99986819e-01 -2.94475020e-03 -4.20599368e-03 3.33001605e+00] [ 2.94789725e-03 9.99995379e-01 7.42226119e-04 1.91317085e-01] [ 4.20378857e-03 -7.54615173e-04 9.99990879e-01 5.08732155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46255784400006 meters 0.2827626608359618 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99986529e-01 -2.98776319e-03 -4.24433555e-03 3.33008817e+00] [ 2.99046131e-03 9.99995330e-01 6.29496299e-04 1.91773862e-01] [ 4.24243495e-03 -6.42180340e-04 9.99990795e-01 5.08785346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49255784400003 meters 0.2830293759485195 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99986013e-01 -3.01340688e-03 -4.34658523e-03 3.33045276e+00] [ 3.01583892e-03 9.99995299e-01 5.53083592e-04 1.92100464e-01] [ 4.34489813e-03 -5.66184457e-04 9.99990401e-01 5.08498390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52255784400006 meters 0.2845259803547483 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99979907e-01 4.99002429e-03 -3.90969785e-03 3.35136849e+00] [-4.99060186e-03 9.99987537e-01 -1.37985535e-04 1.87841818e-01] [ 3.90896057e-03 1.57494508e-04 9.99992348e-01 5.09173951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55255784400003 meters 0.2841966624006759 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99979609e-01 5.05760115e-03 -3.89910173e-03 3.35139292e+00] [-5.05755314e-03 9.99987210e-01 2.21733308e-05 1.87166478e-01] [ 3.89916401e-03 -2.45296445e-06 9.99992398e-01 5.09069394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58255784400006 meters 0.28467341405407437 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:0.51 [[ 9.99979332e-01 5.12368863e-03 -3.88370815e-03 3.35136668e+00] [-5.12301978e-03 9.99986861e-01 1.82146671e-04 1.86497403e-01] [ 3.88459038e-03 -1.62246593e-04 9.99992442e-01 5.09042575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61255784400004 meters 0.2834066978733625 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99982268e-01 -3.01847016e-03 -5.13345167e-03 3.33152946e+00] [ 3.02453806e-03 9.99994736e-01 1.17468008e-03 1.88205457e-01] [ 5.12987891e-03 -1.19018557e-03 9.99986134e-01 5.08114863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64255784400007 meters 0.28413493484717645 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99982469e-01 -3.01174771e-03 -5.09823393e-03 3.33147470e+00] [ 3.01785943e-03 9.99994736e-01 1.19152260e-03 1.88130576e-01] [ 5.09461853e-03 -1.20688746e-03 9.99986294e-01 5.08041128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67255784400004 meters 0.2831228761186487 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99983931e-01 -3.02888977e-03 -4.79211919e-03 3.33058434e+00] [ 3.03440945e-03 9.99994741e-01 1.14497371e-03 1.88316633e-01] [ 4.78862599e-03 -1.15949656e-03 9.99987862e-01 5.08405777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70255784400007 meters 0.28387494632258614 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99984335e-01 -3.07029379e-03 -4.68012522e-03 3.33023644e+00] [ 3.07521254e-03 9.99994726e-01 1.04415400e-03 1.88737044e-01] [ 4.67689468e-03 -1.05853002e-03 9.99988503e-01 5.08532887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73255784400004 meters 0.28361837831350345 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99984342e-01 -3.09885432e-03 -4.65979776e-03 3.33022889e+00] [ 3.10341855e-03 9.99994711e-01 9.72579677e-04 1.89035108e-01] [ 4.65675924e-03 -9.87025751e-04 9.99988670e-01 5.08430977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76255784400007 meters 0.28318132939670687 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99984077e-01 -3.12223946e-03 -4.70087067e-03 3.33041421e+00] [ 3.12656366e-03 9.99994696e-01 9.12804340e-04 1.89288384e-01] [ 4.69799574e-03 -9.27487376e-04 9.99988534e-01 5.08246739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79255784400004 meters 0.28318132939670687 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99984077e-01 -3.12223946e-03 -4.70087067e-03 3.33041421e+00] [ 3.12656366e-03 9.99994696e-01 9.12804340e-04 1.89288384e-01] [ 4.69799574e-03 -9.27487376e-04 9.99988534e-01 5.08246739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8225578440001 meters 0.28394649812622424 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.51 [[ 9.99983867e-01 -3.09968472e-03 -4.76001260e-03 3.33070042e+00] [ 3.10431612e-03 9.99994715e-01 9.65900662e-04 1.89064426e-01] [ 4.75699345e-03 -9.80661663e-04 9.99988205e-01 5.07948817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85255784400005 meters 0.28291836101581647 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99967850e-01 6.10619785e-03 -5.19734000e-03 3.31053234e+00] [-6.10509422e-03 9.99981338e-01 2.28184172e-04 1.84847841e-01] [ 5.19863634e-03 -1.96446585e-04 9.99986468e-01 5.07226008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8825578440001 meters 0.28313223918404956 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99968084e-01 6.09973933e-03 -5.15992049e-03 3.31035002e+00] [-6.09870430e-03 9.99981379e-01 2.16302128e-04 1.84899319e-01] [ 5.16114379e-03 -1.84826395e-04 9.99986664e-01 5.07412198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91255784400005 meters 0.28400426879484514 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99968341e-01 6.09042048e-03 -5.12086152e-03 3.31023310e+00] [-6.08950658e-03 9.99981440e-01 1.94040635e-04 1.84990386e-01] [ 5.12194827e-03 -1.62850972e-04 9.99986869e-01 5.07449520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9425578440001 meters 0.2835669689500007 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.51 [[ 9.99975389e-01 -2.17894815e-03 -6.66879970e-03 3.28910468e+00] [ 2.18438533e-03 9.99997288e-01 8.08141065e-04 1.86019325e-01] [ 6.66702072e-03 -8.22688405e-04 9.99977437e-01 5.07268076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97255784400005 meters 0.28459685074354296 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99965968e-01 5.87023307e-03 -5.79685663e-03 3.31008696e+00] [-5.86957237e-03 9.99982765e-01 1.30981794e-04 1.82247088e-01] [ 5.79752562e-03 -9.69522670e-05 9.99983190e-01 5.07659157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0025578440001 meters 0.2855237280833669 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99965558e-01 5.91526787e-03 -5.82172895e-03 3.31026588e+00] [-5.91397244e-03 9.99982484e-01 2.39704969e-04 1.81801160e-01] [ 5.82304490e-03 -2.05267168e-04 9.99983025e-01 5.07419063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03255784400005 meters 0.2846212832753941 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99965626e-01 5.91678971e-03 -5.80845656e-03 3.31015049e+00] [-5.91546316e-03 9.99982473e-01 2.45535499e-04 1.81774710e-01] [ 5.80980754e-03 -2.11167348e-04 9.99983101e-01 5.07589728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0625578440001 meters 0.2838690929014032 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99998185e-01 -5.41009036e-04 -1.82690857e-03 3.29244126e+00] [ 5.43878105e-04 9.99998619e-01 1.57031834e-03 1.82398034e-01] [ 1.82605650e-03 -1.57130910e-03 9.99997098e-01 5.03565614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09255784400005 meters 0.28467347968766943 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.50 [[ 9.99986129e-01 5.01069328e-03 1.62334395e-03 3.31280925e+00] [-5.00823522e-03 9.99986311e-01 -1.51474089e-03 1.84192550e-01] [-1.63091163e-03 1.50658979e-03 9.99997535e-01 5.02751484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1225578440001 meters 0.2846094869129691 Centerline is valid? [False, False] Translation: X:3.31, Y:0.19, Z:0.50 [[ 9.99986682e-01 4.89404446e-03 1.63863674e-03 3.31273572e+00] [-4.89101849e-03 9.99986336e-01 -1.84557883e-03 1.85562291e-01] [-1.64764670e-03 1.83753964e-03 9.99996954e-01 5.02809075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15255784400006 meters 0.2853758506952485 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.50 [[ 9.99990833e-01 -3.71788183e-03 2.12405642e-03 3.33121128e+00] [ 3.71892673e-03 9.99992966e-01 -4.88200746e-04 1.91195954e-01] [-2.12222640e-03 4.96095481e-04 9.99997625e-01 5.04226694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1825578440001 meters 0.28484275878757903 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.50 [[ 9.99990575e-01 -3.79680340e-03 2.10597553e-03 3.33131143e+00] [ 3.79827558e-03 9.99992545e-01 -6.95489172e-04 1.92057979e-01] [-2.10331919e-03 7.03481692e-04 9.99997541e-01 5.04082683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21255784400006 meters 0.28546775036431254 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.50 [[ 9.99989959e-01 -3.93822152e-03 2.13824734e-03 3.33119480e+00] [ 3.94056486e-03 9.99991639e-01 -1.09281194e-03 1.93690526e-01] [-2.13392572e-03 1.10122687e-03 9.99997117e-01 5.04142060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters 0.2859847133310936 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:0.50 [[ 9.99989577e-01 -4.02796823e-03 2.14952213e-03 3.33110479e+00] [ 4.03079741e-03 9.99991014e-01 -1.31348217e-03 1.94614967e-01] [-2.14421215e-03 1.32213277e-03 9.99996827e-01 5.04257468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27255784400006 meters 0.2839476622724348 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99991308e-01 -2.50696530e-03 3.33150794e-03 3.29211096e+00] [ 2.51084104e-03 9.99996175e-01 -1.15968628e-03 1.93544661e-01] [-3.32858791e-03 1.16804109e-03 9.99993778e-01 5.01326397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30255784400003 meters 0.28494473807635173 Centerline is valid? [False, False] Translation: X:3.31, Y:0.19, Z:0.50 [[ 9.99975618e-01 5.49102971e-03 4.31419338e-03 3.31293829e+00] [-5.48097448e-03 9.99982244e-01 -2.33911005e-03 1.93347473e-01] [-4.32696090e-03 2.31540703e-03 9.99987958e-01 5.02038393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33255784400006 meters 0.28516003326586375 Centerline is valid? [False, False] Translation: X:3.31, Y:0.19, Z:0.50 [[ 9.99976251e-01 5.45167179e-03 4.21629628e-03 3.31317048e+00] [-5.44144916e-03 9.99982237e-01 -2.43223457e-03 1.93747117e-01] [-4.22948114e-03 2.40923404e-03 9.99988153e-01 5.02072933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36255784400004 meters 0.2848913253674665 Centerline is valid? [False, False] Translation: X:3.29, Y:0.20, Z:0.50 [[ 9.99995636e-01 -2.13738018e-03 2.03971660e-03 3.29362989e+00] [ 2.13999298e-03 9.99996891e-01 -1.27964069e-03 1.95265536e-01] [-2.03697518e-03 1.28400009e-03 9.99997101e-01 5.01235564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39255784400007 meters 0.2856575561058366 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99996023e-01 -2.04235150e-03 1.94480931e-03 3.29392386e+00] [ 2.04437785e-03 9.99997369e-01 -1.04050904e-03 1.94258918e-01] [-1.94267911e-03 1.04448083e-03 9.99997568e-01 5.01138311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42255784400004 meters 0.28518225663342617 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99996368e-01 -1.93680896e-03 1.87401041e-03 3.29413139e+00] [ 1.93826109e-03 9.99997823e-01 -7.73367399e-04 1.93135062e-01] [-1.87250846e-03 7.76996912e-04 9.99997945e-01 5.01096600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45255784400007 meters 0.28510381110580324 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99996720e-01 -1.77260516e-03 1.84873779e-03 3.29416001e+00] [ 1.77325195e-03 9.99998367e-01 -3.48274128e-04 1.91349992e-01] [-1.84811742e-03 3.51551263e-04 9.99998230e-01 5.01205157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48255784400004 meters 0.28573333114616145 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99997343e-01 -1.48429462e-03 1.76365813e-03 3.29439594e+00] [ 1.48344087e-03 9.99998782e-01 4.85288985e-04 1.87916223e-01] [-1.76437629e-03 -4.82671413e-04 9.99998327e-01 5.01220883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51255784400007 meters 0.2858063107729037 Centerline is valid? [False, False] Translation: X:3.29, Y:0.19, Z:0.50 [[ 9.99997666e-01 -1.31679063e-03 1.71319897e-03 3.29451777e+00] [ 1.31523679e-03 9.99998723e-01 9.07789971e-04 1.86147617e-01] [-1.71439215e-03 -9.05534589e-04 9.99998120e-01 5.01267374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54255784400004 meters 0.2850020440455922 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99997908e-01 -1.15023041e-03 1.69144301e-03 3.29448794e+00] [ 1.14798770e-03 9.99998462e-01 1.32628854e-03 1.84382492e-01] [-1.69296594e-03 -1.32434401e-03 9.99997690e-01 5.01486119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5725578440001 meters 0.2840234658078509 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99998054e-01 -1.00143686e-03 1.69974573e-03 3.29442784e+00] [ 9.98548412e-04 9.99998058e-01 1.69933956e-03 1.82817162e-01] [-1.70144421e-03 -1.69763898e-03 9.99997112e-01 5.01596017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60255784400005 meters 0.28590515683990514 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:0.50 [[ 9.99998539e-01 -1.53616023e-03 7.49882013e-04 3.33311202e+00] [ 1.53409085e-03 9.99995035e-01 2.75242318e-03 1.79407644e-01] [-7.54106453e-04 -2.75126877e-03 9.99995931e-01 5.04584538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6325578440001 meters 0.285177184563048 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99987068e-01 4.87684413e-03 -1.44198502e-03 3.31260068e+00] [-4.87753354e-03 9.99987992e-01 -4.74963611e-04 1.77512690e-01] [ 1.43965138e-03 4.81990800e-04 9.99998848e-01 5.05271573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66255784400005 meters 0.2853038949938986 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.51 [[ 9.99986904e-01 4.90862910e-03 -1.44826931e-03 3.31271389e+00] [-4.90920799e-03 9.99987871e-01 -3.96433101e-04 1.77191911e-01] [ 1.44630580e-03 4.03537764e-04 9.99998873e-01 5.05073563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6925578440001 meters 0.28484215534311486 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99990567e-01 -3.28645597e-03 -2.83980510e-03 3.29265974e+00] [ 3.28795353e-03 9.99994458e-01 5.22836341e-04 1.78895485e-01] [ 2.83807109e-03 -5.32168556e-04 9.99995831e-01 5.04449231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72255784400005 meters 0.285453279244798 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99991023e-01 -3.21901272e-03 -2.75551542e-03 3.29236604e+00] [ 3.22091757e-03 9.99994577e-01 6.87126486e-04 1.78181363e-01] [ 2.75328861e-03 -6.95995605e-04 9.99995967e-01 5.04640628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7525578440001 meters 0.2854782878357256 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99991528e-01 -3.17336725e-03 -2.62161778e-03 3.29204213e+00] [ 3.17546892e-03 9.99994640e-01 7.97897768e-04 1.77712870e-01] [ 2.61907170e-03 -8.06215875e-04 9.99996245e-01 5.04607934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78255784400005 meters 0.28572118143414993 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99991977e-01 -2.99110023e-03 -2.66444649e-03 3.29233404e+00] [ 2.99444468e-03 9.99994733e-01 1.25210956e-03 1.75808845e-01] [ 2.66068727e-03 -1.26007805e-03 9.99995666e-01 5.04255769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8125578440001 meters 0.28594507819722886 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99992099e-01 -2.90896062e-03 -2.70927500e-03 3.29263779e+00] [ 2.91291175e-03 9.99994698e-01 1.45556913e-03 1.74961284e-01] [ 2.70502644e-03 -1.46344951e-03 9.99995271e-01 5.03869537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84255784400005 meters 0.284589634872562 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.51 [[ 9.99984383e-01 3.11130886e-03 -4.64260961e-03 3.27058677e+00] [-3.11993414e-03 9.99993418e-01 -1.85176669e-03 1.72451766e-01] [ 4.63681763e-03 1.86622241e-03 9.99987508e-01 5.05265239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8725578440001 meters 0.2847780297931454 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.51 [[ 9.99983513e-01 3.20872706e-03 -4.76218126e-03 3.27096584e+00] [-3.21643221e-03 9.99993529e-01 -1.61121104e-03 1.71441291e-01] [ 4.75698051e-03 1.62650171e-03 9.99987363e-01 5.05121949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90255784400006 meters 0.28668212418479655 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.50 [[ 9.99982659e-01 3.30834746e-03 -4.87211093e-03 3.27132713e+00] [-3.31504772e-03 9.99993570e-01 -1.36779460e-03 1.70419203e-01] [ 4.86755446e-03 1.38392216e-03 9.99987196e-01 5.04967626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9325578440001 meters 0.2849642026942856 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.50 [[ 9.99982253e-01 3.46324870e-03 -4.84755008e-03 3.27128371e+00] [-3.46812773e-03 9.99993488e-01 -9.98449767e-04 1.68861197e-01] [ 4.84406063e-03 1.01524397e-03 9.99987752e-01 5.04954286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96255784400006 meters 0.2853847658891156 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.51 [[ 9.99982678e-01 3.52028473e-03 -4.71718525e-03 3.27088613e+00] [-3.52437610e-03 9.99993420e-01 -8.59300314e-04 1.68266975e-01] [ 4.71412923e-03 8.75910564e-04 9.99988505e-01 5.05102850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99255784400003 meters 0.28575217304646405 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.51 [[ 9.99983136e-01 3.56615976e-03 -4.58370800e-03 3.27049060e+00] [-3.56963613e-03 9.99993347e-01 -7.50460582e-04 1.67793959e-01] [ 4.58100124e-03 7.66810096e-04 9.99989213e-01 5.05240245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02255784400006 meters 0.2860131812657253 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.51 [[ 9.99983626e-01 3.58528325e-03 -4.46022637e-03 3.27018103e+00] [-3.58844415e-03 9.99993316e-01 -7.00885160e-04 1.67596050e-01] [ 4.45768369e-03 7.16878957e-04 9.99989808e-01 5.05237178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05255784400003 meters 0.2848250636847768 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:0.50 [[ 9.99968819e-01 -4.36157281e-03 -6.58308083e-03 3.25136898e+00] [ 4.36533283e-03 9.99990317e-01 5.56903651e-04 1.68697360e-01] [ 6.58058811e-03 -5.85623625e-04 9.99978176e-01 5.04038994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08255784400006 meters 0.2849582643465914 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:0.50 [[ 9.99968911e-01 -4.32388102e-03 -6.59397688e-03 3.25156022e+00] [ 4.32824669e-03 9.99990423e-01 6.47943132e-04 1.68313841e-01] [ 6.59111210e-03 -6.76463347e-04 9.99978050e-01 5.03692102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11255784400004 meters 0.28618383946244286 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:0.50 [[ 9.99979673e-01 3.63422947e-03 -5.23887353e-03 3.27178390e+00] [-3.63616230e-03 9.99993325e-01 -3.59462996e-04 1.65486824e-01] [ 5.23753218e-03 3.78505084e-04 9.99986212e-01 5.04561711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14255784400007 meters 0.28571083003502734 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.50 [[ 9.99979666e-01 3.68934262e-03 -5.20154231e-03 3.27168078e+00] [-3.69056655e-03 9.99993164e-01 -2.25722861e-04 1.64930455e-01] [ 5.20067398e-03 2.44914909e-04 9.99986446e-01 5.04588581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17255784400004 meters 0.28519396502014477 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:0.50 [[ 9.99975396e-01 -5.15338246e-03 -4.75929176e-03 3.24827828e+00] [ 5.15539461e-03 9.99986627e-01 4.10611939e-04 1.63901646e-01] [ 4.75711207e-03 -4.35137863e-04 9.99988590e-01 5.04846040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20255784400007 meters 0.2867966024537653 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99993332e-01 2.74955988e-03 -2.40336895e-03 3.26769478e+00] [-2.75041284e-03 9.99996156e-01 -3.51670169e-04 1.60249750e-01] [ 2.40239277e-03 3.58278081e-04 9.99997050e-01 5.05639856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23255784400004 meters 0.28658554176300877 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99993100e-01 2.87201429e-03 -2.35600614e-03 3.26753964e+00] [-2.87212100e-03 9.99995875e-01 -4.19101014e-05 1.58955321e-01] [ 2.35587605e-03 4.86765470e-05 9.99997224e-01 5.05725076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26255784400007 meters 0.2861407490531232 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99992829e-01 2.98492725e-03 -2.33058426e-03 3.26747233e+00] [-2.98437760e-03 9.99995518e-01 2.39284057e-04 1.57783573e-01] [ 2.33128806e-03 -2.32326998e-04 9.99997256e-01 5.05749617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29255784400004 meters 0.2855936082517429 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99992534e-01 3.05289822e-03 -2.36910749e-03 3.26766242e+00] [-3.05193939e-03 9.99995259e-01 4.08231755e-04 1.57077064e-01] [ 2.37034255e-03 -4.00998335e-04 9.99997110e-01 5.05563900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3225578440001 meters 0.28601441448622955 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99992166e-01 3.11939036e-03 -2.43654083e-03 3.26807782e+00] [-3.11798597e-03 9.99994971e-01 5.79974155e-04 1.56361666e-01] [ 2.43833774e-03 -5.72372512e-04 9.99996863e-01 5.05007293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35255784400005 meters 0.2860047805111898 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.50 [[ 9.99992317e-01 3.08093808e-03 -2.42348539e-03 3.26809928e+00] [-3.07976616e-03 9.99995139e-01 4.87152950e-04 1.56755365e-01] [ 2.42497450e-03 -4.79685439e-04 9.99996945e-01 5.04879161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3825578440001 meters 0.28592533030492306 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.50 [[ 9.99992650e-01 3.03254530e-03 -2.34576847e-03 3.26784679e+00] [-3.03169209e-03 9.99995337e-01 3.67191882e-04 1.57261480e-01] [ 2.34687106e-03 -3.60077535e-04 9.99997181e-01 5.04989047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41255784400005 meters 0.28552213449861086 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:0.51 [[ 9.99993494e-01 2.92045904e-03 -2.11710714e-03 3.26722241e+00] [-2.92039902e-03 9.99995735e-01 3.14408296e-05 1.58657106e-01] [ 2.11718993e-03 -2.52578274e-05 9.99997758e-01 5.05114092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4425578440001 meters 0.2862753214179139 Centerline is valid? [False, False] Translation: X:3.29, Y:0.16, Z:0.50 [[ 9.99991576e-01 -3.82517661e-03 -1.48864664e-03 3.28880039e+00] [ 3.82933068e-03 9.99988754e-01 2.79773016e-03 1.62518942e-01] [ 1.47792808e-03 -2.80340711e-03 9.99994978e-01 5.04384362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47255784400005 meters 0.28604642249683593 Centerline is valid? [False, False] Translation: X:3.29, Y:0.16, Z:0.50 [[ 9.99991194e-01 -3.92105351e-03 -1.49554126e-03 3.28896374e+00] [ 3.92486056e-03 9.99989043e-01 2.55121337e-03 1.63558024e-01] [ 1.48552143e-03 -2.55706069e-03 9.99995627e-01 5.04023372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5025578440001 meters 0.28591342353606686 Centerline is valid? [False, False] Translation: X:3.29, Y:0.16, Z:0.50 [[ 9.99990763e-01 -4.03633188e-03 -1.47744724e-03 3.28898993e+00] [ 4.03966329e-03 9.99989289e-01 2.25884478e-03 1.64778919e-01] [ 1.46831397e-03 -2.26479230e-03 9.99996357e-01 5.03826526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53255784400005 meters 0.2856422903160443 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99989836e-01 -4.25054008e-03 -1.50341049e-03 3.28900445e+00] [ 4.25311456e-03 9.99989488e-01 1.71339661e-03 1.67044589e-01] [ 1.49611183e-03 -1.71977337e-03 9.99997402e-01 5.03880444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5625578440001 meters 0.28656846464175373 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99992726e-01 3.80747645e-03 2.25681578e-04 3.30889432e+00] [-3.80760234e-03 9.99992594e-01 5.60057063e-04 1.66545183e-01] [-2.23547503e-04 -5.60912295e-04 9.99999818e-01 5.04706969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59255784400005 meters 0.28715941658602956 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99992920e-01 3.75723205e-03 2.06829506e-04 3.30882657e+00] [-3.75732160e-03 9.99992847e-01 4.34317443e-04 1.67076642e-01] [-2.05196195e-04 -4.35091493e-04 9.99999884e-01 5.04944623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6225578440001 meters 0.2869462592223645 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99993051e-01 3.72383962e-03 1.74616266e-04 3.30880439e+00] [-3.72390122e-03 9.99993004e-01 3.53796300e-04 1.67426670e-01] [-1.73297563e-04 -3.54444095e-04 9.99999922e-01 5.05169456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65255784400006 meters 0.28547308789081016 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99990113e-01 -4.28108726e-03 -1.20250542e-03 3.28832951e+00] [ 4.28274013e-03 9.99989883e-01 1.37532864e-03 1.68919842e-01] [ 1.19660536e-03 -1.38046506e-03 9.99998331e-01 5.04346694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6825578440001 meters 0.28547308789081016 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99990113e-01 -4.28108726e-03 -1.20250542e-03 3.28832951e+00] [ 4.28274013e-03 9.99989883e-01 1.37532864e-03 1.68919842e-01] [ 1.19660536e-03 -1.38046506e-03 9.99998331e-01 5.04346694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71255784400006 meters 0.2867390097951168 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99990118e-01 4.19800561e-03 -1.46309898e-03 3.31053306e+00] [-4.19713948e-03 9.99991015e-01 5.94553483e-04 1.65808329e-01] [ 1.46558177e-03 -5.88406777e-04 9.99998753e-01 5.04210326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters 0.28700607221454916 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99989857e-01 4.23739305e-03 -1.52665045e-03 3.31073260e+00] [-4.23632977e-03 9.99990782e-01 6.99039557e-04 1.65373211e-01] [ 1.52959848e-03 -6.92565071e-04 9.99998590e-01 5.04122835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77255784400006 meters 0.2869558327214936 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99989493e-01 4.28170821e-03 -1.63736732e-03 3.31092634e+00] [-4.28037545e-03 9.99990506e-01 8.16606191e-04 1.64893202e-01] [ 1.64084824e-03 -8.09589064e-04 9.99998326e-01 5.04316615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80255784400003 meters 0.2853828198291014 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99989240e-01 -3.90081336e-03 -2.51050630e-03 3.28986827e+00] [ 3.90534233e-03 9.99990751e-01 1.80164143e-03 1.66634507e-01] [ 2.50345521e-03 -1.81142643e-03 9.99995226e-01 5.03904969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83255784400006 meters 0.28640512194947404 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99989844e-01 4.33020561e-03 -1.24979919e-03 3.31001967e+00] [-4.32873965e-03 9.99989943e-01 1.17328307e-03 1.62640632e-01] [ 1.25486717e-03 -1.16786110e-03 9.99998531e-01 5.04949591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86255784400004 meters 0.28604398903808953 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99989560e-01 4.39147530e-03 -1.26250065e-03 3.31009329e+00] [-4.38980033e-03 9.99989485e-01 1.32642892e-03 1.62001231e-01] [ 1.26831236e-03 -1.32087294e-03 9.99998323e-01 5.04874140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89255784400007 meters 0.28639894162578156 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99989437e-01 4.41366673e-03 -1.28285622e-03 3.31025092e+00] [-4.41188784e-03 9.99989307e-01 1.38620231e-03 1.61761769e-01] [ 1.28896073e-03 -1.38052784e-03 9.99998216e-01 5.04644837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92255784400004 meters 0.2872803133629635 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:0.51 [[ 9.99990114e-01 -4.38947997e-03 -7.10354279e-04 3.32940279e+00] [ 4.39127129e-03 9.99987132e-01 2.54012848e-03 1.66065180e-01] [ 6.99195295e-04 -2.54322273e-03 9.99996522e-01 5.05519883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95255784400007 meters 0.28522524140049643 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99994783e-01 2.03856503e-03 -2.50572245e-03 3.30766491e+00] [-2.04025770e-03 9.99997692e-01 -6.73151860e-04 1.65375311e-01] [ 2.50434441e-03 6.78260667e-04 9.99996634e-01 5.06625028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98255784400004 meters 0.2875497849930266 Centerline is valid? [False, False] Translation: X:3.35, Y:0.17, Z:0.51 [[ 9.99995043e-01 1.55815227e-03 -2.73623718e-03 3.34575145e+00] [-1.56038065e-03 9.99998453e-01 -8.12450004e-04 1.69442486e-01] [ 2.73496703e-03 8.16715548e-04 9.99995926e-01 5.09941470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01255784400007 meters 0.2858026034339264 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99998185e-01 1.72447574e-03 -8.09526077e-04 3.30520504e+00] [-1.72582716e-03 9.99997114e-01 -1.67167410e-03 1.68815565e-01] [ 8.06640978e-04 1.67306817e-03 9.99998275e-01 5.07236000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04255784400004 meters 0.28723479983865485 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:0.51 [[ 9.99991940e-01 -4.01124985e-03 1.73447430e-04 3.32738029e+00] [ 4.01089334e-03 9.99989938e-01 2.00912391e-03 1.71832267e-01] [-1.81504783e-04 -2.00841204e-03 9.99997967e-01 5.06242246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0725578440001 meters 0.2861234927411343 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99983661e-01 5.62181508e-03 -1.03554697e-03 3.30683360e+00] [-5.62022229e-03 9.99983029e-01 1.53465582e-03 1.71774033e-01] [ 1.04415695e-03 -1.52881074e-03 9.99998286e-01 5.06156583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10255784400005 meters 0.2866459565787659 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.51 [[ 9.99984316e-01 5.52113273e-03 -9.40370813e-04 3.30655738e+00] [-5.51993544e-03 9.99983957e-01 1.27108642e-03 1.72872992e-01] [ 9.47373563e-04 -1.26587570e-03 9.99998750e-01 5.06218058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1325578440001 meters 0.28535174483661013 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.51 [[ 9.99994487e-01 -3.14600337e-03 -1.06283348e-03 3.28519098e+00] [ 3.14788709e-03 9.99993469e-01 1.77535293e-03 1.75715955e-01] [ 1.05724127e-03 -1.77868882e-03 9.99997859e-01 5.05452201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16255784400005 meters 0.28664782595107713 Centerline is valid? [False, False] Translation: X:3.28, Y:0.18, Z:0.51 [[ 9.99994296e-01 -3.24093233e-03 -9.51059430e-04 3.28484159e+00] [ 3.24238516e-03 9.99993573e-01 1.53004816e-03 1.76745539e-01] [ 9.46094535e-04 -1.53312313e-03 9.99998377e-01 5.05571940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1925578440001 meters 0.2856906946819782 Centerline is valid? [False, False] Translation: X:3.28, Y:0.18, Z:0.51 [[ 9.99994132e-01 -3.29282477e-03 -9.44656027e-04 3.28480973e+00] [ 3.29414739e-03 9.99993591e-01 1.40199128e-03 1.77282815e-01] [ 9.40033461e-04 -1.40509489e-03 9.99998571e-01 5.05582246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22255784400005 meters 0.2870878600404309 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.50 [[ 9.99992965e-01 2.71613862e-03 2.58717263e-03 3.30584861e+00] [-2.71312669e-03 9.99995639e-01 -1.16697466e-03 1.80510696e-01] [-2.59033102e-03 1.15994712e-03 9.99995972e-01 5.04257830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2525578440001 meters 0.2862668300071552 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.50 [[ 9.99992972e-01 2.70375889e-03 2.59712510e-03 3.30570417e+00] [-2.70065017e-03 9.99995634e-01 -1.19974695e-03 1.80642945e-01] [-2.60035759e-03 1.19272459e-03 9.99995908e-01 5.04517294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28255784400005 meters 0.2857503435773182 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:0.50 [[ 9.99992756e-01 2.78214500e-03 2.59755271e-03 3.30564172e+00] [-2.77957404e-03 9.99995644e-01 -9.92848548e-04 1.79790482e-01] [-2.60030364e-03 9.85621266e-04 9.99996133e-01 5.04677858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3125578440001 meters 0.2864407893510131 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99987355e-01 -5.00681578e-03 4.71672219e-04 3.28566391e+00] [ 5.00668090e-03 9.99987425e-01 2.86724543e-04 1.79348617e-01] [-4.73101865e-04 -2.84359405e-04 9.99999848e-01 5.03854135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34255784400005 meters 0.2855142828126738 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99987939e-01 -4.89638951e-03 3.83280734e-04 3.28597557e+00] [ 4.89616848e-03 9.99987848e-01 5.75522282e-04 1.78139696e-01] [-3.86094057e-04 -5.73638734e-04 9.99999761e-01 5.03690647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3725578440001 meters 0.2855701597387572 Centerline is valid? [False, False] Translation: X:3.29, Y:0.18, Z:0.50 [[ 9.99988770e-01 -4.73121162e-03 2.74928105e-04 3.28627346e+00] [ 4.73093331e-03 9.99988305e-01 1.00427384e-03 1.76338846e-01] [-2.79676322e-04 -1.00296189e-03 9.99999458e-01 5.03691765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40255784400006 meters 0.2862547973770114 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99990210e-01 -4.41836789e-03 2.42594790e-04 3.28641760e+00] [ 4.41789359e-03 9.99988394e-01 1.92204667e-03 1.72589998e-01] [-2.51084284e-04 -1.92095609e-03 9.99998123e-01 5.03630595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4325578440001 meters 0.28501662329283534 Centerline is valid? [False, False] Translation: X:3.29, Y:0.17, Z:0.50 [[ 9.99991077e-01 -4.21761504e-03 2.40999978e-04 3.28653915e+00] [ 4.21701463e-03 9.99988132e-01 2.43977130e-03 1.70428480e-01] [-2.51287134e-04 -2.43873322e-03 9.99996995e-01 5.03442117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46255784400006 meters 0.28714676111293685 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99996817e-01 1.60613827e-03 1.94596963e-03 3.31029745e+00] [-1.60556976e-03 9.99998668e-01 -2.93673032e-04 1.69499651e-01] [-1.94643871e-03 2.90547707e-04 9.99998063e-01 5.01545976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49255784400003 meters 0.2860879760169829 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99996668e-01 1.75634112e-03 1.89212804e-03 3.31061508e+00] [-1.75649462e-03 9.99998454e-01 7.94674177e-05 1.67929536e-01] [-1.89198554e-03 -8.27906656e-05 9.99998207e-01 5.01183573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52255784400006 meters 0.28664044568596747 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:0.50 [[ 9.99996351e-01 2.00770485e-03 1.80737687e-03 3.31094098e+00] [-2.00894843e-03 9.99997746e-01 6.86509394e-04 1.65370464e-01] [-1.80599448e-03 -6.90137816e-04 9.99998131e-01 5.01021022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55255784400003 meters 0.2857247744616447 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99996184e-01 2.09308933e-03 1.80319486e-03 3.31096222e+00] [-2.09470908e-03 9.99997404e-01 8.96844748e-04 1.64487852e-01] [-1.80131301e-03 -9.00618494e-04 9.99997972e-01 5.01019715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58255784400006 meters 0.2862388708969514 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99996077e-01 2.17497996e-03 1.76529750e-03 3.31116180e+00] [-2.17692177e-03 9.99997027e-01 1.09881576e-03 1.63635379e-01] [-1.76290235e-03 -1.10265436e-03 9.99997838e-01 5.00815066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61255784400004 meters 0.28523231586351344 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:0.50 [[ 9.99995921e-01 2.26699025e-03 1.73738884e-03 3.31132020e+00] [-2.26930473e-03 9.99996539e-01 1.33135121e-03 1.62653320e-01] [-1.73436466e-03 -1.33528844e-03 9.99997604e-01 5.00647867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64255784400007 meters 0.2867766550549401 Centerline is valid? [False, False] Translation: X:3.35, Y:0.16, Z:0.50 [[ 9.99999535e-01 6.78604023e-04 -6.84883302e-04 3.35212475e+00] [-6.77617276e-04 9.99998734e-01 1.43995824e-03 1.59055158e-01] [ 6.85859596e-04 -1.43949349e-03 9.99998729e-01 5.03447088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67255784400004 meters 0.2864518480050803 Centerline is valid? [False, False] Translation: X:3.35, Y:0.16, Z:0.50 [[ 9.99999399e-01 8.51487891e-04 -6.90101185e-04 3.35207480e+00] [-8.50151274e-04 9.99997767e-01 1.93482729e-03 1.57035166e-01] [ 6.91747125e-04 -1.93423943e-03 9.99997890e-01 5.03645943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70255784400007 meters 0.2855423515674884 Centerline is valid? [False, False] Translation: X:3.35, Y:0.15, Z:0.50 [[ 9.99999227e-01 1.05912295e-03 -6.50664577e-04 3.35180119e+00] [-1.05745000e-03 9.99996148e-01 2.56612828e-03 1.54462455e-01] [ 6.53379916e-04 -2.56543826e-03 9.99996496e-01 5.04151305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73255784400004 meters 0.2853398461001551 Centerline is valid? [False, False] Translation: X:3.35, Y:0.15, Z:0.51 [[ 9.99999382e-01 1.04557498e-03 3.78067847e-04 3.34887870e+00] [-1.04686098e-03 9.99993612e-01 3.41747998e-03 1.50045159e-01] [-3.74492201e-04 -3.41787365e-03 9.99994089e-01 5.05562655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76255784400007 meters 0.28559760152588803 Centerline is valid? [False, False] Translation: X:3.35, Y:0.15, Z:0.51 [[ 9.99999055e-01 1.30263411e-03 4.40398614e-04 3.34865116e+00] [-1.30445174e-03 9.99990528e-01 4.15245558e-03 1.47008369e-01] [-4.34985312e-04 -4.15302613e-03 9.99991282e-01 5.05771269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79255784400004 meters 0.28565029169064005 Centerline is valid? [False, False] Translation: X:3.35, Y:0.14, Z:0.51 [[ 9.99998705e-01 1.56797418e-03 3.63284546e-04 3.34891398e+00] [-1.56972022e-03 9.99986973e-01 4.85690612e-03 1.44105285e-01] [-3.55664310e-04 -4.85747009e-03 9.99988139e-01 5.05649003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8225578440001 meters 0.28427785133442557 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.51 [[ 9.99984990e-01 4.63737198e-03 -2.91784549e-03 3.32641009e+00] [-4.63954789e-03 9.99988964e-01 -7.39400002e-04 1.43277282e-01] [ 2.91438442e-03 7.52926387e-04 9.99995470e-01 5.08318093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85255784400005 meters 0.2842171318320434 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.51 [[ 9.99981516e-01 5.18665901e-03 -3.17286670e-03 3.32739870e+00] [-5.18507808e-03 9.99986429e-01 5.06290179e-04 1.37845684e-01] [ 3.17544960e-03 -4.89829259e-04 9.99994838e-01 5.07745604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8825578440001 meters 0.2852640057449305 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.51 [[ 9.99980347e-01 5.37388433e-03 -3.22910648e-03 3.32768498e+00] [-5.37086609e-03 9.99985133e-01 9.42642332e-04 1.36019013e-01] [ 3.23412412e-03 -9.25280707e-04 9.99994342e-01 5.07478960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91255784400005 meters 0.285194078785452 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99979588e-01 5.51178958e-03 -3.23166899e-03 3.32776509e+00] [-5.50774027e-03 9.99984038e-01 1.26057076e-03 1.34692210e-01] [ 3.23856541e-03 -1.24274583e-03 9.99993984e-01 5.07355026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9425578440001 meters 0.28549018872383514 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99994673e-01 1.34913749e-03 -2.97229597e-03 3.32718807e+00] [-1.35666607e-03 9.99995873e-01 -2.53236044e-03 1.32903370e-01] [ 2.96886720e-03 2.53637936e-03 9.99992376e-01 5.07273165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97255784400005 meters 0.2851080518843092 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99994974e-01 1.44109153e-03 -2.82402643e-03 3.32685592e+00] [-1.44755923e-03 9.99996331e-01 -2.28953600e-03 1.31903705e-01] [ 2.82071664e-03 2.29361244e-03 9.99993391e-01 5.07238258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0025578440001 meters 0.28490371512422263 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99995016e-01 1.55803833e-03 -2.74614926e-03 3.32665906e+00] [-1.56333498e-03 9.99996920e-01 -1.92766608e-03 1.30489425e-01] [ 2.74313742e-03 1.93194963e-03 9.99994371e-01 5.07283958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03255784400005 meters 0.2850906861531798 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99994946e-01 1.58806875e-03 -2.75441610e-03 3.32678529e+00] [-1.59315392e-03 9.99997029e-01 -1.84497736e-03 1.30150403e-01] [ 2.75147797e-03 1.84935625e-03 9.99994505e-01 5.07048099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0625578440001 meters 0.2854897857608961 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99995008e-01 1.61598641e-03 -2.71539234e-03 3.32676039e+00] [-1.62080820e-03 9.99997112e-01 -1.77446307e-03 1.29846111e-01] [ 2.71251699e-03 1.77885534e-03 9.99994739e-01 5.06891537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09255784400005 meters 0.2863872318048691 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99995138e-01 1.63243929e-03 -2.65677220e-03 3.32669803e+00] [-1.63705131e-03 9.99997155e-01 -1.73470078e-03 1.29669312e-01] [ 2.65393284e-03 1.73904162e-03 9.99994966e-01 5.06704370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1225578440001 meters 0.28605058810080003 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99995241e-01 1.64615705e-03 -2.60937394e-03 3.32667237e+00] [-1.65059215e-03 9.99997195e-01 -1.69843821e-03 1.29520459e-01] [ 2.60657072e-03 1.70273714e-03 9.99995153e-01 5.06502359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15255784400006 meters 0.28590212515830904 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99995092e-01 1.82719027e-03 -2.54487605e-03 3.32661097e+00] [-1.83041340e-03 9.99997525e-01 -1.26476720e-03 1.27680178e-01] [ 2.54255878e-03 1.26941916e-03 9.99995962e-01 5.06326072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1825578440001 meters 0.28675138180343973 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.51 [[ 9.99994870e-01 1.94733859e-03 -2.54312367e-03 3.32663196e+00] [-1.94980756e-03 9.99997630e-01 -9.68722409e-04 1.26430924e-01] [ 2.54123121e-03 9.73676042e-04 9.99996297e-01 5.06304113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21255784400006 meters 0.28744009350226646 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99994193e-01 2.17050507e-03 -2.62727416e-03 3.32693116e+00] [-2.17145843e-03 9.99997578e-01 -3.60074968e-04 1.23905924e-01] [ 2.62648626e-03 3.65777894e-04 9.99996484e-01 5.06146291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters 0.28653944375684753 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99993911e-01 2.27497375e-03 -2.64602960e-03 3.32697251e+00] [-2.27523221e-03 9.99997407e-01 -9.46723025e-05 1.22794416e-01] [ 2.64580736e-03 1.00692058e-04 9.99996495e-01 5.06184272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27255784400006 meters 0.28806035265652885 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99993581e-01 2.41062794e-03 -2.65070681e-03 3.32697529e+00] [-2.40994993e-03 9.99997063e-01 2.58947880e-04 1.21327887e-01] [ 2.65132325e-03 -2.52558147e-04 9.99996453e-01 5.06238872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30255784400003 meters 0.28629824076272636 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99994124e-01 1.77960138e-03 -2.92984692e-03 3.36593230e+00] [-1.77998797e-03 9.99998407e-01 -1.29345388e-04 1.23096666e-01] [ 2.92961208e-03 1.34559720e-04 9.99995700e-01 5.09394446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33255784400006 meters 0.2859784576007402 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99993772e-01 1.90814021e-03 -2.96908571e-03 3.36603867e+00] [-1.90757344e-03 9.99998162e-01 1.93712677e-04 1.21737999e-01] [ 2.96944989e-03 -1.88047721e-04 9.99995573e-01 5.09396297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36255784400004 meters 0.2854144702699736 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99993187e-01 2.07660863e-03 -3.05176551e-03 3.36620263e+00] [-2.07472700e-03 9.99997656e-01 6.19609509e-04 1.19943365e-01] [ 3.05304504e-03 -6.13273708e-04 9.99995151e-01 5.09518834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39255784400007 meters 0.28775094889316644 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.51 [[ 9.99992850e-01 -3.71385879e-03 -7.12603464e-04 3.38817712e+00] [ 3.71663245e-03 9.99985366e-01 3.93126667e-03 1.19960766e-01] [ 6.97992866e-04 -3.93388705e-03 9.99992019e-01 5.08142503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42255784400004 meters 0.28511358150875277 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99995721e-01 1.91947771e-03 -2.20759482e-03 3.36521569e+00] [-1.91837922e-03 9.99998035e-01 4.99607213e-04 1.18627946e-01] [ 2.20854947e-03 -4.95370071e-04 9.99997438e-01 5.09593065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45255784400007 meters 0.28437143214722455 Centerline is valid? [False, False] Translation: X:3.34, Y:0.12, Z:0.51 [[ 9.99977405e-01 -4.64052599e-03 -4.86360132e-03 3.34466972e+00] [ 4.65634544e-03 9.99983890e-01 3.24635995e-03 1.17478761e-01] [ 4.84845815e-03 -3.26893320e-03 9.99982903e-01 5.09924130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48255784400004 meters 0.2856301002080477 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99996695e-01 1.29277405e-03 -2.22230979e-03 3.36685795e+00] [-1.29268634e-03 9.99999164e-01 4.09011484e-05 1.19715086e-01] [ 2.22236081e-03 -3.80282637e-05 9.99997530e-01 5.08179616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51255784400007 meters 0.28742785892374234 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99996489e-01 1.31042567e-03 -2.30303226e-03 3.36716686e+00] [-1.31022688e-03 9.99999138e-01 8.78258099e-05 1.19509033e-01] [ 2.30314536e-03 -8.48080068e-05 9.99997344e-01 5.07964932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54255784400004 meters 0.2864492653983968 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.51 [[ 9.99996254e-01 1.32025254e-03 -2.39764058e-03 3.36749456e+00] [-1.31998116e-03 9.99999122e-01 1.14764163e-04 1.19385133e-01] [ 2.39779000e-03 -1.11598893e-04 9.99997119e-01 5.07782519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5725578440001 meters 0.28459102705221095 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999812e-01 4.45581553e-05 -6.12292412e-04 3.32663157e+00] [-4.49588059e-05 9.99999785e-01 -6.54346990e-04 1.15355209e-01] [ 6.12263123e-04 6.54374395e-04 9.99999598e-01 5.05445485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60255784400005 meters 0.28459102705221095 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999812e-01 4.45581553e-05 -6.12292412e-04 3.32663157e+00] [-4.49588059e-05 9.99999785e-01 -6.54346990e-04 1.15355209e-01] [ 6.12263123e-04 6.54374395e-04 9.99999598e-01 5.05445485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6325578440001 meters 0.28681475793240074 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.51 [[ 9.99999841e-01 8.73770571e-05 -5.56893479e-04 3.32636051e+00] [-8.76845199e-05 9.99999844e-01 -5.52102907e-04 1.14925485e-01] [ 5.56845150e-04 5.52151650e-04 9.99999693e-01 5.05744113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66255784400005 meters 0.28595718701173084 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.51 [[ 9.99999874e-01 9.69305306e-05 -4.91874666e-04 3.32610503e+00] [-9.71920187e-05 9.99999854e-01 -5.31619345e-04 1.14850157e-01] [ 4.91823064e-04 5.31667085e-04 9.99999738e-01 5.05942011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6925578440001 meters 0.28503231350398134 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.51 [[ 9.99999903e-01 9.99999605e-05 -4.29326618e-04 3.32592936e+00] [-1.00226234e-04 9.99999856e-01 -5.27052569e-04 1.14832182e-01] [ 4.29273851e-04 5.27095548e-04 9.99999769e-01 5.05972553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72255784400005 meters 0.28485014166437356 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999915e-01 6.14472242e-05 -4.07719986e-04 3.32602721e+00] [-6.17023241e-05 9.99999802e-01 -6.25691102e-04 1.15230587e-01] [ 4.07681458e-04 6.25716206e-04 9.99999721e-01 5.05628340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7525578440001 meters 0.2846871152958491 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.50 [[ 9.99999842e-01 -1.09542708e-04 -5.50693987e-04 3.32663728e+00] [ 1.08914101e-04 9.99999343e-01 -1.14138190e-03 1.17304626e-01] [ 5.50818655e-04 1.14132174e-03 9.99999197e-01 5.04856099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78255784400005 meters 0.284287719778279 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.50 [[ 9.99999810e-01 -2.42965134e-04 -5.66316958e-04 3.32670737e+00] [ 2.42108211e-04 9.99998827e-01 -1.51272708e-03 1.18830677e-01] [ 5.66683833e-04 1.51258968e-03 9.99998695e-01 5.04746393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8125578440001 meters 0.28446930273664367 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.50 [[ 9.99999845e-01 -3.64524543e-04 -4.20413162e-04 3.32623520e+00] [ 3.63743046e-04 9.99998209e-01 -1.85745932e-03 1.20270045e-01] [ 4.21089499e-04 1.85730611e-03 9.99998187e-01 5.04980254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84255784400005 meters 0.2854855986681275 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999838e-01 -4.80834781e-04 -3.05045839e-04 3.32587263e+00] [ 4.80173778e-04 9.99997545e-01 -2.16328135e-03 1.21570672e-01] [ 3.06085271e-04 2.16313452e-03 9.99997614e-01 5.05129102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8725578440001 meters 0.2855313750883272 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999810e-01 -5.66868493e-04 -2.41607522e-04 3.32569973e+00] [ 5.66291727e-04 9.99997006e-01 -2.38062529e-03 1.22481095e-01] [ 2.42956300e-04 2.38048802e-03 9.99997137e-01 5.05132851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90255784400006 meters 0.2843268871035468 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999800e-01 -6.01953985e-04 -1.93143602e-04 3.32539541e+00] [ 6.01473422e-04 9.99996747e-01 -2.47860114e-03 1.22894782e-01] [ 1.94634977e-04 2.47848447e-03 9.99996910e-01 5.05543090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9325578440001 meters 0.28396206639415095 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.51 [[ 9.99999823e-01 -5.56687863e-04 -2.08939020e-04 3.32528738e+00] [ 5.56191858e-04 9.99997045e-01 -2.36651995e-03 1.22422064e-01] [ 2.10255816e-04 2.36640333e-03 9.99997178e-01 5.05879917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96255784400006 meters 0.28494705074604093 Centerline is valid? [False, False] Translation: X:3.35, Y:0.12, Z:0.50 [[ 9.99968109e-01 -7.93514700e-03 9.02119742e-04 3.34904257e+00] [ 7.93541045e-03 9.99968472e-01 -2.88836259e-04 1.22355601e-01] [-8.99799342e-04 2.95985738e-04 9.99999551e-01 5.04203157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99255784400003 meters 0.2861202789920917 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.50 [[ 9.99999852e-01 3.37177383e-04 -4.27342013e-04 3.33142980e+00] [-3.37755836e-04 9.99999026e-01 -1.35425876e-03 1.16024451e-01] [ 4.26884971e-04 1.35440290e-03 9.99998992e-01 5.02562906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02255784400006 meters 0.28498352782587694 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.50 [[ 9.99999753e-01 4.48672462e-04 -5.40509124e-04 3.33178982e+00] [-4.49241945e-04 9.99999344e-01 -1.05394572e-03 1.14767275e-01] [ 5.40035893e-04 1.05418828e-03 9.99999299e-01 5.02407760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05255784400003 meters 0.28487849036483887 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.50 [[ 9.99999622e-01 5.75387755e-04 -6.51451382e-04 3.33213526e+00] [-5.75858795e-04 9.99999573e-01 -7.23105607e-04 1.13381775e-01] [ 6.51035038e-04 7.23480478e-04 9.99999526e-01 5.02289888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08255784400006 meters 0.2838880188909986 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.51 [[ 9.99998959e-01 -1.25905413e-03 7.04268290e-04 3.32687767e+00] [ 1.26051517e-03 9.99997047e-01 -2.07797085e-03 1.10092473e-01] [-7.01649933e-04 2.07885643e-03 9.99997593e-01 5.05092954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11255784400004 meters 0.28426960115796823 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.50 [[ 9.99999211e-01 -1.10308986e-03 6.01748996e-04 3.32720353e+00] [ 1.10410434e-03 9.99997966e-01 -1.68817049e-03 1.08441918e-01] [-5.99885568e-04 1.68883355e-03 9.99998394e-01 5.04979930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14255784400007 meters 0.28513654759232426 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.50 [[ 9.99999371e-01 -9.62914744e-04 5.74685758e-04 3.32733930e+00] [ 9.63681974e-04 9.99998643e-01 -1.33626290e-03 1.06962283e-01] [-5.73398271e-04 1.33681587e-03 9.99998942e-01 5.04854924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17255784400004 meters 0.2846388528263034 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99999688e-01 -1.84829048e-04 -7.67822114e-04 3.36666106e+00] [ 1.84440298e-04 9.99999855e-01 -5.06342424e-04 1.06726153e-01] [ 7.67915589e-04 5.06200649e-04 9.99999577e-01 5.08071969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20255784400007 meters 0.2837691537308556 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99999782e-01 -7.13014848e-05 -6.56342281e-04 3.36636655e+00] [ 7.11566228e-05 9.99999973e-01 -2.20731657e-04 1.05539868e-01] [ 6.56358002e-04 2.20684906e-04 9.99999760e-01 5.08140398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23255784400004 meters 0.2851411466667312 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99999929e-01 5.03244730e-05 -3.74382704e-04 3.36564291e+00] [-5.02901356e-05 9.99999995e-01 9.17262867e-05 1.04250195e-01] [ 3.74387319e-04 -9.17074524e-05 9.99999926e-01 5.08271132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26255784400007 meters 0.2870817844879829 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99999934e-01 8.53526006e-05 -3.53786868e-04 3.36565442e+00] [-8.52887918e-05 9.99999980e-01 1.80370456e-04 1.03882619e-01] [ 3.53802256e-04 -1.80340270e-04 9.99999921e-01 5.08142390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29255784400004 meters 0.28419039266678553 Centerline is valid? [False, False] Translation: X:3.34, Y:0.10, Z:0.51 [[ 9.99980209e-01 5.84744421e-03 -2.32131057e-03 3.34337572e+00] [-5.85448428e-03 9.99978249e-01 -3.03767636e-03 1.02353505e-01] [ 2.30349744e-03 3.05120632e-03 9.99992692e-01 5.09328584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3225578440001 meters 0.2842295910701179 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.51 [[ 9.99999457e-01 -6.62973657e-04 -8.04276177e-04 3.36472416e+00] [ 6.62691717e-04 9.99999719e-01 -3.50767230e-04 1.04656215e-01] [ 8.04508500e-04 3.50234052e-04 9.99999615e-01 5.08669663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35255784400005 meters 0.2846042219747942 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.51 [[ 9.99999471e-01 -6.60279935e-04 -7.88725085e-04 3.36473870e+00] [ 6.60008189e-04 9.99999723e-01 -3.44749197e-04 1.04625954e-01] [ 7.88952498e-04 3.44228450e-04 9.99999630e-01 5.08549270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3825578440001 meters 0.2847028613640126 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.51 [[ 9.99999597e-01 -6.47473045e-04 -6.21451246e-04 3.36415263e+00] [ 6.47277648e-04 9.99999741e-01 -3.14569523e-04 1.04541159e-01] [ 6.21654760e-04 3.14167145e-04 9.99999757e-01 5.08923982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41255784400005 meters 0.2838202943020527 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.51 [[ 9.99999655e-01 -5.81643670e-04 -5.93654305e-04 3.36396162e+00] [ 5.81551966e-04 9.99999819e-01 -1.54634632e-04 1.03869288e-01] [ 5.93744140e-04 1.54289337e-04 9.99999812e-01 5.09202485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4425578440001 meters 0.28426293377857215 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.51 [[ 9.99999712e-01 -4.91401325e-04 -5.79077577e-04 3.36383033e+00] [ 4.91441603e-04 9.99999877e-01 6.94145524e-05 1.02923394e-01] [ 5.79043395e-04 -6.96991152e-05 9.99999830e-01 5.09432419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47255784400005 meters 0.2817599636294811 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:0.51 [[ 9.99998427e-01 -1.77067941e-03 1.04888482e-04 3.32317539e+00] [ 1.77069416e-03 9.99998422e-01 -1.40723275e-04 9.55738476e-02] [-1.04639141e-04 1.40908780e-04 9.99999985e-01 5.07868245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5025578440001 meters 0.28510977325221293 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99997797e-01 -1.07315294e-03 1.80383185e-03 3.36750016e+00] [ 1.07206845e-03 9.99999244e-01 6.02075380e-04 9.63397959e-02] [-1.80447660e-03 -6.00140222e-04 9.99998192e-01 5.07090746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53255784400005 meters 0.28509136819397035 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99998163e-01 -9.33853159e-04 1.67383302e-03 3.36787049e+00] [ 9.32212798e-04 9.99999085e-01 9.80515507e-04 9.47689386e-02] [-1.67474715e-03 -9.78953337e-04 9.99998118e-01 5.07017892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5625578440001 meters 0.28338817472910655 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.51 [[ 9.99991442e-01 4.05307926e-03 8.30105517e-04 3.34610162e+00] [-4.05090279e-03 9.99988397e-01 -2.60702619e-03 8.82872758e-02] [-8.40662369e-04 2.60364120e-03 9.99996257e-01 5.07222219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59255784400005 meters 0.2845618554565608 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.51 [[ 9.99990955e-01 4.18730199e-03 7.45910122e-04 3.34634796e+00] [-4.18560387e-03 9.99988678e-01 -2.26377074e-03 8.68445556e-02] [-7.55380769e-04 2.26062818e-03 9.99997159e-01 5.07171629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6225578440001 meters 0.28320135676324426 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.51 [[ 9.99994108e-01 -2.19025327e-03 -2.64339009e-03 3.32514818e+00] [ 2.19202633e-03 9.99997374e-01 6.68039740e-04 8.21413539e-02] [ 2.64191997e-03 -6.73830184e-04 9.99996283e-01 5.08909631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65255784400006 meters 0.284600089015365 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.51 [[ 9.99991910e-01 4.00584880e-03 3.64592950e-04 3.34689497e+00] [-4.00507584e-03 9.99989782e-01 -2.09665416e-03 8.32427725e-02] [-3.72988104e-04 2.09517698e-03 9.99997736e-01 5.07396793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6825578440001 meters 0.2845164745004804 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99991367e-01 -3.50741246e-03 2.22810761e-03 3.36447601e+00] [ 3.50751858e-03 9.99993848e-01 -4.37225596e-05 8.63895346e-02] [-2.22794055e-03 5.15373110e-05 9.99997517e-01 5.08729371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71255784400006 meters 0.28502921731740477 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.51 [[ 9.99988433e-01 4.45051146e-03 1.82388643e-03 3.34454923e+00] [-4.44855267e-03 9.99989526e-01 -1.07662219e-03 8.08420246e-02] [-1.82865884e-03 1.06849609e-03 9.99997757e-01 5.07283742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters 0.2879908231008666 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.51 [[ 9.99993500e-01 -1.23658532e-03 3.38700352e-03 3.36843122e+00] [ 1.22968896e-03 9.99997168e-01 2.03745305e-03 8.14230852e-02] [-3.38951341e-03 -2.03327485e-03 9.99992188e-01 5.05116200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77255784400006 meters 0.2843826048322361 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.50 [[ 9.99993637e-01 -1.26671624e-03 3.33476085e-03 3.36864804e+00] [ 1.26016101e-03 9.99997271e-01 1.96709528e-03 8.17190809e-02] [-3.33724350e-03 -1.96288043e-03 9.99992505e-01 5.04918702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80255784400003 meters 0.283293071127158 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.51 [[ 9.99986782e-01 5.09799953e-03 6.68047066e-04 3.34562386e+00] [-5.09758106e-03 9.99986811e-01 -6.26630774e-04 8.45062542e-02] [-6.71232819e-04 6.23217067e-04 9.99999581e-01 5.07137421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83255784400006 meters 0.28369094430258435 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.51 [[ 9.99987085e-01 5.01959226e-03 7.95617312e-04 3.34528535e+00] [-5.01892978e-03 9.99987059e-01 -8.32476640e-04 8.53834656e-02] [-7.99785709e-04 8.28472741e-04 9.99999337e-01 5.07164815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86255784400004 meters 0.28435085037068397 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99993691e-01 -2.91140223e-03 2.03515244e-03 3.36376286e+00] [ 2.91053056e-03 9.99995671e-01 4.31138125e-04 9.05007922e-02] [-2.03639885e-03 -4.25212031e-04 9.99997836e-01 5.08641722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89255784400007 meters 0.28322889825712416 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:0.51 [[ 9.99986388e-01 4.99365220e-03 1.51213897e-03 3.34431892e+00] [-4.99232510e-03 9.99987151e-01 -8.80134680e-04 8.55345534e-02] [-1.51651463e-03 8.72573610e-04 9.99998469e-01 5.07478255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92255784400004 meters 0.2841647786416067 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99993383e-01 -2.81111058e-03 2.30902426e-03 3.36329322e+00] [ 2.80999538e-03 9.99995934e-01 4.86080956e-04 9.07852584e-02] [-2.31038130e-03 -4.79589392e-04 9.99997216e-01 5.08973592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95255784400007 meters 0.284731195643467 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99993696e-01 -2.75542811e-03 2.23936772e-03 3.36360883e+00] [ 2.75403428e-03 9.99996012e-01 6.25267176e-04 9.01811626e-02] [-2.24108167e-03 -6.19095939e-04 9.99997297e-01 5.08697305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98255784400004 meters 0.28696901163549254 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99994029e-01 -2.67735419e-03 2.18475450e-03 3.36376696e+00] [ 2.67555720e-03 9.99996080e-01 8.25024585e-04 8.93330797e-02] [-2.18695482e-03 -8.19174223e-04 9.99997273e-01 5.08678300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01255784400007 meters 0.283839435263891 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99994525e-01 -2.56982165e-03 2.08452770e-03 3.36402904e+00] [ 2.56753091e-03 9.99996098e-01 1.10085793e-03 8.81599314e-02] [-2.08734857e-03 -1.09549981e-03 9.99997221e-01 5.08693476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04255784400004 meters 0.286693728296243 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.51 [[ 9.99994923e-01 2.95219114e-03 1.19919332e-03 3.34152329e+00] [-2.94988836e-03 9.99993811e-01 -1.91752635e-03 8.23000577e-02] [-1.20484680e-03 1.91397913e-03 9.99997443e-01 5.09542526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0725578440001 meters 0.2846209432364196 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.51 [[ 9.99994652e-01 3.08255829e-03 1.09269122e-03 3.34177405e+00] [-3.08083139e-03 9.99994008e-01 -1.57859227e-03 8.08797493e-02] [-1.09755077e-03 1.57521743e-03 9.99998157e-01 5.09607033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10255784400005 meters 0.2842529380245327 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.51 [[ 9.99985942e-01 -4.97996997e-03 1.82096968e-03 3.36185878e+00] [ 4.98043960e-03 9.99987565e-01 -2.53455033e-04 8.36558861e-02] [-1.81968483e-03 2.62520699e-04 9.99998310e-01 5.10592923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1325578440001 meters 0.28439835058486373 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.51 [[ 9.99999735e-01 7.23386624e-04 8.16821376e-05 3.33901512e+00] [-7.23123161e-04 9.99994680e-01 -3.18069987e-03 8.05576891e-02] [-8.39825788e-05 3.18063996e-03 9.99994938e-01 5.12233862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16255784400005 meters 0.2822907763698721 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.51 [[ 9.99999616e-01 8.74813185e-04 5.79546906e-05 3.33911567e+00] [-8.74646987e-04 9.99995674e-01 -2.80823360e-03 7.89792947e-02] [-6.04111197e-05 2.80818183e-03 9.99996055e-01 5.12174838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1925578440001 meters 0.2857730227411566 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.51 [[ 9.99967109e-01 -8.01061687e-03 1.26888539e-03 3.36134177e+00] [ 8.01349618e-03 9.99965291e-01 -2.28057343e-03 7.80900960e-02] [-1.25057255e-03 2.29066663e-03 9.99996594e-01 5.11570231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22255784400005 meters 0.2856528420090662 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.51 [[ 9.99968250e-01 -7.88004393e-03 1.18480471e-03 3.36159583e+00] [ 7.88236021e-03 9.99967007e-01 -1.96319605e-03 7.67387389e-02] [-1.16929555e-03 1.97247278e-03 9.99997371e-01 5.11529168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2525578440001 meters 0.28538637101712494 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.51 [[ 9.99999516e-01 8.89178138e-04 4.20598069e-04 3.34029225e+00] [-8.88362313e-04 9.99997732e-01 -1.93590276e-03 7.05249333e-02] [-4.22318478e-04 1.93552818e-03 9.99998038e-01 5.11638629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28255784400005 meters 0.28468517494855705 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.51 [[ 9.99999437e-01 9.87380638e-04 3.89948393e-04 3.34052616e+00] [-9.86724077e-04 9.99998101e-01 -1.68033070e-03 6.94341092e-02] [-3.91606779e-04 1.67994498e-03 9.99998512e-01 5.11301048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3125578440001 meters 0.28632926290465216 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.51 [[ 9.99999379e-01 1.03371907e-03 4.16812456e-04 3.34047156e+00] [-1.03306445e-03 9.99998238e-01 -1.56770977e-03 6.89566651e-02] [-4.18432293e-04 1.56727820e-03 9.99998684e-01 5.11284872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34255784400005 meters 0.2840897043130909 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.51 [[ 9.99999326e-01 1.07107353e-03 4.48037357e-04 3.34043684e+00] [-1.07041013e-03 9.99998334e-01 -1.47830030e-03 6.85707960e-02] [-4.49619979e-04 1.47781972e-03 9.99998807e-01 5.11197358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3725578440001 meters 0.2832665224296186 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:0.51 [[ 9.99999272e-01 1.11883859e-03 4.51839576e-04 3.34043948e+00] [-1.11822320e-03 9.99998450e-01 -1.35992908e-03 6.80746222e-02] [-4.53360417e-04 1.35942283e-03 9.99998973e-01 5.11181682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40255784400006 meters 0.2881292877446488 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.51 [[ 9.99986338e-01 -4.95000650e-03 1.67938213e-03 3.36280205e+00] [ 4.94697751e-03 9.99986138e-01 1.80301421e-03 6.87420413e-02] [-1.68828378e-03 -1.79468172e-03 9.99996964e-01 5.09856249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4325578440001 meters 0.28360371840205695 Centerline is valid? [False, False] Translation: X:3.32, Y:0.06, Z:0.51 [[ 9.99982560e-01 -5.46640512e-03 2.23549926e-03 3.32411896e+00] [ 5.46150606e-03 9.99982684e-01 2.19174799e-03 6.26428831e-02] [-2.24744153e-03 -2.17950057e-03 9.99995099e-01 5.06889676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46255784400006 meters 0.28436891698743927 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.51 [[ 9.99989043e-01 3.00014950e-03 3.59339879e-03 3.34318520e+00] [-3.00354151e-03 9.99995049e-01 9.38932148e-04 5.96743205e-02] [-3.59056406e-03 -9.49714783e-04 9.99993103e-01 5.08146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49255784400003 meters 0.28436891698743927 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.51 [[ 9.99989043e-01 3.00014950e-03 3.59339879e-03 3.34318520e+00] [-3.00354151e-03 9.99995049e-01 9.38932148e-04 5.96743205e-02] [-3.59056406e-03 -9.49714783e-04 9.99993103e-01 5.08146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52255784400006 meters 0.28479908822342015 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.51 [[ 9.99988691e-01 3.08292175e-03 3.62118438e-03 3.34296087e+00] [-3.08712525e-03 9.99994567e-01 1.15579254e-03 5.87790114e-02] [-3.61760149e-03 -1.16695852e-03 9.99992776e-01 5.08521562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55255784400003 meters 0.2844297353006202 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.51 [[ 9.99988600e-01 3.13764350e-03 3.59942763e-03 3.34291148e+00] [-3.14232934e-03 9.99994222e-01 1.29691299e-03 5.81962052e-02] [-3.59533758e-03 -1.30820879e-03 9.99992681e-01 5.08766925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58255784400006 meters 0.2857608260427959 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:0.51 [[ 9.99980454e-01 -4.67595097e-03 4.15048907e-03 3.36258619e+00] [ 4.66487795e-03 9.99985545e-01 2.67356594e-03 6.23295452e-02] [-4.16293054e-03 -2.65415215e-03 9.99987813e-01 5.10170658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61255784400004 meters 0.2852777010223808 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.51 [[ 9.99991472e-01 3.14508414e-03 2.67645071e-03 3.34468782e+00] [-3.14933645e-03 9.99993783e-01 1.58605813e-03 5.55491282e-02] [-2.67144578e-03 -1.59447365e-03 9.99995161e-01 5.08929000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64255784400007 meters 0.2827611320474626 Centerline is valid? [False, False] Translation: X:3.31, Y:0.05, Z:0.51 [[ 9.99992790e-01 1.35604380e-03 3.54696044e-03 3.30570739e+00] [-1.35869170e-03 9.99998800e-01 7.44224420e-04 5.25287536e-02] [-3.54594699e-03 -7.49038280e-04 9.99993433e-01 5.06145052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67255784400004 meters 0.2845885694934696 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.51 [[ 9.99989987e-01 1.43267490e-03 4.23940456e-03 3.34626111e+00] [-1.43325351e-03 9.99998964e-01 1.33449187e-04 5.53092179e-02] [-4.23920897e-03 -1.39523992e-04 9.99991005e-01 5.07637083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70255784400007 meters 0.28325708527999316 Centerline is valid? [False, False] Translation: X:3.31, Y:0.05, Z:0.51 [[ 9.99983922e-01 6.82961252e-04 5.62926124e-03 3.30628742e+00] [-6.85836213e-04 9.99999635e-01 5.08802633e-04 5.08026253e-02] [-5.62891169e-03 -5.12655204e-04 9.99984026e-01 5.05517255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73255784400004 meters 0.28537089439421204 Centerline is valid? [False, False] Translation: X:3.33, Y:0.05, Z:0.50 [[ 0.99996676 -0.00458251 0.00674445 3.32983827] [ 0.00455529 0.99998144 0.00404616 0.05255936] [-0.00676286 -0.0040153 0.99996907 0.50389243] [ 0. 0. 0. 1. ]] SLAMing on 467.76255784400007 meters 0.283909222053761 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.50 [[ 9.99960530e-01 4.47107017e-03 7.67775709e-03 3.35104092e+00] [-4.49637401e-03 9.99984507e-01 3.28164135e-03 5.17255645e-02] [-7.66296569e-03 -3.31603389e-03 9.99965141e-01 5.03931807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79255784400004 meters 0.28529980921572545 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.50 [[ 9.99960051e-01 4.34301719e-03 7.81240568e-03 3.35059833e+00] [-4.36600679e-03 9.99986182e-01 2.92806131e-03 5.32398238e-02] [-7.79958110e-03 -2.96205335e-03 9.99965196e-01 5.04138633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8225578440001 meters 0.28538244154846065 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.50 [[ 9.99959986e-01 4.24194242e-03 7.87603980e-03 3.35035852e+00] [-4.26309135e-03 9.99987347e-01 2.67037962e-03 5.43469462e-02] [-7.86461255e-03 -2.70384904e-03 9.99965418e-01 5.04290659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85255784400005 meters 0.2860206985218119 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.50 [[ 9.99960556e-01 4.11607615e-03 7.87045227e-03 3.35041582e+00] [-4.13469996e-03 9.99988687e-01 2.35148968e-03 5.56853022e-02] [-7.86068432e-03 -2.38393889e-03 9.99966263e-01 5.04161072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8825578440001 meters 0.2850671855595818 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.50 [[ 9.99961417e-01 3.99775254e-03 7.82188641e-03 3.35061720e+00] [-4.01391117e-03 9.99989840e-01 2.05121550e-03 5.69433387e-02] [-7.81360669e-03 -2.08253272e-03 9.99967305e-01 5.03959637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91255784400005 meters 0.2827474177780444 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.50 [[ 9.99975139e-01 -4.59701752e-03 5.34689111e-03 3.33150603e+00] [ 4.58314782e-03 9.99986109e-01 2.60334289e-03 6.08617807e-02] [-5.35878445e-03 -2.57877258e-03 9.99982317e-01 5.03050538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9425578440001 meters 0.28412448448534716 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.50 [[ 9.99970593e-01 3.96024441e-03 6.56738604e-03 3.35140615e+00] [-3.96825080e-03 9.99991399e-01 1.20653115e-03 6.04784341e-02] [-6.56255139e-03 -1.23255671e-03 9.99977707e-01 5.04037579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97255784400005 meters 0.28809608250999824 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.50 [[ 9.99970529e-01 3.89168344e-03 6.61786763e-03 3.35112748e+00] [-3.89862622e-03 9.99991863e-01 1.03651819e-03 6.12410044e-02] [-6.61377998e-03 -1.06228824e-03 9.99977564e-01 5.04346554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0025578440001 meters 0.28393984274643536 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.50 [[ 9.99970303e-01 3.82929302e-03 6.68802776e-03 3.35084731e+00] [-3.83525166e-03 9.99992260e-01 8.78344228e-04 6.19356572e-02] [-6.68461255e-03 -9.03968413e-04 9.99977249e-01 5.04553949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03255784400005 meters 0.2866767324290624 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.50 [[ 9.99970840e-01 -5.04577029e-03 5.73224208e-03 3.32995727e+00] [ 5.03642510e-03 9.99985966e-01 1.64355248e-03 6.44426753e-02] [-5.74045463e-03 -1.61463455e-03 9.99982220e-01 5.04261978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0625578440001 meters 0.285088009107457 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.50 [[ 9.99970088e-01 -5.17091067e-03 5.75196729e-03 3.32994588e+00] [ 5.16333396e-03 9.99985784e-01 1.33130824e-03 6.57534422e-02] [-5.75876959e-03 -1.30156909e-03 9.99982571e-01 5.04129745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09255784400005 meters 0.28396039091408476 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99972670e-01 4.16370320e-03 6.10929242e-03 3.35209359e+00] [-4.16845635e-03 9.99991019e-01 7.65493561e-04 6.50164972e-02] [-6.10605026e-03 -7.90938958e-04 9.99981045e-01 5.03755055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1225578440001 meters 0.2836487523025454 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99973206e-01 4.10305246e-03 6.06238904e-03 3.35225715e+00] [-4.10687412e-03 9.99991376e-01 6.18074029e-04 6.56331488e-02] [-6.05980077e-03 -6.42954937e-04 9.99981433e-01 5.03645159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15255784400006 meters 0.2835471079012593 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99973561e-01 4.05521154e-03 6.03600772e-03 3.35232975e+00] [-4.05832557e-03 9.99991638e-01 5.03751176e-04 6.61249619e-02] [-6.03391443e-03 -5.28233942e-04 9.99981656e-01 5.03626735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1825578440001 meters 0.283851029677858 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99973953e-01 4.01204957e-03 5.99973999e-03 3.35232985e+00] [-4.01451480e-03 9.99991862e-01 3.98903440e-04 6.65785595e-02] [-5.99809074e-03 -4.22979095e-04 9.99981922e-01 5.03817480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21255784400006 meters 0.2858310059967749 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.50 [[ 9.99977170e-01 -4.82706221e-03 4.72843426e-03 3.33124564e+00] [ 4.82205416e-03 9.99987801e-01 1.06996484e-03 6.88089319e-02] [-4.73354136e-03 -1.04713964e-03 9.99988248e-01 5.03750770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters 0.2842879329018714 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99974705e-01 3.86731830e-03 5.96930647e-03 3.35114406e+00] [-3.86702877e-03 9.99992521e-01 -6.00456833e-05 6.78675712e-02] [-5.96949405e-03 3.69606846e-05 9.99982182e-01 5.04634480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27255784400006 meters 0.2835149805761439 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99975412e-01 3.79711556e-03 5.89548715e-03 3.35135694e+00] [-3.79584063e-03 9.99992770e-01 -2.27430440e-04 6.85854459e-02] [-5.89630811e-03 2.05046518e-04 9.99982596e-01 5.04568318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30255784400003 meters 0.2877316318891741 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.50 [[ 9.99976020e-01 3.71329303e-03 5.84553338e-03 3.35158411e+00] [-3.71081520e-03 9.99993020e-01 -4.34672705e-04 6.94544008e-02] [-5.84710664e-03 4.12970587e-04 9.99982820e-01 5.04333508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33255784400006 meters 0.2828535768138498 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.50 [[ 9.99976336e-01 -5.23664843e-03 4.46160251e-03 3.33127860e+00] [ 5.23710157e-03 9.99986282e-01 -8.98871263e-05 7.39525513e-02] [-4.46107060e-03 1.13250865e-04 9.99990043e-01 5.04001936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36255784400004 meters 0.28505606583161885 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.50 [[ 9.99975724e-01 -5.30899661e-03 4.51288179e-03 3.33108451e+00] [ 5.31029989e-03 9.99985862e-01 -2.76857758e-04 7.47404724e-02] [-4.51134815e-03 3.00815792e-04 9.99989779e-01 5.04124895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39255784400007 meters 0.2839707737234888 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.50 [[ 9.99974908e-01 -5.49901849e-03 4.46584899e-03 3.33118030e+00] [ 5.50247996e-03 9.99984570e-01 -7.63180812e-04 7.67685599e-02] [-4.46158333e-03 7.87734907e-04 9.99989737e-01 5.04105983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42255784400004 meters 0.28583696937039527 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.50 [[ 9.99974641e-01 -5.59534362e-03 4.40562964e-03 3.33134863e+00] [ 5.59980884e-03 9.99983819e-01 -1.00184499e-03 7.77630678e-02] [-4.39995269e-03 1.02649026e-03 9.99989793e-01 5.04039856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45255784400007 meters 0.2840505806887008 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.50 [[ 9.99974195e-01 -5.70067261e-03 4.37160958e-03 3.33150489e+00] [ 5.70624567e-03 9.99982921e-01 -1.26341889e-03 7.88526489e-02] [-4.36433258e-03 1.28833176e-03 9.99989646e-01 5.03857235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48255784400004 meters 0.28265573754897744 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.50 [[ 9.99993258e-01 2.44106754e-03 2.74314361e-03 3.31165832e+00] [-2.43442146e-03 9.99994100e-01 -2.42353072e-03 7.63225686e-02] [-2.74904342e-03 2.41683641e-03 9.99993301e-01 5.03424668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51255784400007 meters 0.284703757569421 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.50 [[ 9.99992385e-01 -2.86987394e-03 2.64474438e-03 3.33439161e+00] [ 2.86763122e-03 9.99995526e-01 8.51394207e-04 8.34000163e-02] [-2.64717594e-03 -8.43803572e-04 9.99996140e-01 5.03119693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54255784400004 meters 0.28393892522157904 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99991852e-01 -3.02799957e-03 2.66952579e-03 3.33423517e+00] [ 3.02674580e-03 9.99995307e-01 4.73575722e-04 8.50041709e-02] [-2.67094725e-03 -4.65491888e-04 9.99996325e-01 5.03262479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5725578440001 meters 0.28411230339297666 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99991250e-01 -3.15868935e-03 2.74270788e-03 3.33390548e+00] [ 3.15828503e-03 9.99995001e-01 1.51736704e-04 8.63838730e-02] [-2.74317346e-03 -1.43073123e-04 9.99996227e-01 5.03523718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60255784400005 meters 0.28289733346639184 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99990704e-01 -3.26572517e-03 2.81561560e-03 3.33351854e+00] [ 3.26606197e-03 9.99994660e-01 -1.15029194e-04 8.75300176e-02] [-2.81522491e-03 1.24224099e-04 9.99996030e-01 5.03928323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6325578440001 meters 0.2840742457355172 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.50 [[ 9.99971647e-01 4.92845262e-03 5.69348268e-03 3.35244892e+00] [-4.91942111e-03 9.99986621e-01 -1.59920592e-03 8.94547533e-02] [-5.70128812e-03 1.57115194e-03 9.99982513e-01 5.04350010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66255784400005 meters 0.282955833561044 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99986926e-01 -3.19547791e-03 3.99208845e-03 3.33327153e+00] [ 3.19694815e-03 9.99994824e-01 -3.61961999e-04 9.25562480e-02] [-3.99091114e-03 3.74719767e-04 9.99991966e-01 5.03096545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6925578440001 meters 0.282839386749759 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99987273e-01 -3.24327633e-03 3.86470154e-03 3.33370977e+00] [ 3.24515909e-03 9.99994619e-01 -4.80996168e-04 9.30268292e-02] [-3.86312074e-03 4.93531618e-04 9.99992416e-01 5.02812705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72255784400005 meters 0.2832857165080664 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99987680e-01 -3.28615245e-03 3.72029003e-03 3.33422623e+00] [ 3.28836551e-03 9.99994420e-01 -5.88901764e-04 9.34534777e-02] [-3.71833405e-03 6.01128182e-04 9.99992906e-01 5.02451464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7525578440001 meters 0.2834665638894796 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99988111e-01 -3.26311712e-03 3.62347745e-03 3.33445451e+00] [ 3.26507341e-03 9.99994527e-01 -5.34110050e-04 9.32074544e-02] [-3.62171475e-03 5.45934620e-04 9.99993293e-01 5.02496381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78255784400005 meters 0.28370495560438835 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99988365e-01 -3.22252822e-03 3.58948793e-03 3.33444384e+00] [ 3.22410919e-03 9.99994708e-01 -4.34746055e-04 9.27882455e-02] [-3.58806796e-03 4.46313898e-04 9.99993463e-01 5.02717501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8125578440001 meters 0.2838230246836323 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99988563e-01 -3.17802512e-03 3.57418960e-03 3.33447099e+00] [ 3.17920472e-03 9.99994894e-01 -3.24402084e-04 9.23218721e-02] [-3.57314039e-03 3.35761454e-04 9.99993560e-01 5.02751506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84255784400005 meters 0.2849570127068399 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99988861e-01 -3.10075944e-03 3.55857757e-03 3.33446384e+00] [ 3.10125094e-03 9.99995182e-01 -1.32608053e-04 9.15043302e-02] [-3.55814924e-03 1.43642618e-04 9.99993659e-01 5.02870444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8725578440001 meters 0.28308140195933934 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99989346e-01 -3.00973608e-03 3.49981688e-03 3.33457950e+00] [ 3.00941869e-03 9.99995467e-01 9.59514196e-05 9.05305022e-02] [-3.50008981e-03 -8.54179831e-05 9.99993871e-01 5.02960345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90255784400006 meters 0.28455624446266437 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.50 [[ 9.99974663e-01 5.43805784e-03 4.59349190e-03 3.35429061e+00] [-5.43485970e-03 9.99984980e-01 -7.08427394e-04 8.50481120e-02] [-4.59727537e-03 6.83444461e-04 9.99989199e-01 5.03745763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9325578440001 meters 0.28270284931874234 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.50 [[ 9.99991356e-01 -2.94079700e-03 2.93932115e-03 3.33451883e+00] [ 2.93910378e-03 9.99995513e-01 5.80211457e-04 8.56426218e-02] [-2.94101424e-03 -5.71567471e-04 9.99995512e-01 5.03002617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96255784400006 meters 0.28435762834391726 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.50 [[ 9.99978201e-01 3.32601324e-03 5.70392411e-03 3.35665220e+00] [-3.31345781e-03 9.99992070e-01 -2.20923040e-03 8.66874435e-02] [-5.71122680e-03 2.19028253e-03 9.99981292e-01 5.01306973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99255784400003 meters 0.2838209660538053 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:0.50 [[ 9.99980592e-01 -5.06730355e-03 3.62467370e-03 3.33712521e+00] [ 5.07107409e-03 9.99986610e-01 -1.03180997e-03 8.72570020e-02] [-3.61939667e-03 1.05017094e-03 9.99992899e-01 5.00723393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02255784400006 meters 0.28472406116933147 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:0.50 [[ 9.99981602e-01 -4.96407729e-03 3.48611607e-03 3.33755782e+00] [ 4.96685334e-03 9.99987355e-01 -7.88109381e-04 8.61950521e-02] [-3.48215975e-03 8.05409909e-04 9.99993613e-01 5.00578276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05255784400003 meters 0.28511378103502616 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:0.50 [[ 9.99982080e-01 -4.91147820e-03 3.42300340e-03 3.33777495e+00] [ 4.91376488e-03 9.99987710e-01 -6.59945520e-04 8.56385147e-02] [-3.41972002e-03 6.76753528e-04 9.99993924e-01 5.00468692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08255784400006 meters 0.2834243493883858 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.50 [[ 9.99998341e-01 1.46932691e-03 1.07669135e-03 3.31651603e+00] [-1.46591963e-03 9.99993937e-01 -3.15856412e-03 8.29543190e-02] [-1.08132579e-03 3.15698054e-03 9.99994432e-01 5.01687028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11255784400004 meters 0.2834740688710941 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.50 [[ 9.99998056e-01 1.62747431e-03 1.11296758e-03 3.31625451e+00] [-1.62439889e-03 9.99994876e-01 -2.75860452e-03 8.12652320e-02] [-1.11745144e-03 2.75679125e-03 9.99995576e-01 5.02113703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14255784400007 meters 0.28416615012772906 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.50 [[ 9.99982276e-01 -4.38249616e-03 4.03000497e-03 3.33557079e+00] [ 4.38069031e-03 9.99990300e-01 4.56819875e-04 8.18475097e-02] [-4.03196789e-03 -4.39157574e-04 9.99991775e-01 5.01937659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17255784400004 meters 0.2840624026568307 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.50 [[ 9.99982409e-01 -4.30667544e-03 4.07860155e-03 3.33534752e+00] [ 4.30408551e-03 9.99990530e-01 6.43569048e-04 8.10561173e-02] [-4.08133457e-03 -6.26003077e-04 9.99991475e-01 5.02175172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20255784400007 meters 0.2830554408299828 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.50 [[ 9.99982637e-01 -4.24134251e-03 4.09114450e-03 3.33525153e+00] [ 4.23808997e-03 9.99990697e-01 8.03363167e-04 8.03761060e-02] [-4.09451378e-03 -7.86010580e-04 9.99991309e-01 5.02329948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23255784400004 meters 0.28534641182630743 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99977560e-01 4.18269167e-03 5.23311611e-03 3.35548849e+00] [-4.18139535e-03 9.99991224e-01 -2.58631226e-04 7.73982818e-02] [-5.23415197e-03 2.36743695e-04 9.99986274e-01 5.03474255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26255784400007 meters 0.2853361674944204 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99977717e-01 4.16327446e-03 5.21846938e-03 3.35553799e+00] [-4.16174398e-03 9.99991294e-01 -3.04105619e-04 7.75948306e-02] [-5.21969003e-03 2.82380909e-04 9.99986337e-01 5.03446395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29255784400004 meters 0.2848835113161488 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99977943e-01 4.14787716e-03 5.18742776e-03 3.35564496e+00] [-4.14618132e-03 9.99991348e-01 -3.37624673e-04 7.77411548e-02] [-5.18878330e-03 3.16109210e-04 9.99986488e-01 5.03384024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3225578440001 meters 0.28626855335878576 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:0.50 [[ 9.99983382e-01 -4.55097179e-03 3.53909105e-03 3.33585496e+00] [ 4.54909015e-03 9.99989507e-01 5.39541624e-04 7.93964056e-02] [-3.54150935e-03 -5.23433014e-04 9.99993592e-01 5.02698711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35255784400005 meters 0.28796018546438445 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99985867e-01 3.89877012e-03 3.61458955e-03 3.35652652e+00] [-3.89584608e-03 9.99992079e-01 -8.15643031e-04 7.79429477e-02] [-3.61774092e-03 8.01549619e-04 9.99993135e-01 5.03965459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3825578440001 meters 0.285366816555783 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99986408e-01 3.84043321e-03 3.52624277e-03 3.35685251e+00] [-3.83709289e-03 9.99992184e-01 -9.53552269e-04 7.85284774e-02] [-3.52987726e-03 9.40008788e-04 9.99993328e-01 5.03746110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41255784400005 meters 0.285366816555783 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.50 [[ 9.99986408e-01 3.84043321e-03 3.52624277e-03 3.35685251e+00] [-3.83709289e-03 9.99992184e-01 -9.53552269e-04 7.85284774e-02] [-3.52987726e-03 9.40008788e-04 9.99993328e-01 5.03746110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4425578440001 meters 0.2866162504438728 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.51 [[ 9.99995576e-01 -2.66871478e-03 1.31403628e-03 3.33464423e+00] [ 2.66626447e-03 9.99994710e-01 1.86295366e-03 7.76631760e-02] [-1.31900102e-03 -1.85944185e-03 9.99997401e-01 5.05315136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47255784400005 meters 0.2868876357772559 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.51 [[ 9.99994502e-01 -2.83941817e-03 1.71289328e-03 3.33347742e+00] [ 2.83718674e-03 9.99995125e-01 1.30375112e-03 8.00643749e-02] [-1.71658683e-03 -1.29888416e-03 9.99997683e-01 5.05734322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5025578440001 meters 0.287430413562619 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.51 [[ 9.99979608e-01 4.53701678e-03 4.49427538e-03 3.35315927e+00] [-4.53239426e-03 9.99989190e-01 -1.03818747e-03 8.32334596e-02] [-4.49893707e-03 1.01779648e-03 9.99989362e-01 5.05778552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53255784400005 meters 0.28713073562650815 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.51 [[ 9.99980168e-01 4.34442059e-03 4.55966407e-03 3.35301166e+00] [-4.33737508e-03 9.99989386e-01 -1.55393398e-03 8.53801645e-02] [-4.56636661e-03 1.53412619e-03 9.99988397e-01 5.05698581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5625578440001 meters 0.2886008683852566 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.51 [[ 9.99994170e-01 -2.70404894e-03 2.08512614e-03 3.33265934e+00] [ 2.70318328e-03 9.99996259e-01 4.17862969e-04 8.78792120e-02] [-2.08624826e-03 -4.12224055e-04 9.99997739e-01 5.06033733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59255784400005 meters 0.28606398441054326 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.51 [[ 9.99972597e-01 6.81252681e-03 2.89752026e-03 3.35556002e+00] [-6.81137195e-03 9.99976719e-01 -4.08252627e-04 9.33679338e-02] [-2.90023404e-03 3.88505352e-04 9.99995719e-01 5.05243686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6225578440001 meters 0.28670451943868297 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99993607e-01 -9.95168227e-04 3.43449368e-03 3.37374536e+00] [ 9.92580610e-04 9.99999222e-01 7.55042704e-04 1.01053277e-01] [-3.43524241e-03 -7.51628865e-04 9.99993817e-01 5.07105205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65255784400006 meters 0.28467025544220065 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99993329e-01 -1.11747066e-03 3.47751396e-03 3.37349104e+00] [ 1.11589646e-03 9.99999274e-01 4.54586926e-04 1.02343005e-01] [-3.47801942e-03 -4.50703348e-04 9.99993850e-01 5.07374993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6825578440001 meters 0.2878331767585658 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.51 [[ 9.99994690e-01 -8.40022160e-04 3.14863690e-03 3.41047647e+00] [ 8.40184976e-04 9.99999646e-01 -5.03878352e-05 1.09809323e-01] [-3.14859346e-03 5.30330050e-05 9.99995042e-01 5.11460972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71255784400006 meters 0.28872702007118956 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.51 [[ 9.99987682e-01 4.84257303e-03 1.08880557e-03 3.38901466e+00] [-4.83866377e-03 9.99981939e-01 -3.56482913e-03 1.09426482e-01] [-1.10604885e-03 3.55951686e-03 9.99993053e-01 5.12602274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters 0.28520752221071494 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.51 [[ 9.99987923e-01 4.79665957e-03 1.07055489e-03 3.38919754e+00] [-4.79268926e-03 9.99981740e-01 -3.68090404e-03 1.09887900e-01] [-1.08819139e-03 3.67572875e-03 9.99992652e-01 5.12295060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77255784400006 meters 0.28737825862287825 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.51 [[ 9.99988305e-01 4.72517155e-03 1.03060844e-03 3.38934467e+00] [-4.72116684e-03 9.99981428e-01 -3.85420202e-03 1.10612991e-01] [-1.04880106e-03 3.84929127e-03 9.99992041e-01 5.12186375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80255784400003 meters 0.2892564443453764 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.51 [[ 9.99988924e-01 4.60011786e-03 9.95182713e-04 3.38944927e+00] [-4.59594072e-03 9.99980787e-01 -4.15970151e-03 1.11906036e-01] [-1.01429871e-03 4.15508164e-03 9.99990853e-01 5.12134208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83255784400006 meters 0.2848176555831538 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.51 [[ 9.99989222e-01 4.54142343e-03 9.64635766e-04 3.38951566e+00] [-4.53723144e-03 9.99980443e-01 -4.30429360e-03 1.12514898e-01] [-9.84164520e-04 4.29987044e-03 9.99990271e-01 5.12146296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86255784400004 meters 0.2872428875205528 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.51 [[ 9.99995589e-01 -1.37766933e-03 2.63135786e-03 3.41149930e+00] [ 1.38073620e-03 9.99998369e-01 -1.16404689e-03 1.14812426e-01] [-2.62974989e-03 1.16767497e-03 9.99995860e-01 5.10919590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89255784400007 meters 0.2843420737607427 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99991308e-01 -1.12643626e-03 4.01444117e-03 3.37272802e+00] [ 1.12954058e-03 9.99999065e-01 -7.71106812e-04 1.11776146e-01] [-4.01356881e-03 7.75634584e-04 9.99991645e-01 5.07462633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92255784400004 meters 0.2850098780750171 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99991130e-01 -1.18829071e-03 4.04086750e-03 3.37265753e+00] [ 1.19204696e-03 9.99998860e-01 -9.27283397e-04 1.12429987e-01] [-4.03976101e-03 9.32092076e-04 9.99991406e-01 5.07451109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95255784400007 meters 0.285432954559002 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99991047e-01 -1.20941230e-03 4.05511502e-03 3.37267406e+00] [ 1.21341671e-03 9.99998779e-01 -9.85179096e-04 1.12660499e-01] [-4.05391858e-03 9.90090820e-04 9.99991293e-01 5.07329414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98255784400004 meters 0.28538940314888067 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99991326e-01 -1.17759782e-03 3.99505050e-03 3.37276909e+00] [ 1.18122051e-03 9.99998893e-01 -9.04556832e-04 1.12314354e-01] [-3.99398088e-03 9.09268022e-04 9.99991611e-01 5.07458295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01255784400007 meters 0.2846201530111114 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99991842e-01 -1.11626887e-03 3.88211959e-03 3.37300388e+00] [ 1.11916866e-03 9.99999096e-01 -7.44870414e-04 1.11638583e-01] [-3.88128461e-03 7.49209084e-04 9.99992187e-01 5.07582474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04255784400004 meters 0.28500103443051367 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99992510e-01 -1.05886655e-03 3.72268782e-03 3.37347169e+00] [ 1.06107000e-03 9.99999263e-01 -5.89971699e-04 1.10968068e-01] [-3.72206038e-03 5.93917312e-04 9.99992897e-01 5.07451456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0725578440001 meters 0.2850468691396587 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99992913e-01 -9.36525224e-04 3.64638193e-03 3.37356386e+00] [ 9.37299803e-04 9.99999539e-01 -2.10720906e-04 1.09440491e-01] [-3.64618291e-03 2.14137166e-04 9.99993330e-01 5.07714790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10255784400005 meters 0.2845350079237456 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99993180e-01 -8.32629935e-04 3.59807987e-03 3.37353241e+00] [ 8.32423569e-04 9.99999652e-01 5.88516693e-05 1.08308782e-01] [-3.59812762e-03 -5.58561414e-05 9.99993525e-01 5.08086611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1325578440001 meters 0.2842329662257037 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99993549e-01 -7.41366216e-04 3.51445479e-03 3.37359925e+00] [ 7.40314400e-04 9.99999681e-01 3.00574394e-04 1.07310626e-01] [-3.51467651e-03 -2.97970654e-04 9.99993779e-01 5.08435153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16255784400005 meters 0.2854782589727939 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.51 [[ 9.99994470e-01 -5.61674128e-04 3.27790869e-03 3.37424172e+00] [ 5.58872973e-04 9.99999478e-01 8.55408857e-04 1.05040866e-01] [-3.27838744e-03 -8.53572192e-04 9.99994262e-01 5.08314110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1925578440001 meters 0.28484162514214184 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99994900e-01 -4.47990512e-04 3.16231920e-03 3.37461794e+00] [ 4.44303970e-04 9.99999221e-01 1.16637812e-03 1.03753640e-01] [-3.16283927e-03 -1.16496714e-03 9.99994320e-01 5.08134771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22255784400005 meters 0.28584533811723445 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99994972e-01 -3.05628299e-04 3.15649559e-03 3.37455048e+00] [ 3.00745779e-04 9.99998758e-01 1.54717527e-03 1.02175990e-01] [-3.15696453e-03 -1.54621819e-03 9.99993821e-01 5.08347295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2525578440001 meters 0.2835892808972325 Centerline is valid? [False, False] Translation: X:3.33, Y:0.10, Z:0.51 [[ 9.99993040e-01 -1.19821426e-03 3.53320392e-03 3.33321773e+00] [ 1.19331750e-03 9.99998325e-01 1.38770857e-03 9.77368229e-02] [-3.53486077e-03 -1.38348268e-03 9.99992795e-01 5.07318986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28255784400005 meters 0.28510489744231693 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.51 [[ 9.99996029e-01 -1.48363311e-03 2.39579954e-03 3.37124701e+00] [ 1.48022185e-03 9.99997889e-01 1.42499780e-03 9.65597412e-02] [-2.39790866e-03 -1.42144582e-03 9.99996115e-01 5.11413689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3125578440001 meters 0.28526007168178685 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99996735e-01 -1.11035058e-03 2.30172784e-03 3.37139123e+00] [ 1.10461327e-03 9.99996284e-01 2.49238461e-03 9.21497058e-02] [-2.30448671e-03 -2.48983395e-03 9.99994245e-01 5.11619436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34255784400005 meters 0.2844923663451779 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99997194e-01 -9.33503633e-04 2.17750563e-03 3.37172367e+00] [ 9.27133413e-04 9.99995293e-01 2.92464414e-03 9.03120643e-02] [-2.18022555e-03 -2.92261709e-03 9.99993352e-01 5.11614291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3725578440001 meters 0.2845179353179275 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99997472e-01 -7.35110040e-04 2.12499442e-03 3.37208446e+00] [ 7.27822728e-04 9.99993859e-01 3.42807410e-03 8.82131188e-02] [-2.12750138e-03 -3.42651881e-03 9.99991866e-01 5.11141183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40255784400006 meters 0.2849396597315039 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99997401e-01 -6.66933073e-04 2.18000098e-03 3.37193445e+00] [ 6.59088546e-04 9.99993313e-01 3.59714546e-03 8.75131499e-02] [-2.18238545e-03 -3.59569930e-03 9.99991154e-01 5.11183993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4325578440001 meters 0.284932337641192 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99997310e-01 -6.09612629e-04 2.23813342e-03 3.37171477e+00] [ 6.01248683e-04 9.99992841e-01 3.73579166e-03 8.69400576e-02] [-2.24039478e-03 -3.73443594e-03 9.99990517e-01 5.11347289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46255784400006 meters 0.2857604650641384 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.51 [[ 9.99997257e-01 -5.32930233e-04 2.28064983e-03 3.37151480e+00] [ 5.23988108e-04 9.99992181e-01 3.91967045e-03 8.61747174e-02] [-2.28272091e-03 -3.91846467e-03 9.99989717e-01 5.11558019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49255784400003 meters 0.28614575208778 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.51 [[ 9.99997132e-01 -3.17316302e-04 2.37375167e-03 3.37114717e+00] [ 3.06801517e-04 9.99990146e-01 4.42865945e-03 8.40368048e-02] [-2.37513356e-03 -4.42791848e-03 9.99987376e-01 5.11889606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52255784400006 meters 0.28539942856938494 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.51 [[ 9.99997178e-01 -1.70630381e-04 2.36950880e-03 3.37103973e+00] [ 1.59288953e-04 9.99988535e-01 4.78576888e-03 8.25388165e-02] [-2.37029823e-03 -4.78537794e-03 9.99985741e-01 5.12178875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55255784400003 meters 0.28416794942470397 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.51 [[ 9.99997190e-01 -3.59123526e-05 2.37022627e-03 3.37104068e+00] [ 2.37749520e-05 9.99986889e-01 5.12060675e-03 8.11331559e-02] [-2.37037909e-03 -5.12053601e-03 9.99984081e-01 5.12200360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58255784400006 meters 0.28579442015396866 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.51 [[ 9.99970834e-01 6.10029924e-03 4.59544245e-03 3.39320572e+00] [-6.11007942e-03 9.99979092e-01 2.11721077e-03 8.04710158e-02] [-4.58243075e-03 -2.14522754e-03 9.99987200e-01 5.10766065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61255784400004 meters 0.28603086851699683 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.51 [[ 9.99969954e-01 6.22491934e-03 4.61962035e-03 3.39320205e+00] [-6.23615423e-03 9.99977623e-01 2.42158786e-03 7.91770079e-02] [-4.60444278e-03 -2.45032377e-03 9.99986397e-01 5.10652567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64255784400007 meters 0.286351055663754 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.51 [[ 9.99986636e-01 2.10860141e-03 4.72041757e-03 3.39308899e+00] [-2.10235255e-03 9.99996908e-01 -1.32836519e-03 7.69740018e-02] [-4.72320397e-03 1.31842345e-03 9.99987976e-01 5.10380164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67255784400004 meters 0.28669269321058544 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.51 [[ 9.99986700e-01 2.23688542e-03 4.64715412e-03 3.39331458e+00] [-2.23221016e-03 9.99996998e-01 -1.01099252e-03 7.56324182e-02] [-4.64940164e-03 1.00060565e-03 9.99988691e-01 5.10308659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70255784400007 meters 0.28813490488906374 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.51 [[ 9.99970978e-01 -5.89778295e-03 4.82275563e-03 3.41334810e+00] [ 5.89670985e-03 9.99982586e-01 2.36696853e-04 7.92036097e-02] [-4.82406763e-03 -2.08251593e-04 9.99988342e-01 5.11041774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73255784400004 meters 0.28815724293905937 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.51 [[ 9.99972072e-01 -5.79720187e-03 4.71683123e-03 3.41374679e+00] [ 5.79495139e-03 9.99983089e-01 4.90643910e-04 7.81185722e-02] [-4.71959582e-03 -4.63296399e-04 9.99988755e-01 5.10780235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76255784400007 meters 0.287079347081017 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:0.51 [[ 9.99991438e-01 1.89440084e-03 3.67903387e-03 3.39516728e+00] [-1.89183525e-03 9.99997965e-01 -7.00709607e-04 7.19147674e-02] [-3.68035380e-03 6.93743482e-04 9.99992987e-01 5.09005523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79255784400004 meters 0.2871557228323193 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.51 [[ 9.99972026e-01 -6.55351108e-03 3.60539662e-03 3.41609972e+00] [ 6.55247916e-03 9.99978488e-01 2.97955095e-04 7.46717084e-02] [-3.60727171e-03 -2.74322474e-04 9.99993456e-01 5.09379423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8225578440001 meters 0.28767019941606914 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:0.51 [[ 9.99995369e-01 1.50338817e-03 2.64619037e-03 3.39615808e+00] [-1.50210178e-03 9.99998753e-01 -4.88046455e-04 6.87939508e-02] [-2.64692079e-03 4.84069347e-04 9.99996380e-01 5.08816671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85255784400005 meters 0.2886313889895611 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:0.51 [[ 9.99995151e-01 1.56678770e-03 2.69136296e-03 3.39602975e+00] [-1.56589081e-03 9.99998718e-01 -3.35321784e-04 6.81509585e-02] [-2.69188489e-03 3.31105778e-04 9.99996322e-01 5.08860288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8825578440001 meters 0.2864142329333158 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:0.51 [[ 9.99994534e-01 1.74585868e-03 2.80773393e-03 3.39564953e+00] [-1.74627390e-03 9.99998465e-01 1.45438746e-04 6.61722981e-02] [-2.80747571e-03 -1.50341024e-04 9.99996048e-01 5.09129034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91255784400005 meters 0.2872809738909764 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:0.51 [[ 9.99994276e-01 1.88376469e-03 2.81041359e-03 3.39551864e+00] [-1.88521553e-03 9.99998091e-01 5.13677159e-04 6.46525009e-02] [-2.80944058e-03 -5.18972454e-04 9.99995919e-01 5.09448145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9425578440001 meters 0.28640807542789204 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:0.51 [[ 9.99993839e-01 2.04502866e-03 2.85292510e-03 3.39531814e+00] [-2.04775361e-03 9.99997450e-01 9.52551121e-04 6.28485932e-02] [-2.85096983e-03 -9.58387340e-04 9.99995477e-01 5.09695848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97255784400005 meters 0.2861518809784304 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:0.51 [[ 9.99994271e-01 2.31248724e-03 2.47183936e-03 3.39627066e+00] [-2.31723641e-03 9.99995472e-01 1.92017237e-03 5.89540900e-02] [-2.46738779e-03 -1.92588920e-03 9.99995101e-01 5.09683329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0025578440001 meters 0.2857009051899374 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:0.51 [[ 9.99994189e-01 2.51753983e-03 2.29878361e-03 3.39677407e+00] [-2.52327206e-03 9.99993706e-01 2.49410566e-03 5.65598397e-02] [-2.29249013e-03 -2.49989162e-03 9.99994247e-01 5.09564763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03255784400005 meters 0.28582978861414404 Centerline is valid? [False, False] Translation: X:3.40, Y:0.05, Z:0.51 [[ 9.99993979e-01 2.71709188e-03 2.15841859e-03 3.39715112e+00] [-2.72360617e-03 9.99991728e-01 3.02090246e-03 5.43520079e-02] [-2.15019267e-03 -3.02676296e-03 9.99993108e-01 5.09536786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0625578440001 meters 0.2852789983675432 Centerline is valid? [False, False] Translation: X:3.40, Y:0.05, Z:0.51 [[ 9.99993635e-01 2.87103722e-03 2.11809855e-03 3.39722324e+00] [-2.87824499e-03 9.99990051e-01 3.40778159e-03 5.27282495e-02] [-2.10829361e-03 -3.41385631e-03 9.99991950e-01 5.09619747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09255784400005 meters 0.2862146935042152 Centerline is valid? [False, False] Translation: X:3.40, Y:0.05, Z:0.51 [[ 9.99995939e-01 -1.20128250e-03 2.58438568e-03 3.39597680e+00] [ 1.20218789e-03 9.99999217e-01 -3.48807817e-04 5.12962630e-02] [-2.58396463e-03 3.51913318e-04 9.99996600e-01 5.09938307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1225578440001 meters 0.28757327298266927 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:0.51 [[ 9.99999145e-01 -6.28306245e-05 1.30612751e-03 3.43498341e+00] [ 6.34182777e-05 9.99999897e-01 -4.49883660e-04 5.36095168e-02] [-1.30609910e-03 4.49966108e-04 9.99999046e-01 5.13159541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15255784400006 meters 0.2882712843050802 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.51 [[ 9.99999133e-01 -9.33058485e-05 1.31329523e-03 3.43509038e+00] [ 9.40044518e-05 9.99999854e-01 -5.31895238e-04 5.39271637e-02] [-1.31324541e-03 5.32018233e-04 9.99998996e-01 5.12870585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1825578440001 meters 0.28698416178465275 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.51 [[ 9.99999166e-01 -1.37126613e-04 1.28438074e-03 3.43534857e+00] [ 1.37958604e-04 9.99999781e-01 -6.47709110e-04 5.43904197e-02] [-1.28429164e-03 6.47885761e-04 9.99998965e-01 5.12430340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21255784400006 meters 0.28990281581568966 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99999084e-01 -2.58763228e-04 1.32850674e-03 3.43556544e+00] [ 2.60116052e-04 9.99999448e-01 -1.01823260e-03 5.58532567e-02] [-1.32824252e-03 1.01857723e-03 9.99998599e-01 5.11630009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters 0.29036836521817605 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99999034e-01 -3.43115111e-04 1.34660053e-03 3.43558565e+00] [ 3.44777879e-04 9.99999178e-01 -1.23475196e-03 5.67497847e-02] [-1.34617576e-03 1.23521504e-03 9.99998331e-01 5.11462344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27255784400006 meters 0.28749953123943545 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998995e-01 -4.11633949e-04 1.35635588e-03 3.43558124e+00] [ 4.13545303e-04 9.99998922e-01 -1.40920440e-03 5.74747524e-02] [-1.35577434e-03 1.40976390e-03 9.99998087e-01 5.11401242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30255784400003 meters 0.28749953123943545 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998995e-01 -4.11633949e-04 1.35635588e-03 3.43558124e+00] [ 4.13545303e-04 9.99998922e-01 -1.40920440e-03 5.74747524e-02] [-1.35577434e-03 1.40976390e-03 9.99998087e-01 5.11401242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33255784400006 meters 0.2883862056771534 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998927e-01 -4.74442405e-04 1.38597554e-03 3.43549868e+00] [ 4.76616403e-04 9.99998656e-01 -1.56865995e-03 5.81347705e-02] [-1.38522944e-03 1.56931885e-03 9.99997809e-01 5.11405551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36255784400004 meters 0.2894386925287673 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998733e-01 -5.33135050e-04 1.49976337e-03 3.43518780e+00] [ 5.35706520e-04 9.99998386e-01 -1.71470542e-03 5.87566975e-02] [-1.49884678e-03 1.71550668e-03 9.99997405e-01 5.11433555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39255784400007 meters 0.28937877220234737 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998449e-01 -6.08043222e-04 1.65292548e-03 3.43479966e+00] [ 6.11180301e-04 9.99998012e-01 -1.89805286e-03 5.95531215e-02] [-1.65176810e-03 1.89906015e-03 9.99996833e-01 5.11418426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42255784400004 meters 0.2902072993812926 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998521e-01 -6.17289317e-04 1.60544846e-03 3.43492074e+00] [ 6.20376053e-04 9.99997959e-01 -1.92287582e-03 5.96459258e-02] [-1.60425821e-03 1.92386896e-03 9.99996863e-01 5.11417326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45255784400007 meters 0.28677692857129855 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998589e-01 -6.01780903e-04 1.56830047e-03 3.43499847e+00] [ 6.04744099e-04 9.99998032e-01 -1.88964248e-03 5.94896132e-02] [-1.56716023e-03 1.89058824e-03 9.99996985e-01 5.11458308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48255784400004 meters 0.2878212035041355 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998406e-01 -6.38987602e-04 1.66744310e-03 3.43473134e+00] [ 6.42298968e-04 9.99997821e-01 -1.98611513e-03 5.99004765e-02] [-1.66617036e-03 1.98718296e-03 9.99996637e-01 5.11493180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51255784400007 meters 0.2876490405157218 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998505e-01 -6.51683983e-04 1.60149938e-03 3.43479710e+00] [ 6.54913021e-04 9.99997752e-01 -2.01656305e-03 6.00314231e-02] [-1.60018162e-03 2.01760888e-03 9.99996684e-01 5.11710076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54255784400004 meters 0.2879234245977115 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.51 [[ 9.99998598e-01 -6.28830960e-04 1.55218066e-03 3.43489016e+00] [ 6.31869210e-04 9.99997884e-01 -1.95769395e-03 5.97911030e-02] [-1.55094632e-03 1.95867198e-03 9.99996879e-01 5.11785398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5725578440001 meters 0.2862445115036593 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998728e-01 -5.87334020e-04 1.48271469e-03 3.43508854e+00] [ 5.90084534e-04 9.99998105e-01 -1.85529713e-03 5.93469871e-02] [-1.48162220e-03 1.85616969e-03 9.99997180e-01 5.11745302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60255784400005 meters 0.287261278777403 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998869e-01 -4.87887128e-04 1.42300638e-03 3.43523742e+00] [ 4.90173030e-04 9.99998589e-01 -1.60648296e-03 5.82882686e-02] [-1.42222059e-03 1.60717867e-03 9.99997697e-01 5.11776892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6325578440001 meters 0.2858630207206004 Centerline is valid? [False, False] Translation: X:3.44, Y:0.06, Z:0.51 [[ 9.99998945e-01 -2.74219927e-04 1.42645453e-03 3.43512093e+00] [ 2.75593072e-04 9.99999499e-01 -9.62520107e-04 5.56560898e-02] [-1.42618987e-03 9.62912212e-04 9.99998519e-01 5.12075989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66255784400005 meters 0.2854201851445971 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.51 [[ 9.99999085e-01 -1.06820696e-04 1.34832314e-03 3.43529660e+00] [ 1.07512769e-04 9.99999863e-01 -5.13222034e-04 5.37851640e-02] [-1.34826814e-03 5.13366526e-04 9.99998959e-01 5.12147418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6925578440001 meters 0.28684860693680736 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.51 [[ 9.99974005e-01 -6.19219759e-03 3.69408709e-03 3.45698212e+00] [ 6.18277984e-03 9.99977621e-01 2.55540828e-03 5.17898574e-02] [-3.70982801e-03 -2.53250212e-03 9.99989912e-01 5.10775709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72255784400005 meters 0.2871259788118263 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99995686e-01 1.41234535e-03 2.57552974e-03 3.43994301e+00] [-1.41656480e-03 9.99997656e-01 1.63719603e-03 4.19243847e-02] [-2.57321142e-03 -1.64083737e-03 9.99995343e-01 5.08422417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7525578440001 meters 0.28714256953361333 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99995655e-01 1.56149284e-03 2.50054136e-03 3.44023532e+00] [-1.56652435e-03 9.99996750e-01 2.01147548e-03 4.03377257e-02] [-2.49739233e-03 -2.01538390e-03 9.99994851e-01 5.08225117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78255784400005 meters 0.2865925501615566 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99995474e-01 1.67989390e-03 2.49592512e-03 3.44030503e+00] [-1.68565247e-03 9.99995918e-01 2.30687796e-03 3.90885961e-02] [-2.49203962e-03 -2.31107478e-03 9.99994224e-01 5.08116919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8125578440001 meters 0.2866514178296813 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99994718e-01 1.88079886e-03 2.65065966e-03 3.43980094e+00] [-1.88823711e-03 9.99994279e-01 2.80648155e-03 3.70187485e-02] [-2.64536607e-03 -2.81147180e-03 9.99992549e-01 5.08440464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84255784400005 meters 0.2866036247228157 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99992966e-01 -2.34360447e-03 2.92830470e-03 3.43900854e+00] [ 2.34733043e-03 9.99996439e-01 -1.26960754e-03 3.63070130e-02] [-2.92531881e-03 1.27647231e-03 9.99994907e-01 5.08690020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8725578440001 meters 0.2857734118355081 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99993199e-01 -2.26938736e-03 2.90711440e-03 3.43902707e+00] [ 2.27255836e-03 9.99996826e-01 -1.08793327e-03 3.55363683e-02] [-2.90463623e-03 1.09453245e-03 9.99995183e-01 5.08780331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90255784400006 meters 0.28755344448284764 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 0.99997665 0.00445908 0.00517898 3.46081868] [-0.00443822 0.99998202 -0.00403273 0.03673392] [-0.00519687 0.00400965 0.99997846 0.50731168] [ 0. 0. 0. 1. ]] SLAMing on 471.9325578440001 meters 0.2876856046901291 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99995620e-01 -1.60329807e-03 2.48779109e-03 3.43863708e+00] [ 1.60511350e-03 9.99998447e-01 -7.27909107e-04 3.44276791e-02] [-2.48662017e-03 7.31899106e-04 9.99996641e-01 5.09055680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96255784400006 meters 0.28715761666309203 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99961903e-01 6.76458570e-03 5.51660570e-03 3.45725088e+00] [-6.75297458e-03 9.99974950e-01 -2.12067699e-03 3.50494402e-02] [-5.53081300e-03 2.08334271e-03 9.99982535e-01 5.09735633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99255784400003 meters 0.2873022328744934 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99961743e-01 6.73834177e-03 5.57734668e-03 3.45705720e+00] [-6.72622055e-03 9.99974982e-01 -2.18920695e-03 3.53449650e-02] [-5.59195877e-03 2.15160874e-03 9.99982050e-01 5.09820569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02255784400006 meters 0.2868376828697861 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99961816e-01 6.69892423e-03 5.61161694e-03 3.45696041e+00] [-6.68617540e-03 9.99975031e-01 -2.28755258e-03 3.57680685e-02] [-5.62680097e-03 2.24994498e-03 9.99981638e-01 5.09834865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05255784400003 meters 0.2871205693568157 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99962297e-01 6.64940384e-03 5.58488905e-03 3.45712093e+00] [-6.63602435e-03 9.99975075e-01 -2.41078417e-03 3.62735756e-02] [-5.60078013e-03 2.37363181e-03 9.99981498e-01 5.09623223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08255784400006 meters 0.286192855109203 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99963234e-01 6.58257543e-03 5.49556611e-03 3.45747663e+00] [-6.56851724e-03 9.99975119e-01 -2.57223734e-03 3.69397161e-02] [-5.51236132e-03 2.53604504e-03 9.99981591e-01 5.09337613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11255784400004 meters 0.2869078264643364 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99964612e-01 6.47823051e-03 5.36719397e-03 3.45802880e+00] [-6.46311586e-03 9.99975113e-01 -2.82869231e-03 3.80120033e-02] [-5.38538532e-03 2.79390342e-03 9.99981596e-01 5.08814576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14255784400007 meters 0.2858977909638636 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99996767e-01 -9.09999183e-04 2.37453444e-03 3.43815151e+00] [ 9.11372232e-04 9.99999418e-01 -5.77221325e-04 3.66514877e-02] [-2.37400779e-03 5.79383544e-04 9.99997014e-01 5.09427823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17255784400004 meters 0.2865238698116543 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99997031e-01 -8.21989507e-04 2.29405971e-03 3.43827683e+00] [ 8.22787443e-04 9.99999601e-01 -3.46904933e-04 3.56852301e-02] [-2.29377364e-03 3.48791426e-04 9.99997308e-01 5.09618427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20255784400007 meters 0.2857379579353122 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997457e-01 -6.30066075e-04 2.16556039e-03 3.43857379e+00] [ 6.29394577e-04 9.99999754e-01 3.10748024e-04 3.30747615e-02] [-2.16575565e-03 -3.09384242e-04 9.99997607e-01 5.09641392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23255784400004 meters 0.2866145605036971 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997665e-01 -5.09832953e-04 2.09985389e-03 3.43882928e+00] [ 5.08503242e-04 9.99999670e-01 6.33725085e-04 3.17200010e-02] [-2.10017629e-03 -6.32655823e-04 9.99997595e-01 5.09452806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26255784400007 meters 0.28757260938385004 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997768e-01 -4.00433771e-04 2.07465230e-03 3.43893566e+00] [ 3.98532775e-04 9.99999500e-01 9.16628835e-04 3.05385175e-02] [-2.07501831e-03 -9.15799972e-04 9.99997428e-01 5.09367126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29255784400004 meters 0.2871605757142481 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997808e-01 -3.08627835e-04 2.07091591e-03 3.43896824e+00] [ 3.06254502e-04 9.99999296e-01 1.14624983e-03 2.95784192e-02] [-2.07126821e-03 -1.14561309e-03 9.99997199e-01 5.09331021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3225578440001 meters 0.28610306506167976 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997813e-01 -2.79583344e-04 2.07242955e-03 3.43893669e+00] [ 2.77027045e-04 9.99999201e-01 1.23366343e-03 2.92241727e-02] [-2.07277281e-03 -1.23308661e-03 9.99997092e-01 5.09390575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35255784400005 meters 0.2874469095130246 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:0.51 [[ 9.99964942e-01 6.70992140e-03 5.00919080e-03 3.46041688e+00] [-6.70250961e-03 9.99976420e-01 -1.49496202e-03 3.28309666e-02] [-5.01910376e-03 1.46133546e-03 9.99986336e-01 5.07588794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3825578440001 meters 0.28774665404391786 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:0.51 [[ 9.99966087e-01 6.61814048e-03 4.90148624e-03 3.46074907e+00] [-6.60961857e-03 9.99976620e-01 -1.75280145e-03 3.38810584e-02] [-4.91297193e-03 1.72034505e-03 9.99986451e-01 5.07409270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41255784400005 meters 0.28628180975625145 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996983e-01 -5.19650675e-05 2.45567780e-03 3.43837233e+00] [ 4.99639322e-05 9.99999667e-01 8.14955715e-04 3.34501568e-02] [-2.45571933e-03 -8.14830561e-04 9.99996653e-01 5.08988641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4425578440001 meters 0.28994504905004165 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996711e-01 -1.74386770e-04 2.55875931e-03 3.43825843e+00] [ 1.73297265e-04 9.99999894e-01 4.26009743e-04 3.49873572e-02] [-2.55883333e-03 -4.25564916e-04 9.99996636e-01 5.08632525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47255784400005 meters 0.2891606600871906 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99996523e-01 -2.20428526e-04 2.62787819e-03 3.43804826e+00] [ 2.19622726e-04 9.99999929e-01 3.06920068e-04 3.54937834e-02] [-2.62794566e-03 -3.06341859e-04 9.99996500e-01 5.08702815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5025578440001 meters 0.2865850855137137 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99996425e-01 -2.52582241e-04 2.66213643e-03 3.43785155e+00] [ 2.51990978e-04 9.99999944e-01 2.22434225e-04 3.58634510e-02] [-2.66219246e-03 -2.21762595e-04 9.99996432e-01 5.08944637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53255784400005 meters 0.2877023459417973 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99967006e-01 -5.96745270e-03 5.51149285e-03 3.45918091e+00] [ 5.95007160e-03 9.99977291e-01 3.16464176e-03 3.65854387e-02] [-5.53025254e-03 -3.13174357e-03 9.99979804e-01 5.08211366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5625578440001 meters 0.2884075779985396 Centerline is valid? [False, False] Translation: X:3.46, Y:0.04, Z:0.51 [[ 9.99967269e-01 -5.96978878e-03 5.46099094e-03 3.45915418e+00] [ 5.95258857e-03 9.99977289e-01 3.16050031e-03 3.66308801e-02] [-5.47973443e-03 -3.12788983e-03 9.99980094e-01 5.08553978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59255784400005 meters 0.2858283305635804 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99988128e-01 2.05818212e-03 4.41674093e-03 3.44073499e+00] [-2.06752914e-03 9.99995631e-01 2.11274794e-03 3.12438037e-02] [-4.41237321e-03 -2.12185460e-03 9.99988014e-01 5.07623170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6225578440001 meters 0.28635582287097294 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99988708e-01 2.10609950e-03 4.26012740e-03 3.44116897e+00] [-2.11572240e-03 9.99995218e-01 2.25558525e-03 3.06392260e-02] [-4.25535654e-03 -2.26457302e-03 9.99988382e-01 5.07513456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65255784400006 meters 0.2862947068586777 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99988975e-01 2.22733868e-03 4.13378123e-03 3.44134622e+00] [-2.23833251e-03 9.99993966e-01 2.65679044e-03 2.90605835e-02] [-4.12783871e-03 -2.66601393e-03 9.99987927e-01 5.07857047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6825578440001 meters 0.2849683371120271 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99987513e-01 4.91339306e-03 9.12189239e-04 3.41823758e+00] [-4.91069060e-03 9.99983616e-01 -2.94158671e-03 2.99969310e-02] [-9.26627466e-04 2.93707050e-03 9.99995257e-01 5.11489000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71255784400006 meters 0.2855503383071136 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99987101e-01 4.99935627e-03 8.96796527e-04 3.41810202e+00] [-4.99689793e-03 9.99983808e-01 -2.72285441e-03 2.90886984e-02] [-9.10394526e-04 2.71833809e-03 9.99995891e-01 5.11886205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters 0.28585214913987267 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99987050e-01 5.01780390e-03 8.49284281e-04 3.41808475e+00] [-5.01551571e-03 9.99983844e-01 -2.67527383e-03 2.89016368e-02] [-8.62694559e-04 2.67097959e-03 9.99996061e-01 5.12189921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77255784400006 meters 0.28591942265847387 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99987340e-01 4.96177085e-03 8.37404607e-04 3.41822687e+00] [-4.95938387e-03 9.99983701e-01 -2.82884853e-03 2.95213678e-02] [-8.51427057e-04 2.82465971e-03 9.99995648e-01 5.11915292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80255784400003 meters 0.2859500120432278 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99987800e-01 4.86925564e-03 8.30968558e-04 3.41837092e+00] [-4.86668062e-03 9.99983435e-01 -3.07320968e-03 3.05112322e-02] [-8.45919037e-04 3.06912813e-03 9.99994932e-01 5.11610239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83255784400006 meters 0.28843567640375645 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99998059e-01 -1.21090450e-03 1.55396097e-03 3.44165424e+00] [ 1.21183846e-03 9.99999086e-01 -6.00218156e-04 3.33784475e-02] [-1.55323274e-03 6.02100141e-04 9.99998612e-01 5.10568782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86255784400004 meters 0.2862591672817677 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99989274e-01 4.50975806e-03 -1.05531700e-03 3.42040355e+00] [-4.51372120e-03 9.99982655e-01 -3.78364779e-03 3.42052632e-02] [ 1.03823535e-03 3.78837061e-03 9.99992285e-01 5.11456171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89255784400007 meters 0.2872722591661459 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99989429e-01 4.46340177e-03 -1.10453346e-03 3.42054793e+00] [-4.46768357e-03 9.99982395e-01 -3.90494951e-03 3.47077164e-02] [ 1.08708466e-03 3.90984293e-03 9.99991766e-01 5.11398812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92255784400004 meters 0.288210743230242 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99994614e-01 -3.27719292e-03 -1.78216715e-04 3.43869948e+00] [ 3.27671756e-03 9.99991238e-01 -2.60521362e-03 4.05228054e-02] [ 1.86752941e-04 2.60461562e-03 9.99996591e-01 5.13311040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95255784400007 meters 0.2871406288836824 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99994824e-01 -3.21375107e-03 -1.52204193e-04 3.43852521e+00] [ 3.21336841e-03 9.99991834e-01 -2.45095232e-03 3.98830390e-02] [ 1.60079701e-04 2.45045055e-03 9.99996985e-01 5.13554055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98255784400004 meters 0.2860207591189166 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99988775e-01 4.70088385e-03 -5.93245836e-04 3.41896032e+00] [-4.70283064e-03 9.99983417e-01 -3.32401643e-03 3.34445036e-02] [ 5.77610184e-04 3.32676906e-03 9.99994299e-01 5.12551439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01255784400007 meters 0.2865846511441317 Centerline is valid? [False, False] Translation: X:3.42, Y:0.03, Z:0.51 [[ 9.99988301e-01 4.79231101e-03 -6.56345656e-04 3.41908950e+00] [-4.79431666e-03 9.99983736e-01 -3.08908642e-03 3.24652084e-02] [ 6.41531119e-04 3.09219701e-03 9.99995013e-01 5.12625598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04255784400004 meters 0.28878050919687154 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.51 [[ 9.99995729e-01 -2.84996751e-03 -6.48145186e-04 3.43937554e+00] [ 2.84896077e-03 9.99994742e-01 -1.54891591e-03 3.53517313e-02] [ 6.52556138e-04 1.54706276e-03 9.99998590e-01 5.13702213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0725578440001 meters 0.28673800979155445 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99995872e-01 -2.78791714e-03 -6.95655293e-04 3.43955319e+00] [ 2.78694550e-03 9.99995145e-01 -1.39381820e-03 3.46874682e-02] [ 6.99537766e-04 1.39187369e-03 9.99998787e-01 5.13588789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10255784400005 meters 0.2894674577698039 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996040e-01 -2.68530888e-03 -8.42525115e-04 3.44006877e+00] [ 2.68435483e-03 9.99995757e-01 -1.13147199e-03 3.35401392e-02] [ 8.45559892e-04 1.12920588e-03 9.99999005e-01 5.13283332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1325578440001 meters 0.28733687930884744 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996211e-01 -2.61617476e-03 -8.56138595e-04 3.44009388e+00] [ 2.61535254e-03 9.99996119e-01 -9.60096874e-04 3.28205236e-02] [ 8.58647053e-04 9.57854133e-04 9.99999173e-01 5.13320026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16255784400005 meters 0.28987853077922254 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996408e-01 -2.52751568e-03 -8.91654733e-04 3.44005369e+00] [ 2.52685609e-03 9.99996534e-01 -7.40080687e-04 3.19032235e-02] [ 8.93522208e-04 7.37824946e-04 9.99999329e-01 5.13616784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1925578440001 meters 0.2878621369584878 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996619e-01 -2.46496581e-03 -8.28149711e-04 3.43973379e+00] [ 2.46447758e-03 9.99996789e-01 -5.90045026e-04 3.12812941e-02] [ 8.29601492e-04 5.88002075e-04 9.99999483e-01 5.13967633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22255784400005 meters 0.2878621369584878 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996619e-01 -2.46496581e-03 -8.28149711e-04 3.43973379e+00] [ 2.46447758e-03 9.99996789e-01 -5.90045026e-04 3.12812941e-02] [ 8.29601492e-04 5.88002075e-04 9.99999483e-01 5.13967633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2525578440001 meters 0.2868787487161 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996796e-01 -2.41822782e-03 -7.48405837e-04 3.43939407e+00] [ 2.41787134e-03 9.99996963e-01 -4.76850117e-04 3.08265860e-02] [ 7.49556696e-04 4.75039041e-04 9.99999606e-01 5.14281532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28255784400005 meters 0.2871254334973471 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996897e-01 -2.38782178e-03 -7.10779381e-04 3.43903491e+00] [ 2.38753829e-03 9.99997070e-01 -3.99437653e-04 3.05414166e-02] [ 7.11731085e-04 3.97739400e-04 9.99999668e-01 5.14894015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3125578440001 meters 0.2874390179741979 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.52 [[ 9.99996922e-01 -2.38757026e-03 -6.75036691e-04 3.43888073e+00] [ 2.38729997e-03 9.99997070e-01 -4.00923252e-04 3.05542340e-02] [ 6.75991946e-04 3.99310503e-04 9.99999692e-01 5.15031049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34255784400005 meters 0.286580286211439 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.52 [[ 9.99996987e-01 -2.37869651e-03 -6.06133380e-04 3.43868839e+00] [ 2.37846480e-03 9.99997098e-01 -3.82709985e-04 3.04809016e-02] [ 6.07041972e-04 3.81267165e-04 9.99999743e-01 5.15072307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3725578440001 meters 0.2864914126631755 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.52 [[ 9.99996893e-01 -2.42752708e-03 -5.67343313e-04 3.43859274e+00] [ 2.42723871e-03 9.99996925e-01 -5.08415415e-04 3.10032507e-02] [ 5.68575761e-04 5.07036758e-04 9.99999710e-01 5.15057425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40255784400006 meters 0.2874141321865775 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996723e-01 -2.52402347e-03 -4.28299188e-04 3.43830575e+00] [ 2.52369209e-03 9.99996517e-01 -7.72494902e-04 3.20969063e-02] [ 4.30247492e-04 7.71411475e-04 9.99999610e-01 5.14904312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4325578440001 meters 0.2870501013915989 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996435e-01 -2.62664300e-03 -4.80669410e-04 3.43860603e+00] [ 2.62614362e-03 9.99996014e-01 -1.03662957e-03 3.31755075e-02] [ 4.83390350e-04 1.03536357e-03 9.99999347e-01 5.14506967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46255784400006 meters 0.28688071400086795 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99996040e-01 -2.75028943e-03 -5.96086561e-04 3.43914925e+00] [ 2.74947680e-03 9.99995296e-01 -1.35983365e-03 3.44827756e-02] [ 5.99823692e-04 1.35818934e-03 9.99998898e-01 5.13863386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49255784400003 meters 0.2881299417623337 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.51 [[ 9.99997834e-01 -9.09226814e-04 -1.87224664e-03 3.44490058e+00] [ 9.10025165e-04 9.99999495e-01 4.25605696e-04 3.29057004e-02] [ 1.87185872e-03 -4.27308565e-04 9.99998157e-01 5.10192027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52255784400006 meters 0.2883877144248345 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99997290e-01 -1.19321044e-03 -1.99892301e-03 3.44546526e+00] [ 1.19252924e-03 9.99999230e-01 -3.41937873e-04 3.60906809e-02] [ 1.99932947e-03 3.39553172e-04 9.99997944e-01 5.09612099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55255784400003 meters 0.28784624577208334 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99997281e-01 -1.30324438e-03 -1.93385518e-03 3.44519805e+00] [ 1.30204302e-03 9.99998959e-01 -6.22354512e-04 3.72773576e-02] [ 1.93466424e-03 6.19834857e-04 9.99997936e-01 5.09803273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58255784400006 meters 0.28867512604962353 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99997157e-01 -1.44467771e-03 -1.89695031e-03 3.44505680e+00] [ 1.44280943e-03 9.99998473e-01 -9.85881003e-04 3.87974372e-02] [ 1.89837169e-03 9.83141263e-04 9.99997715e-01 5.09887909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61255784400004 meters 0.2871061345500438 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99975756e-01 6.31761593e-03 -2.92829089e-03 3.42550683e+00] [-6.32495907e-03 9.99976859e-01 -2.50521399e-03 3.68491928e-02] [ 2.91239615e-03 2.52367458e-03 9.99992574e-01 5.08599927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64255784400007 meters 0.28826866489410774 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99996678e-01 7.73007319e-04 -2.45915007e-03 3.44870140e+00] [-7.71868815e-04 9.99999595e-01 4.63882095e-04 4.17507331e-02] [ 2.45950766e-03 -4.61982413e-04 9.99996869e-01 5.07322569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67255784400004 meters 0.2878134997002383 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99996809e-01 4.03653731e-04 -2.49383374e-03 3.44895870e+00] [-4.04588054e-04 9.99999848e-01 -3.74160371e-04 4.52828247e-02] [ 2.49368233e-03 3.75168152e-04 9.99996820e-01 5.06914660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70255784400007 meters 0.2883242306113493 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99996905e-01 2.67345894e-04 -2.47346716e-03 3.44873968e+00] [-2.69113219e-04 9.99999709e-01 -7.14208252e-04 4.67211564e-02] [ 2.47327550e-03 7.14871684e-04 9.99996686e-01 5.07241825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73255784400004 meters 0.2875862005549236 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99997138e-01 1.74448139e-04 -2.38593489e-03 3.44829795e+00] [-1.76721974e-04 9.99999530e-01 -9.52838650e-04 4.77481089e-02] [ 2.38576755e-03 9.53257570e-04 9.99996700e-01 5.07729280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76255784400007 meters 0.28833777944584327 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99997793e-01 6.21365844e-05 -2.09999315e-03 3.44727722e+00] [-6.47645921e-05 9.99999215e-01 -1.25139144e-03 4.90360151e-02] [ 2.09991375e-03 1.25152469e-03 9.99997012e-01 5.08474720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79255784400004 meters 0.2874275050262034 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99997600e-01 4.89694596e-05 -2.19039878e-03 3.44754271e+00] [-5.17814742e-05 9.99999175e-01 -1.28375287e-03 4.91563271e-02] [ 2.19033410e-03 1.28386321e-03 9.99996777e-01 5.08382267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8225578440001 meters 0.28732105960899745 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99997213e-01 5.18159459e-05 -2.36031117e-03 3.44818191e+00] [-5.48149638e-05 9.99999191e-01 -1.27055581e-03 4.90507933e-02] [ 2.36024343e-03 1.27068165e-03 9.99996407e-01 5.07889499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85255784400005 meters 0.2859867669554179 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99996948e-01 1.01523173e-04 -2.46855256e-03 3.44857300e+00] [-1.04332145e-04 9.99999347e-01 -1.13780010e-03 4.84766687e-02] [ 2.46843543e-03 1.13805418e-03 9.99996306e-01 5.07618284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8825578440001 meters 0.2849045120258906 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99997059e-01 1.90992483e-04 -2.41762384e-03 3.44833474e+00] [-1.93178494e-04 9.99999573e-01 -9.03996766e-04 4.75309450e-02] [ 2.41745015e-03 9.04461140e-04 9.99996669e-01 5.07893144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91255784400005 meters 0.2868359099605368 Centerline is valid? [False, False] Translation: X:3.47, Y:0.05, Z:0.51 [[ 9.99986837e-01 -5.12624956e-03 2.15646622e-04 3.47035743e+00] [ 5.12570157e-03 9.99983815e-01 2.46926008e-03 4.70502906e-02] [-2.28301175e-04 -2.46812224e-03 9.99996928e-01 5.06523590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9425578440001 meters 0.28602735742034496 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99998497e-01 1.00936734e-03 -1.40980207e-03 3.44875004e+00] [-1.00989500e-03 9.99999420e-01 -3.73617328e-04 4.56446429e-02] [ 1.40942413e-03 3.75040519e-04 9.99998936e-01 5.07421443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97255784400005 meters 0.286382293834635 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.51 [[ 9.99998385e-01 1.05772891e-03 -1.45329778e-03 3.44890610e+00] [-1.05809548e-03 9.99999409e-01 -2.51490284e-04 4.51310715e-02] [ 1.45303091e-03 2.53027605e-04 9.99998912e-01 5.07327973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0025578440001 meters 0.2860783499095701 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99998308e-01 1.10815677e-03 -1.46833515e-03 3.44898239e+00] [-1.10834555e-03 9.99999378e-01 -1.27766163e-04 4.46045130e-02] [ 1.46819265e-03 1.29393370e-04 9.99998914e-01 5.07253026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03255784400005 meters 0.2860203917919944 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99998333e-01 1.16850631e-03 -1.40334665e-03 3.44880275e+00] [-1.16847690e-03 9.99999317e-01 2.17760989e-05 4.39856386e-02] [ 1.40337114e-03 -2.01362845e-05 9.99999015e-01 5.07294954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0625578440001 meters 0.2859235423516394 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99998367e-01 1.20802049e-03 -1.34409408e-03 3.44857971e+00] [-1.20786175e-03 9.99999263e-01 1.18903155e-04 4.35899222e-02] [ 1.34423672e-03 -1.17279481e-04 9.99999090e-01 5.07460358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09255784400005 meters 0.2866894350524021 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99998415e-01 1.19996128e-03 -1.31561084e-03 3.44847489e+00] [-1.19983286e-03 9.99999275e-01 9.83974583e-05 4.36780754e-02] [ 1.31572796e-03 -9.68187892e-05 9.99999130e-01 5.07529888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1225578440001 meters 0.28550390805503567 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99998271e-01 1.23957181e-03 -1.38651750e-03 3.44866508e+00] [-1.23929536e-03 9.99999212e-01 2.00227923e-04 4.32521355e-02] [ 1.38676461e-03 -1.98509272e-04 9.99999019e-01 5.07512249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15255784400006 meters 0.2847052826979501 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99997904e-01 1.41956167e-03 -1.47550531e-03 3.44903134e+00] [-1.41855063e-03 9.99998759e-01 6.86037718e-04 4.12240260e-02] [ 1.47647735e-03 -6.83943201e-04 9.99998676e-01 5.07231019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1825578440001 meters 0.2867930437507048 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.51 [[ 9.99993686e-01 9.84840025e-04 -3.41438281e-03 3.48883807e+00] [-9.85531437e-04 9.99999494e-01 -2.00822999e-04 4.10132307e-02] [ 3.41418330e-03 2.04186713e-04 9.99994151e-01 5.10549395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21255784400006 meters 0.28564065518509685 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.51 [[ 9.99993587e-01 1.13260628e-03 -3.39743432e-03 3.48877991e+00] [-1.13202288e-03 9.99999344e-01 1.73635275e-04 3.94742616e-02] [ 3.39762875e-03 -1.69788188e-04 9.99994214e-01 5.10597335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters 0.2865850765170417 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.51 [[ 9.99993370e-01 1.28710503e-03 -3.40637346e-03 3.48876196e+00] [-1.28516386e-03 9.99999011e-01 5.71992267e-04 3.78426754e-02] [ 3.40710630e-03 -5.67610727e-04 9.99994035e-01 5.10702537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27255784400006 meters 0.2849087991273961 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99963561e-01 -6.83051526e-03 -5.12062372e-03 3.46842951e+00] [ 6.84525966e-03 9.99972460e-01 2.86743995e-03 3.31953330e-02] [ 5.10089661e-03 -2.90238746e-03 9.99982778e-01 5.10477661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30255784400003 meters 0.28652521762868716 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.51 [[ 9.99990205e-01 1.84094872e-03 -4.02509404e-03 3.48866737e+00] [-1.83265280e-03 9.99996191e-01 2.06376986e-03 2.85945999e-02] [ 4.02887800e-03 -2.05637305e-03 9.99989770e-01 5.11165605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33255784400006 meters 0.2863477181817729 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.51 [[ 9.99989924e-01 1.93414004e-03 -4.05099986e-03 3.48884101e+00] [-1.92486922e-03 9.99995523e-01 2.29117539e-03 2.76459706e-02] [ 4.05541317e-03 -2.28335466e-03 9.99989170e-01 5.10955615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36255784400004 meters 0.2857471872521086 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.51 [[ 9.99989883e-01 2.01599336e-03 -4.02115214e-03 3.48877408e+00] [-2.00597670e-03 9.99994879e-01 2.49347195e-03 2.68168658e-02] [ 4.02615838e-03 -2.48538039e-03 9.99988806e-01 5.10946996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39255784400007 meters 0.2854962171247838 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.51 [[ 9.99989963e-01 2.09819127e-03 -3.95884424e-03 3.48857001e+00] [-2.08751952e-03 9.99994182e-01 2.69788371e-03 2.59882665e-02] [ 3.96448188e-03 -2.68959246e-03 9.99988524e-01 5.11066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42255784400004 meters 0.28662305164575397 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.51 [[ 9.99989501e-01 2.30733638e-03 -3.95901114e-03 3.48863955e+00] [-2.29469616e-03 9.99992265e-01 3.19435017e-03 2.39467571e-02] [ 3.96635095e-03 -3.18523190e-03 9.99987061e-01 5.10959670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45255784400007 meters 0.28594413021523085 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.51 [[ 9.99988924e-01 2.41263821e-03 -4.04124159e-03 3.48895933e+00] [-2.39866551e-03 9.99991141e-01 3.45881209e-03 2.28388201e-02] [ 4.04955065e-03 -3.44908019e-03 9.99985852e-01 5.10735697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48255784400004 meters 0.28658623510413384 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.51 [[ 9.99988419e-01 2.51133775e-03 -4.10543348e-03 3.48925227e+00] [-2.49611090e-03 9.99990003e-01 3.70987803e-03 2.17806542e-02] [ 4.11470920e-03 -3.69958745e-03 9.99984691e-01 5.10458001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51255784400007 meters 0.28637255266582184 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.51 [[ 9.99987907e-01 2.64516155e-03 -4.14587924e-03 3.48941313e+00] [-2.62837396e-03 9.99988347e-01 4.04945383e-03 2.03719051e-02] [ 4.15654239e-03 -4.03850794e-03 9.99983207e-01 5.10348136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54255784400004 meters 0.2865168554926967 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.51 [[ 9.99987563e-01 2.79943090e-03 -4.12754519e-03 3.48933469e+00] [-2.78109886e-03 9.99986274e-01 4.44046046e-03 1.87709313e-02] [ 4.13991929e-03 -4.42892613e-03 9.99981623e-01 5.10439120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5725578440001 meters 0.28591562929618275 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99987467e-01 3.16396207e-03 -3.88012579e-03 3.48847314e+00] [-3.14288060e-03 9.99980333e-01 5.42730791e-03 1.47750777e-02] [ 3.89722128e-03 -5.41504511e-03 9.99977744e-01 5.10955416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60255784400005 meters 0.28552100919138257 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99992084e-01 -1.14079402e-03 -3.81196898e-03 3.48834141e+00] [ 1.14553925e-03 9.99998572e-01 1.24287228e-03 1.42770052e-02] [ 3.81054567e-03 -1.24722920e-03 9.99991962e-01 5.10866751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6325578440001 meters 0.2851716350277686 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99992197e-01 -9.78780930e-04 -3.82721479e-03 3.48841567e+00] [ 9.85130716e-04 9.99998141e-01 1.65758117e-03 1.25789650e-02] [ 3.82558527e-03 -1.66133854e-03 9.99991302e-01 5.10802298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66255784400005 meters 0.2857768404812221 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:0.51 [[ 9.99981699e-01 5.81835321e-03 -1.65763950e-03 3.51059554e+00] [-5.81997067e-03 9.99982591e-01 -9.72611363e-04 1.20201365e-02] [ 1.65195164e-03 9.82240977e-04 9.99998153e-01 5.09331353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6925578440001 meters 0.2856847059386684 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989539e-01 -2.80076303e-03 -3.61640641e-03 3.49226119e+00] [ 2.80381912e-03 9.99995716e-01 8.40270561e-04 1.07229219e-02] [ 3.61403752e-03 -8.50401520e-04 9.99993108e-01 5.08195715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72255784400005 meters 0.28648882638328427 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989337e-01 -2.73682351e-03 -3.71963438e-03 3.49265954e+00] [ 2.74056422e-03 9.99995744e-01 1.00094206e-03 1.00271063e-02] [ 3.71687914e-03 -1.01112529e-03 9.99992581e-01 5.07906685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7525578440001 meters 0.28644087724294437 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989299e-01 -2.70435317e-03 -3.75340324e-03 3.49283339e+00] [ 2.70843613e-03 9.99995746e-01 1.08314420e-03 9.67373365e-03] [ 3.75045807e-03 -1.09329846e-03 9.99992369e-01 5.07722307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78255784400005 meters 0.28604298996749644 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989253e-01 -2.67412790e-03 -3.78707964e-03 3.49299100e+00] [ 2.67853498e-03 9.99995741e-01 1.15912186e-03 9.34698100e-03] [ 3.78396387e-03 -1.16925323e-03 9.99992157e-01 5.07570865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8125578440001 meters 0.2888217656968252 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989484e-01 -2.65890280e-03 -3.73650050e-03 3.49280298e+00] [ 2.66338349e-03 9.99995740e-01 1.19470236e-03 9.20832582e-03] [ 3.73330798e-03 -1.20464154e-03 9.99992306e-01 5.07708508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84255784400005 meters 0.28708518583532233 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989730e-01 -2.63894850e-03 -3.68450005e-03 3.49259907e+00] [ 2.64353451e-03 9.99995737e-01 1.24036313e-03 9.02744111e-03] [ 3.68121109e-03 -1.25009049e-03 9.99992443e-01 5.07864186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8725578440001 meters 0.2860979128678826 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989910e-01 -2.61809593e-03 -3.65049322e-03 3.49245227e+00] [ 2.62282191e-03 9.99995728e-01 1.29042687e-03 8.82831680e-03] [ 3.64709917e-03 -1.29998844e-03 9.99992504e-01 5.07998119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90255784400006 meters 0.28544590549950116 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99990193e-01 -2.61311915e-03 -3.57556200e-03 3.49220225e+00] [ 2.61778425e-03 9.99995728e-01 1.30066124e-03 8.80051392e-03] [ 3.57214794e-03 -1.31000853e-03 9.99992762e-01 5.08126231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9325578440001 meters 0.2854899428759449 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99990411e-01 -2.63873180e-03 -3.49513945e-03 3.49199631e+00] [ 2.64306365e-03 9.99995744e-01 1.23535389e-03 9.08022500e-03] [ 3.49186480e-03 -1.24457992e-03 9.99993129e-01 5.08130727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96255784400006 meters 0.2857227445660407 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99990315e-01 -2.68021734e-03 -3.49096640e-03 3.49199947e+00] [ 2.68417656e-03 9.99995759e-01 1.12994145e-03 9.51494276e-03] [ 3.48792311e-03 -1.13930088e-03 9.99993268e-01 5.08092207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99255784400003 meters 0.28766349219800785 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99990215e-01 -2.66698612e-03 -3.52937680e-03 3.49204989e+00] [ 2.67110435e-03 9.99995757e-01 1.16264503e-03 9.37833329e-03] [ 3.52626106e-03 -1.17206099e-03 9.99993096e-01 5.08197020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02255784400006 meters 0.28584701428332077 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989928e-01 -2.70906684e-03 -3.57827569e-03 3.49223769e+00] [ 2.71287304e-03 9.99995759e-01 1.05927091e-03 9.79544987e-03] [ 3.57539088e-03 -1.06896765e-03 9.99993037e-01 5.08057693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05255784400003 meters 0.2863854667221592 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99989727e-01 -2.76224279e-03 -3.59382115e-03 3.49234053e+00] [ 2.76559292e-03 9.99995746e-01 9.27556807e-04 1.03354794e-02] [ 3.59124372e-03 -9.37486325e-04 9.99993112e-01 5.07910760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08255784400006 meters 0.2843300990272899 Centerline is valid? [False, False] Translation: X:3.45, Y:0.01, Z:0.50 [[ 9.99995307e-01 -2.75849137e-03 -1.33271801e-03 3.45263526e+00] [ 2.76098330e-03 9.99994437e-01 1.87160261e-03 8.63868140e-03] [ 1.32754780e-03 -1.87527344e-03 9.99997360e-01 5.04348413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11255784400004 meters 0.2843300990272899 Centerline is valid? [False, False] Translation: X:3.45, Y:0.01, Z:0.50 [[ 9.99995307e-01 -2.75849137e-03 -1.33271801e-03 3.45263526e+00] [ 2.76098330e-03 9.99994437e-01 1.87160261e-03 8.63868140e-03] [ 1.32754780e-03 -1.87527344e-03 9.99997360e-01 5.04348413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14255784400007 meters 0.28651368961065 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99988228e-01 4.44827734e-03 1.93830802e-03 3.47210468e+00] [-4.44704672e-03 9.99989908e-01 -6.38738961e-04 1.00974967e-02] [-1.94112975e-03 6.30111696e-04 9.99997917e-01 5.03667520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17255784400004 meters 0.28759866175627496 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988371e-01 -3.11219899e-03 3.68404190e-03 3.49100171e+00] [ 3.11045142e-03 9.99995047e-01 4.79997265e-04 1.51331122e-02] [-3.68551750e-03 -4.68532650e-04 9.99993099e-01 5.04619305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20255784400007 meters 0.2859743657819021 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988151e-01 -3.12333391e-03 3.73398106e-03 3.49082916e+00] [ 3.12167406e-03 9.99995026e-01 4.50270602e-04 1.52652703e-02] [-3.73536883e-03 -4.38608995e-04 9.99992927e-01 5.04711518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23255784400004 meters 0.28522127066806197 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988404e-01 -3.13159893e-03 3.65855673e-03 3.49115746e+00] [ 3.13005666e-03 9.99995010e-01 4.27201136e-04 1.53253215e-02] [-3.65987629e-03 -4.15744692e-04 9.99993216e-01 5.04399577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26255784400007 meters 0.28630810388913525 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:0.50 [[ 9.99971855e-01 5.49758685e-03 5.10539092e-03 3.51091821e+00] [-5.49271780e-03 9.99984447e-01 -9.67238904e-04 1.38087774e-02] [-5.11062900e-03 9.39169210e-04 9.99986500e-01 5.04874927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29255784400004 meters 0.28552788871262585 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99987868e-01 -3.22097424e-03 3.72689910e-03 3.49121928e+00] [ 3.22000612e-03 9.99994780e-01 2.65738861e-04 1.57797364e-02] [-3.72773559e-03 -2.53734999e-04 9.99993020e-01 5.04109345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3225578440001 meters 0.28568729286473066 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99987590e-01 -3.22119432e-03 3.80053840e-03 3.49092223e+00] [ 3.22022307e-03 9.99994781e-01 2.61648666e-04 1.58125786e-02] [-3.80136139e-03 -2.49406837e-04 9.99992744e-01 5.04355866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35255784400005 meters 0.2874548148927396 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:0.51 [[ 9.99965620e-01 5.46533769e-03 6.23610771e-03 3.50927534e+00] [-5.45985846e-03 9.99984694e-01 -8.95315990e-04 1.41750941e-02] [-6.24090546e-03 8.61236944e-04 9.99980154e-01 5.05498119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3825578440001 meters 0.28532422258872253 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:0.51 [[ 9.99965353e-01 5.46402112e-03 6.27994911e-03 3.50910936e+00] [-5.45846794e-03 9.99984696e-01 -9.01071987e-04 1.42135866e-02] [-6.28477648e-03 8.66761867e-04 9.99979875e-01 5.05618092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41255784400005 meters 0.2844511737646551 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99981864e-01 -3.21851354e-03 5.09044410e-03 3.48982438e+00] [ 3.21595960e-03 9.99994699e-01 5.09817387e-04 1.61201207e-02] [-5.09205797e-03 -4.93437478e-04 9.99986914e-01 5.04539695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4425578440001 meters 0.28497665528457033 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982157e-01 -3.19242288e-03 5.04908917e-03 3.49001449e+00] [ 3.18954184e-03 9.99994746e-01 5.78556532e-04 1.58200067e-02] [-5.05090964e-03 -5.62441928e-04 9.99987086e-01 5.04348007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47255784400005 meters 0.28547410419180047 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982403e-01 -3.21043110e-03 4.98868295e-03 3.49026523e+00] [ 3.20781064e-03 9.99994713e-01 5.33194065e-04 1.59874090e-02] [-4.99036835e-03 -5.17181932e-04 9.99987414e-01 5.04121750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5025578440001 meters 0.28471624537650736 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982428e-01 -3.21452022e-03 4.98096357e-03 3.49035084e+00] [ 3.21195043e-03 9.99994704e-01 5.23836149e-04 1.60154785e-02] [-4.98262107e-03 -5.07828336e-04 9.99987458e-01 5.03973868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53255784400005 meters 0.2855060254205719 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982486e-01 -3.22336806e-03 4.96370941e-03 3.49033265e+00] [ 3.22091293e-03 9.99994687e-01 5.02529402e-04 1.61116725e-02] [-4.96530287e-03 -4.86532925e-04 9.99987554e-01 5.04112870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5625578440001 meters 0.28537688214057233 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982463e-01 -3.27456763e-03 4.93474162e-03 3.49047834e+00] [ 3.27277881e-03 9.99994576e-01 3.70527469e-04 1.66461275e-02] [-4.93592817e-03 -3.54370653e-04 9.99987755e-01 5.03936484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59255784400005 meters 0.28715433939330726 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99982477e-01 -3.32433689e-03 4.89833065e-03 3.49072560e+00] [ 3.32317389e-03 9.99994448e-01 2.45547305e-04 1.71445638e-02] [-4.89911973e-03 -2.29264998e-04 9.99987973e-01 5.03577710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6225578440001 meters 0.2846144701287326 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99985565e-01 4.21644607e-03 3.33026596e-03 3.47126091e+00] [-4.21312000e-03 9.99990620e-01 -1.00512500e-03 1.40047355e-02] [-3.33447278e-03 9.91079685e-04 9.99993950e-01 5.02381927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65255784400006 meters 0.28633063735741565 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99987471e-01 -3.54209309e-03 3.53724444e-03 3.49066587e+00] [ 3.54155548e-03 9.99993716e-01 1.58238754e-04 1.91118356e-02] [-3.53778270e-03 -1.45709423e-04 9.99993731e-01 5.03397093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6825578440001 meters 0.2851353702516463 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99987826e-01 -3.47569314e-03 3.50244070e-03 3.49073431e+00] [ 3.47458554e-03 9.99993912e-01 3.22271158e-04 1.84149326e-02] [-3.50353949e-03 -3.10097705e-04 9.99993815e-01 5.03455636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71255784400006 meters 0.28592135951197983 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988023e-01 -3.39089474e-03 3.52921340e-03 3.49052741e+00] [ 3.38902867e-03 9.99994114e-01 5.34596268e-04 1.75410107e-02] [-3.53100539e-03 -5.22629260e-04 9.99993629e-01 5.03775951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters 0.2859789028451366 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988321e-01 -3.30501689e-03 3.52635087e-03 3.49044223e+00] [ 3.30238083e-03 9.99994264e-01 7.53093030e-04 1.66385369e-02] [-3.52881963e-03 -7.41438881e-04 9.99993499e-01 5.03998800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77255784400006 meters 0.2849493091575035 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99988638e-01 -3.23441019e-03 3.50188074e-03 3.49053588e+00] [ 3.23115318e-03 9.99994342e-01 9.35334664e-04 1.58779867e-02] [-3.50488618e-03 -9.24008923e-04 9.99993431e-01 5.03936960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80255784400003 meters 0.28578411370893714 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99989079e-01 -3.13857398e-03 3.46272120e-03 3.49068194e+00] [ 3.13450012e-03 9.99994390e-01 1.18129011e-03 1.48425539e-02] [-3.46640934e-03 -1.17042331e-03 9.99993307e-01 5.03846510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83255784400006 meters 0.28487316553211345 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99989826e-01 -2.98084850e-03 3.38551019e-03 3.49095623e+00] [ 2.97536105e-03 9.99994254e-01 1.62474519e-03 1.30015531e-02] [-3.39033386e-03 -1.61465555e-03 9.99992949e-01 5.03677732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86255784400004 meters 0.2856132740767684 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99990280e-01 -2.88894396e-03 3.33086615e-03 3.49106635e+00] [ 2.88275193e-03 9.99994111e-01 1.86228995e-03 1.20116532e-02] [-3.33622658e-03 -1.85266979e-03 9.99992719e-01 5.03754676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89255784400007 meters 0.2868998668924883 Centerline is valid? [False, False] Translation: X:3.51, Y:0.01, Z:0.50 [[ 9.99971697e-01 6.02111964e-03 4.51116813e-03 3.51070534e+00] [-6.02498828e-03 9.99981493e-01 8.44469270e-04 8.47375010e-03] [-4.50599999e-03 -8.71625104e-04 9.99989468e-01 5.04288796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92255784400004 meters 0.28580771188615883 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99996485e-01 -2.17359304e-03 1.51813532e-03 3.49238138e+00] [ 2.16972706e-03 9.99994411e-01 2.54355661e-03 8.10332062e-03] [-1.52365549e-03 -2.54025373e-03 9.99995613e-01 5.03470794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95255784400007 meters 0.28481796886398364 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99996606e-01 -2.13977413e-03 1.48635564e-03 3.49250209e+00] [ 2.13585963e-03 9.99994260e-01 2.63023714e-03 7.73505013e-03] [-1.49197522e-03 -2.62705357e-03 9.99995436e-01 5.03386425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98255784400004 meters 0.2855375544426985 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99996750e-01 -2.13010308e-03 1.40104812e-03 3.49262930e+00] [ 2.12637174e-03 9.99994203e-01 2.65937073e-03 7.62439394e-03] [-1.40670473e-03 -2.65638293e-03 9.99995482e-01 5.03586169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01255784400007 meters 0.28373609660166793 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995513e-01 2.97875401e-03 -3.18734040e-04 3.46978188e+00] [-2.97900379e-03 9.99995254e-01 -7.86072778e-04 7.36331052e-03] [ 3.16391010e-04 7.87018761e-04 9.99999640e-01 5.05141474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04255784400004 meters 0.2859637621011815 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995413e-01 3.02204250e-03 -2.01605452e-04 3.46929830e+00] [-3.02217893e-03 9.99995202e-01 -6.79882853e-04 6.95597914e-03] [ 1.99549850e-04 6.80489023e-04 9.99999749e-01 5.05593763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0725578440001 meters 0.28456250152857343 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995272e-01 3.07481493e-03 -4.09059193e-05 3.46871824e+00] [-3.07483701e-03 9.99995121e-01 -5.51053515e-04 6.45178127e-03] [ 3.92113321e-05 5.51176689e-04 9.99999847e-01 5.06014214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10255784400005 meters 0.28559119876487715 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995051e-01 3.14532461e-03 6.74227888e-05 3.46842144e+00] [-3.14529856e-03 9.99994980e-01 -3.83125883e-04 5.75228470e-03] [-6.86275056e-05 3.82911922e-04 9.99999924e-01 5.06058964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1325578440001 meters 0.2869417391823542 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.51 [[ 9.99988764e-01 -4.73259060e-03 2.74591590e-04 3.48832816e+00] [ 4.73241256e-03 9.99988594e-01 6.45445464e-04 9.85025712e-03] [-2.77643087e-04 -6.44138731e-04 9.99999754e-01 5.07005795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16255784400005 meters 0.28451293341605893 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995084e-01 2.68830383e-03 -1.61410096e-03 3.46937536e+00] [-2.68927667e-03 9.99996203e-01 -6.00850376e-04 6.14050659e-03] [ 1.61247956e-03 6.05188186e-04 9.99998517e-01 5.05442416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1925578440001 meters 0.28516420397797193 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995056e-01 2.65280987e-03 -1.68820325e-03 3.46968900e+00] [-2.65396571e-03 9.99996245e-01 -6.82788630e-04 6.46859376e-03] [ 1.68638561e-03 6.87265688e-04 9.99998342e-01 5.05172057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22255784400005 meters 0.28480594555794514 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995181e-01 2.63112104e-03 -1.64791873e-03 3.46956527e+00] [-2.63234148e-03 9.99996262e-01 -7.38866228e-04 6.71128224e-03] [ 1.64596853e-03 7.43200552e-04 9.99998369e-01 5.05213649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2525578440001 meters 0.2846384075053032 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995320e-01 2.62347478e-03 -1.57397556e-03 3.46917361e+00] [-2.62467809e-03 9.99996264e-01 -7.62924252e-04 6.85898047e-03] [ 1.57196816e-03 7.67051861e-04 9.99998470e-01 5.05673219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28255784400005 meters 0.28435554058243956 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99995458e-01 2.56552956e-03 -1.58177114e-03 3.46929249e+00] [-2.56696218e-03 9.99996296e-01 -9.04341595e-04 7.43577541e-03] [ 1.57944517e-03 9.08397834e-04 9.99998340e-01 5.05453495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3125578440001 meters 0.2862793452024072 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99995549e-01 2.47148852e-03 -1.67154230e-03 3.46973316e+00] [-2.47338355e-03 9.99996300e-01 -1.13258717e-03 8.35234484e-03] [ 1.66873694e-03 1.13671649e-03 9.99997962e-01 5.04979614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34255784400005 meters 0.28571624425465275 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99995812e-01 2.27822414e-03 -1.78476466e-03 3.47033869e+00] [-2.28115305e-03 9.99996052e-01 -1.64075368e-03 1.04586545e-02] [ 1.78101961e-03 1.64481813e-03 9.99997061e-01 5.04182101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3725578440001 meters 0.28620003265723165 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99996050e-01 2.13675457e-03 -1.82617417e-03 3.47060362e+00] [-2.14039712e-03 9.99995719e-01 -1.99500874e-03 1.19138561e-02] [ 1.82190351e-03 1.99890960e-03 9.99996343e-01 5.03824261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40255784400006 meters 0.28561350634372124 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99996344e-01 1.97960762e-03 -1.84185821e-03 3.47071410e+00] [-1.98397452e-03 9.99995218e-01 -2.37211821e-03 1.35072488e-02] [ 1.83715354e-03 2.37576374e-03 9.99995490e-01 5.03671703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4325578440001 meters 0.2860571956358322 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99996588e-01 1.84033252e-03 -1.85395809e-03 3.47078482e+00] [-1.84534821e-03 9.99994633e-01 -2.70732582e-03 1.49181109e-02] [ 1.84896576e-03 2.71073778e-03 9.99994617e-01 5.03576129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46255784400006 meters 0.285417026339418 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99996676e-01 1.76195016e-03 -1.88259931e-03 3.47086960e+00] [-1.76740148e-03 9.99994239e-01 -2.89790577e-03 1.57176744e-02] [ 1.87748250e-03 2.90122344e-03 9.99994029e-01 5.03544610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49255784400003 meters 0.2860531825813198 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99996307e-01 1.68240796e-03 -2.13414911e-03 3.47151705e+00] [-1.68901071e-03 9.99993782e-01 -3.09583399e-03 1.65030714e-02] [ 2.12892738e-03 3.09942716e-03 9.99992931e-01 5.03461599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52255784400006 meters 0.28603650671752423 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99996117e-01 1.69361668e-03 -2.21296322e-03 3.47167939e+00] [-1.70039873e-03 9.99993853e-01 -3.06641226e-03 1.63715255e-02] [ 2.20775629e-03 3.07016328e-03 9.99992850e-01 5.03538415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55255784400003 meters 0.2847896243061457 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99995938e-01 1.77469765e-03 -2.23037672e-03 3.47159878e+00] [-1.78105115e-03 9.99994353e-01 -2.84987278e-03 1.54870146e-02] [ 2.22530646e-03 2.85383362e-03 9.99993452e-01 5.03834098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58255784400006 meters 0.28458398954839426 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99995940e-01 1.82488486e-03 -2.18834771e-03 3.47135440e+00] [-1.83082331e-03 9.99994639e-01 -2.71474281e-03 1.49550880e-02] [ 2.18338188e-03 2.71873827e-03 9.99993921e-01 5.04174717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61255784400004 meters 0.28463432850375836 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99996050e-01 1.99666918e-03 -1.97830938e-03 3.47057753e+00] [-2.00093465e-03 9.99995673e-01 -2.15649093e-03 1.27818692e-02] [ 1.97399502e-03 2.16044088e-03 9.99995718e-01 5.04908253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64255784400007 meters 0.28537738354845166 Centerline is valid? [False, False] Translation: X:3.49, Y:0.01, Z:0.50 [[ 9.99993405e-01 -3.48340343e-03 1.02783246e-03 3.49219716e+00] [ 3.48220750e-03 9.99993261e-01 1.16305613e-03 9.65878307e-03] [-1.03187693e-03 -1.15946934e-03 9.99998795e-01 5.03559778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67255784400004 meters 0.28260974434461705 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99998715e-01 1.56208742e-03 -3.60676666e-04 3.46833157e+00] [-1.56278783e-03 9.99996878e-01 -1.94990318e-03 6.77631851e-03] [ 3.57629621e-04 1.95046433e-03 9.99998034e-01 5.05545641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70255784400007 meters 0.28357442270180183 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99998446e-01 1.71177575e-03 -4.22230455e-04 3.46846272e+00] [-1.71242982e-03 9.99997327e-01 -1.55361395e-03 5.12746341e-03] [ 4.19569887e-04 1.55433457e-03 9.99998704e-01 5.05590084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73255784400004 meters 0.2835523509326272 Centerline is valid? [False, False] Translation: X:3.47, Y:0.00, Z:0.51 [[ 9.99998050e-01 1.90657254e-03 -5.15637903e-04 3.46872369e+00] [-1.90711217e-03 9.99997632e-01 -1.04807669e-03 3.01058862e-03] [ 5.13638448e-04 1.04905802e-03 9.99999318e-01 5.05540062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76255784400007 meters 0.2846284988466682 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:0.51 [[ 9.99997163e-01 2.31379844e-03 -5.65532804e-04 3.46866056e+00] [-2.31382275e-03 9.99997322e-01 -4.23274341e-05 -1.19362845e-03] [ 5.65433352e-04 4.36358567e-05 9.99999839e-01 5.05917579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79255784400004 meters 0.2847862285090683 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:0.51 [[ 9.99996724e-01 2.49779933e-03 -5.58870967e-04 3.46859322e+00] [-2.49757800e-03 9.99996802e-01 3.96392735e-04 -3.03980995e-03] [ 5.59859290e-04 -3.94995612e-04 9.99999765e-01 5.06028416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8225578440001 meters 0.28360864934286134 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:0.51 [[ 9.99996275e-01 2.67444637e-03 -5.44699017e-04 3.46859245e+00] [-2.67399574e-03 9.99996083e-01 8.26357346e-04 -4.84287680e-03] [ 5.46906932e-04 -8.24897746e-04 9.99999510e-01 5.05950124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85255784400005 meters 0.2839908340364995 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.01, Z:0.51 [[ 9.99995814e-01 2.83893080e-03 -5.59539072e-04 3.46865480e+00] [-2.83824996e-03 9.99995235e-01 1.21384012e-03 -6.47802630e-03] [ 5.62982415e-04 -1.21224693e-03 9.99999107e-01 5.05895438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8825578440001 meters 0.28569556425564463 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.01, Z:0.51 [[ 9.99985517e-01 -5.33905526e-03 6.78810104e-04 3.48946665e+00] [ 5.33757680e-03 9.99983419e-01 2.16148725e-03 -5.94667394e-03] [-6.90339148e-04 -2.15783274e-03 9.99997434e-01 5.06029567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91255784400005 meters 0.2854766823700124 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.50 [[ 9.99996719e-01 2.22213375e-03 1.27435220e-03 3.47001601e+00] [-2.22439826e-03 9.99995945e-01 1.77833502e-03 -1.77595026e-02] [-1.27039533e-03 -1.78116386e-03 9.99997607e-01 5.04509808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9425578440001 meters 0.28727847118254213 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.50 [[ 9.99996352e-01 2.37939711e-03 1.27860465e-03 3.46990922e+00] [-2.38212979e-03 9.99994873e-01 2.13998099e-03 -1.92611672e-02] [-1.27350623e-03 -2.14301899e-03 9.99996893e-01 5.04720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97255784400005 meters 0.2853240741725079 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.51 [[ 9.99995923e-01 2.53904305e-03 1.30625865e-03 3.46967991e+00] [-2.54232423e-03 9.99993602e-01 2.51639118e-03 -2.08159507e-02] [-1.29986107e-03 -2.51970186e-03 9.99995981e-01 5.05068113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0025578440001 meters 0.2865634531157852 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.02, Z:0.50 [[ 9.99980839e-01 -5.28604078e-03 3.22181173e-03 3.48989340e+00] [ 5.27371223e-03 9.99978786e-01 3.82314693e-03 -2.05064187e-02] [-3.24195269e-03 -3.80608277e-03 9.99987502e-01 5.04915848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03255784400005 meters 0.2865634531157852 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.02, Z:0.50 [[ 9.99980839e-01 -5.28604078e-03 3.22181173e-03 3.48989340e+00] [ 5.27371223e-03 9.99978786e-01 3.82314693e-03 -2.05064187e-02] [-3.24195269e-03 -3.80608277e-03 9.99987502e-01 5.04915848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0625578440001 meters 0.28560970641954686 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.51 [[ 9.99999460e-01 -2.90473120e-04 9.97658508e-04 3.46726267e+00] [ 2.89822446e-04 9.99999745e-01 6.52283080e-04 -2.24217751e-02] [-9.97847725e-04 -6.51993584e-04 9.99999290e-01 5.06442610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09255784400005 meters 0.2863004912796488 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.51 [[ 9.99999542e-01 -2.16242235e-04 9.32837179e-04 3.46752490e+00] [ 2.15464894e-04 9.99999630e-01 8.33328371e-04 -2.32006855e-02] [-9.33017034e-04 -8.33126996e-04 9.99999218e-01 5.06251704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1225578440001 meters 0.28626327214615377 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.51 [[ 9.99999678e-01 -1.50891933e-04 7.87674664e-04 3.46793582e+00] [ 1.50108732e-04 9.99999494e-01 9.94284661e-04 -2.38915515e-02] [-7.87824296e-04 -9.94166104e-04 9.99999195e-01 5.06189347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15255784400006 meters 0.28569327140336914 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99988177e-01 4.58048016e-03 -1.63236909e-03 3.44577968e+00] [-4.58442323e-03 9.99986563e-01 -2.42005281e-03 -2.51785766e-02] [ 1.62126215e-03 2.42750767e-03 9.99995739e-01 5.07389572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1825578440001 meters 0.28613505844342496 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99987757e-01 4.64055480e-03 -1.71815710e-03 3.44608774e+00] [-4.64444713e-03 9.99986642e-01 -2.26839131e-03 -2.58404448e-02] [ 1.70760756e-03 2.27634343e-03 9.99995951e-01 5.07194291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21255784400006 meters 0.28541637730294755 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99987493e-01 4.70349302e-03 -1.70010906e-03 3.44622847e+00] [-4.70707758e-03 9.99986694e-01 -2.11061228e-03 -2.65269480e-02] [ 1.69015919e-03 2.11858843e-03 9.99996327e-01 5.06793214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2425578440001 meters 0.2860079563798713 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99987450e-01 4.69474557e-03 -1.74887788e-03 3.44640115e+00] [-4.69846239e-03 9.99986700e-01 -2.12724916e-03 -2.64626123e-02] [ 1.73886772e-03 2.13543950e-03 9.99996208e-01 5.06690394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27255784400006 meters 0.2891996035900363 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99987679e-01 4.65206281e-03 -1.73189514e-03 3.44637054e+00] [-4.65592632e-03 9.99986667e-01 -2.23349054e-03 -2.60172309e-02] [ 1.72148171e-03 2.24152659e-03 9.99996006e-01 5.06663009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30255784400003 meters 0.2858299619361077 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.02, Z:0.51 [[ 9.99988196e-01 4.53300758e-03 -1.74891664e-03 3.44648901e+00] [-4.53742426e-03 9.99986506e-01 -2.52973126e-03 -2.47845263e-02] [ 1.73742575e-03 2.53763698e-03 9.99995271e-01 5.06495159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33255784400006 meters 0.28585611584446646 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.02, Z:0.51 [[ 9.99988638e-01 4.43442828e-03 -1.74905029e-03 3.44657798e+00] [-4.43926504e-03 9.99986306e-01 -2.77124392e-03 -2.37812267e-02] [ 1.73673745e-03 2.77897693e-03 9.99994631e-01 5.06311731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36255784400004 meters 0.28707264002888755 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.02, Z:0.51 [[ 9.99989334e-01 4.31020386e-03 -1.65926847e-03 3.44639020e+00] [-4.31530881e-03 9.99985929e-01 -3.08544483e-03 -2.24629409e-02] [ 1.64594622e-03 3.09257217e-03 9.99993863e-01 5.06210838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39255784400007 meters 0.28682769073810427 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.51 [[ 9.99995070e-01 -3.09603607e-03 -5.23965138e-04 3.46465956e+00] [ 3.09496426e-03 9.99993142e-01 -2.03418531e-03 -1.57615257e-02] [ 5.30259456e-04 2.03255363e-03 9.99997794e-01 5.07632767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42255784400004 meters 0.2860226620208371 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:0.51 [[ 9.99988115e-01 4.67119380e-03 -1.39609814e-03 3.44369397e+00] [-4.67542399e-03 9.99984442e-01 -3.04226334e-03 -1.80863209e-02] [ 1.38186542e-03 3.04875454e-03 9.99994398e-01 5.07317237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45255784400007 meters 0.2878881684714631 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.51 [[ 9.99995855e-01 -2.87512083e-03 -1.50840045e-04 3.46200405e+00] [ 2.87473093e-03 9.99992682e-01 -2.52430902e-03 -8.96589082e-03] [ 1.58096634e-04 2.52386493e-03 9.99996803e-01 5.08820618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48255784400004 meters 0.2864034166892656 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:0.51 [[ 9.99989058e-01 -3.10445268e-03 -3.49947540e-03 3.41804855e+00] [ 3.09935049e-03 9.99994128e-01 -1.46246790e-03 -1.03445762e-02] [ 3.50399501e-03 1.45160580e-03 9.99992807e-01 5.10652912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51255784400007 meters 0.28844778785647973 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.00, Z:0.51 [[ 9.99997281e-01 -8.45356312e-04 -2.17326103e-03 3.46018355e+00] [ 8.43162364e-04 9.99999134e-01 -1.01023697e-03 -4.54876611e-03] [ 2.17411316e-03 1.00840182e-03 9.99997128e-01 5.10885672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54255784400004 meters 0.2868935659444474 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.00, Z:0.51 [[ 9.99997210e-01 -1.01282662e-03 -2.13401828e-03 3.46016549e+00] [ 1.00979643e-03 9.99998481e-01 -1.42054508e-03 -2.84324799e-03] [ 2.13545381e-03 1.41838619e-03 9.99996714e-01 5.10693264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5725578440001 meters 0.2882287942475551 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.00, Z:0.51 [[ 9.99997114e-01 -1.12428365e-03 -2.12333690e-03 3.46018321e+00] [ 1.12069020e-03 9.99997939e-01 -1.69279084e-03 -1.70895208e-03] [ 2.12523570e-03 1.69040635e-03 9.99996313e-01 5.10588154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60255784400005 meters 0.2861290076343151 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.00, Z:0.51 [[ 9.99996931e-01 -1.28567675e-03 -2.11785163e-03 3.46009430e+00] [ 1.28125743e-03 9.99997002e-01 -2.08673352e-03 -4.32032685e-05] [ 2.12052814e-03 2.08401360e-03 9.99995580e-01 5.10731240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6325578440001 meters 0.28722554154751107 Centerline is valid? [False, False] Translation: X:3.46, Y:0.00, Z:0.51 [[ 9.99996825e-01 -1.36298361e-03 -2.11951801e-03 3.46008856e+00] [ 1.35815344e-03 9.99996482e-01 -2.27867098e-03 7.57451656e-04] [ 2.12261635e-03 2.27578512e-03 9.99995158e-01 5.10744401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66255784400005 meters 0.2864864922448223 Centerline is valid? [False, False] Translation: X:3.46, Y:0.00, Z:0.51 [[ 9.99996810e-01 -1.39637010e-03 -2.10458547e-03 3.45996018e+00] [ 1.39139892e-03 9.99996243e-01 -2.36168906e-03 1.12512945e-03] [ 2.10787536e-03 2.35875321e-03 9.99994997e-01 5.10935406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6925578440001 meters 0.2866768690068927 Centerline is valid? [False, False] Translation: X:3.46, Y:0.00, Z:0.51 [[ 9.99996978e-01 -1.38960931e-03 -2.02784901e-03 3.45963175e+00] [ 1.38484568e-03 9.99996283e-01 -2.34862059e-03 1.10161793e-03] [ 2.03110514e-03 2.34580524e-03 9.99995186e-01 5.11251488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72255784400005 meters 0.28483638209871764 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.00, Z:0.51 [[ 9.99997875e-01 -1.99697216e-03 -5.11879234e-04 3.42065066e+00] [ 1.99655196e-03 9.99997671e-01 -8.20097552e-04 -4.31645379e-03] [ 5.13515754e-04 8.19073816e-04 9.99999533e-01 5.08339409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7525578440001 meters 0.2865056683135267 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.01, Z:0.51 [[ 9.99988862e-01 4.62569603e-03 9.37536273e-04 3.44313342e+00] [-4.62194983e-03 9.99981480e-01 -3.95932741e-03 -5.00409614e-03] [-9.55833555e-04 3.95495006e-03 9.99991722e-01 5.07189311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78255784400005 meters 0.28565494445762263 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:0.51 [[ 9.99990393e-01 -4.12478855e-03 -1.48335126e-03 3.42426989e+00] [ 4.12113621e-03 9.99988490e-01 -2.45690812e-03 -6.52960128e-03] [ 1.49346842e-03 2.45077142e-03 9.99995882e-01 5.06353306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8125578440001 meters 0.2859407512670626 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:0.51 [[ 9.99990776e-01 -3.97857756e-03 -1.61841584e-03 3.42464484e+00] [ 3.97521977e-03 9.99989951e-01 -2.07269271e-03 -8.15818772e-03] [ 1.62664594e-03 2.06624003e-03 9.99996542e-01 5.06295325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84255784400005 meters 0.2851097818100949 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:0.50 [[ 9.99990502e-01 3.67048165e-03 -2.35009917e-03 3.40607950e+00] [-3.67759445e-03 9.99988649e-01 -3.02946396e-03 -1.43443305e-02] [ 2.33895291e-03 3.03807789e-03 9.99992650e-01 5.04456170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8725578440001 meters 0.2854252029604117 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99989884e-01 3.85414361e-03 -2.31913882e-03 3.40613365e+00] [-3.86009682e-03 9.99989252e-01 -2.56801613e-03 -1.63037059e-02] [ 2.30921640e-03 2.57694225e-03 9.99994013e-01 5.04163041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90255784400006 meters 0.2850504173958935 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99989742e-01 3.91418572e-03 -2.27913263e-03 3.40604924e+00] [-3.91970093e-03 9.99989389e-01 -2.42045586e-03 -1.69259149e-02] [ 2.26963433e-03 2.42936455e-03 9.99994473e-01 5.04125535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9325578440001 meters 0.28543873994133623 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99989369e-01 3.97156002e-03 -2.34289511e-03 3.40619574e+00] [-3.97688888e-03 9.99989506e-01 -2.27422369e-03 -1.75350081e-02] [ 2.33383831e-03 2.28351694e-03 9.99994669e-01 5.04154832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96255784400006 meters 0.28576928526917555 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99988938e-01 4.03419724e-03 -2.41830217e-03 3.40637635e+00] [-4.03931653e-03 9.99989604e-01 -2.11575933e-03 -1.82058807e-02] [ 2.40974164e-03 2.12550422e-03 9.99994838e-01 5.04178915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9925578440001 meters 0.2854750259502188 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99988565e-01 4.14444583e-03 -2.38621851e-03 3.40623052e+00] [-4.14883317e-03 9.99989707e-01 -1.83661226e-03 -1.93632614e-02] [ 2.37858221e-03 1.84649128e-03 9.99995466e-01 5.04315404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02255784400006 meters 0.2853580695329059 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99988377e-01 4.22040395e-03 -2.33098260e-03 3.40603910e+00] [-4.22424994e-03 9.99989721e-01 -1.64749100e-03 -2.01423495e-02] [ 2.32400556e-03 1.65731851e-03 9.99995926e-01 5.04427680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05255784400003 meters 0.2846682146867178 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99988292e-01 4.27928047e-03 -2.25895356e-03 3.40579220e+00] [-4.28267840e-03 9.99989702e-01 -1.50151694e-03 -2.07369624e-02] [ 2.25250488e-03 1.51117373e-03 9.99996321e-01 5.04572981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08255784400006 meters 0.2849843753258466 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99988018e-01 4.34817873e-03 -2.24889517e-03 3.40574373e+00] [-4.35117207e-03 9.99989652e-01 -1.32785221e-03 -2.14555785e-02] [ 2.24309816e-03 1.33762163e-03 9.99996590e-01 5.04620038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11255784400004 meters 0.2858545544789958 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99987563e-01 4.40488545e-03 -2.33912773e-03 3.40599365e+00] [-4.40766449e-03 9.99989585e-01 -1.18424179e-03 -2.20732204e-02] [ 2.33388692e-03 1.19453715e-03 9.99996563e-01 5.04573564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14255784400007 meters 0.28514648217376115 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99987432e-01 4.38486311e-03 -2.43060458e-03 3.40623964e+00] [-4.38786034e-03 9.99989618e-01 -1.22916388e-03 -2.18910866e-02] [ 2.42518963e-03 1.23981358e-03 9.99996291e-01 5.04541397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17255784400004 meters 0.28510723775351965 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99987290e-01 4.39143938e-03 -2.47679881e-03 3.40644705e+00] [-4.39444342e-03 9.99989614e-01 -1.20873567e-03 -2.19884070e-02] [ 2.47146500e-03 1.21960446e-03 9.99996202e-01 5.04343383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20255784400007 meters 0.2860985325889701 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99987170e-01 4.39349172e-03 -2.52145943e-03 3.40664593e+00] [-4.39652964e-03 9.99989615e-01 -1.20055174e-03 -2.20405432e-02] [ 2.51615863e-03 1.21162201e-03 9.99996100e-01 5.04158909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23255784400004 meters 0.28593469318191816 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99986800e-01 4.43110864e-03 -2.60094585e-03 3.40691235e+00] [-4.43399064e-03 9.99989561e-01 -1.10334040e-03 -2.24618502e-02] [ 2.59602968e-03 1.11485841e-03 9.99996009e-01 5.04018879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26255784400007 meters 0.28558955209533243 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99986371e-01 4.48034679e-03 -2.68045035e-03 3.40715488e+00] [-4.48297667e-03 9.99989475e-01 -9.75931085e-04 -2.29954878e-02] [ 2.67604963e-03 9.87934180e-04 9.99995931e-01 5.03929339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29255784400004 meters 0.2859347144953494 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:0.50 [[ 9.99986103e-01 4.53014913e-03 -2.69662550e-03 3.40727309e+00] [-4.53245447e-03 9.99989368e-01 -8.49402278e-04 -2.35316044e-02] [ 2.69274891e-03 8.61612806e-04 9.99996003e-01 5.03759666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3225578440001 meters 0.2843016125831315 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.03, Z:0.50 [[ 9.99982667e-01 -3.05485343e-03 -5.03333645e-03 3.38656933e+00] [ 3.06322031e-03 9.99993938e-01 1.65542278e-03 -2.50473013e-02] [ 5.02824886e-03 -1.67081231e-03 9.99985962e-01 5.04713915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35255784400005 meters 0.28615444526127903 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:0.50 [[ 9.99991984e-01 3.40224928e-03 -2.11094777e-03 3.40744771e+00] [-3.40511699e-03 9.99993283e-01 -1.35638691e-03 -2.58635664e-02] [ 2.10631882e-03 1.36356406e-03 9.99996852e-01 5.03955740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3825578440001 meters 0.28736377032419835 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99990885e-01 -4.12462309e-03 -1.10301301e-03 3.42702923e+00] [ 4.12450840e-03 9.99991489e-01 -1.06234182e-04 -2.27953868e-02] [ 1.10344180e-03 1.01683828e-04 9.99999386e-01 5.05186563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41255784400005 meters 0.2867590097011777 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99991179e-01 -4.05333414e-03 -1.10091542e-03 3.42705719e+00] [ 4.05341037e-03 9.99991783e-01 6.70200618e-05 -2.35279991e-02] [ 1.10063472e-03 -7.14819327e-05 9.99999392e-01 5.05121418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4425578440001 meters 0.2861641801121467 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.50 [[ 9.99991398e-01 -4.00369412e-03 -1.08399744e-03 3.42708457e+00] [ 4.00390161e-03 9.99991966e-01 1.89307508e-04 -2.40525181e-02] [ 1.08323080e-03 -1.93646098e-04 9.99999395e-01 5.04976059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47255784400005 meters 0.2864440609475516 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.50 [[ 9.99991683e-01 -3.92175311e-03 -1.11982104e-03 3.42724147e+00] [ 3.92220371e-03 9.99992228e-01 4.00475379e-04 -2.49414594e-02] [ 1.11824177e-03 -4.04864215e-04 9.99999293e-01 5.04842512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5025578440001 meters 0.2858519790010042 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:0.50 [[ 9.99991867e-01 -3.88359037e-03 -1.08839632e-03 3.42717886e+00] [ 3.88413044e-03 9.99992334e-01 4.94526523e-04 -2.53359200e-02] [ 1.08646744e-03 -4.98749974e-04 9.99999285e-01 5.04812414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53255784400005 meters 0.2876637765627643 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.50 [[ 9.99992095e-01 3.81066960e-03 1.13563768e-03 3.44728735e+00] [-3.80850227e-03 9.99990934e-01 -1.90456575e-03 -2.50594117e-02] [-1.14288506e-03 1.90022562e-03 9.99997541e-01 5.04501517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5625578440001 meters 0.28835834798044524 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.02, Z:0.50 [[ 9.99992290e-01 3.76358870e-03 1.12068185e-03 3.44734221e+00] [-3.76131941e-03 9.99990886e-01 -2.02018714e-03 -2.45784015e-02] [-1.12827479e-03 2.01595632e-03 9.99997331e-01 5.04462116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59255784400005 meters 0.2860091837225997 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99994479e-01 -3.25349448e-03 -6.75412527e-04 3.42571824e+00] [ 3.25419609e-03 9.99994164e-01 1.04029665e-03 -2.48745158e-02] [ 6.72023986e-04 -1.04248883e-03 9.99999231e-01 5.05662239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6225578440001 meters 0.2866300579962029 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99994552e-01 -3.24948489e-03 -5.80530318e-04 3.42545621e+00] [ 3.25009036e-03 9.99994172e-01 1.04508212e-03 -2.48811971e-02] [ 5.77130956e-04 -1.04696320e-03 9.99999285e-01 5.05716457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65255784400006 meters 0.28594533977534353 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99994465e-01 -3.29783167e-03 -4.41819926e-04 3.42508360e+00] [ 3.29823546e-03 9.99994141e-01 9.16354686e-04 -2.43281936e-02] [ 4.38795354e-04 -9.17806839e-04 9.99999483e-01 5.05764484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6825578440001 meters 0.2861905322143064 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:0.51 [[ 9.99994547e-01 -3.27413266e-03 -4.31209217e-04 3.42510258e+00] [ 3.27455090e-03 9.99994165e-01 9.72823122e-04 -2.45794232e-02] [ 4.28021549e-04 -9.74229834e-04 9.99999434e-01 5.05668954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71255784400006 meters 0.2876913398405559 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:0.51 [[ 9.99982836e-01 5.84894740e-03 3.43031440e-04 3.44462492e+00] [-5.84886257e-03 9.99982865e-01 -2.47766716e-04 -2.73577904e-02] [-3.44474737e-04 2.45756120e-04 9.99999910e-01 5.06513048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7425578440001 meters 0.28702591436758107 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:0.51 [[ 9.99982841e-01 5.85275686e-03 2.49258987e-04 3.44496874e+00] [-5.85269951e-03 9.99982846e-01 -2.30172098e-04 -2.74641768e-02] [-2.50601853e-04 2.28709311e-04 9.99999942e-01 5.06276046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77255784400006 meters 0.2865810995155393 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99982416e-01 5.92972698e-03 8.11694205e-05 3.44545478e+00] [-5.92972631e-03 9.99982419e-01 -8.49767307e-06 -2.83939792e-02] [-8.12183823e-05 8.01621119e-06 9.99999997e-01 5.06120676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80255784400003 meters 0.28665616056138266 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99981992e-01 6.00074974e-03 8.69851050e-05 3.44535138e+00] [-6.00076455e-03 9.99981981e-01 1.70917370e-04 -2.91223094e-02] [-8.59579052e-05 -1.71436269e-04 9.99999982e-01 5.06312593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83255784400006 meters 0.28498744960297245 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99981607e-01 6.06453797e-03 8.55001324e-05 3.44528263e+00] [-6.06456593e-03 9.99981556e-01 3.30620715e-04 -2.97720597e-02] [-8.34934935e-05 -3.31133155e-04 9.99999942e-01 5.06473115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86255784400004 meters 0.2862009970028566 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.51 [[ 9.99998683e-01 -1.56620606e-03 4.26610522e-04 3.46532977e+00] [ 1.56556226e-03 9.99997642e-01 1.50528208e-03 -2.66644189e-02] [-4.28967097e-04 -1.50461221e-03 9.99998776e-01 5.07746713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89255784400007 meters 0.28660011053447315 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.51 [[ 9.99998805e-01 -1.50152080e-03 3.69135218e-04 3.46560588e+00] [ 1.50090267e-03 9.99997481e-01 1.66915493e-03 -2.73808503e-02] [-3.71640559e-04 -1.66859890e-03 9.99998539e-01 5.07469879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92255784400004 meters 0.28660011053447315 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.51 [[ 9.99998805e-01 -1.50152080e-03 3.69135218e-04 3.46560588e+00] [ 1.50090267e-03 9.99997481e-01 1.66915493e-03 -2.73808503e-02] [-3.71640559e-04 -1.66859890e-03 9.99998539e-01 5.07469879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95255784400007 meters 0.2869648624972391 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.51 [[ 9.99999117e-01 -1.29246498e-03 3.10099268e-04 3.46614469e+00] [ 1.29178558e-03 9.99996787e-01 2.18117525e-03 -2.96458877e-02] [-3.12917364e-04 -2.18077274e-03 9.99997573e-01 5.06688490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98255784400004 meters 0.28581230987899126 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:0.51 [[ 9.99992764e-01 3.55911884e-03 -1.34356716e-03 3.44410008e+00] [-3.56074571e-03 9.99992928e-01 -1.21041801e-03 -3.28982335e-02] [ 1.33924964e-03 1.21519335e-03 9.99998365e-01 5.07485553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01255784400007 meters 0.2851028719806034 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:0.51 [[ 9.99992223e-01 3.70351785e-03 -1.35575870e-03 3.44402796e+00] [-3.70467179e-03 9.99992777e-01 -8.49621922e-04 -3.43719180e-02] [ 1.35260231e-03 8.54637955e-04 9.99998720e-01 5.07720018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04255784400004 meters 0.2860634463913334 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.04, Z:0.51 [[ 9.99991685e-01 3.83643843e-03 -1.38231907e-03 3.44402540e+00] [-3.83716146e-03 9.99992502e-01 -5.20777375e-04 -3.57340895e-02] [ 1.38031077e-03 5.26077226e-04 9.99998909e-01 5.07880716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0725578440001 meters 0.2863636376782364 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.04, Z:0.51 [[ 9.99990786e-01 4.07614730e-03 -1.34613629e-03 3.44376357e+00] [-4.07609595e-03 9.99991692e-01 4.08843757e-05 -3.80473284e-02] [ 1.34629176e-03 -3.53970184e-05 9.99999093e-01 5.08241437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10255784400005 meters 0.28783990130018505 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.04, Z:0.51 [[ 9.99993588e-01 -3.56467238e-03 -3.41611671e-04 3.46334947e+00] [ 3.56507535e-03 9.99992941e-01 1.18635544e-03 -3.53117467e-02] [ 3.37380292e-04 -1.18756571e-03 9.99999238e-01 5.09141790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1325578440001 meters 0.2862594613800558 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.04, Z:0.51 [[ 9.99992268e-01 3.85247218e-03 -7.88822373e-04 3.44374058e+00] [-3.85229432e-03 9.99992554e-01 2.26878183e-04 -4.04104922e-02] [ 7.89690541e-04 -2.23837652e-04 9.99999663e-01 5.07435951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16255784400005 meters 0.2866499573827381 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.04, Z:0.51 [[ 9.99992186e-01 3.88476066e-03 -7.32411127e-04 3.44370719e+00] [-3.88453420e-03 9.99992407e-01 3.10366164e-04 -4.07671616e-02] [ 7.33611264e-04 -3.07518663e-04 9.99999684e-01 5.07201585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1925578440001 meters 0.2898630943000646 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.51 [[ 9.99998928e-01 -9.96611742e-04 1.07246694e-03 3.46710430e+00] [ 9.92713865e-04 9.99992923e-01 3.62891223e-03 -4.07013924e-02] [-1.07607597e-03 -3.62784369e-03 9.99992840e-01 5.05604452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22255784400005 meters 0.2874102854322912 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.04, Z:0.51 [[ 9.99991261e-01 3.97784764e-03 -1.28653187e-03 3.44520035e+00] [-3.97742619e-03 9.99992036e-01 3.29981256e-04 -4.19850992e-02] [ 1.28783424e-03 -3.24861287e-04 9.99999118e-01 5.06617945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2525578440001 meters 0.2886527344394847 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.51 [[ 9.99992105e-01 -3.72872752e-03 -1.37366356e-03 3.46501387e+00] [ 3.73035245e-03 9.99992343e-01 1.18226133e-03 -3.73750551e-02] [ 1.36924471e-03 -1.18737625e-03 9.99998358e-01 5.07767631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28255784400005 meters 0.2877968561508619 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.51 [[ 9.99991903e-01 -3.78128535e-03 -1.37692755e-03 3.46507923e+00] [ 3.78273332e-03 9.99992294e-01 1.05051142e-03 -3.68401678e-02] [ 1.37294465e-03 -1.05571146e-03 9.99998500e-01 5.07636995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3125578440001 meters 0.2891009211314511 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.04, Z:0.51 [[ 9.99991840e-01 -3.82097833e-03 -1.31124802e-03 3.46493330e+00] [ 3.82221985e-03 9.99992248e-01 9.45624389e-04 -3.64050298e-02] [ 1.30762465e-03 -9.50628551e-04 9.99998693e-01 5.07587060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34255784400005 meters 0.2876010166439722 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.04, Z:0.51 [[ 9.99991813e-01 -3.90583395e-03 -1.05782688e-03 3.46420779e+00] [ 3.90656643e-03 9.99992130e-01 6.91260801e-04 -3.52887917e-02] [ 1.05511861e-03 -6.95387612e-04 9.99999202e-01 5.07808155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3725578440001 meters 0.28811081103314934 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.51 [[ 9.99991660e-01 -3.96970191e-03 -9.59380547e-04 3.46393098e+00] [ 3.97020142e-03 9.99991984e-01 5.19318654e-04 -3.45660887e-02] [ 9.57311317e-04 -5.23123257e-04 9.99999405e-01 5.07863055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40255784400006 meters 0.2905733152779478 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.51 [[ 9.99991264e-01 -4.08201176e-03 -8.99790479e-04 3.46379261e+00] [ 4.08222002e-03 9.99991641e-01 2.29745025e-04 -3.33617635e-02] [ 8.98845136e-04 -2.33416160e-04 9.99999569e-01 5.07806174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4325578440001 meters 0.2885725351593737 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.51 [[ 9.99990791e-01 -4.21256276e-03 -8.19859217e-04 3.46360460e+00] [ 4.21248153e-03 9.99991122e-01 -1.00786297e-04 -3.19766857e-02] [ 8.20276507e-04 9.73317271e-05 9.99999659e-01 5.07741476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46255784400006 meters 0.28985583401433135 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.51 [[ 9.99989420e-01 -4.51832536e-03 -8.62781136e-04 3.46395557e+00] [ 4.51755790e-03 9.99989400e-01 -8.89399725e-04 -2.87681603e-02] [ 8.66790589e-04 8.85492652e-04 9.99999232e-01 5.07186024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4925578440001 meters 0.2873003167362494 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:0.51 [[ 9.99991786e-01 3.04125617e-03 -2.67943807e-03 3.44387204e+00] [-3.04655660e-03 9.99993406e-01 -1.97633371e-03 -3.03989049e-02] [ 2.67340987e-03 1.98448054e-03 9.99994457e-01 5.06670362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52255784400006 meters 0.2887458478561469 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.51 [[ 9.99996847e-01 -2.40149925e-03 -7.33657974e-04 3.46521272e+00] [ 2.40208856e-03 9.99996792e-01 8.03429550e-04 -2.69399173e-02] [ 7.31726186e-04 -8.05189328e-04 9.99999408e-01 5.05941193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55255784400003 meters 0.287129341775856 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.03, Z:0.51 [[ 9.99985100e-01 5.09121526e-03 -1.96951689e-03 3.44544985e+00] [-5.09211416e-03 9.99986933e-01 -4.51660347e-04 -2.98893397e-02] [ 1.96719165e-03 4.61682622e-04 9.99997959e-01 5.05407124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58255784400006 meters 0.28844236492872205 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.50 [[ 9.99999795e-01 -8.99829936e-05 6.33977052e-04 3.46715573e+00] [ 8.84352509e-05 9.99997017e-01 2.44092801e-03 -2.77213485e-02] [-6.34194803e-04 -2.44087144e-03 9.99996820e-01 5.04335585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61255784400004 meters 0.2874146953534542 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.50 [[ 9.99999764e-01 -1.70218366e-04 6.64991038e-04 3.46702118e+00] [ 1.68729643e-04 9.99997481e-01 2.23812636e-03 -2.68613966e-02] [-6.65370334e-04 -2.23801363e-03 9.99997274e-01 5.04433603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64255784400007 meters 0.2885214161616184 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.50 [[ 9.99999754e-01 -3.00853254e-04 6.33372438e-04 3.46726076e+00] [ 2.99637832e-04 9.99998115e-01 1.91818976e-03 -2.55577500e-02] [-6.33948338e-04 -1.91799951e-03 9.99997960e-01 5.04055899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67255784400004 meters 0.28942832560968723 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.50 [[ 9.99999777e-01 -3.61682556e-04 5.61967736e-04 3.46754033e+00] [ 3.60686615e-04 9.99998366e-01 1.77133079e-03 -2.49687052e-02] [-5.62607478e-04 -1.77112770e-03 9.99998273e-01 5.03837249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70255784400007 meters 0.28846525668644635 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.50 [[ 9.99999784e-01 -4.07572713e-04 5.14710318e-04 3.46773069e+00] [ 4.06717985e-04 9.99998540e-01 1.65961514e-03 -2.45189905e-02] [-5.15385981e-04 -1.65940544e-03 9.99998490e-01 5.03680315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73255784400004 meters 0.2868655555946587 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:0.50 [[ 9.99990963e-01 4.03654567e-03 -1.33446017e-03 3.44467832e+00] [-4.03965747e-03 9.99989109e-01 -2.33746912e-03 -2.29099293e-02] [ 1.32501034e-03 2.34283876e-03 9.99996378e-01 5.04968734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76255784400007 meters 0.2873325045429391 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:0.50 [[ 9.99991310e-01 3.94361967e-03 -1.35202295e-03 3.44477297e+00] [-3.94707528e-03 9.99988926e-01 -2.56281325e-03 -2.19745874e-02] [ 1.34190122e-03 2.56812752e-03 9.99995802e-01 5.04852972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79255784400004 meters 0.2890783434179555 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.02, Z:0.50 [[ 9.99999560e-01 -9.34074824e-04 8.64606204e-05 3.46828975e+00] [ 9.34019327e-04 9.99999359e-01 6.39704500e-04 -1.90597112e-02] [-8.70580969e-05 -6.39623462e-04 9.99999792e-01 5.03280638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8225578440001 meters 0.2879684861526668 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.02, Z:0.50 [[ 9.99988628e-01 3.99854362e-03 -2.59913347e-03 3.44577773e+00] [-4.00597459e-03 9.99987886e-01 -2.86012524e-03 -1.65614487e-02] [ 2.58766565e-03 2.87050477e-03 9.99992532e-01 5.04957464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85255784400005 meters 0.2871527882857764 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99989324e-01 3.83371011e-03 -2.57966979e-03 3.44574259e+00] [-3.84217936e-03 9.99987219e-01 -3.28616575e-03 -1.48076695e-02] [ 2.56703862e-03 3.29604222e-03 9.99991273e-01 5.04915427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8825578440001 meters 0.28609690136096366 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990888e-01 3.47161608e-03 -2.48434842e-03 3.44561775e+00] [-3.48208798e-03 9.99985019e-01 -4.22331234e-03 -1.09602211e-02] [ 2.46964949e-03 4.23192457e-03 9.99987996e-01 5.04640829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.91255784400005 meters 0.28636774125783626 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99991376e-01 3.31974826e-03 -2.49533739e-03 3.44565286e+00] [-3.33119744e-03 9.99983880e-01 -4.59816511e-03 -9.41180602e-03] [ 2.48003242e-03 4.60643791e-03 9.99986315e-01 5.04613848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9425578440001 meters 0.28662825733568775 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99991929e-01 3.23036025e-03 -2.38904261e-03 3.44537527e+00] [-3.24185204e-03 9.99983119e-01 -4.82208218e-03 -8.47384692e-03] [ 2.37342521e-03 4.82978818e-03 9.99985520e-01 5.04624262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97255784400005 meters 0.28602735789495337 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99992095e-01 3.17893790e-03 -2.38825995e-03 3.44534619e+00] [-3.19074107e-03 9.99982635e-01 -4.95471771e-03 -7.91769594e-03] [ 2.37246774e-03 4.96229886e-03 9.99984873e-01 5.04679222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0025578440001 meters 0.2858783005878446 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99991965e-01 3.17096594e-03 -2.45251208e-03 3.44551696e+00] [-3.18314107e-03 9.99982551e-01 -4.97648144e-03 -7.84319085e-03] [ 2.43668904e-03 4.98424814e-03 9.99984610e-01 5.04650973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03255784400005 meters 0.28534027518002564 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990981e-01 3.21951515e-03 -2.77001041e-03 3.44637268e+00] [-3.23282439e-03 9.99983188e-01 -4.81377562e-03 -8.53027257e-03] [ 2.75446582e-03 4.82268716e-03 9.99984577e-01 5.04394653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0625578440001 meters 0.2846036098776433 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990488e-01 3.28825213e-03 -2.86569362e-03 3.44661013e+00] [-3.30150704e-03 9.99983818e-01 -4.63298336e-03 -9.28640521e-03] [ 2.85041283e-03 4.64240040e-03 9.99985162e-01 5.04396177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09255784400005 meters 0.28510118482341573 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990231e-01 3.34195273e-03 -2.89297527e-03 3.44657575e+00] [-3.35493150e-03 9.99984278e-01 -4.49313813e-03 -9.85014098e-03] [ 2.87791394e-03 4.50279997e-03 9.99985721e-01 5.04632051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1225578440001 meters 0.28447585790040625 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990172e-01 3.38523948e-03 -2.86304748e-03 3.44637355e+00] [-3.39778317e-03 9.99984601e-01 -4.38778194e-03 -1.02753294e-02] [ 2.84814970e-03 4.39746683e-03 9.99986275e-01 5.04908029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15255784400006 meters 0.2845028867146728 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990412e-01 3.34592635e-03 -2.82505568e-03 3.44634561e+00] [-3.35859541e-03 9.99984272e-01 -4.49176460e-03 -9.85151821e-03] [ 2.80998213e-03 4.50120975e-03 9.99985921e-01 5.04751319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1825578440001 meters 0.284926854142182 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990350e-01 3.27916447e-03 -2.92353272e-03 3.44680446e+00] [-3.29281476e-03 9.99983643e-01 -4.67658479e-03 -9.13711600e-03] [ 2.90814961e-03 4.68616632e-03 9.99984791e-01 5.04217562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21255784400006 meters 0.2850948418184533 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99990218e-01 3.20070030e-03 -3.05287541e-03 3.44731280e+00] [-3.21563144e-03 9.99982832e-01 -4.89854294e-03 -8.26467769e-03] [ 3.03714423e-03 4.90831194e-03 9.99983342e-01 5.03718333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2425578440001 meters 0.2857120384142636 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:0.50 [[ 9.99989965e-01 3.09685209e-03 -3.23732193e-03 3.44789403e+00] [-3.11364022e-03 9.99981665e-01 -5.19369540e-03 -7.10320104e-03] [ 3.22117847e-03 5.20372313e-03 9.99981272e-01 5.03379388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27255784400006 meters 0.2859552677123971 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.00, Z:0.50 [[ 9.99966075e-01 -6.33119534e-03 -5.26929363e-03 3.42889059e+00] [ 6.30580058e-03 9.99968491e-01 -4.82212535e-03 -3.07882353e-03] [ 5.29965742e-03 4.78873464e-03 9.99974491e-01 5.02988710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30255784400003 meters 0.2861929562883357 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.00, Z:0.50 [[ 9.99986717e-01 3.94614248e-03 -3.31564826e-03 3.44872090e+00] [-3.96295990e-03 9.99979239e-01 -5.08096811e-03 -4.84142902e-04] [ 3.29552920e-03 5.09404040e-03 9.99981595e-01 5.03494596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33255784400006 meters 0.287714121226241 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992313e-01 -3.37768333e-03 -1.99151051e-03 3.46630099e+00] [ 3.37029417e-03 9.99987468e-01 -3.70208525e-03 6.15552346e-03] [ 2.00399002e-03 3.69534482e-03 9.99991164e-01 5.05260986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36255784400004 meters 0.2872045905493629 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992348e-01 -3.42902645e-03 -1.88294921e-03 3.46599297e+00] [ 3.42178487e-03 9.99986789e-01 -3.83572036e-03 6.72516538e-03] [ 1.89607712e-03 3.82924796e-03 9.99990871e-01 5.05321254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39255784400007 meters 0.28782025827129337 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992521e-01 -3.41974026e-03 -1.80662586e-03 3.46578632e+00] [ 3.41282549e-03 9.99986892e-01 -3.81676627e-03 6.65086438e-03] [ 1.81965453e-03 3.81057203e-03 9.99991084e-01 5.05344997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42255784400004 meters 0.28785103768939224 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992539e-01 -3.43592926e-03 -1.76503360e-03 3.46558540e+00] [ 3.42909227e-03 9.99986663e-01 -3.86210782e-03 6.85443521e-03] [ 1.77827999e-03 3.85602655e-03 9.99990984e-01 5.05549805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45255784400007 meters 0.2865457331914697 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992449e-01 -3.48310232e-03 -1.72310065e-03 3.46554075e+00] [ 3.47621965e-03 9.99986032e-01 -3.98134680e-03 7.34020802e-03] [ 1.73694402e-03 3.97532686e-03 9.99990590e-01 5.05402719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48255784400004 meters 0.28719986896585303 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99992536e-01 -3.48536314e-03 -1.66714770e-03 3.46537818e+00] [ 3.47869084e-03 9.99985995e-01 -3.98852141e-03 7.37939973e-03] [ 1.68102580e-03 3.98269215e-03 9.99990656e-01 5.05442437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51255784400007 meters 0.28912933981495964 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:0.51 [[ 9.99994062e-01 -2.53428408e-03 -2.33537491e-03 3.50309134e+00] [ 2.52248085e-03 9.99984101e-01 -5.04326522e-03 1.15662675e-02] [ 2.34811885e-03 5.03734434e-03 9.99984556e-01 5.09387678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54255784400004 meters 0.2907327420266477 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:0.51 [[ 9.99994137e-01 -2.53894294e-03 -2.29783866e-03 3.50297431e+00] [ 2.52729829e-03 9.99984022e-01 -5.05644897e-03 1.16254103e-02] [ 2.31063999e-03 5.05061200e-03 9.99984576e-01 5.09428107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5725578440001 meters 0.28670240953623066 Centerline is valid? [False, False] Translation: X:3.46, Y:0.01, Z:0.51 [[ 9.99997204e-01 -2.17297064e-03 -9.32601558e-04 3.46349479e+00] [ 2.17006227e-03 9.99992815e-01 -3.10832510e-03 8.17204547e-03] [ 9.39349157e-04 3.10629261e-03 9.99994734e-01 5.06398857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60255784400005 meters 0.28886689027230117 Centerline is valid? [False, False] Translation: X:3.50, Y:0.01, Z:0.51 [[ 9.99999922e-01 8.04162263e-05 -3.85526843e-04 3.50412825e+00] [-8.13547920e-05 9.99997032e-01 -2.43510434e-03 1.20100497e-02] [ 3.85329877e-04 2.43513552e-03 9.99996961e-01 5.07798096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6325578440001 meters 0.2869961288651075 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99999027e-01 -3.97558148e-04 1.33742856e-03 3.46532993e+00] [ 3.99301624e-04 9.99999071e-01 -1.30358865e-03 9.23664584e-03] [-1.33690907e-03 1.30412142e-03 9.99998256e-01 5.04074896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66255784400005 meters 0.2857399304184702 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99998848e-01 -5.24202959e-04 1.42483230e-03 3.46511115e+00] [ 5.26525244e-04 9.99998533e-01 -1.62997918e-03 1.06078503e-02] [-1.42397577e-03 1.63072751e-03 9.99997657e-01 5.04049262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6925578440001 meters 0.2858068111784353 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99998860e-01 -6.12046110e-04 1.38020379e-03 3.46531660e+00] [ 6.14603715e-04 9.99998094e-01 -1.85340115e-03 1.15041311e-02] [-1.37906679e-03 1.85424732e-03 9.99997330e-01 5.03831555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72255784400005 meters 0.28809075630309744 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99984715e-01 -5.40499649e-03 1.16466832e-03 3.48856860e+00] [ 5.40286577e-03 9.99983739e-01 1.82490704e-03 1.58233132e-02] [-1.17451300e-03 -1.81858659e-03 9.99997657e-01 5.03352636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7525578440001 meters 0.28655502663590754 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.50 [[ 9.99997102e-01 2.40456943e-03 -1.20562053e-04 3.46813435e+00] [-2.40447798e-03 9.99996826e-01 7.53082440e-04 1.40955551e-02] [ 1.22372509e-04 -7.52790369e-04 9.99999709e-01 5.02495823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78255784400005 meters 0.28679113318338256 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99997746e-01 2.12274791e-03 3.22370267e-05 3.46778724e+00] [-2.12274636e-03 9.99997746e-01 -4.79855883e-05 1.73633763e-02] [-3.23388154e-05 4.79170491e-05 9.99999998e-01 5.02388287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8125578440001 meters 0.2876730826550377 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99984741e-01 -5.52350937e-03 9.24582922e-05 3.48651469e+00] [ 5.52343344e-03 9.99984424e-01 8.02355000e-04 2.46462062e-02] [-9.68886675e-05 -8.01832069e-04 9.99999674e-01 5.04119160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84255784400005 meters 0.2876730826550377 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.50 [[ 9.99984741e-01 -5.52350937e-03 9.24582922e-05 3.48651469e+00] [ 5.52343344e-03 9.99984424e-01 8.02355000e-04 2.46462062e-02] [-9.68886675e-05 -8.01832069e-04 9.99999674e-01 5.04119160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8725578440001 meters 0.2864094059505075 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99997025e-01 2.10848734e-03 -1.22664781e-03 3.46664984e+00] [-2.10922762e-03 9.99997594e-01 -6.02519089e-04 2.27782696e-02] [ 1.22537446e-03 6.05104576e-04 9.99999066e-01 5.02993016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90255784400006 meters 0.28693318575670074 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.50 [[ 9.99997404e-01 1.90042875e-03 -1.25683156e-03 3.46687932e+00] [-1.90183528e-03 9.99997566e-01 -1.11886044e-03 2.48872136e-02] [ 1.25470218e-03 1.12124782e-03 9.99998584e-01 5.02653606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9325578440001 meters 0.2876916904379834 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998126e-01 1.49276388e-03 -1.23274723e-03 3.46728893e+00] [-1.49532423e-03 9.99996722e-01 -2.07864280e-03 2.89228479e-02] [ 1.22964026e-03 2.08048226e-03 9.99997080e-01 5.01695484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96255784400006 meters 0.28729819563079584 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998218e-01 1.34825175e-03 -1.32171319e-03 3.46758351e+00] [-1.35147187e-03 9.99996114e-01 -2.43846373e-03 3.03945579e-02] [ 1.31842040e-03 2.44024564e-03 9.99996153e-01 5.01507510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9925578440001 meters 0.28765704217107724 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998208e-01 1.26218628e-03 -1.41099042e-03 3.46779133e+00] [-1.26592206e-03 9.99995688e-01 -2.64987611e-03 3.12572314e-02] [ 1.40763970e-03 2.65165757e-03 9.99995494e-01 5.01528249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02255784400006 meters 0.2869941292225141 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998313e-01 1.19719069e-03 -1.39335311e-03 3.46770739e+00] [-1.20111000e-03 9.99995315e-01 -2.81543364e-03 3.19388955e-02] [ 1.38997597e-03 2.81710245e-03 9.99995066e-01 5.01606235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05255784400003 meters 0.28505354290454393 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998473e-01 1.08913019e-03 -1.36636657e-03 3.46746456e+00] [-1.09334090e-03 9.99994645e-01 -3.08473065e-03 3.30842634e-02] [ 1.36299958e-03 3.08621984e-03 9.99994309e-01 5.01965255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08255784400006 meters 0.28534836098286304 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99998705e-01 9.82507015e-04 -1.27424062e-03 3.46710867e+00] [-9.86773243e-04 9.99993896e-01 -3.35175933e-03 3.42197685e-02] [ 1.27093972e-03 3.35301237e-03 9.99993571e-01 5.02215683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11255784400004 meters 0.2844072647241491 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99999054e-01 7.44184737e-04 -1.15651167e-03 3.46661380e+00] [-7.48711322e-04 9.99992042e-01 -3.91850711e-03 3.66004218e-02] [ 1.15358638e-03 3.91936929e-03 9.99991654e-01 5.02581397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14255784400007 meters 0.2861815383489274 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99990280e-01 -4.36433027e-03 6.26256213e-04 3.48927372e+00] [ 4.36470386e-03 9.99990297e-01 -5.96432777e-04 3.94060579e-02] [-6.23647107e-04 5.99160403e-04 9.99999626e-01 5.01307722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17255784400004 meters 0.2854122606112322 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99994182e-01 3.37809499e-03 -4.73123151e-04 3.47013287e+00] [-3.37907818e-03 9.99992101e-01 -2.09294567e-03 3.71855073e-02] [ 4.66049244e-04 2.09453221e-03 9.99997698e-01 4.99800475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20255784400007 meters 0.2850157964525933 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99994809e-01 3.15858220e-03 -6.36809501e-04 3.47077961e+00] [-3.16025352e-03 9.99991519e-01 -2.64082657e-03 3.94067254e-02] [ 6.28462832e-04 2.64282534e-03 9.99996310e-01 4.99210307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23255784400004 meters 0.2839708785497695 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99994882e-01 3.10533093e-03 -7.69510196e-04 3.47115366e+00] [-3.10744991e-03 9.99991341e-01 -2.76794836e-03 3.99211572e-02] [ 7.60908137e-04 2.77032541e-03 9.99995873e-01 4.99122168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26255784400007 meters 0.28387048195073367 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99995004e-01 3.05743305e-03 -8.03161406e-04 3.47120053e+00] [-3.05974318e-03 9.99991140e-01 -2.89099031e-03 4.04303380e-02] [ 7.94315281e-04 2.89343333e-03 9.99995499e-01 4.99198231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29255784400004 meters 0.2837932828087414 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99995016e-01 3.05152018e-03 -8.10456676e-04 3.47112613e+00] [-3.05386475e-03 9.99991110e-01 -2.90759737e-03 4.05188230e-02] [ 8.01576878e-04 2.91005790e-03 9.99995445e-01 4.99412696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3225578440001 meters 0.2821495157604926 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.50 [[ 9.99986693e-01 -3.84265590e-03 -3.44201063e-03 3.44974611e+00] [ 3.84228557e-03 9.99992612e-01 -1.14198531e-04 3.84400005e-02] [ 3.44242403e-03 1.00971823e-04 9.99994070e-01 5.00683674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35255784400005 meters 0.28339211067944814 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99984717e-01 5.22932945e-03 -1.79418192e-03 3.46955428e+00] [-5.23081344e-03 9.99985980e-01 -8.23418036e-04 3.56005127e-02] [ 1.78985084e-03 8.32790482e-04 9.99998051e-01 5.00827274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3825578440001 meters 0.28396560963890566 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99995743e-01 -2.88424413e-03 -4.40964923e-04 3.48962902e+00] [ 2.88429614e-03 9.99995834e-01 1.17354445e-04 3.88875802e-02] [ 4.40624607e-04 -1.18625819e-04 9.99999896e-01 5.01904574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41255784400005 meters 0.2825801741559359 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99995891e-01 -2.83768573e-03 -4.07593158e-04 3.48942936e+00] [ 2.83778124e-03 9.99995946e-01 2.33934067e-04 3.84167203e-02] [ 4.06927675e-04 -2.35089765e-04 9.99999890e-01 5.02161576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4425578440001 meters 0.28248403581798515 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99996015e-01 -2.79164942e-03 -4.21470200e-04 3.48944165e+00] [ 2.79179659e-03 9.99996042e-01 3.49010089e-04 3.79367157e-02] [ 4.20494218e-04 -3.50185358e-04 9.99999850e-01 5.02216458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47255784400005 meters 0.28123747548563344 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99982729e-01 5.15761495e-03 -2.81791265e-03 3.47084788e+00] [-5.15874797e-03 9.99986616e-01 -3.94957120e-04 3.29193169e-02] [ 2.81583790e-03 4.09487200e-04 9.99995952e-01 5.01529263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5025578440001 meters 0.281927434134916 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99993855e-01 -2.71843851e-03 -2.21367767e-03 3.49104741e+00] [ 2.72017769e-03 9.99995994e-01 7.83018198e-04 3.61506408e-02] [ 2.21154021e-03 -7.89034983e-04 9.99997243e-01 5.02788654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53255784400005 meters 0.28153340676093713 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99993949e-01 -2.65648080e-03 -2.24632756e-03 3.49112362e+00] [ 2.65859981e-03 9.99996023e-01 9.40862984e-04 3.54976408e-02] [ 2.24381924e-03 -9.46829377e-04 9.99997034e-01 5.02804907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5625578440001 meters 0.2823906970572297 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:0.50 [[ 9.99981531e-01 6.02191681e-03 -8.20526424e-04 3.51064308e+00] [-6.02195504e-03 9.99981867e-01 -4.41301163e-05 3.13501622e-02] [ 8.20245798e-04 4.90704745e-05 9.99999662e-01 5.03454316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59255784400005 meters 0.28107855766323886 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994627e-01 -2.50934144e-03 -2.10944689e-03 3.49122739e+00] [ 2.51223183e-03 9.99995908e-01 1.36868278e-03 3.32094627e-02] [ 2.10600377e-03 -1.37397485e-03 9.99996838e-01 5.02155555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6225578440001 meters 0.2817598324195158 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994541e-01 -2.48546553e-03 -2.17729590e-03 3.49150388e+00] [ 2.48858132e-03 9.99995882e-01 1.42949681e-03 3.29365758e-02] [ 2.17373397e-03 -1.43490738e-03 9.99996608e-01 5.01931000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65255784400006 meters 0.28238249905759877 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994247e-01 -2.53775475e-03 -2.25078081e-03 3.49188170e+00] [ 2.54068604e-03 9.99995927e-01 1.30044210e-03 3.34571563e-02] [ 2.24747144e-03 -1.30615314e-03 9.99996621e-01 5.01499762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6825578440001 meters 0.28116243321598533 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994203e-01 -2.55747129e-03 -2.24784766e-03 3.49179662e+00] [ 2.56028149e-03 9.99995943e-01 1.24818829e-03 3.36784520e-02] [ 2.24464633e-03 -1.25393617e-03 9.99996695e-01 5.01669256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71255784400006 meters 0.28162533605436263 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994400e-01 -2.52779659e-03 -2.19330527e-03 3.49155248e+00] [ 2.53069686e-03 9.99995926e-01 1.32056336e-03 3.33814389e-02] [ 2.18995821e-03 -1.32610655e-03 9.99996723e-01 5.01910767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7425578440001 meters 0.28138134725703834 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994402e-01 -2.54867032e-03 -2.16787542e-03 3.49140467e+00] [ 2.55142080e-03 9.99995943e-01 1.26692679e-03 3.36167699e-02] [ 2.16463765e-03 -1.27245087e-03 9.99996848e-01 5.02096822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77255784400006 meters 0.2807522488392568 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994236e-01 -2.53743014e-03 -2.25595257e-03 3.49179313e+00] [ 2.54036185e-03 9.99995931e-01 1.29763075e-03 3.34669301e-02] [ 2.25265075e-03 -1.30335421e-03 9.99996613e-01 5.01686866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80255784400003 meters 0.2810728643623778 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99994129e-01 -2.49991437e-03 -2.34363195e-03 3.49215670e+00] [ 2.50319536e-03 9.99995890e-01 1.39807518e-03 3.30317590e-02] [ 2.34012724e-03 -1.40393354e-03 9.99996276e-01 5.01348515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83255784400006 meters 0.2821564055500597 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99993946e-01 -2.46373350e-03 -2.45731691e-03 3.49255504e+00] [ 2.46741188e-03 9.99995838e-01 1.49500352e-03 3.26206523e-02] [ 2.45362339e-03 -1.50105768e-03 9.99995863e-01 5.01083229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86255784400004 meters 0.28183656375646 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99993790e-01 -2.45298930e-03 -2.53025124e-03 3.49278461e+00] [ 2.45685352e-03 9.99995819e-01 1.52523137e-03 3.24902665e-02] [ 2.52649928e-03 -1.53143836e-03 9.99995636e-01 5.00975513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89255784400007 meters 0.2823550733796735 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99993839e-01 -2.38438946e-03 -2.57633909e-03 3.49291802e+00] [ 2.38881146e-03 9.99995677e-01 1.71467357e-03 3.17130327e-02] [ 2.57223950e-03 -1.72081739e-03 9.99995211e-01 5.00927238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92255784400004 meters 0.28182992655103917 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99993920e-01 -2.37824450e-03 -2.55037185e-03 3.49283119e+00] [ 2.38265954e-03 9.99995666e-01 1.72949667e-03 3.16548408e-02] [ 2.54624763e-03 -1.73556282e-03 9.99995252e-01 5.00972163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95255784400007 meters 0.2812183908909921 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99977674e-01 5.45576012e-03 -3.85813442e-03 3.47380235e+00] [-5.45393786e-03 9.99985011e-01 4.82680051e-04 2.80242686e-02] [ 3.86070998e-03 -4.61627250e-04 9.99992441e-01 4.99559488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98255784400004 meters 0.2822854970024522 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990323e-01 -2.60477087e-03 -3.54540739e-03 3.49427092e+00] [ 2.61025167e-03 9.99995404e-01 1.54213763e-03 3.13670823e-02] [ 3.54137418e-03 -1.55137712e-03 9.99992526e-01 5.00725340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.01255784400007 meters 0.28135065058385594 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990403e-01 -2.53345465e-03 -3.57430972e-03 3.49418178e+00] [ 2.53963898e-03 9.99995284e-01 1.72674117e-03 3.06198164e-02] [ 3.56991825e-03 -1.73580205e-03 9.99992121e-01 5.01085270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04255784400004 meters 0.28071916947060627 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990921e-01 -2.48280920e-03 -3.46317885e-03 3.49366525e+00] [ 2.48924581e-03 9.99995180e-01 1.85551471e-03 3.01012021e-02] [ 3.45855527e-03 -1.86411856e-03 9.99992282e-01 5.01633414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0725578440001 meters 0.27984155960247475 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99991470e-01 -2.44854504e-03 -3.32638415e-03 3.49309322e+00] [ 2.45502075e-03 9.99995097e-01 1.94408765e-03 2.97430345e-02] [ 3.32160765e-03 -1.95223741e-03 9.99992578e-01 5.02191014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10255784400005 meters 0.28032216885105593 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99991559e-01 -2.42367480e-03 -3.31778158e-03 3.49292956e+00] [ 2.43033631e-03 9.99995036e-01 2.00526093e-03 2.94936361e-02] [ 3.31290501e-03 -2.01330733e-03 9.99992486e-01 5.02509314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1325578440001 meters 0.2814063804589362 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99991159e-01 -2.49761251e-03 -3.38296975e-03 3.49309977e+00] [ 2.50377975e-03 9.99995209e-01 1.82001877e-03 3.02679966e-02] [ 3.37840784e-03 -1.82847289e-03 9.99992621e-01 5.02507742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16255784400005 meters 0.2805933690896342 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990969e-01 -2.54150181e-03 -3.40641513e-03 3.49324672e+00] [ 2.54733690e-03 9.99995294e-01 1.70972945e-03 3.07190630e-02] [ 3.40205382e-03 -1.71839129e-03 9.99992737e-01 5.02318410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1925578440001 meters 0.2823079193994792 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990673e-01 -2.62935382e-03 -3.42642740e-03 3.49323091e+00] [ 2.63448262e-03 9.99995415e-01 1.49318318e-03 3.16218001e-02] [ 3.42248558e-03 -1.50219612e-03 9.99993015e-01 5.02467083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22255784400005 meters 0.2814478403618987 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990547e-01 -2.73349283e-03 -3.38135383e-03 3.49304049e+00] [ 2.73767574e-03 9.99995492e-01 1.23304119e-03 3.27132503e-02] [ 3.37796808e-03 -1.24228659e-03 9.99993523e-01 5.02635402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2525578440001 meters 0.2803363988775611 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.50 [[ 9.99990254e-01 -2.84986095e-03 -3.37195973e-03 3.49292583e+00] [ 2.85303169e-03 9.99995492e-01 9.35888148e-04 3.39428372e-02] [ 3.36927738e-03 -9.45499335e-04 9.99993877e-01 5.02837124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28255784400005 meters 0.281000839567139 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99989567e-01 -3.05685313e-03 -3.39426128e-03 3.49295203e+00] [ 3.05824541e-03 9.99995242e-01 4.05073127e-04 3.61200186e-02] [ 3.39300688e-03 -4.15449385e-04 9.99994157e-01 5.02920088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3125578440001 meters 0.28009572712615627 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.50 [[ 9.99979848e-01 4.73202186e-03 -4.23214592e-03 3.47359048e+00] [-4.73701592e-03 9.99988095e-01 -1.17078587e-03 3.39126611e-02] [ 4.22655535e-03 1.19081002e-03 9.99990359e-01 5.01353072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34255784400005 meters 0.2818223184361053 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99990085e-01 -2.98692989e-03 -3.30260755e-03 3.49269102e+00] [ 2.98715937e-03 9.99995536e-01 6.45526556e-05 3.86942116e-02] [ 3.30240000e-03 -7.44174307e-05 9.99994544e-01 5.03111447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3725578440001 meters 0.2810009615696539 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99989870e-01 -3.06256368e-03 -3.29859552e-03 3.49275421e+00] [ 3.06217996e-03 9.99995304e-01 -1.21370776e-04 3.94586269e-02] [ 3.29895173e-03 1.11268654e-04 9.99994552e-01 5.02960423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40255784400006 meters 0.28163293820786967 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99989109e-01 -3.23520493e-03 -3.36384370e-03 3.49304856e+00] [ 3.23346614e-03 9.99994636e-01 -5.22214802e-04 4.11311693e-02] [ 3.36551513e-03 5.11332240e-04 9.99994206e-01 5.02709018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4325578440001 meters 0.2802979074304004 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99976634e-01 4.83560580e-03 -4.83200399e-03 3.47299632e+00] [-4.84395874e-03 9.99986791e-01 -1.71846432e-03 3.95383385e-02] [ 4.82363035e-03 1.74183019e-03 9.99986849e-01 5.01913822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46255784400006 meters 0.281039816104876 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.50 [[ 9.99977021e-01 4.73137785e-03 -4.85495726e-03 3.47305568e+00] [-4.74104123e-03 9.99986799e-01 -1.98083928e-03 4.06209398e-02] [ 4.84552108e-03 2.00381132e-03 9.99986253e-01 5.01923546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4925578440001 meters 0.2794797234885502 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.50 [[ 9.99975216e-01 -4.15341093e-03 -5.68482788e-03 3.45385443e+00] [ 4.14547917e-03 9.99990419e-01 -1.40632330e-03 4.71733617e-02] [ 5.69061445e-03 1.38272211e-03 9.99982852e-01 5.00941976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52255784400006 meters 0.279396930948981 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.50 [[ 9.99972642e-01 -4.45740951e-03 -5.90313430e-03 3.45458502e+00] [ 4.44237618e-03 9.99986863e-01 -2.55733702e-03 5.15372644e-02] [ 5.91445585e-03 2.53104312e-03 9.99979306e-01 5.00396163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.55255784400003 meters 0.282119289083974 Centerline is valid? [False, False] Translation: X:3.48, Y:0.06, Z:0.50 [[ 9.99987609e-01 3.20520036e-03 -3.80892226e-03 3.47795154e+00] [-3.22273804e-03 9.99984194e-01 -4.60718522e-03 5.62577410e-02] [ 3.79409510e-03 4.61940329e-03 9.99982133e-01 4.98345813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58255784400006 meters 0.2812866795581691 Centerline is valid? [False, False] Translation: X:3.48, Y:0.06, Z:0.50 [[ 9.99987594e-01 2.98049083e-03 -3.99109992e-03 3.47853364e+00] [-3.00151115e-03 9.99981602e-01 -5.27120616e-03 5.89273980e-02] [ 3.97531571e-03 5.28312010e-03 9.99978143e-01 4.98077774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61255784400004 meters 0.28199108169645404 Centerline is valid? [False, False] Translation: X:3.48, Y:0.06, Z:0.50 [[ 9.99987819e-01 2.77493610e-03 -4.08197143e-03 3.47880986e+00] [-2.79873164e-03 9.99979058e-01 -5.83530638e-03 6.12072690e-02] [ 4.06569334e-03 5.84665964e-03 9.99974643e-01 4.97999134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64255784400007 meters 0.28171919357790726 Centerline is valid? [False, False] Translation: X:3.48, Y:0.06, Z:0.50 [[ 9.99988060e-01 2.52107892e-03 -4.18614962e-03 3.47909345e+00] [-2.54830082e-03 9.99975561e-01 -6.51030077e-03 6.39735188e-02] [ 4.16963434e-03 6.52089061e-03 9.99970046e-01 4.97975189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67255784400004 meters 0.27910803733459694 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99997103 -0.00401248 -0.00646881 3.45792424] [ 0.00398829 0.99998502 -0.00374769 0.06524897] [ 0.00648375 0.00372178 0.99997205 0.49897962] [ 0. 0. 0. 1. ]] SLAMing on 482.70255784400007 meters 0.2807713416401702 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99997061 -0.00407438 -0.00649475 3.45791836] [ 0.00404906 0.99998417 -0.00390765 0.06590928] [ 0.00651057 0.00388123 0.99997127 0.49914004] [ 0. 0. 0. 1. ]] SLAMing on 482.73255784400004 meters 0.2807713416401702 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99997061 -0.00407438 -0.00649475 3.45791836] [ 0.00404906 0.99998417 -0.00390765 0.06590928] [ 0.00651057 0.00388123 0.99997127 0.49914004] [ 0. 0. 0. 1. ]] SLAMing on 482.76255784400007 meters 0.2813234475114834 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99997006 -0.00411279 -0.00655457 3.45802184] [ 0.00408658 0.99998362 -0.00400626 0.06631496] [ 0.00657094 0.00397936 0.99997049 0.49924614] [ 0. 0. 0. 1. ]] SLAMing on 482.79255784400004 meters 0.2816950966066026 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99996922 -0.0041331 -0.00666858 3.45831506] [ 0.00410611 0.99998334 -0.00405596 0.0665134 ] [ 0.00668523 0.00402845 0.99996954 0.49924495] [ 0. 0. 0. 1. ]] SLAMing on 482.8225578440001 meters 0.28183088985567756 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.9999685 -0.00417114 -0.00675286 3.45849978] [ 0.00414316 0.9999828 -0.00415132 0.06690558] [ 0.00677006 0.00412321 0.99996858 0.49931004] [ 0. 0. 0. 1. ]] SLAMing on 482.85255784400005 meters 0.28037904826505433 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99996759 -0.00426023 -0.00683169 3.45864175] [ 0.00423034 0.99998144 -0.00438435 0.06785946] [ 0.00685024 0.0043553 0.99996705 0.49943481] [ 0. 0. 0. 1. ]] SLAMing on 482.8825578440001 meters 0.2813706155265661 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.9999669 -0.00430229 -0.0069057 3.45887017] [ 0.0042713 0.99998077 -0.00449531 0.06831138] [ 0.00692491 0.00446566 0.99996605 0.49934103] [ 0. 0. 0. 1. ]] SLAMing on 482.91255784400005 meters 0.28101206727177164 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99996585 -0.00435982 -0.0070203 3.45920521] [ 0.00432727 0.99997985 -0.00464484 0.06892294] [ 0.0070404 0.0046143 0.99996457 0.4992275 ] [ 0. 0. 0. 1. ]] SLAMing on 482.9425578440001 meters 0.2840565683736613 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99996511 -0.00440371 -0.00709871 3.45947166] [ 0.00437 0.99997913 -0.00475744 0.06937982] [ 0.00711952 0.00472625 0.99996349 0.49907004] [ 0. 0. 0. 1. ]] SLAMing on 482.97255784400005 meters 0.28218251505533987 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 0.99996594 -0.00450568 -0.00691491 3.45896944] [ 0.00447074 0.9999772 -0.00506012 0.07061404] [ 0.00693755 0.00502903 0.99996329 0.49919494] [ 0. 0. 0. 1. ]] SLAMing on 483.0025578440001 meters 0.28193236649876696 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99976054e-01 -2.45160398e-05 -6.92028178e-03 3.45881679e+00] [ 2.11846494e-05 9.99999884e-01 -4.81468085e-04 6.92426249e-02] [ 6.92029278e-03 4.81309952e-04 9.99975939e-01 4.99445085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03255784400005 meters 0.2825772708109796 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99976423e-01 -1.16720667e-04 -6.86586583e-03 3.45866732e+00] [ 1.11790185e-04 9.99999736e-01 -7.18494408e-04 7.02326581e-02] [ 6.86594787e-03 7.17709931e-04 9.99976172e-01 4.99459758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0625578440001 meters 0.2827209774423597 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99976414e-01 -2.26036726e-04 -6.86437330e-03 3.45868696e+00] [ 2.19120749e-04 9.99999468e-01 -1.00825291e-03 7.14162438e-02] [ 6.86459755e-03 1.00672500e-03 9.99975932e-01 4.99399322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09255784400005 meters 0.28287878872208777 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99976576e-01 -3.43398508e-04 -6.83591136e-03 3.45859275e+00] [ 3.34420874e-04 9.99999080e-01 -1.31440434e-03 7.26768666e-02] [ 6.83635643e-03 1.31208748e-03 9.99975771e-01 4.99435449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1225578440001 meters 0.2813765518597607 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99989761e-01 2.73363220e-04 -4.51695101e-03 3.41758254e+00] [-2.78334201e-04 9.99999356e-01 -1.09992510e-03 7.53867127e-02] [ 4.51664742e-03 1.10117106e-03 9.99989194e-01 4.96880172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15255784400006 meters 0.2836096944001963 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99987876e-01 7.36716040e-04 -4.86887025e-03 3.45525300e+00] [-7.42928175e-04 9.99998912e-01 -1.27420286e-03 7.78747307e-02] [ 4.86792622e-03 1.27780463e-03 9.99987335e-01 5.00635216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1825578440001 meters 0.28179501613995145 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99987925e-01 6.88976793e-04 -4.86569302e-03 3.45520906e+00] [-6.95769362e-04 9.99998786e-01 -1.39445784e-03 7.83766587e-02] [ 4.86472637e-03 1.39782640e-03 9.99987190e-01 5.00710131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.21255784400006 meters 0.2829524801622573 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99988027e-01 6.51409299e-04 -4.84979899e-03 3.45520517e+00] [-6.58628690e-04 9.99998677e-01 -1.48714761e-03 7.87606277e-02] [ 4.84882383e-03 1.49032403e-03 9.99987134e-01 5.00629825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2425578440001 meters 0.28131683806658075 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99994423e-01 3.99916545e-04 -3.31559098e-03 3.41686071e+00] [-4.04228461e-04 9.99999073e-01 -1.29992889e-03 7.73378482e-02] [ 3.31506804e-03 1.30126189e-03 9.99993659e-01 4.96547708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27255784400006 meters 0.28095729551265436 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99994059e-01 4.27993110e-04 -3.42031580e-03 3.41718815e+00] [-4.32188788e-04 9.99999155e-01 -1.22604820e-03 7.70249603e-02] [ 3.41978817e-03 1.22751914e-03 9.99993399e-01 4.96407967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30255784400003 meters 0.28381259686905325 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99993826e-01 4.33497692e-04 -3.48720873e-03 3.41749935e+00] [-4.37719680e-04 9.99999172e-01 -1.21003479e-03 7.69523602e-02] [ 3.48668129e-03 1.21155374e-03 9.99993188e-01 4.96092164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33255784400006 meters 0.2831337922944271 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99993839e-01 3.88199688e-04 -3.48876599e-03 3.41745488e+00] [-3.92826070e-04 9.99999044e-01 -1.32549248e-03 7.74279312e-02] [ 3.48824810e-03 1.32685479e-03 9.99993036e-01 4.96193858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36255784400004 meters 0.2820673643795817 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99994161e-01 3.47949613e-04 -3.39967372e-03 3.41711585e+00] [-3.52821772e-04 9.99998912e-01 -1.43263062e-03 7.78769016e-02] [ 3.39917154e-03 1.43382174e-03 9.99993195e-01 4.96443667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39255784400007 meters 0.2819365222579999 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99994436e-01 3.06587096e-04 -3.32184901e-03 3.41686425e+00] [-3.11705405e-04 9.99998765e-01 -1.54039318e-03 7.83290118e-02] [ 3.32137264e-03 1.54142004e-03 9.99993296e-01 4.96559226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42255784400004 meters 0.2821150223220429 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99994459e-01 2.66025029e-04 -3.31835666e-03 3.41689583e+00] [-2.71481640e-04 9.99998612e-01 -1.64402947e-03 7.87560823e-02] [ 3.31791470e-03 1.64492123e-03 9.99993143e-01 4.96467693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.45255784400007 meters 0.2836486502364817 Centerline is valid? [False, False] Translation: X:3.44, Y:0.08, Z:0.50 [[ 9.99984313e-01 -5.25084475e-03 -1.94997848e-03 3.43984403e+00] [ 5.25447197e-03 9.99984466e-01 1.85969000e-03 7.94762186e-02] [ 1.94018324e-03 -1.86990693e-03 9.99996370e-01 4.95098255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48255784400004 meters 0.2817024058141186 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.50 [[ 9.99986437e-01 5.33341093e-04 -5.18077737e-03 3.41853623e+00] [-5.39066968e-04 9.99999245e-01 -1.10388195e-03 8.04712114e-02] [ 5.18018471e-03 1.10665976e-03 9.99985970e-01 4.96273327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51255784400007 meters 0.28286923433479616 Centerline is valid? [False, False] Translation: X:3.44, Y:0.08, Z:0.50 [[ 9.99978575e-01 -6.04159756e-03 -2.51966018e-03 3.43936568e+00] [ 6.04508402e-03 9.99980778e-01 1.37838609e-03 8.07904640e-02] [ 2.51128410e-03 -1.39358811e-03 9.99995876e-01 4.95205224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54255784400004 meters 0.2828910826729627 Centerline is valid? [False, False] Translation: X:3.44, Y:0.08, Z:0.50 [[ 9.99978847e-01 -5.98306161e-03 -2.55104817e-03 3.43950278e+00] [ 5.98697300e-03 9.99980910e-01 1.52838014e-03 8.01665573e-02] [ 2.54185507e-03 -1.54362087e-03 9.99995578e-01 4.95094161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5725578440001 meters 0.28234932584957384 Centerline is valid? [False, False] Translation: X:3.44, Y:0.08, Z:0.50 [[ 9.99979185e-01 -5.91849771e-03 -2.56930863e-03 3.43958883e+00] [ 5.92286255e-03 9.99981024e-01 1.69456758e-03 7.94772696e-02] [ 2.55923058e-03 -1.70974997e-03 9.99995264e-01 4.95018524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60255784400005 meters 0.28222544013728446 Centerline is valid? [False, False] Translation: X:3.44, Y:0.08, Z:0.50 [[ 9.99979727e-01 -5.83667395e-03 -2.54522605e-03 3.43951609e+00] [ 5.84152652e-03 9.99981127e-01 1.90328822e-03 7.86177510e-02] [ 2.53406914e-03 -1.91811765e-03 9.99994950e-01 4.95060807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6325578440001 meters 0.28367790664899495 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99995392e-01 2.95924328e-03 -6.76822942e-04 3.45945214e+00] [-2.95817114e-03 9.99994377e-01 1.57963812e-03 7.42970680e-02] [ 6.81493670e-04 -1.57762868e-03 9.99998523e-01 4.95604145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66255784400005 meters 0.281966896862374 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99997808e-01 1.77699652e-03 1.10732580e-03 3.41901186e+00] [-1.77812999e-03 9.99997895e-01 1.02347065e-03 7.29347587e-02] [-1.10550476e-03 -1.02543738e-03 9.99998863e-01 4.93207440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6925578440001 meters 0.28401249234157305 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998624e-01 1.61202003e-03 -3.91104552e-04 3.45763337e+00] [-1.61189417e-03 9.99998649e-01 3.21920122e-04 7.40415066e-02] [ 3.91622965e-04 -3.21289260e-04 9.99999872e-01 4.97093410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72255784400005 meters 0.28295442877412424 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998617e-01 1.61377048e-03 -4.02308932e-04 3.45766214e+00] [-1.61363828e-03 9.99998644e-01 3.28725516e-04 7.40169791e-02] [ 4.02838874e-04 -3.28075880e-04 9.99999865e-01 4.97092384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7525578440001 meters 0.2822677520147121 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998627e-01 1.60273745e-03 -4.20261522e-04 3.45771593e+00] [-1.60260992e-03 9.99998670e-01 3.03627415e-04 7.41249710e-02] [ 4.20747598e-04 -3.02953482e-04 9.99999866e-01 4.97071367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78255784400005 meters 0.2826512307851799 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998554e-01 1.62691690e-03 -4.96045868e-04 3.45796667e+00] [-1.62673436e-03 9.99998609e-01 3.68178323e-04 7.38568010e-02] [ 4.96644174e-04 -3.67370856e-04 9.99999809e-01 4.96930200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8125578440001 meters 0.28377057035929343 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998524e-01 1.62666421e-03 -5.53621521e-04 3.45815269e+00] [-1.62646007e-03 9.99998609e-01 3.68989917e-04 7.38533575e-02] [ 5.54220973e-04 -3.68088929e-04 9.99999779e-01 4.96844422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84255784400005 meters 0.2830808744871425 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998428e-01 1.67576663e-03 -5.80256471e-04 3.45817397e+00] [-1.67547972e-03 9.99998474e-01 4.94603907e-04 7.33377238e-02] [ 5.81084426e-04 -4.93630921e-04 9.99999709e-01 4.96952498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8725578440001 meters 0.2840437776317868 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99998333e-01 1.73365555e-03 -5.73747064e-04 3.45813959e+00] [-1.73328612e-03 9.99998291e-01 6.43759524e-04 7.27264877e-02] [ 5.74862141e-04 -6.42763983e-04 9.99999628e-01 4.96999911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90255784400006 meters 0.28273968420591156 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99997996e-01 1.92803653e-03 -5.39633656e-04 3.45811057e+00] [-1.92742706e-03 9.99997507e-01 1.12767286e-03 7.07239059e-02] [ 5.41806505e-04 -1.12663049e-03 9.99999219e-01 4.96888227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9325578440001 meters 0.28471553598023086 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.50 [[ 9.99996093e-01 1.48669244e-03 -2.36701028e-03 3.49775871e+00] [-1.48593249e-03 9.99998844e-01 3.22786379e-04 7.07206009e-02] [ 2.36748743e-03 -3.19267901e-04 9.99997147e-01 5.00070516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96255784400006 meters 0.28277900568025177 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999576e-01 7.09973562e-04 -5.85917856e-04 3.45831816e+00] [-7.09667573e-04 9.99999612e-01 5.22281097e-04 6.68689256e-02] [ 5.86288435e-04 -5.21865069e-04 9.99999692e-01 4.96903983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9925578440001 meters 0.28349193071111134 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999543e-01 7.68891524e-04 -5.68534898e-04 3.45825616e+00] [-7.68508728e-04 9.99999478e-01 6.73214240e-04 6.62476259e-02] [ 5.69052230e-04 -6.72777009e-04 9.99999612e-01 4.96951417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02255784400006 meters 0.2832349911137182 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999496e-01 8.50705166e-04 -5.33221728e-04 3.45795069e+00] [-8.50233984e-04 9.99999248e-01 8.83255994e-04 6.54069738e-02] [ 5.33972717e-04 -8.82802185e-04 9.99999468e-01 4.97452317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05255784400003 meters 0.2830164532217706 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999478e-01 8.50452674e-04 -5.65631474e-04 3.45810174e+00] [-8.49952739e-04 9.99999248e-01 8.83506111e-04 6.54045288e-02] [ 5.66382429e-04 -8.83024890e-04 9.99999450e-01 4.97296474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08255784400006 meters 0.2833239306369316 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999438e-01 8.39274707e-04 -6.47293903e-04 3.45842644e+00] [-8.38720491e-04 9.99999282e-01 8.56000964e-04 6.55105106e-02] [ 6.48011858e-04 -8.55457584e-04 9.99999424e-01 4.97028536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11255784400004 meters 0.2833238795287375 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999460e-01 7.94006213e-04 -6.70656338e-04 3.45855412e+00] [-7.93509875e-04 9.99999411e-01 7.40020101e-04 6.59832826e-02] [ 6.71243524e-04 -7.39487529e-04 9.99999501e-01 4.96865808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14255784400007 meters 0.2838558525955078 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999537e-01 7.41102738e-04 -6.14053521e-04 3.45838621e+00] [-7.40734476e-04 9.99999546e-01 5.99733278e-04 6.65649268e-02] [ 6.14497706e-04 -5.99278150e-04 9.99999632e-01 4.96914697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17255784400004 meters 0.2838270254650258 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999609e-01 6.93093781e-04 -5.48843131e-04 3.45816233e+00] [-6.92834292e-04 9.99999648e-01 4.72841490e-04 6.70928441e-02] [ 5.49170661e-04 -4.72461048e-04 9.99999738e-01 4.97045139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20255784400007 meters 0.2839217608808103 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999683e-01 6.50729484e-04 -4.58062846e-04 3.45779834e+00] [-6.50562804e-04 9.99999722e-01 3.63935835e-04 6.75595859e-02] [ 4.58299542e-04 -3.63637722e-04 9.99999829e-01 4.97337300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23255784400004 meters 0.2844811087386977 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999623e-01 6.62704870e-04 -5.61730292e-04 3.45815081e+00] [-6.62482489e-04 9.99999702e-01 3.95979889e-04 6.74116034e-02] [ 5.61992542e-04 -3.95607603e-04 9.99999764e-01 4.97158242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26255784400007 meters 0.28354720240926584 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999496e-01 7.00715779e-04 -7.18893194e-04 3.45858532e+00] [-7.00356563e-04 9.99999630e-01 4.99810637e-04 6.69681793e-02] [ 7.19243153e-04 -4.99306903e-04 9.99999617e-01 4.97084755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29255784400004 meters 0.28415116206835866 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999412e-01 7.02451286e-04 -8.25665768e-04 3.45891265e+00] [-7.02032052e-04 9.99999625e-01 5.07933024e-04 6.69282923e-02] [ 8.26022256e-04 -5.07353082e-04 9.99999530e-01 4.96965420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3225578440001 meters 0.2850405178953668 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.50 [[ 9.99999329e-01 7.23003051e-04 -9.05157531e-04 3.45902011e+00] [-7.22493105e-04 9.99999580e-01 5.63578324e-04 6.67061386e-02] [ 9.05564620e-04 -5.62923976e-04 9.99999432e-01 4.97179343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35255784400005 meters 0.28257827887974934 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999220e-01 -1.23864836e-03 1.58694881e-04 3.45347163e+00] [ 1.23887531e-03 9.99998199e-01 -1.43806139e-03 6.80118537e-02] [-1.56913343e-04 1.43825688e-03 9.99998953e-01 5.01075558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3825578440001 meters 0.2831691920305104 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999293e-01 -1.17648253e-03 1.74727457e-04 3.45332174e+00] [ 1.17670460e-03 9.99998493e-01 -1.27636506e-03 6.73526704e-02] [-1.73225572e-04 1.27656976e-03 9.99999170e-01 5.01334720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41255784400005 meters 0.2837320229328058 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999370e-01 -1.10280189e-03 2.10600560e-04 3.45320028e+00] [ 1.10303079e-03 9.99998798e-01 -1.08990542e-03 6.65845867e-02] [-2.09398357e-04 1.09013704e-03 9.99999384e-01 5.01417557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4425578440001 meters 0.2835271109070721 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999425e-01 -1.04554173e-03 2.36804150e-04 3.45310380e+00] [ 1.04576484e-03 9.99999008e-01 -9.44016189e-04 6.59870244e-02] [-2.35816907e-04 9.44263288e-04 9.99999526e-01 5.01491797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47255784400005 meters 0.2829519229469434 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999495e-01 -9.72488732e-04 2.51723872e-04 3.45301085e+00] [ 9.72679003e-04 9.99999241e-01 -7.56856476e-04 6.52209115e-02] [-2.50987647e-04 7.57100941e-04 9.99999682e-01 5.01624368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5025578440001 meters 0.28316208249375885 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99999560e-01 -9.20134148e-04 1.84952699e-04 3.45311929e+00] [ 9.20248721e-04 9.99999384e-01 -6.20346392e-04 6.46652464e-02] [-1.84381783e-04 6.20516321e-04 9.99999790e-01 5.01764546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53255784400005 meters 0.28458823265683214 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.50 [[ 9.99970427e-01 7.57283070e-03 1.34067139e-03 3.47336928e+00] [-7.57041648e-03 9.99969730e-01 -1.79676029e-03 6.25997536e-02] [-1.35423737e-03 1.78655771e-03 9.99997487e-01 5.02617965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5625578440001 meters 0.28478871622435425 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.50 [[ 9.99970682e-01 7.54696631e-03 1.29550450e-03 3.47353949e+00] [-7.54455063e-03 9.99969810e-01 -1.85953037e-03 6.28577433e-02] [-1.30949920e-03 1.84970185e-03 9.99997432e-01 5.02491243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59255784400005 meters 0.2826418707421804 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999225e-01 -1.19768315e-03 -3.40108062e-04 3.45419385e+00] [ 1.19737589e-03 9.99998876e-01 -9.02168754e-04 6.60550253e-02] [ 3.41188193e-04 9.01760818e-04 9.99999535e-01 5.02050977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6225578440001 meters 0.28348310259582515 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999155e-01 -1.25481105e-03 -3.39815087e-04 3.45422626e+00] [ 1.25445356e-03 9.99998662e-01 -1.05019841e-03 6.66576063e-02] [ 3.41132433e-04 1.04977124e-03 9.99999391e-01 5.01963052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65255784400006 meters 0.28348310259582515 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999155e-01 -1.25481105e-03 -3.39815087e-04 3.45422626e+00] [ 1.25445356e-03 9.99998662e-01 -1.05019841e-03 6.66576063e-02] [ 3.41132433e-04 1.04977124e-03 9.99999391e-01 5.01963052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6825578440001 meters 0.28344076126741685 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999134e-01 -1.30198447e-03 -1.89474858e-04 3.45376439e+00] [ 1.30175823e-03 9.99998445e-01 -1.18930292e-03 6.72352620e-02] [ 1.91023017e-04 1.18905524e-03 9.99999275e-01 5.02174809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71255784400006 meters 0.28352122496762555 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999139e-01 -1.31181724e-03 -3.99168776e-05 3.45328035e+00] [ 1.31176746e-03 9.99998392e-01 -1.22279300e-03 6.73995036e-02] [ 4.15208944e-05 1.22273959e-03 9.99999252e-01 5.02431087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7425578440001 meters 0.28398769165561355 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999151e-01 -1.30232626e-03 4.97698122e-05 3.45290456e+00] [ 1.30238504e-03 9.99998432e-01 -1.19967103e-03 6.73294505e-02] [-4.82073711e-05 1.19973483e-03 9.99999279e-01 5.02757200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77255784400006 meters 0.28421105313235034 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999201e-01 -1.26234384e-03 5.93814285e-05 3.45287449e+00] [ 1.26240832e-03 9.99998600e-01 -1.09862197e-03 6.69117919e-02] [-5.79945067e-05 1.09869605e-03 9.99999395e-01 5.02777290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80255784400003 meters 0.28425247918775004 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.50 [[ 9.99999296e-01 -1.18473852e-03 -6.89531618e-05 3.45326758e+00] [ 1.18467664e-03 9.99998902e-01 -8.90741376e-04 6.60347457e-02] [ 7.00083817e-05 8.90659061e-04 9.99999601e-01 5.02652326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83255784400006 meters 0.2832795691726186 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99999439e-01 -1.01205302e-03 -3.12125986e-04 3.45394138e+00] [ 1.01194741e-03 9.99999431e-01 -3.38316736e-04 6.37959315e-02] [ 3.12468203e-04 3.38000691e-04 9.99999894e-01 5.02496318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86255784400004 meters 0.28378623841604816 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99999572e-01 -8.81012391e-04 -2.83194265e-04 3.45386699e+00] [ 8.81014824e-04 9.99999612e-01 8.46769736e-06 6.23810705e-02] [ 2.83186695e-04 -8.71719208e-06 9.99999960e-01 5.02526252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89255784400007 meters 0.2855076892003455 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99999711e-01 -7.22227682e-04 -2.37133762e-04 3.45371096e+00] [ 7.22328316e-04 9.99999649e-01 4.24569408e-04 6.06893736e-02] [ 2.36827043e-04 -4.24740574e-04 9.99999882e-01 5.02646339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92255784400004 meters 0.28466858844360826 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99999805e-01 -5.71672341e-04 -2.51380721e-04 3.45372062e+00] [ 5.71876441e-04 9.99999506e-01 8.12594826e-04 5.91061983e-02] [ 2.50916059e-04 -8.12738427e-04 9.99999638e-01 5.02708134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95255784400007 meters 0.2828362451718798 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.50 [[ 9.99988989e-01 4.47393271e-03 -1.41656223e-03 3.43124784e+00] [-4.47782792e-03 9.99986169e-01 -2.75863129e-03 5.56525035e-02] [ 1.40420071e-03 2.76494404e-03 9.99995192e-01 5.03449013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98255784400004 meters 0.28420760353434754 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.50 [[ 9.99988297e-01 -3.74475376e-03 -3.06319549e-03 3.45420082e+00] [ 3.73992544e-03 9.99991758e-01 -1.58044886e-03 5.73376629e-02] [ 3.06908863e-03 1.56897424e-03 9.99994059e-01 5.03532905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01255784400007 meters 0.283443562301197 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.50 [[ 9.99983136e-01 3.97182155e-03 -4.23697259e-03 3.43518236e+00] [-3.98300217e-03 9.99988600e-01 -2.63365796e-03 5.19628463e-02] [ 4.22646386e-03 2.65048942e-03 9.99987556e-01 5.01760888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04255784400004 meters 0.2846957250370841 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99983841e-01 -4.58992811e-03 -3.35421266e-03 3.45615768e+00] [ 4.58302869e-03 9.99987372e-01 -2.06174120e-03 5.47493660e-02] [ 3.36363355e-03 2.04633543e-03 9.99992249e-01 5.01611888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0725578440001 meters 0.2837821646126552 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99984322e-01 -4.47333897e-03 -3.36820356e-03 3.45613488e+00] [ 4.46735320e-03 9.99988433e-01 -1.78256970e-03 5.35934704e-02] [ 3.37613864e-03 1.76749480e-03 9.99992739e-01 5.01759501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10255784400005 meters 0.2837620531897473 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99984881e-01 -4.39335750e-03 -3.30687329e-03 3.45583254e+00] [ 4.38815649e-03 9.99989126e-01 -1.57840336e-03 5.27630923e-02] [ 3.31377183e-03 1.56386842e-03 9.99993287e-01 5.02111289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1325578440001 meters 0.2830103032151556 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99985380e-01 -4.34102253e-03 -3.22404335e-03 3.45555256e+00] [ 4.33638871e-03 9.99989557e-01 -1.44287065e-03 5.22185548e-02] [ 3.23027322e-03 1.42886885e-03 9.99993762e-01 5.02295475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16255784400005 meters 0.2843338739083496 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99985700e-01 -4.27498357e-03 -3.21324951e-03 3.45558101e+00] [ 4.27095222e-03 9.99990085e-01 -1.26041836e-03 5.14788646e-02] [ 3.21860592e-03 1.24667670e-03 9.99994043e-01 5.02180560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1925578440001 meters 0.28515947445791634 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99985815e-01 -4.22476969e-03 -3.24361806e-03 3.45571251e+00] [ 4.22111165e-03 9.99990448e-01 -1.13378605e-03 5.09432230e-02] [ 3.24837706e-03 1.12007829e-03 9.99994097e-01 5.02069930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22255784400005 meters 0.2845557242975377 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99986584e-01 -4.07578299e-03 -3.19669691e-03 3.45556944e+00] [ 4.07336969e-03 9.99991414e-01 -7.61083890e-04 4.93946588e-02] [ 3.19977147e-03 7.48052352e-04 9.99994601e-01 5.02158657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2525578440001 meters 0.2840210269857202 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99987029e-01 -3.99719102e-03 -3.15651078e-03 3.45525862e+00] [ 3.99541859e-03 9.99991857e-01 -5.67621902e-04 4.86156555e-02] [ 3.15875397e-03 5.55002958e-04 9.99994857e-01 5.02638374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28255784400005 meters 0.2849701803856441 Centerline is valid? [False, False] Translation: X:3.47, Y:0.05, Z:0.50 [[ 9.99989459e-01 4.46039104e-03 -1.08921764e-03 3.47382507e+00] [-4.46236453e-03 9.99988394e-01 -1.81618663e-03 4.59732969e-02] [ 1.08110409e-03 1.82102797e-03 9.99997758e-01 5.03933914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3125578440001 meters 0.2831438355059439 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99988490e-01 -2.36843783e-03 -4.17257200e-03 3.45257663e+00] [ 2.37249546e-03 9.99996717e-01 9.67771715e-04 4.26461084e-02] [ 4.17026620e-03 -9.77659984e-04 9.99990826e-01 5.05844258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34255784400005 meters 0.28446662328054745 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99988238e-01 -2.25312189e-03 -4.29505781e-03 3.45284596e+00] [ 2.25862238e-03 9.99996635e-01 1.27623549e-03 4.13758820e-02] [ 4.29216784e-03 -1.28592139e-03 9.99989962e-01 5.05955844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3725578440001 meters 0.28373816084632447 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99988228e-01 -2.13042839e-03 -4.35946609e-03 3.45292830e+00] [ 2.13744677e-03 9.99996426e-01 1.60589317e-03 4.00420498e-02] [ 4.35602927e-03 -1.61519239e-03 9.99989208e-01 5.06152678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40255784400006 meters 0.2844759814926652 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99989229e-01 -1.84738184e-03 -4.25771325e-03 3.45241087e+00] [ 1.85770676e-03 9.99995341e-01 2.42231440e-03 3.67740241e-02] [ 4.25321847e-03 -2.43019790e-03 9.99988002e-01 5.06841066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4325578440001 meters 0.28281464670756973 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:0.51 [[ 9.99983113e-01 3.22835774e-03 -4.83240807e-03 3.42909799e+00] [-3.23290347e-03 9.99994339e-01 -9.33159301e-04 3.29245783e-02] [ 4.82936814e-03 9.48766251e-04 9.99987888e-01 5.07783102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46255784400006 meters 0.28413481904212523 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:0.51 [[ 9.99982108e-01 3.38605103e-03 -4.93130239e-03 3.42931247e+00] [-3.38860185e-03 9.99994129e-01 -5.09008154e-04 3.12008627e-02] [ 4.92954991e-03 5.25709267e-04 9.99987712e-01 5.07865587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4925578440001 meters 0.2839778505803119 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:0.51 [[ 9.99981061e-01 3.56263027e-03 -5.01843848e-03 3.42956045e+00] [-3.56287475e-03 9.99993652e-01 -3.97759223e-05 2.92838685e-02] [ 5.01826491e-03 5.76552367e-05 9.99987407e-01 5.07816369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52255784400006 meters 0.2837024151731961 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:0.51 [[ 9.99979477e-01 3.91006596e-03 -5.07511927e-03 3.42966056e+00] [-3.90533423e-03 9.99991931e-01 9.41915509e-04 2.53524924e-02] [ 5.07876127e-03 -9.22076141e-04 9.99986678e-01 5.07910075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55255784400003 meters 0.2836472266283892 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99978706e-01 4.06628790e-03 -5.10426670e-03 3.42968694e+00] [-4.05954294e-03 9.99990874e-01 1.33110128e-03 2.37587231e-02] [ 5.10963276e-03 -1.31035194e-03 9.99986087e-01 5.08015740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58255784400006 meters 0.2836113304930383 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99978252e-01 4.17631981e-03 -5.10427174e-03 3.42967395e+00] [-4.16820453e-03 9.99990034e-01 1.59950360e-03 2.26541650e-02] [ 5.11090091e-03 -1.57819316e-03 9.99985694e-01 5.08058684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61255784400004 meters 0.28235579166850894 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99977750e-01 4.24349371e-03 -5.14701495e-03 3.42970424e+00] [-4.23442818e-03 9.99989467e-01 1.77093971e-03 2.19661169e-02] [ 5.15447571e-03 -1.74910564e-03 9.99985186e-01 5.08238606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64255784400007 meters 0.2838779843767726 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99977446e-01 4.23973044e-03 -5.20892858e-03 3.42986148e+00] [-4.23058104e-03 9.99989491e-01 1.76624939e-03 2.19855625e-02] [ 5.21636226e-03 -1.74417276e-03 9.99984874e-01 5.08225325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67255784400004 meters 0.28308754731901065 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99977543e-01 4.19117030e-03 -5.22955772e-03 3.43000492e+00] [-4.18267708e-03 9.99989918e-01 1.63396162e-03 2.25142104e-02] [ 5.23635320e-03 -1.61205138e-03 9.99984991e-01 5.07982265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70255784400007 meters 0.28334779445955066 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:0.51 [[ 9.99978697e-01 4.11994909e-03 -5.06277592e-03 3.42994332e+00] [-4.11307685e-03 9.99990607e-01 1.36706959e-03 2.35126127e-02] [ 5.06836062e-03 -1.34621688e-03 9.99986250e-01 5.07213431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73255784400004 meters 0.28577483094623946 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:0.51 [[ 9.99984383e-01 -4.06690861e-03 -3.83331312e-03 3.44895491e+00] [ 4.07407596e-03 9.99989964e-01 1.86380381e-03 3.06228948e-02] [ 3.82569473e-03 -1.87939191e-03 9.99990916e-01 5.07333506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76255784400007 meters 0.2856972829216286 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:0.51 [[ 9.99983989e-01 -4.22159868e-03 -3.76815044e-03 3.44888232e+00] [ 4.22688330e-03 9.99990093e-01 1.39558303e-03 3.24631925e-02] [ 3.76222152e-03 -1.41148822e-03 9.99991927e-01 5.07065997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79255784400004 meters 0.2851632625975499 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99972724e-01 4.07632835e-03 -6.15909357e-03 3.42949129e+00] [-4.07562433e-03 9.99991687e-01 1.26853148e-04 3.51279903e-02] [ 6.15955946e-03 -1.01747537e-04 9.99981025e-01 5.06066885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8225578440001 meters 0.28535398519624344 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99973277e-01 3.90321407e-03 -6.18150627e-03 3.42968259e+00] [-3.90516172e-03 9.99992329e-01 -3.03038761e-04 3.68825736e-02] [ 6.18027603e-03 3.27170444e-04 9.99980848e-01 5.05746153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85255784400005 meters 0.28535398519624344 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99973277e-01 3.90321407e-03 -6.18150627e-03 3.42968259e+00] [-3.90516172e-03 9.99992329e-01 -3.03038761e-04 3.68825736e-02] [ 6.18027603e-03 3.27170444e-04 9.99980848e-01 5.05746153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8825578440001 meters 0.28613005820248905 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99974672e-01 3.69031805e-03 -6.08582259e-03 3.42933894e+00] [-3.69519158e-03 9.99992861e-01 -7.89751268e-04 3.89474550e-02] [ 6.08286471e-03 8.12219545e-04 9.99981169e-01 5.05862972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91255784400005 meters 0.28516230894193884 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99975415e-01 3.59551430e-03 -6.02013478e-03 3.42906664e+00] [-3.60176104e-03 9.99992986e-01 -1.02712152e-03 3.99562959e-02] [ 6.01639952e-03 1.04877935e-03 9.99981351e-01 5.06068991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9425578440001 meters 0.2849750243414434 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99975809e-01 3.52884925e-03 -5.99406746e-03 3.42885717e+00] [-3.53610868e-03 9.99993027e-01 -1.20093659e-03 4.06981903e-02] [ 5.98978774e-03 1.22210321e-03 9.99981314e-01 5.06374496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97255784400005 meters 0.28586199251035527 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99975283e-01 3.46441220e-03 -6.11809332e-03 3.42907848e+00] [-3.47279095e-03 9.99993046e-01 -1.35941107e-03 4.13548482e-02] [ 6.11334121e-03 1.38062433e-03 9.99980360e-01 5.06566353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0025578440001 meters 0.28516181882518693 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99972350e-01 3.41088396e-03 -6.60802006e-03 3.43037159e+00] [-3.42076360e-03 9.99993047e-01 -1.48437384e-03 4.17724254e-02] [ 6.60291109e-03 1.50693727e-03 9.99977065e-01 5.06239618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03255784400005 meters 0.2844483306460644 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99971304e-01 3.43673937e-03 -6.75123165e-03 3.43075516e+00] [-3.44634261e-03 9.99993065e-01 -1.41132371e-03 4.14604589e-02] [ 6.74633448e-03 1.43455027e-03 9.99976214e-01 5.06186167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0625578440001 meters 0.283164872436245 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99971171e-01 3.46316494e-03 -6.75754469e-03 3.43062796e+00] [-3.47229495e-03 9.99993074e-01 -1.33982062e-03 4.11976280e-02] [ 6.75285787e-03 1.36324618e-03 9.99976270e-01 5.06524775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09255784400005 meters 0.2834589446389437 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:0.51 [[ 9.99971383e-01 3.48654317e-03 -6.71394403e-03 3.43035537e+00] [-3.49520451e-03 9.99993074e-01 -1.27875185e-03 4.09768661e-02] [ 6.70943911e-03 1.30218186e-03 9.99976644e-01 5.06913083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1225578440001 meters 0.28537559234339904 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99990094e-01 -2.20161047e-03 -3.86855045e-03 3.45074831e+00] [ 2.20869198e-03 9.99995891e-01 1.82721532e-03 4.12661286e-02] [ 3.86451174e-03 -1.83574166e-03 9.99990848e-01 5.06411193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15255784400006 meters 0.2834272311658249 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99989936e-01 -2.12357620e-03 -3.95199659e-03 3.45101292e+00] [ 2.13164050e-03 9.99995652e-01 2.03746990e-03 4.03911110e-02] [ 3.94765268e-03 -2.04587363e-03 9.99990115e-01 5.06303082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1825578440001 meters 0.28298842313877043 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99989856e-01 -2.05729506e-03 -4.00692082e-03 3.45108952e+00] [ 2.06616168e-03 9.99995424e-01 2.20994365e-03 3.96880666e-02] [ 4.00235598e-03 -2.21820018e-03 9.99989530e-01 5.06452510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21255784400006 meters 0.28322113493504075 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99990003e-01 -1.95754676e-03 -4.02007577e-03 3.45100790e+00] [ 1.96745953e-03 9.99995031e-01 2.46334247e-03 3.86454772e-02] [ 4.01523368e-03 -2.47122718e-03 9.99988885e-01 5.06723617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2425578440001 meters 0.2835588022001252 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99990146e-01 -1.86973425e-03 -4.02636036e-03 3.45092189e+00] [ 1.88055086e-03 9.99994629e-01 2.68433996e-03 3.77430901e-02] [ 4.02131973e-03 -2.69188529e-03 9.99988291e-01 5.06957546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27255784400006 meters 0.28191679368270883 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99990254e-01 -1.77886189e-03 -4.04077441e-03 3.45088287e+00] [ 1.79064289e-03 9.99994152e-01 2.91378555e-03 3.68076016e-02] [ 4.03556756e-03 -2.92099273e-03 9.99987591e-01 5.07139771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30255784400003 meters 0.2836377527709013 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99983287e-01 5.21282535e-03 -2.50049529e-03 3.47287381e+00] [-5.21178589e-03 9.99986329e-01 4.22037692e-04 3.45045481e-02] [ 2.50266112e-03 -4.08998592e-04 9.99996785e-01 5.05872838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33255784400006 meters 0.2820888967200069 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.51 [[ 9.99984966e-01 -3.51757153e-03 -4.20647906e-03 3.45322183e+00] [ 3.52468638e-03 9.99992368e-01 1.68518700e-03 3.54251542e-02] [ 4.20051919e-03 -1.69998818e-03 9.99989733e-01 5.05193671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36255784400004 meters 0.2822446887794487 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:0.51 [[ 9.99985158e-01 -3.44044110e-03 -4.22451158e-03 3.45324697e+00] [ 3.44840712e-03 9.99992287e-01 1.87983342e-03 3.46183921e-02] [ 4.21801154e-03 -1.89437335e-03 9.99989310e-01 5.05252958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39255784400007 meters 0.282464608580614 Centerline is valid? [False, False] Translation: X:3.45, Y:0.03, Z:0.51 [[ 9.99985385e-01 -3.40501174e-03 -4.19952313e-03 3.45316788e+00] [ 3.41330816e-03 9.99992234e-01 1.96997945e-03 3.42471048e-02] [ 4.19278271e-03 -1.98428493e-03 9.99989242e-01 5.05297440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42255784400004 meters 0.2846039644084043 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:0.50 [[ 9.99996418e-01 -1.94608475e-03 -1.83746508e-03 3.49598925e+00] [ 1.95035464e-03 9.99995396e-01 2.32486874e-03 3.71017458e-02] [ 1.83293223e-03 -2.32844412e-03 9.99995609e-01 5.04840722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45255784400007 meters 0.28408098526872355 Centerline is valid? [False, False] Translation: X:3.48, Y:0.03, Z:0.50 [[ 9.99980461e-01 5.83091662e-03 -2.25349337e-03 3.47589123e+00] [-5.82822323e-03 9.99982296e-01 1.19993084e-03 3.35045732e-02] [ 2.26045017e-03 -1.18677353e-03 9.99996741e-01 5.03369391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48255784400004 meters 0.28461544072113576 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99981484e-01 5.64277767e-03 -2.27815134e-03 3.47615877e+00] [-5.64129873e-03 9.99983873e-01 6.55089967e-04 3.56906131e-02] [ 2.28181113e-03 -6.42226105e-04 9.99997190e-01 5.02851055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51255784400007 meters 0.2845812071949024 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99982329e-01 5.50311398e-03 -2.24908640e-03 3.47620178e+00] [-5.50245541e-03 9.99984817e-01 2.98897866e-04 3.71571233e-02] [ 2.25069712e-03 -2.86517087e-04 9.99997426e-01 5.02576421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54255784400004 meters 0.2845812071949024 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99982329e-01 5.50311398e-03 -2.24908640e-03 3.47620178e+00] [-5.50245541e-03 9.99984817e-01 2.98897866e-04 3.71571233e-02] [ 2.25069712e-03 -2.86517087e-04 9.99997426e-01 5.02576421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5725578440001 meters 0.2846067103916058 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99983227e-01 5.35659952e-03 -2.20266020e-03 3.47608997e+00] [-5.35677102e-03 9.99985650e-01 -7.19690950e-05 3.87117749e-02] [ 2.20224308e-03 8.37670342e-05 9.99997572e-01 5.02538888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60255784400005 meters 0.28347975426999256 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99983888e-01 5.25274346e-03 -2.15225068e-03 3.47586629e+00] [-5.25347204e-03 9.99986145e-01 -3.33004880e-04 3.98230287e-02] [ 2.15047167e-03 3.44306304e-04 9.99997628e-01 5.02726687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6325578440001 meters 0.28356304735552407 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984590e-01 5.11684424e-03 -2.15356103e-03 3.47575869e+00] [-5.11828922e-03 9.99986680e-01 -6.66000598e-04 4.12413026e-02] [ 2.15012453e-03 6.77012883e-04 9.99997459e-01 5.02928925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66255784400005 meters 0.2845990349616954 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984496e-01 5.08964787e-03 -2.25884542e-03 3.47605099e+00] [-5.09131068e-03 9.99986772e-01 -7.30996041e-04 4.14960921e-02] [ 2.25509503e-03 7.42485192e-04 9.99997182e-01 5.02854605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6925578440001 meters 0.28394711342982654 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984208e-01 5.09152162e-03 -2.37911914e-03 3.47633580e+00] [-5.09324605e-03 9.99986771e-01 -7.19321917e-04 4.14427822e-02] [ 2.37542522e-03 7.31427997e-04 9.99996911e-01 5.02886656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72255784400005 meters 0.284466280447132 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984058e-01 5.12063999e-03 -2.37970757e-03 3.47624196e+00] [-5.12218248e-03 9.99986675e-01 -6.42542940e-04 4.11399723e-02] [ 2.37638563e-03 6.54721993e-04 9.99996962e-01 5.03110813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7525578440001 meters 0.28349448104699043 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984011e-01 5.14917119e-03 -2.33729289e-03 3.47597328e+00] [-5.15052077e-03 9.99986573e-01 -5.71757561e-04 4.08726986e-02] [ 2.33431743e-03 5.83786695e-04 9.99997105e-01 5.03483441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78255784400005 meters 0.28237450597103164 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984034e-01 5.12966796e-03 -2.37024747e-03 3.47591985e+00] [-5.13114928e-03 9.99986644e-01 -6.19304780e-04 4.10950727e-02] [ 2.36703898e-03 6.31456986e-04 9.99996999e-01 5.03781878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8125578440001 meters 0.28252121601664437 Centerline is valid? [False, False] Translation: X:3.48, Y:0.04, Z:0.50 [[ 9.99984292e-01 5.01742902e-03 -2.49835197e-03 3.47636863e+00] [-5.01968301e-03 9.99986999e-01 -8.96739085e-04 4.22366489e-02] [ 2.49382017e-03 9.09265934e-04 9.99996477e-01 5.03490196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84255784400005 meters 0.2819306183843215 Centerline is valid? [False, False] Translation: X:3.45, Y:0.04, Z:0.50 [[ 9.99985901e-01 -1.70873153e-03 -5.02765446e-03 3.45422343e+00] [ 1.71729381e-03 9.99997082e-01 1.69921295e-03 4.14079242e-02] [ 5.02473629e-03 -1.70782296e-03 9.99985918e-01 5.04937829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8725578440001 meters 0.2833990111187093 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.50 [[ 9.99987390e-01 4.74482689e-03 -1.64504890e-03 3.47508532e+00] [-4.74708741e-03 9.99987790e-01 -1.37296165e-03 4.56792662e-02] [ 1.63851435e-03 1.38075353e-03 9.99997704e-01 5.03586849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90255784400006 meters 0.28235761884509414 Centerline is valid? [False, False] Translation: X:3.45, Y:0.05, Z:0.50 [[ 9.99990041e-01 -4.37068676e-03 -9.02447507e-04 3.45390195e+00] [ 4.37015707e-03 9.99990278e-01 -5.88085634e-04 5.01296016e-02] [ 9.05009072e-04 5.84135940e-04 9.99999420e-01 5.02887129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9325578440001 meters 0.28290638048016775 Centerline is valid? [False, False] Translation: X:3.47, Y:0.05, Z:0.50 [[ 9.99990498e-01 4.22368982e-03 1.07870815e-03 3.47359112e+00] [-4.22173779e-03 9.99989458e-01 -1.80551262e-03 4.93737515e-02] [-1.08632271e-03 1.80094145e-03 9.99997788e-01 5.03382178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96255784400006 meters 0.2825821799522929 Centerline is valid? [False, False] Translation: X:3.47, Y:0.05, Z:0.50 [[ 9.99990570e-01 4.19289064e-03 1.13096465e-03 3.47351718e+00] [-4.19075439e-03 9.99989443e-01 -1.88467208e-03 4.96990684e-02] [-1.13885494e-03 1.87991471e-03 9.99997584e-01 5.03247628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9925578440001 meters 0.28268548404720983 Centerline is valid? [False, False] Translation: X:3.47, Y:0.05, Z:0.50 [[ 9.99990716e-01 4.15816219e-03 1.12989293e-03 3.47356701e+00] [-4.15592824e-03 9.99989419e-01 -1.97233544e-03 5.00595341e-02] [-1.13808227e-03 1.96762138e-03 9.99997417e-01 5.03137044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02255784400006 meters 0.2838597080569401 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.50 [[ 9.99992946e-01 -3.44287745e-03 1.50143013e-03 3.49257986e+00] [ 3.44380749e-03 9.99993880e-01 -6.17295897e-04 5.51136116e-02] [-1.49929567e-03 6.22462179e-04 9.99998682e-01 5.04762996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05255784400003 meters 0.28270856655154386 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.50 [[ 9.99992931e-01 -3.43875945e-03 1.52058078e-03 3.49247681e+00] [ 3.43968627e-03 9.99993900e-01 -6.07322882e-04 5.50806243e-02] [-1.51848307e-03 6.12548910e-04 9.99998659e-01 5.04881775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08255784400006 meters 0.2832887251183312 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.51 [[ 9.99993010e-01 -3.39979551e-03 1.55613566e-03 3.49219642e+00] [ 3.40059693e-03 9.99994087e-01 -5.12645602e-04 5.47019102e-02] [-1.55438357e-03 5.17933809e-04 9.99998658e-01 5.05314715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11255784400004 meters 0.28430732652614776 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:0.51 [[ 9.99982679e-01 5.03641963e-03 3.04579131e-03 3.51134928e+00] [-5.03040760e-03 9.99985390e-01 -1.97833245e-03 5.27470408e-02] [-3.05571052e-03 1.96297661e-03 9.99993405e-01 5.06311898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14255784400007 meters 0.2843742169589472 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:0.51 [[ 9.99982816e-01 4.98027732e-03 3.09270485e-03 3.51117388e+00] [-4.97372648e-03 9.99985379e-01 -2.12224808e-03 5.33573844e-02] [-3.10322902e-03 2.10682934e-03 9.99992966e-01 5.06424380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17255784400004 meters 0.28245053412978377 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.51 [[ 9.99995966e-01 -2.27739302e-03 1.69740016e-03 3.49001275e+00] [ 2.27671494e-03 9.99997328e-01 4.01306062e-04 5.41383833e-02] [-1.69830956e-03 -3.97439946e-04 9.99998479e-01 5.06863205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20255784400007 meters 0.28369487241114133 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.51 [[ 9.99995660e-01 -2.40368811e-03 1.70367321e-03 3.49003376e+00] [ 2.40360179e-03 9.99997110e-01 5.27155408e-05 5.55481481e-02] [-1.70379500e-03 -4.86203600e-05 9.99998547e-01 5.06743478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23255784400004 meters 0.28478826274501445 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.51 [[ 9.99995399e-01 -2.56583396e-03 1.61830382e-03 3.49040485e+00] [ 2.56648115e-03 9.99996627e-01 -3.97969761e-04 5.73479398e-02] [-1.61727724e-03 4.02121276e-04 9.99998611e-01 5.06331446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26255784400007 meters 0.2848115162808774 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.51 [[ 9.99994936e-01 -2.76339972e-03 1.57853629e-03 3.49074900e+00] [ 2.76489198e-03 9.99995732e-01 -9.43947026e-04 5.95463400e-02] [-1.57592105e-03 9.48306729e-04 9.99998309e-01 5.05722258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29255784400004 meters 0.2845939269500609 Centerline is valid? [False, False] Translation: X:3.49, Y:0.06, Z:0.51 [[ 9.99994410e-01 -2.95973601e-03 1.55590207e-03 3.49097253e+00] [ 2.96201608e-03 9.99994540e-01 -1.46518062e-03 6.16735420e-02] [-1.55155702e-03 1.46978104e-03 9.99997716e-01 5.05310320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3225578440001 meters 0.28298696715395316 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.50 [[ 9.99987279e-01 5.03688689e-03 -2.66702369e-04 3.47048817e+00] [-5.03762424e-03 9.99983278e-01 -2.84022531e-03 6.31721125e-02] [ 2.52392015e-04 2.84153272e-03 9.99995931e-01 5.04990715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35255784400005 meters 0.2834269517451673 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.51 [[ 9.99993565e-01 -5.56777389e-05 -3.58690759e-03 3.48534181e+00] [ 5.16635085e-05 9.99999372e-01 -1.11921697e-03 6.75601605e-02] [ 3.58696765e-03 1.11902446e-03 9.99992941e-01 5.09792420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3825578440001 meters 0.28427018863494075 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.51 [[ 9.99993122e-01 -1.33283256e-04 -3.70637475e-03 3.48572844e+00] [ 1.28447503e-04 9.99999140e-01 -1.30491977e-03 6.83069421e-02] [ 3.70654549e-03 1.30443472e-03 9.99992280e-01 5.09594132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41255784400005 meters 0.28369752275433424 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.51 [[ 9.99992773e-01 -1.81954151e-04 -3.79739871e-03 3.48586790e+00] [ 1.76531793e-04 9.99998965e-01 -1.42820010e-03 6.88171863e-02] [ 3.79765465e-03 1.42751941e-03 9.99991770e-01 5.09778422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4425578440001 meters 0.2828660026088229 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.51 [[ 9.99993062e-01 -1.92679874e-04 -3.71994825e-03 3.48543341e+00] [ 1.87241063e-04 9.99998913e-01 -1.46235921e-03 6.89806191e-02] [ 3.72022598e-03 1.46165254e-03 9.99992012e-01 5.10336196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47255784400005 meters 0.2820048625685846 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.51 [[ 9.99993467e-01 -2.02718890e-04 -3.60886644e-03 3.48489179e+00] [ 1.97330446e-04 9.99998865e-01 -1.49340619e-03 6.91541133e-02] [ 3.60916508e-03 1.49268429e-03 9.99992373e-01 5.10970491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5025578440001 meters 0.28375525076746844 Centerline is valid? [False, False] Translation: X:3.52, Y:0.07, Z:0.52 [[ 9.99996431e-01 4.93397527e-04 -2.62583466e-03 3.51873080e+00] [-4.96711571e-04 9.99999081e-01 -1.26158934e-03 7.23933718e-02] [ 2.62520978e-03 1.26288912e-03 9.99995757e-01 5.16074375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53255784400005 meters 0.2822838374695001 Centerline is valid? [False, False] Translation: X:3.52, Y:0.07, Z:0.52 [[ 9.99996546e-01 4.67456783e-04 -2.58630527e-03 3.51857965e+00] [-4.70891646e-04 9.99999008e-01 -1.32764732e-03 7.26716398e-02] [ 2.58568208e-03 1.32886060e-03 9.99995774e-01 5.16168723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5625578440001 meters 0.2827444186509837 Centerline is valid? [False, False] Translation: X:3.52, Y:0.07, Z:0.52 [[ 9.99996440e-01 4.30705990e-04 -2.63351608e-03 3.51880480e+00] [-4.34447400e-04 9.99998897e-01 -1.42028307e-03 7.30453633e-02] [ 2.63290145e-03 1.42142213e-03 9.99995524e-01 5.15927349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59255784400005 meters 0.28223877130716285 Centerline is valid? [False, False] Translation: X:3.52, Y:0.07, Z:0.52 [[ 9.99996111e-01 3.71345215e-04 -2.76404706e-03 3.51922536e+00] [-3.75680873e-04 9.99998700e-01 -1.56823657e-03 7.36482444e-02] [ 2.76346111e-03 1.56926888e-03 9.99994950e-01 5.15703592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6225578440001 meters 0.2834609875763276 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99985894e-01 -4.98752228e-03 -1.82663548e-03 3.54280996e+00] [ 4.99073729e-03 9.99985998e-01 1.75976630e-03 7.57192557e-02] [ 1.81783303e-03 -1.76885773e-03 9.99996783e-01 5.14139133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65255784400006 meters 0.28406169978132334 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99985392e-01 -5.08005995e-03 -1.84630695e-03 3.54294933e+00] [ 5.08288913e-03 9.99985910e-01 1.53090086e-03 7.66609859e-02] [ 1.83850386e-03 -1.54026307e-03 9.99997124e-01 5.13929565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6825578440001 meters 0.285481340740168 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99984190e-01 -5.30380338e-03 -1.86822169e-03 3.54303020e+00] [ 5.30560323e-03 9.99985465e-01 9.59769518e-04 7.90227828e-02] [ 1.86310410e-03 -9.69666387e-04 9.99997794e-01 5.13815751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71255784400006 meters 0.28327859443484055 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99983488e-01 -5.43213063e-03 -1.87508243e-03 3.54316080e+00] [ 5.43334528e-03 9.99985032e-01 6.43301044e-04 8.03345399e-02] [ 1.87155986e-03 -6.53478392e-04 9.99998035e-01 5.13545507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7425578440001 meters 0.2846079981889558 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99982923e-01 -5.54692474e-03 -1.83977801e-03 3.54312419e+00] [ 5.54760026e-03 9.99984546e-01 3.62272258e-04 8.15049650e-02] [ 1.83774008e-03 -3.72472425e-04 9.99998242e-01 5.13401812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77255784400006 meters 0.28410749412621467 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99982409e-01 -5.65914320e-03 -1.77646732e-03 3.54284671e+00] [ 5.65929951e-03 9.99983983e-01 8.29726488e-05 8.26930561e-02] [ 1.77596931e-03 -9.30247498e-05 9.99998419e-01 5.13610745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80255784400003 meters 0.2835907489642181 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99995081e-01 2.88279518e-03 -1.23597150e-03 3.52121642e+00] [-2.88359090e-03 9.99995636e-01 -6.42500340e-04 7.97388768e-02] [ 1.23411391e-03 6.46061216e-04 9.99999030e-01 5.13384474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83255784400006 meters 0.2840497078353435 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99995465e-01 2.76497588e-03 -1.19351194e-03 3.52091982e+00] [-2.76609171e-03 9.99995738e-01 -9.34283867e-04 8.10055321e-02] [ 1.19092358e-03 9.37580994e-04 9.99998851e-01 5.13776941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86255784400004 meters 0.2833728951901096 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99995910e-01 2.62254103e-03 -1.14129714e-03 3.52073317e+00] [-2.62400230e-03 9.99995737e-01 -1.28075063e-03 8.24850297e-02] [ 1.13793345e-03 1.28374016e-03 9.99998529e-01 5.13874118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89255784400007 meters 0.28253049547659354 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99996010e-01 2.58997450e-03 -1.12823526e-03 3.52064515e+00] [-2.59150948e-03 9.99995716e-01 -1.36118545e-03 8.28332270e-02] [ 1.12470499e-03 1.36410385e-03 9.99998437e-01 5.13980375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92255784400004 meters 0.2839530971445332 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99996164e-01 2.54960580e-03 -1.08210615e-03 3.52050944e+00] [-2.55118785e-03 9.99995675e-01 -1.46315444e-03 8.32687009e-02] [ 1.07837100e-03 1.46590949e-03 9.99998344e-01 5.14011714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95255784400007 meters 0.2837068044494033 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99994749e-01 -3.08761503e-03 9.84314456e-04 3.54171434e+00] [ 3.08574238e-03 9.99993437e-01 1.89836839e-03 8.44827061e-02] [-9.90169426e-04 -1.89532108e-03 9.99997714e-01 5.13269681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98255784400004 meters 0.2834183284201778 Centerline is valid? [False, False] Translation: X:3.54, Y:0.08, Z:0.51 [[ 9.99994810e-01 -3.06367749e-03 9.97357881e-04 3.54162095e+00] [ 3.06172279e-03 9.99993401e-01 1.95554561e-03 8.42450677e-02] [-1.00334246e-03 -1.95248183e-03 9.99997591e-01 5.13400482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01255784400007 meters 0.2827690939415453 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.51 [[ 9.99989033e-01 4.67334841e-03 3.07199356e-04 3.52308359e+00] [-4.67353769e-03 9.99988888e-01 6.18351172e-04 7.87033154e-02] [-3.04306172e-04 -6.19780098e-04 9.99999762e-01 5.11799179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04255784400004 meters 0.2838915401150276 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.51 [[ 9.99990184e-01 -4.40931668e-03 4.34741710e-04 3.54580535e+00] [ 4.40889753e-03 9.99989820e-01 9.60415886e-04 7.90503538e-02] [-4.38972062e-04 -9.58489728e-04 9.99999444e-01 5.11268002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0725578440001 meters 0.28280768495817976 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.51 [[ 9.99994348e-01 3.35872658e-03 -1.48925665e-04 3.52767690e+00] [-3.35875084e-03 9.99994346e-01 -1.62933860e-04 7.20665031e-02] [ 1.48377573e-04 1.63433143e-04 9.99999976e-01 5.09442764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10255784400005 meters 0.2830835391808166 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.51 [[ 9.99993775e-01 3.52343141e-03 -1.86099423e-04 3.52790031e+00] [-3.52338467e-03 9.99993761e-01 2.50895446e-04 7.03125143e-02] [ 1.86982274e-04 -2.50238184e-04 9.99999951e-01 5.09189403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1325578440001 meters 0.2825551868034746 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.51 [[ 9.99993110e-01 3.69709895e-03 -3.33277555e-04 3.52832433e+00] [-3.69686573e-03 9.99992923e-01 6.97689087e-04 6.84384012e-02] [ 3.35854622e-04 -6.96452197e-04 9.99999701e-01 5.09099219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16255784400005 meters 0.28385681817091674 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.51 [[ 9.99988419e-01 -4.81252265e-03 -4.24596406e-05 3.54962972e+00] [ 4.81258488e-03 9.99987119e-01 1.61299104e-03 6.95609458e-02] [ 3.46965378e-05 -1.61317670e-03 9.99998698e-01 5.09475413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1925578440001 meters 0.2829847356782541 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995803e-01 2.79803912e-03 -7.52159502e-04 3.53143210e+00] [-2.79772024e-03 9.99995996e-01 4.24680543e-04 6.19849200e-02] [ 7.53344764e-04 -4.22574428e-04 9.99999627e-01 5.07720786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22255784400005 meters 0.28342480498452155 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995265e-01 2.97061217e-03 -8.03315386e-04 3.53154216e+00] [-2.96993567e-03 9.99995235e-01 8.42013673e-04 6.02521686e-02] [ 8.05812854e-04 -8.39623891e-04 9.99999323e-01 5.07825242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2525578440001 meters 0.28419674661863537 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995225e-01 2.96858178e-03 -8.59026299e-04 3.53180728e+00] [-2.96785666e-03 9.99995240e-01 8.44159804e-04 6.02423161e-02] [ 8.61528167e-04 -8.41606307e-04 9.99999275e-01 5.07541234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28255784400005 meters 0.2839400351265061 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995224e-01 2.93170827e-03 -9.77964771e-04 3.53232689e+00] [-2.93097511e-03 9.99995423e-01 7.50265474e-04 6.06181712e-02] [ 9.80159855e-04 -7.47395500e-04 9.99999240e-01 5.06993646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3125578440001 meters 0.2862118802465577 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995197e-01 2.88947577e-03 -1.12085449e-03 3.53285575e+00] [-2.88875958e-03 9.99995623e-01 6.40059606e-04 6.10471353e-02] [ 1.12269902e-03 -6.36818653e-04 9.99999167e-01 5.06555467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34255784400005 meters 0.2872213283597366 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995330e-01 2.82844555e-03 -1.15784492e-03 3.53299042e+00] [-2.82790138e-03 9.99995890e-01 4.71356420e-04 6.17343717e-02] [ 1.15917337e-03 -4.68079947e-04 9.99999219e-01 5.06423994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3725578440001 meters 0.2846268525570326 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.51 [[ 9.99995814e-01 2.76641094e-03 -8.48313930e-04 3.53214180e+00] [-2.76620753e-03 9.99996145e-01 2.40869183e-04 6.28000504e-02] [ 8.48977003e-04 -2.38521562e-04 9.99999611e-01 5.06621135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40255784400006 meters 0.284418279272128 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.51 [[ 9.99979533e-01 -6.23596730e-03 -1.43061059e-03 3.51178240e+00] [ 6.23742284e-03 9.99980032e-01 1.01523006e-03 6.65611475e-02] [ 1.42425109e-03 -1.02413260e-03 9.99998461e-01 5.05955760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4325578440001 meters 0.2844870337497217 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.51 [[ 9.99978997e-01 -6.35139080e-03 -1.29040689e-03 3.51142555e+00] [ 6.35229828e-03 9.99979579e-01 7.00369684e-04 6.78781270e-02] [ 1.28593222e-03 -7.08552023e-04 9.99998922e-01 5.05933585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46255784400006 meters 0.2844870337497217 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.51 [[ 9.99978997e-01 -6.35139080e-03 -1.29040689e-03 3.51142555e+00] [ 6.35229828e-03 9.99979579e-01 7.00369684e-04 6.78781270e-02] [ 1.28593222e-03 -7.08552023e-04 9.99998922e-01 5.05933585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4925578440001 meters 0.285240564245023 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.51 [[ 9.99997577e-01 2.09544959e-03 6.74040585e-04 3.53088330e+00] [-2.09482438e-03 9.99997376e-01 -9.26935415e-04 7.00309153e-02] [-6.75981163e-04 9.25521173e-04 9.99999343e-01 5.06849432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52255784400006 meters 0.28556828020134434 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.51 [[ 9.99997428e-01 1.66609147e-03 -1.53916723e-03 3.48635574e+00] [-1.66731775e-03 9.99998293e-01 -7.95772367e-04 6.86560821e-02] [ 1.53783877e-03 7.98336601e-04 9.99998499e-01 5.08277169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55255784400003 meters 0.2862659971885515 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.51 [[ 9.99995236e-01 -3.07202933e-03 -3.01574937e-04 3.50818162e+00] [ 3.07275733e-03 9.99992293e-01 2.44399204e-03 7.68565012e-02] [ 2.94064597e-04 -2.44490706e-03 9.99996968e-01 5.07965564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58255784400006 meters 0.28696528719846676 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.51 [[ 9.99994665e-01 -3.26070729e-03 -1.93469761e-04 3.50775345e+00] [ 3.26108289e-03 9.99992734e-01 1.97394385e-03 7.88642736e-02] [ 1.87031902e-04 -1.97456424e-03 9.99998033e-01 5.08230912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61255784400004 meters 0.28808639167711403 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.51 [[ 9.99994067e-01 -3.44124711e-03 -1.57159559e-04 3.50748871e+00] [ 3.44148295e-03 9.99992914e-01 1.52588669e-03 8.07766951e-02] [ 1.51907492e-04 -1.52641850e-03 9.99998823e-01 5.08525484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64255784400007 meters 0.28648973448736714 Centerline is valid? [False, False] Translation: X:3.53, Y:0.09, Z:0.51 [[ 9.99989620e-01 2.96312810e-03 3.46113294e-03 3.52766685e+00] [-2.95780773e-03 9.99994438e-01 -1.54128479e-03 8.61963467e-02] [-3.46568071e-03 1.53103142e-03 9.99992822e-01 5.07591693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67255784400004 meters 0.28476180869028744 Centerline is valid? [False, False] Translation: X:3.53, Y:0.09, Z:0.51 [[ 9.99990627e-01 2.57459975e-03 3.48113481e-03 3.52738406e+00] [-2.56619422e-03 9.99993787e-01 -2.41691104e-03 8.98939838e-02] [-3.48733576e-03 2.40795511e-03 9.99991020e-01 5.07910414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70255784400007 meters 0.28322607841453185 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.51 [[ 9.99981589e-01 -5.65949138e-03 2.18899646e-03 3.50818488e+00] [ 5.66229369e-03 9.99983155e-01 -1.27611001e-03 9.43229999e-02] [-2.18173745e-03 1.28848125e-03 9.99996790e-01 5.06232534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73255784400004 meters 0.28490924323531075 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:0.50 [[ 9.99995437e-01 -2.71908234e-03 1.31655745e-03 3.51194427e+00] [ 2.71789226e-03 9.99995897e-01 9.04878726e-04 9.94140135e-02] [-1.31901249e-03 -9.01296335e-04 9.99998724e-01 5.03907662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76255784400007 meters 0.28501059374021415 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:0.50 [[ 9.99994892e-01 -2.90429933e-03 1.33471802e-03 3.51190133e+00] [ 2.90367628e-03 9.99995675e-01 4.68502981e-04 1.01235704e-01] [-1.33607292e-03 -4.64624999e-04 9.99999000e-01 5.03839120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79255784400004 meters 0.28468614642701606 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:0.50 [[ 9.99994359e-01 -3.07696115e-03 1.34707387e-03 3.51183000e+00] [ 3.07689090e-03 9.99995265e-01 5.42192678e-05 1.02969133e-01] [-1.34723433e-03 -5.00741626e-05 9.99999091e-01 5.03867096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8225578440001 meters 0.283213883166889 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:0.51 [[ 9.99996369e-01 2.65079852e-03 -4.84651434e-04 3.48909963e+00] [-2.65243026e-03 9.99990710e-01 -3.39776166e-03 1.04183587e-01] [ 4.75640150e-04 3.39903483e-03 9.99994110e-01 5.05717149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85255784400005 meters 0.2849323306846028 Centerline is valid? [False, False] Translation: X:3.51, Y:0.11, Z:0.50 [[ 9.99995815e-01 -2.79703742e-03 7.39766693e-04 3.51212117e+00] [ 2.79721220e-03 9.99996060e-01 -2.35335015e-04 1.08238993e-01] [-7.39105538e-04 2.37403315e-04 9.99999699e-01 5.04531003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8825578440001 meters 0.28328347863576075 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99994629e-01 -2.50084866e-03 2.11862174e-03 3.47365218e+00] [ 2.50109755e-03 9.99996866e-01 -1.14836686e-04 1.10490828e-01] [-2.11832791e-03 1.20134949e-04 9.99997749e-01 5.01117451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91255784400005 meters 0.28333294743480825 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99994343e-01 -2.60926674e-03 2.12288544e-03 3.47360877e+00] [ 2.61008201e-03 9.99996521e-01 -3.81359006e-04 1.11595940e-01] [-2.12188299e-03 3.86897754e-04 9.99997674e-01 5.01153157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9425578440001 meters 0.28333062898291816 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99994069e-01 -2.69899614e-03 2.13949192e-03 3.47352013e+00] [ 2.70030187e-03 9.99996170e-01 -6.07646670e-04 1.12531188e-01] [-2.13784369e-03 6.13420340e-04 9.99997527e-01 5.01224376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97255784400005 meters 0.28457912282854864 Centerline is valid? [False, False] Translation: X:3.49, Y:0.11, Z:0.50 [[ 9.99977059e-01 5.83598214e-03 3.43837523e-03 3.49331905e+00] [-5.82942950e-03 9.99981180e-01 -1.91268643e-03 1.12213367e-01] [-3.44947292e-03 1.89259878e-03 9.99992260e-01 5.01874747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0025578440001 meters 0.2826583691218186 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99999743e-01 -6.66043495e-04 2.65945217e-04 3.47231436e+00] [ 6.65882088e-04 9.99999594e-01 6.06546822e-04 1.11027796e-01] [-2.66349096e-04 -6.06369578e-04 9.99999781e-01 5.03001684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03255784400005 meters 0.2831097407185335 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99999688e-01 -7.87476011e-04 6.36632253e-05 3.47292835e+00] [ 7.87457883e-04 9.99999650e-01 2.84279240e-04 1.12321082e-01] [-6.38870661e-05 -2.84229019e-04 9.99999958e-01 5.02651384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0625578440001 meters 0.2838847426424225 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99999665e-01 -8.16069169e-04 -6.03164597e-05 3.47324956e+00] [ 8.16081928e-04 9.99999645e-01 2.11799814e-04 1.12608438e-01] [ 6.01435950e-05 -2.11848966e-04 9.99999976e-01 5.02617494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09255784400005 meters 0.2838920357325966 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99999674e-01 -8.01403796e-04 -1.02056064e-04 3.47328056e+00] [ 8.01429091e-04 9.99999648e-01 2.48054263e-04 1.12458694e-01] [ 1.01857236e-04 -2.48135973e-04 9.99999964e-01 5.02784444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1225578440001 meters 0.28401718238842244 Centerline is valid? [False, False] Translation: X:3.50, Y:0.12, Z:0.50 [[ 9.99984510e-01 4.98794331e-03 2.46975204e-03 3.49579916e+00] [-4.98037904e-03 9.99982918e-01 -3.05949686e-03 1.15341999e-01] [-2.48497045e-03 3.04714917e-03 9.99992270e-01 5.01041425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15255784400006 meters 0.28404243133901 Centerline is valid? [False, False] Translation: X:3.50, Y:0.11, Z:0.50 [[ 9.99984411e-01 5.02297414e-03 2.43858010e-03 3.49592509e+00] [-5.01572177e-03 9.99983007e-01 -2.97107720e-03 1.14967064e-01] [-2.45346231e-03 2.95879964e-03 9.99992613e-01 5.00943314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1825578440001 meters 0.28229022114972147 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:0.50 [[ 9.99998642e-01 -1.38857119e-03 -8.87779738e-04 3.47490551e+00] [ 1.38832728e-03 9.99998998e-01 -2.75293632e-04 1.11962855e-01] [ 8.88161113e-04 2.74060729e-04 9.99999568e-01 5.02359723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.21255784400006 meters 0.2841557263923392 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:0.50 [[ 9.99998694e-01 -1.30930594e-03 -9.47213396e-04 3.47513888e+00] [ 1.30923835e-03 9.99999140e-01 -7.19748792e-05 1.11110405e-01] [ 9.47306819e-04 7.07346571e-05 9.99999549e-01 5.02187910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2425578440001 meters 0.2831774085093526 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:0.50 [[ 9.99998761e-01 -1.21971162e-03 -9.94879965e-04 3.47528393e+00] [ 1.21986698e-03 9.99999244e-01 1.55572875e-04 1.10159072e-01] [ 9.94689459e-04 -1.56786303e-04 9.99999493e-01 5.02147009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27255784400006 meters 0.28428883181684755 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:0.50 [[ 9.99998928e-01 -1.02726058e-03 -1.04353836e-03 3.47539403e+00] [ 1.02793913e-03 9.99999260e-01 6.49917106e-04 1.08097200e-01] [ 1.04286995e-03 -6.50989103e-04 9.99999244e-01 5.02214940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30255784400003 meters 0.2843817838374161 Centerline is valid? [False, False] Translation: X:3.50, Y:0.11, Z:0.50 [[ 9.99986075e-01 5.14572499e-03 1.17117832e-03 3.49701293e+00] [-5.14299429e-03 9.99984077e-01 -2.32277514e-03 1.07642598e-01] [-1.18311203e-03 2.31671943e-03 9.99996617e-01 5.01160208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33255784400006 meters 0.28544934222179136 Centerline is valid? [False, False] Translation: X:3.50, Y:0.11, Z:0.50 [[ 9.99985276e-01 5.29709831e-03 1.17814984e-03 3.49695312e+00] [-5.29480249e-03 9.99984094e-01 -1.94332355e-03 1.06068783e-01] [-1.18842508e-03 1.93705687e-03 9.99997418e-01 5.01273125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36255784400004 meters 0.2829977391684142 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:0.50 [[ 9.99997149e-01 -1.05790677e-03 -2.14056801e-03 3.47526708e+00] [ 1.06005254e-03 9.99998937e-01 1.00154633e-03 1.00603355e-01] [ 2.13950619e-03 -1.00381259e-03 9.99997207e-01 5.03299488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39255784400007 meters 0.2850506248874618 Centerline is valid? [False, False] Translation: X:3.50, Y:0.10, Z:0.50 [[ 9.99988188e-01 4.82934608e-03 -5.48180124e-04 3.49866238e+00] [-4.83035435e-03 9.99986617e-01 -1.85313056e-03 9.79279120e-02] [ 5.39223378e-04 1.85575658e-03 9.99998133e-01 5.01816436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42255784400004 meters 0.2840667686434149 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:0.50 [[ 9.99991903e-01 -3.67017073e-03 -1.65028529e-03 3.47879329e+00] [ 3.66945814e-03 9.99993173e-01 -4.34621204e-04 9.78413621e-02] [ 1.65186916e-03 4.28562032e-04 9.99998544e-01 5.00842309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45255784400007 meters 0.28411898255207274 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:0.50 [[ 9.99992478e-01 -3.54055138e-03 -1.58381668e-03 3.47855858e+00] [ 3.54037256e-03 9.99993726e-01 -1.15696730e-04 9.65131976e-02] [ 1.58421637e-03 1.10088558e-04 9.99998739e-01 5.01016538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48255784400004 meters 0.28514851205040154 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:0.50 [[ 9.99993014e-01 -3.39902970e-03 -1.55499304e-03 3.47837299e+00] [ 3.39938656e-03 9.99994196e-01 2.26907647e-04 9.50736648e-02] [ 1.55421274e-03 -2.32192084e-04 9.99998765e-01 5.01290021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51255784400007 meters 0.28301280283776553 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.50 [[ 9.99993531e-01 2.30631290e-03 -2.76023923e-03 3.45490961e+00] [-2.31410129e-03 9.99993341e-01 -2.82177567e-03 9.26077742e-02] [ 2.75371296e-03 2.82814489e-03 9.99992209e-01 5.02848320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54255784400004 meters 0.28378911804783147 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 9.99993021e-01 2.52550870e-03 -2.75309454e-03 3.45507557e+00] [-2.53180334e-03 9.99994184e-01 -2.28530305e-03 9.03513622e-02] [ 2.74730698e-03 2.29225739e-03 9.99993599e-01 5.02483582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5725578440001 meters 0.28389824508678524 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 9.99992552e-01 2.70820806e-03 -2.74969760e-03 3.45513795e+00] [-2.71324297e-03 9.99994647e-01 -1.82899976e-03 8.84461169e-02] [ 2.74472957e-03 1.83644673e-03 9.99994547e-01 5.02366222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60255784400005 meters 0.28510754934255317 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:0.50 [[ 9.99991958e-01 2.91062228e-03 -2.75887505e-03 3.45518065e+00] [-2.91429574e-03 9.99994871e-01 -1.32842397e-03 8.63695662e-02] [ 2.75499436e-03 1.33645347e-03 9.99995312e-01 5.02351990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6325578440001 meters 0.2860790267167871 Centerline is valid? [False, False] Translation: X:3.48, Y:0.09, Z:0.50 [[ 9.99982549e-01 -5.69591041e-03 -1.56778033e-03 3.47637921e+00] [ 5.69505500e-03 9.99983632e-01 -5.49543039e-04 8.66448605e-02] [ 1.57088482e-03 5.40604854e-04 9.99998620e-01 5.02469726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66255784400005 meters 0.2846007808164194 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996449e-01 1.97893353e-03 -1.78510390e-03 3.45812911e+00] [-1.98206586e-03 9.99996496e-01 -1.75464368e-03 7.88955174e-02] [ 1.78162532e-03 1.75817565e-03 9.99996867e-01 5.00287198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6925578440001 meters 0.2844963947915884 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996196e-01 2.10490426e-03 -1.78258075e-03 3.45816905e+00] [-2.10747841e-03 9.99996738e-01 -1.44341568e-03 7.76040161e-02] [ 1.77953668e-03 1.44716694e-03 9.99997369e-01 5.00207203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72255784400005 meters 0.2844287618433436 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99995897e-01 2.24651907e-03 -1.77729385e-03 3.45839206e+00] [-2.24843907e-03 9.99996890e-01 -1.07903636e-03 7.60873373e-02] [ 1.77486425e-03 1.08302807e-03 9.99997838e-01 4.99716788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7525578440001 meters 0.28623704769529074 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.50 [[ 9.99982510e-01 -5.79310401e-03 -1.19171040e-03 3.47748589e+00] [ 5.79331956e-03 9.99983203e-01 1.77507315e-04 8.07765656e-02] [ 1.19066207e-03 -1.84408170e-04 9.99999274e-01 5.00606686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78255784400005 meters 0.28553218938623803 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996183e-01 1.98106978e-03 -1.92615365e-03 3.45821611e+00] [-1.98323274e-03 9.99997404e-01 -1.12168505e-03 7.62584017e-02] [ 1.92392651e-03 1.12550078e-03 9.99997516e-01 4.98810861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8125578440001 meters 0.2874273262429812 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996232e-01 1.95656707e-03 -1.92557920e-03 3.45836029e+00] [-1.95884441e-03 9.99997383e-01 -1.18150133e-03 7.64952296e-02] [ 1.92326247e-03 1.18526879e-03 9.99997448e-01 4.98488292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84255784400005 meters 0.28576767756459903 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996301e-01 1.90601931e-03 -1.94040384e-03 3.45843251e+00] [-1.90856048e-03 9.99997322e-01 -1.30860032e-03 7.70175811e-02] [ 1.93790442e-03 1.31229885e-03 9.99997261e-01 4.98401106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8725578440001 meters 0.285834775891454 Centerline is valid? [False, False] Translation: X:3.46, Y:0.08, Z:0.50 [[ 9.99996348e-01 1.85582784e-03 -1.96467915e-03 3.45847092e+00] [-1.85864550e-03 9.99997246e-01 -1.43330399e-03 7.75403347e-02] [ 1.96201377e-03 1.43695040e-03 9.99997043e-01 4.98441515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90255784400006 meters 0.28805746825510825 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.50 [[ 9.99981422e-01 -6.06267999e-03 -6.31326673e-04 3.47733435e+00] [ 6.06247342e-03 9.99981569e-01 -3.28592800e-04 8.27135728e-02] [ 6.33307190e-04 3.24759294e-04 9.99999747e-01 4.99530954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9325578440001 meters 0.2864739053850994 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.50 [[ 9.99981656e-01 -6.02300711e-03 -6.40513635e-04 3.47733157e+00] [ 6.02286000e-03 9.99981836e-01 -2.31354415e-04 8.23063310e-02] [ 6.41895450e-04 2.27492447e-04 9.99999768e-01 4.99599781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96255784400006 meters 0.28537575486601857 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.50 [[ 9.99981941e-01 -5.97302812e-03 -6.64295168e-04 3.47735527e+00] [ 5.97295826e-03 9.99982156e-01 -1.07094145e-04 8.17911645e-02] [ 6.64922991e-04 1.03124404e-04 9.99999774e-01 4.99692226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9925578440001 meters 0.2852052988899094 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.50 [[ 9.99982164e-01 -5.92596072e-03 -7.44164524e-04 3.47754040e+00] [ 5.92597213e-03 9.99982441e-01 1.31331373e-05 8.12825246e-02] [ 7.44073631e-04 -1.75428013e-05 9.99999723e-01 4.99738224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02255784400006 meters 0.2854024865420307 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995378e-01 2.96155843e-03 -6.87419691e-04 3.49797982e+00] [-2.96219097e-03 9.99995189e-01 -9.20987125e-04 7.84164313e-02] [ 6.84688826e-04 9.23019137e-04 9.99999340e-01 5.00860915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05255784400003 meters 0.2853257910884891 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995206e-01 2.99779775e-03 -7.75302626e-04 3.49814797e+00] [-2.99843694e-03 9.99995165e-01 -8.24586355e-04 7.80205087e-02] [ 7.72826934e-04 8.26907098e-04 9.99999359e-01 5.00975451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08255784400006 meters 0.2844371059128348 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995256e-01 3.00604778e-03 -6.72145586e-04 3.49777775e+00] [-3.00658975e-03 9.99995155e-01 -8.06773301e-04 7.79670274e-02] [ 6.69717130e-04 8.08790339e-04 9.99999449e-01 5.01230686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11255784400004 meters 0.28472462760955275 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995449e-01 2.97080665e-03 -5.26250434e-04 3.49723108e+00] [-2.97127993e-03 9.99995180e-01 -9.00852206e-04 7.84062348e-02] [ 5.23571640e-04 9.02411743e-04 9.99999456e-01 5.01632736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14255784400007 meters 0.2853179304442792 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995660e-01 2.91811363e-03 -4.06258040e-04 3.49689888e+00] [-2.91853254e-03 9.99995206e-01 -1.03440150e-03 7.89883487e-02] [ 4.03237591e-04 1.03558269e-03 9.99999382e-01 5.01688991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17255784400004 meters 0.2859054734303599 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995832e-01 2.86130479e-03 -3.87157763e-04 3.49699252e+00] [-2.86175677e-03 9.99995218e-01 -1.17196064e-03 7.95663776e-02] [ 3.83802576e-04 1.17306371e-03 9.99999238e-01 5.01371772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20255784400007 meters 0.28668958148006163 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995904e-01 2.82695879e-03 -4.46909693e-04 3.49728537e+00] [-2.82751731e-03 9.99995216e-01 -1.25409487e-03 7.99001867e-02] [ 4.43362280e-04 1.25535338e-03 9.99999114e-01 5.01063764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23255784400004 meters 0.2872883362571 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995797e-01 2.85610700e-03 -4.98482256e-04 3.49747551e+00] [-2.85669430e-03 9.99995222e-01 -1.18147355e-03 7.95820782e-02] [ 4.95105460e-04 1.18289260e-03 9.99999178e-01 5.00945468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26255784400007 meters 0.28530402028515917 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.50 [[ 9.99995349e-01 3.01459438e-03 -4.63490492e-04 3.49715450e+00] [-3.01495286e-03 9.99995155e-01 -7.74703189e-04 7.79008668e-02] [ 4.61152831e-04 7.76096988e-04 9.99999593e-01 5.01496058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29255784400004 meters 0.2836858643200117 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.50 [[ 9.99988057e-01 -3.89072148e-03 -2.95759469e-03 3.47588397e+00] [ 3.89693170e-03 9.99990208e-01 2.09689873e-03 7.41273637e-02] [ 2.94940728e-03 -2.10839923e-03 9.99993428e-01 5.02953629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3225578440001 meters 0.28509424109268633 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.50 [[ 9.99997472e-01 2.16620020e-03 -6.03048050e-04 3.49850192e+00] [-2.16672392e-03 9.99997275e-01 -8.69168555e-04 7.39592059e-02] [ 6.01163614e-04 8.70472997e-04 9.99999440e-01 5.01265787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35255784400005 meters 0.28509424109268633 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.50 [[ 9.99997472e-01 2.16620020e-03 -6.03048050e-04 3.49850192e+00] [-2.16672392e-03 9.99997275e-01 -8.69168555e-04 7.39592059e-02] [ 6.01163614e-04 8.70472997e-04 9.99999440e-01 5.01265787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3825578440001 meters 0.2848391520528739 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.50 [[ 9.99997000e-01 2.35166847e-03 -6.85034286e-04 3.49883769e+00] [-2.35192935e-03 9.99997162e-01 -3.80282458e-04 7.19039016e-02] [ 6.84138043e-04 3.81892470e-04 9.99999693e-01 5.01017458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41255784400005 meters 0.28400041611101134 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.50 [[ 9.99978291e-01 -5.98003164e-03 -2.76720997e-03 3.47966405e+00] [ 5.98360818e-03 9.99981271e-01 1.28600175e-03 6.95453894e-02] [ 2.75946781e-03 -1.30253173e-03 9.99995344e-01 4.99752525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4425578440001 meters 0.28409676741709344 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.50 [[ 9.99979326e-01 -5.78083548e-03 -2.81587431e-03 3.47984805e+00] [ 5.78587967e-03 9.99981666e-01 1.78650204e-03 6.74321739e-02] [ 2.80549521e-03 -1.80275741e-03 9.99994440e-01 4.99667618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47255784400005 meters 0.28476715203992325 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.50 [[ 9.99997061e-01 2.37745882e-03 -4.75369198e-04 3.49810539e+00] [-2.37695488e-03 9.99996615e-01 1.05786794e-03 6.09419936e-02] [ 4.77882626e-04 -1.05673490e-03 9.99999327e-01 5.01754565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5025578440001 meters 0.2850352967872629 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.50 [[ 9.99996718e-01 2.52249294e-03 -4.48410292e-04 3.49792142e+00] [-2.52185595e-03 9.99995818e-01 1.41547802e-03 5.94559937e-02] [ 4.51978950e-04 -1.41434255e-03 9.99998898e-01 5.02023547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53255784400005 meters 0.28360423159575393 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.50 [[ 9.99996379e-01 2.65073411e-03 -4.65379622e-04 3.49796031e+00] [-2.64992666e-03 9.99994997e-01 1.72716058e-03 5.81487458e-02] [ 4.69955537e-04 -1.72592110e-03 9.99998400e-01 5.02056651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5625578440001 meters 0.2836530707442493 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.50 [[ 9.99995957e-01 2.79133583e-03 -5.42789039e-04 3.49829051e+00] [-2.79020118e-03 9.99993944e-01 2.08004552e-03 5.66534116e-02] [ 5.48591858e-04 -2.07852262e-03 9.99997689e-01 5.01800196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59255784400005 meters 0.2841160852669784 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.50 [[ 9.99995566e-01 2.90324691e-03 -6.63325652e-04 3.49870314e+00] [-2.90167114e-03 9.99992995e-01 2.36429982e-03 5.54442573e-02] [ 6.70185151e-04 -2.36236458e-03 9.99996985e-01 5.01588064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6225578440001 meters 0.2845589819475202 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.50 [[ 9.99995198e-01 3.01932754e-03 -6.97836375e-04 3.49884653e+00] [-3.01746291e-03 9.99991915e-01 2.65780007e-03 5.42120907e-02] [ 7.05855502e-04 -2.65568161e-03 9.99996225e-01 5.01489410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65255784400006 meters 0.2831730961908216 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.50 [[ 9.99998770e-01 1.46917947e-03 5.48457974e-04 3.49360771e+00] [-1.46995336e-03 9.99997921e-01 1.41331005e-03 5.34506329e-02] [-5.46380427e-04 -1.41411452e-03 9.99998851e-01 5.04728407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6825578440001 meters 0.2846324278759849 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.50 [[ 9.99998495e-01 1.65350821e-03 5.25507032e-04 3.49360338e+00] [-1.65452520e-03 9.99996748e-01 1.94074297e-03 5.13254186e-02] [-5.22296289e-04 -1.94160951e-03 9.99997979e-01 5.04896715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71255784400006 meters 0.2839447307237134 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.51 [[ 9.99998202e-01 1.84262629e-03 4.48631640e-04 3.49375826e+00] [-1.84374351e-03 9.99995168e-01 2.50272155e-03 4.90448717e-02] [-4.44017892e-04 -2.50354421e-03 9.99996768e-01 5.05004791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7425578440001 meters 0.28279255278018517 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.50 [[ 9.99997913e-01 2.01556311e-03 3.34338462e-04 3.49404807e+00] [-2.01656482e-03 9.99993396e-01 3.02332733e-03 4.69375701e-02] [-3.28242547e-04 -3.02399523e-03 9.99995374e-01 5.04995031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77255784400006 meters 0.28325166553649184 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.50 [[ 9.99997625e-01 2.17647418e-03 1.16320330e-04 3.49465180e+00] [-2.17686803e-03 9.99991504e-01 3.50040634e-03 4.49736831e-02] [-1.08700798e-04 -3.50065124e-03 9.99993867e-01 5.04837114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80255784400003 meters 0.2822787116692489 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:0.50 [[ 9.99997263e-01 2.33979781e-03 -3.20501733e-06 3.49500560e+00] [-2.33976671e-03 9.99989403e-01 3.96471999e-03 4.30597919e-02] [ 1.24816265e-05 -3.96470164e-03 9.99992140e-01 5.04704803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83255784400006 meters 0.2818193875522422 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:0.51 [[ 9.99996653e-01 2.58598930e-03 -8.41083910e-05 3.49501731e+00] [-2.58555980e-03 9.99985335e-01 4.75853651e-03 3.99165439e-02] [ 9.64126820e-05 -4.75830312e-03 9.99988675e-01 5.05177188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86255784400004 meters 0.2827907341801013 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.51 [[ 9.99996215e-01 2.75133176e-03 -3.23824492e-05 3.49471773e+00] [-2.75112567e-03 9.99982639e-01 5.21078479e-03 3.80754913e-02] [ 4.67184847e-05 -5.21067598e-03 9.99986423e-01 5.05593055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89255784400007 meters 0.2829078664905797 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.51 [[ 9.99995750e-01 2.91481930e-03 5.69210427e-05 3.49431226e+00] [-2.91509463e-03 9.99979755e-01 5.65604611e-03 3.62454026e-02] [-4.04335380e-05 -5.65618800e-03 9.99984003e-01 5.06018415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92255784400004 meters 0.28119566692588616 Centerline is valid? [False, False] Translation: X:3.47, Y:0.04, Z:0.51 [[ 9.99986459e-01 4.11030736e-03 -3.19174736e-03 3.47081506e+00] [-4.11309782e-03 9.99991164e-01 -8.68201160e-04 3.53433075e-02] [ 3.18815059e-03 8.81317373e-04 9.99994529e-01 5.09503729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95255784400007 meters 0.28124725897387925 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99985668e-01 4.26593739e-03 -3.23513616e-03 3.47098563e+00] [-4.26733842e-03 9.99990804e-01 -4.26288130e-04 3.35391601e-02] [ 3.23328789e-03 4.40087441e-04 9.99994676e-01 5.09354901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98255784400004 meters 0.2811984618535583 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99984746e-01 4.44016920e-03 -3.28506951e-03 3.47118055e+00] [-4.43994291e-03 9.99990141e-01 7.61738298e-05 3.14939704e-02] [ 3.28537535e-03 -6.15871468e-05 9.99994601e-01 5.09185018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01255784400007 meters 0.28144927134879266 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99983711e-01 4.61227079e-03 -3.36214951e-03 3.47143394e+00] [-4.61034496e-03 9.99989204e-01 5.80323277e-04 2.94428208e-02] [ 3.36478982e-03 -5.64813155e-04 9.99994180e-01 5.09026517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04255784400004 meters 0.28144348298172206 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99982933e-01 4.77532988e-03 -3.36594022e-03 3.47140718e+00] [-4.77181144e-03 9.99988061e-01 1.05256226e-03 2.75391652e-02] [ 3.37092636e-03 -1.03648266e-03 9.99993781e-01 5.09112090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0725578440001 meters 0.2814104107199769 Centerline is valid? [False, False] Translation: X:3.47, Y:0.03, Z:0.51 [[ 9.99982365e-01 4.91038317e-03 -3.34029097e-03 3.47124862e+00] [-4.90562557e-03 9.99986943e-01 1.43101473e-03 2.60122210e-02] [ 3.34727418e-03 -1.41460328e-03 9.99993397e-01 5.09327233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10255784400005 meters 0.2811911115259675 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.51 [[ 9.99982094e-01 5.08333263e-03 -3.15769087e-03 3.47065752e+00] [-5.07714256e-03 9.99985180e-01 1.96524880e-03 2.39102493e-02] [ 3.16763409e-03 -1.94918157e-03 9.99993083e-01 5.09687080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1325578440001 meters 0.2799516547602167 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99983994e-01 -3.58740553e-03 -4.37528170e-03 3.45104117e+00] [ 3.60245804e-03 9.99987603e-01 3.43733855e-03 2.40736798e-02] [ 4.36289634e-03 -3.45304530e-03 9.99984521e-01 5.08543600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16255784400005 meters 0.27984069476407103 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 0.99998439 -0.0034783 -0.00437215 3.45106478] [ 0.00349467 0.99998689 0.00374275 0.02282528] [ 0.00435907 -0.00375797 0.99998344 0.50848643] [ 0. 0. 0. 1. ]] SLAMing on 491.1925578440001 meters 0.28057417102726323 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99984919e-01 -3.37447327e-03 -4.33299869e-03 3.45104361e+00] [ 3.39193273e-03 9.99986133e-01 4.02841213e-03 2.16494843e-02] [ 4.31934484e-03 -4.04304862e-03 9.99982498e-01 5.08324053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22255784400005 meters 0.28054849522623626 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99985297e-01 -3.25970637e-03 -4.33364140e-03 3.45102068e+00] [ 3.27849968e-03 9.99985223e-01 4.33660081e-03 2.03888646e-02] [ 4.31944131e-03 -4.35074489e-03 9.99981207e-01 5.08382780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2525578440001 meters 0.28046791828761763 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99985182e-01 -3.12213673e-03 -4.45965465e-03 3.45141897e+00] [ 3.14342854e-03 9.99983657e-01 4.77531560e-03 1.86244936e-02] [ 4.44467258e-03 -4.78926344e-03 9.99978654e-01 5.08146446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28255784400005 meters 0.28150720245018473 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99985128e-01 -3.04840267e-03 -4.52220665e-03 3.45164906e+00] [ 3.07090121e-03 9.99982902e-01 4.97655143e-03 1.77876913e-02] [ 4.50695879e-03 -4.99036467e-03 9.99977392e-01 5.07973372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3125578440001 meters 0.28041490161203414 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99985089e-01 -2.99816644e-03 -4.56440272e-03 3.45176706e+00] [ 3.02150032e-03 9.99982359e-01 5.11385900e-03 1.72274238e-02] [ 4.54899000e-03 -5.12757409e-03 9.99976507e-01 5.07940277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34255784400005 meters 0.28334689208437086 Centerline is valid? [False, False] Translation: X:3.47, Y:0.02, Z:0.51 [[ 9.99989402e-01 3.27873656e-03 -3.23214246e-03 3.47409725e+00] [-3.27266713e-03 9.99992875e-01 1.88133692e-03 1.53840659e-02] [ 3.23828784e-03 -1.87073926e-03 9.99993007e-01 5.06887735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3725578440001 meters 0.2801817431423014 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 9.99975396e-01 -5.20227299e-03 -4.70562793e-03 3.45439646e+00] [ 5.21820109e-03 9.99980676e-01 3.37898391e-03 1.69880022e-02] [ 4.68795861e-03 -3.40345569e-03 9.99983220e-01 5.06196900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40255784400006 meters 0.28169074396935706 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99985948e-01 3.77030011e-03 -3.72683446e-03 3.47346273e+00] [-3.76054624e-03 9.99989495e-01 2.62075313e-03 1.14735840e-02] [ 3.73667633e-03 -2.60670137e-03 9.99989621e-01 5.06925929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4325578440001 meters 0.28001225915304706 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986075e-01 3.79477658e-03 -3.66728951e-03 3.47326122e+00] [-3.78495179e-03 9.99989240e-01 2.68226922e-03 1.12247610e-02] [ 3.67742866e-03 -2.66835136e-03 9.99989678e-01 5.07038457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46255784400006 meters 0.28223532742371865 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986048e-01 3.78665611e-03 -3.68296770e-03 3.47332721e+00] [-3.77686873e-03 9.99989328e-01 2.66080433e-03 1.13100023e-02] [ 3.69300395e-03 -2.64685712e-03 9.99989678e-01 5.06981778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4925578440001 meters 0.28217858596637935 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986143e-01 3.75873723e-03 -3.68579965e-03 3.47343962e+00] [-3.74919326e-03 9.99989610e-01 2.59288853e-03 1.15885181e-02] [ 3.69550734e-03 -2.57903382e-03 9.99989846e-01 5.06758852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52255784400006 meters 0.2805255218692527 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986043e-01 3.72868559e-03 -3.74321784e-03 3.47360051e+00] [-3.71926869e-03 9.99989909e-01 2.51954099e-03 1.18944383e-02] [ 3.75257464e-03 -2.50558379e-03 9.99989820e-01 5.06727906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55255784400003 meters 0.28072754022852103 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99985983e-01 3.70663903e-03 -3.78069435e-03 3.47373264e+00] [-3.69732972e-03 9.99990123e-01 2.46635187e-03 1.21202803e-02] [ 3.78979888e-03 -2.45233882e-03 9.99989812e-01 5.06645904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58255784400006 meters 0.279957658133894 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99985875e-01 3.71181040e-03 -3.80413304e-03 3.47371641e+00] [-3.70238760e-03 9.99990068e-01 2.48104621e-03 1.20720004e-02] [ 3.81330444e-03 -2.46692679e-03 9.99989686e-01 5.06810863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61255784400004 meters 0.2804209838885273 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99985965e-01 3.73700422e-03 -3.75566910e-03 3.47338537e+00] [-3.72744916e-03 9.99989807e-01 2.54795610e-03 1.18155080e-02] [ 3.76515254e-03 -2.53392127e-03 9.99989701e-01 5.07297864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64255784400007 meters 0.2801523202254328 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986177e-01 3.71076251e-03 -3.72494804e-03 3.47320142e+00] [-3.70153142e-03 9.99990069e-01 2.48202229e-03 1.21003302e-02] [ 3.73412125e-03 -2.46819997e-03 9.99989982e-01 5.07546087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67255784400004 meters 0.2799750272705791 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:0.51 [[ 9.99986339e-01 3.68378252e-03 -3.70840262e-03 3.47310038e+00] [-3.67484422e-03 9.99990333e-01 2.41421866e-03 1.23908476e-02] [ 3.71726023e-03 -2.40055788e-03 9.99990210e-01 5.07684330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70255784400007 meters 0.279046532306412 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:0.51 [[ 0.99997643 -0.0048964 -0.00481319 3.4541392 ] [ 0.00491401 0.99998125 0.00365455 0.01611218] [ 0.0047952 -0.00367811 0.99998174 0.50640389] [ 0. 0. 0. 1. ]] SLAMing on 491.73255784400004 meters 0.28057601373082014 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99994774e-01 1.59184270e-03 -2.81386227e-03 3.47652100e+00] [-1.59023024e-03 9.99998570e-01 5.75183033e-04 1.66285011e-02] [ 2.81477385e-03 -5.70705338e-04 9.99995876e-01 5.04455753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76255784400007 meters 0.2804356563217055 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99994827e-01 1.56531077e-03 -2.80979037e-03 3.47654180e+00] [-1.56388716e-03 9.99998648e-01 5.08786952e-04 1.69045118e-02] [ 2.81058298e-03 -5.04390125e-04 9.99995923e-01 5.04391258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79255784400004 meters 0.2801323224325813 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99994864e-01 1.58933305e-03 -2.78322794e-03 3.47635323e+00] [-1.58774837e-03 9.99998576e-01 5.71484640e-04 1.66563098e-02] [ 2.78413226e-03 -5.67062639e-04 9.99995964e-01 5.04671400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8225578440001 meters 0.28043889265881355 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99994926e-01 1.58910679e-03 -2.76080495e-03 3.47618987e+00] [-1.58754110e-03 9.99998578e-01 5.69213095e-04 1.66710039e-02] [ 2.76170556e-03 -5.64827316e-04 9.99996027e-01 5.04918651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85255784400005 meters 0.28049082334237385 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99995048e-01 1.59035104e-03 -2.71564282e-03 3.47610596e+00] [-1.58880331e-03 9.99998574e-01 5.71990238e-04 1.66607806e-02] [ 2.71654861e-03 -5.67672783e-04 9.99996149e-01 5.04852032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8825578440001 meters 0.28254951797566485 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:0.50 [[ 9.99994895e-01 1.64170340e-03 -2.74142507e-03 3.47631755e+00] [-1.63977633e-03 9.99998407e-01 7.05042728e-04 1.61009096e-02] [ 2.74257818e-03 -7.00543804e-04 9.99995994e-01 5.04503360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91255784400005 meters 0.28164907378799486 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:0.50 [[ 9.99994489e-01 1.77225251e-03 -2.80739016e-03 3.47679935e+00] [-1.76914258e-03 9.99997819e-01 1.10986346e-03 1.44408192e-02] [ 2.80935100e-03 -1.10489067e-03 9.99995443e-01 5.03657833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9425578440001 meters 0.28301016756692066 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:0.50 [[ 9.99994634e-01 1.87172189e-03 -2.68867280e-03 3.47645897e+00] [-1.86804123e-03 9.99997316e-01 1.37081140e-03 1.33620161e-02] [ 2.69123137e-03 -1.36578149e-03 9.99995446e-01 5.03739155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97255784400005 meters 0.2826703582939058 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:0.50 [[ 9.99994823e-01 1.97057595e-03 -2.54385964e-03 3.47596582e+00] [-1.96643254e-03 9.99996738e-01 1.63026301e-03 1.22864003e-02] [ 2.54706390e-03 -1.62525225e-03 9.99995435e-01 5.04028148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0025578440001 meters 0.28361483844151725 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:0.50 [[ 9.99999846e-01 4.86838399e-04 -2.66650495e-04 3.43541994e+00] [-4.86466418e-04 9.99998911e-01 1.39330933e-03 1.28473888e-02] [ 2.67328521e-04 -1.39317940e-03 9.99998994e-01 5.01368576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03255784400005 meters 0.2808406652103537 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:0.50 [[ 9.99999811e-01 5.42803643e-04 -2.88750771e-04 3.43546970e+00] [-5.42359304e-04 9.99998672e-01 1.53669113e-03 1.22562969e-02] [ 2.89584510e-04 -1.53653423e-03 9.99998778e-01 5.01365279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0625578440001 meters 0.28174897813376804 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:0.50 [[ 9.99999775e-01 5.60964288e-04 -3.67450557e-04 3.43584000e+00] [-5.60381815e-04 9.99998589e-01 1.58336442e-03 1.20564435e-02] [ 3.68338250e-04 -1.58315815e-03 9.99998679e-01 5.00962079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09255784400005 meters 0.28360074643833927 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:0.50 [[ 9.99999689e-01 4.80751926e-04 -6.24728671e-04 3.43674711e+00] [-4.79899931e-04 9.99998956e-01 1.36321879e-03 1.30239389e-02] [ 6.25383388e-04 -1.36291856e-03 9.99998876e-01 5.00295245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1225578440001 meters 0.28107035007978864 Centerline is valid? [False, False] Translation: X:3.44, Y:0.01, Z:0.50 [[ 9.99999713e-01 3.89178717e-04 -6.50565843e-04 3.43676968e+00] [-3.88446934e-04 9.99999292e-01 1.12459001e-03 1.40187446e-02] [ 6.51003049e-04 -1.12433698e-03 9.99999156e-01 5.00401790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.15255784400006 meters 0.28195624959669013 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999777e-01 2.83056493e-04 -6.04237415e-04 3.43656670e+00] [-2.82547118e-04 9.99999605e-01 8.42924046e-04 1.51894093e-02] [ 6.04475772e-04 -8.42753133e-04 9.99999462e-01 5.00622704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1825578440001 meters 0.2809921481502332 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999785e-01 1.76171024e-04 -6.31491811e-04 3.43661959e+00] [-1.75814522e-04 9.99999825e-01 5.64549514e-04 1.63435597e-02] [ 6.31591158e-04 -5.64438367e-04 9.99999641e-01 5.00679885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21255784400006 meters 0.2816816763914077 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999760e-01 8.58080653e-05 -6.86813577e-04 3.43680792e+00] [-8.55800903e-05 9.99999941e-01 3.31953915e-04 1.73014316e-02] [ 6.86842021e-04 -3.31895058e-04 9.99999709e-01 5.00590046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2425578440001 meters 0.2838268501106577 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999722e-01 -8.94702274e-05 -7.39764248e-04 3.43719070e+00] [ 8.93866482e-05 9.99999990e-01 -1.13013171e-04 1.91752978e-02] [ 7.39774351e-04 1.12947014e-04 9.99999720e-01 5.00071382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27255784400006 meters 0.2838268501106577 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999722e-01 -8.94702274e-05 -7.39764248e-04 3.43719070e+00] [ 8.93866482e-05 9.99999990e-01 -1.13013171e-04 1.91752978e-02] [ 7.39774351e-04 1.12947014e-04 9.99999720e-01 5.00071382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30255784400003 meters 0.2819779938653671 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999680e-01 -1.61928774e-04 -7.83640587e-04 3.43734537e+00] [ 1.61698316e-04 9.99999944e-01 -2.94141049e-04 1.99234067e-02] [ 7.83688172e-04 2.94014242e-04 9.99999650e-01 4.99989527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33255784400006 meters 0.28143689942222555 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999616e-01 -2.22140312e-04 -8.47196932e-04 3.43754264e+00] [ 2.21762951e-04 9.99999876e-01 -4.45490005e-04 2.05492340e-02] [ 8.47295788e-04 4.45301957e-04 9.99999542e-01 4.99920666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36255784400004 meters 0.2804463102522187 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999565e-01 -2.71179185e-04 -8.92482910e-04 3.43765530e+00] [ 2.70670272e-04 9.99999801e-01 -5.70292984e-04 2.10683128e-02] [ 8.92637384e-04 5.70051167e-04 9.99999439e-01 4.99931771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39255784400007 meters 0.28273283935644133 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999534e-01 -3.23995958e-04 -9.08930630e-04 3.43771234e+00] [ 3.23353430e-04 9.99999698e-01 -7.06962910e-04 2.16331359e-02] [ 9.09159409e-04 7.06668676e-04 9.99999337e-01 4.99907050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42255784400004 meters 0.2808804070298346 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999501e-01 -3.77763389e-04 -9.25000975e-04 3.43776540e+00] [ 3.76982531e-04 9.99999573e-01 -8.44198226e-04 2.22030475e-02] [ 9.25319487e-04 8.43849095e-04 9.99999216e-01 4.99888125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45255784400007 meters 0.2824421390941565 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999452e-01 -5.27752894e-04 -9.04418209e-04 3.43768053e+00] [ 5.26651316e-04 9.99999120e-01 -1.21780231e-03 2.37531091e-02] [ 9.05060111e-04 1.21732533e-03 9.99998849e-01 4.99994801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48255784400004 meters 0.2823074262029461 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:0.50 [[ 9.99999438e-01 -6.25044723e-04 -8.56884419e-04 3.43755510e+00] [ 6.23791073e-04 9.99998736e-01 -1.46252063e-03 2.47713956e-02] [ 8.57797477e-04 1.46198529e-03 9.99998563e-01 5.00030841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51255784400007 meters 0.2803191303485902 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.50 [[ 9.99999348e-01 -7.79998080e-04 -8.34611777e-04 3.43748973e+00] [ 7.78450269e-04 9.99997980e-01 -1.85324836e-03 2.63907290e-02] [ 8.36055621e-04 1.85259745e-03 9.99997934e-01 5.00091346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54255784400004 meters 0.28099044136898804 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.50 [[ 9.99999223e-01 -9.42462505e-04 -8.16478060e-04 3.43751660e+00] [ 9.40607119e-04 9.99996982e-01 -2.26983735e-03 2.81000036e-02] [ 8.18614832e-04 2.26906760e-03 9.99997091e-01 4.99964066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5725578440001 meters 0.2820527722424466 Centerline is valid? [False, False] Translation: X:3.46, Y:0.03, Z:0.50 [[ 9.99983169e-01 -5.80148266e-03 7.40980318e-05 3.46074405e+00] [ 5.80139908e-03 9.99982586e-01 1.08237722e-03 3.34311019e-02] [-8.03761342e-05 -1.08192913e-03 9.99999411e-01 4.99227647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60255784400005 meters 0.2805656388603304 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:0.50 [[ 9.99996446e-01 2.63987731e-03 -3.72153748e-04 3.43934469e+00] [-2.63986799e-03 9.99996515e-01 2.55268807e-05 3.39638811e-02] [ 3.72219839e-04 -2.45443532e-05 9.99999930e-01 4.98749051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6325578440001 meters 0.28176011954142943 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.50 [[ 9.99996874e-01 2.47305081e-03 -3.68033657e-04 3.43927922e+00] [-2.47319549e-03 9.99996864e-01 -3.93174131e-04 3.57075432e-02] [ 3.67060164e-04 3.94083122e-04 9.99999855e-01 4.98911941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66255784400005 meters 0.2834112659542865 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.50 [[ 9.99997317e-01 2.29148169e-03 -3.39229025e-04 3.43916008e+00] [-2.29176559e-03 9.99997022e-01 -8.38890431e-04 3.75614241e-02] [ 3.37305712e-04 8.39665613e-04 9.99999591e-01 4.99049504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6925578440001 meters 0.28160547353611326 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.50 [[ 9.99997711e-01 2.11261056e-03 -3.39595258e-04 3.43920239e+00] [-2.11304236e-03 9.99996953e-01 -1.27623854e-03 3.93799910e-02] [ 3.36898029e-04 1.27695320e-03 9.99999128e-01 4.99007290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72255784400005 meters 0.28222280264588706 Centerline is valid? [False, False] Translation: X:3.44, Y:0.04, Z:0.50 [[ 9.99998098e-01 1.91841689e-03 -3.51018896e-04 3.43936769e+00] [-1.91902512e-03 9.99996644e-01 -1.74068893e-03 4.13118939e-02] [ 3.47678350e-04 1.74135924e-03 9.99998423e-01 4.98765981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7525578440001 meters 0.2801822457453581 Centerline is valid? [False, False] Translation: X:3.42, Y:0.05, Z:0.50 [[ 9.99989652e-01 -4.23603167e-03 -1.65888520e-03 3.41731985e+00] [ 4.23794980e-03 9.99990353e-01 1.15447234e-03 4.67206956e-02] [ 1.65397882e-03 -1.16149067e-03 9.99997958e-01 4.99505193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78255784400005 meters 0.2828619350419939 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.50 [[ 9.99998120e-01 1.93512182e-03 1.22700203e-04 3.43955513e+00] [-1.93482922e-03 9.99995387e-01 -2.34154637e-03 4.79024075e-02] [-1.27230814e-04 2.34130457e-03 9.99997251e-01 4.98191914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8125578440001 meters 0.2815706334509396 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.50 [[ 9.99998384e-01 1.79588630e-03 8.27824445e-05 3.43971005e+00] [-1.79565733e-03 9.99994776e-01 -2.68762214e-03 4.93303819e-02] [-8.76086759e-05 2.68746915e-03 9.99996385e-01 4.98118378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84255784400005 meters 0.28117756389939413 Centerline is valid? [False, False] Translation: X:3.44, Y:0.05, Z:0.50 [[ 9.99998712e-01 1.60458366e-03 2.39890673e-05 3.44003806e+00] [-1.60450026e-03 9.99993764e-01 -3.14594336e-03 5.12364164e-02] [-2.90368471e-05 3.14590082e-03 9.99995051e-01 4.97811411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8725578440001 meters 0.2821147864186165 Centerline is valid? [False, False] Translation: X:3.46, Y:0.05, Z:0.50 [[ 9.99991158e-01 -4.11895384e-03 8.47578599e-04 3.46284595e+00] [ 4.11888651e-03 9.99991514e-01 8.11577498e-05 5.33825461e-02] [-8.47905691e-04 -7.76659521e-05 9.99999638e-01 4.96734188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90255784400006 meters 0.2805033133626521 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:0.49 [[ 9.99995450e-01 -2.63513253e-03 1.46863405e-03 3.42531378e+00] [ 2.63368178e-03 9.99996043e-01 9.88882370e-04 6.23883817e-02] [-1.47123407e-03 -9.85009956e-04 9.99998433e-01 4.92986446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9325578440001 meters 0.2828815095295465 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:0.49 [[ 9.99985116e-01 3.67524635e-03 4.03250502e-03 3.44669037e+00] [-3.66602258e-03 9.99990653e-01 -2.29236756e-03 6.48567704e-02] [-4.04089234e-03 2.27755018e-03 9.99989242e-01 4.91539438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96255784400006 meters 0.28232874092892163 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99992131e-01 -2.63532261e-03 2.96521318e-03 3.42444986e+00] [ 2.63386618e-03 9.99996409e-01 4.94969963e-04 6.95245409e-02] [-2.96650694e-03 -4.87156094e-04 9.99995481e-01 4.92785484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9925578440001 meters 0.28248982786680304 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99991748e-01 -2.83767787e-03 2.90729150e-03 3.42462116e+00] [ 2.83772361e-03 9.99995974e-01 -1.16080839e-05 7.16090903e-02] [-2.90724685e-03 1.98580779e-05 9.99995774e-01 4.92784448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02255784400006 meters 0.28304912508854146 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99991357e-01 -3.03571633e-03 2.84082866e-03 3.42493675e+00] [ 3.03714902e-03 9.99995263e-01 -5.00143420e-04 7.36192572e-02] [-2.83929690e-03 5.08767117e-04 9.99995840e-01 4.92517661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05255784400003 meters 0.2824549514797118 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99990950e-01 -3.21193735e-03 2.78975842e-03 3.42527672e+00] [ 3.21454278e-03 9.99994401e-01 -9.29944073e-04 7.53872789e-02] [-2.78675588e-03 9.38903455e-04 9.99995676e-01 4.92118844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08255784400006 meters 0.28364549864111405 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99990440e-01 -3.46123723e-03 2.67202948e-03 3.42584657e+00] [ 3.46530632e-03 9.99992841e-01 -1.51972084e-03 7.78272515e-02] [-2.66675023e-03 1.52896572e-03 9.99995275e-01 4.91610878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11255784400004 meters 0.28274418086629644 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99990275e-01 -3.53891443e-03 2.63173727e-03 3.42594238e+00] [ 3.54344825e-03 9.99992243e-01 -1.72008457e-03 7.86509883e-02] [-2.62562962e-03 1.72939327e-03 9.99995058e-01 4.91645387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14255784400007 meters 0.28453066074365996 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99990047e-01 -3.60500261e-03 2.62852860e-03 3.42597475e+00] [ 3.60998556e-03 9.99991691e-01 -1.89344792e-03 7.93632336e-02] [-2.62168088e-03 1.90291802e-03 9.99994753e-01 4.91612434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17255784400004 meters 0.28491478875801424 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99989775e-01 -3.65953862e-03 2.65657630e-03 3.42590802e+00] [ 3.66495568e-03 9.99991209e-01 -2.03711672e-03 7.99460793e-02] [-2.64909804e-03 2.04683213e-03 9.99994396e-01 4.91625343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20255784400007 meters 0.2844530541268933 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99989633e-01 -3.64800352e-03 2.72503254e-03 3.42574613e+00] [ 3.65348298e-03 9.99991309e-01 -2.00852211e-03 7.98229733e-02] [-2.71768176e-03 2.01845715e-03 9.99994270e-01 4.91599177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23255784400004 meters 0.2855974677392277 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99989513e-01 -3.62038678e-03 2.80461730e-03 3.42548120e+00] [ 3.62582050e-03 9.99991555e-01 -1.93476301e-03 7.95115019e-02] [-2.79758902e-03 1.94491175e-03 9.99994195e-01 4.91741864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26255784400007 meters 0.28628339803772296 Centerline is valid? [False, False] Translation: X:3.44, Y:0.07, Z:0.49 [[ 9.99978200e-01 4.57229989e-03 4.76377648e-03 3.44277713e+00] [-4.55731279e-03 9.99984647e-01 -3.15217524e-03 7.33280475e-02] [-4.77811603e-03 3.13039651e-03 9.99983685e-01 4.92976101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29255784400004 meters 0.2833023807836667 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99987564e-01 -3.88333003e-03 3.12906828e-03 3.42272064e+00] [ 3.89042141e-03 9.99989871e-01 -2.26339897e-03 7.61559531e-02] [-3.12024706e-03 2.27554422e-03 9.99992543e-01 4.92893863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3225578440001 meters 0.281063120086452 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99987906e-01 -3.80596050e-03 3.11472870e-03 3.42285245e+00] [ 3.81240501e-03 9.99990599e-01 -2.06572961e-03 7.53501387e-02] [-3.10683734e-03 2.07757924e-03 9.99993016e-01 4.92646409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35255784400005 meters 0.2847675400992231 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99988210e-01 -3.72989084e-03 3.10937845e-03 3.42294174e+00] [ 3.73572100e-03 9.99991271e-01 -1.87133022e-03 7.45542573e-02] [-3.10237146e-03 1.88292392e-03 9.99993415e-01 4.92451091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3825578440001 meters 0.28364858224218686 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99988405e-01 -3.65854324e-03 3.13118652e-03 3.42284391e+00] [ 3.66383934e-03 9.99991865e-01 -1.68734428e-03 7.37919731e-02] [-3.12498782e-03 1.69879688e-03 9.99993674e-01 4.92521191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41255784400005 meters 0.2843203850956765 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99988370e-01 -3.65538483e-03 3.14615100e-03 3.42253271e+00] [ 3.66067242e-03 9.99991894e-01 -1.67654039e-03 7.37561900e-02] [-3.13999710e-03 1.68803792e-03 9.99993645e-01 4.93180964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4425578440001 meters 0.28463849058771507 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:0.49 [[ 9.99988253e-01 -3.71686832e-03 3.11091737e-03 3.42242213e+00] [ 3.72262082e-03 9.99991368e-01 -1.84538747e-03 7.44290749e-02] [-3.10403145e-03 1.85694656e-03 9.99993458e-01 4.93668345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47255784400005 meters 0.2839360817822672 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99988076e-01 -3.78387844e-03 3.08709927e-03 3.42244560e+00] [ 3.79013307e-03 9.99990772e-01 -2.02272437e-03 7.51492935e-02] [-3.07941703e-03 2.03440077e-03 9.99993189e-01 4.93768348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5025578440001 meters 0.2821520531247132 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99987768e-01 -2.65366408e-03 4.17392018e-03 3.38405223e+00] [ 2.65920658e-03 9.99995589e-01 -1.32289922e-03 7.89706165e-02] [-4.17039124e-03 1.33398235e-03 9.99990414e-01 4.90208740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53255784400005 meters 0.2830932740019177 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99988173e-01 -2.72720333e-03 4.02687809e-03 3.38457061e+00] [ 2.73335852e-03 9.99995103e-01 -1.52381381e-03 7.98194285e-02] [-4.02270263e-03 1.53480269e-03 9.99990731e-01 4.89882906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5625578440001 meters 0.2840218138562796 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99988181e-01 -2.80298141e-03 3.97256605e-03 3.38490459e+00] [ 2.80983190e-03 9.99994573e-01 -1.71991859e-03 8.06450943e-02] [-3.96772359e-03 1.73106051e-03 9.99990630e-01 4.89467355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59255784400005 meters 0.283099086343233 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99990534e-01 1.39112854e-03 4.12278171e-03 3.38475169e+00] [-1.40023300e-03 9.99996586e-01 2.20626563e-03 8.20767476e-02] [-4.11969843e-03 -2.21201760e-03 9.99989067e-01 4.89058672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6225578440001 meters 0.2849699989542162 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99990401e-01 1.34619700e-03 4.16960599e-03 3.38463667e+00] [-1.35490585e-03 9.99996905e-01 2.08653056e-03 8.25619188e-02] [-4.16678420e-03 -2.09215995e-03 9.99989130e-01 4.89071801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65255784400006 meters 0.28371710504339603 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99990486e-01 1.30682245e-03 4.16164603e-03 3.38473993e+00] [-1.31507005e-03 9.99997176e-01 1.97969201e-03 8.29997824e-02] [-4.15904717e-03 -1.98514603e-03 9.99989381e-01 4.88894870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6825578440001 meters 0.2842393290661398 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.49 [[ 9.99990916e-01 1.28152703e-03 4.06506981e-03 3.38517491e+00] [-1.28929923e-03 9.99997345e-01 1.90990513e-03 8.32867377e-02] [-4.06261143e-03 -1.91512887e-03 9.99989914e-01 4.88433253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71255784400006 meters 0.28232715864435287 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.49 [[ 9.99991822e-01 1.18639233e-03 3.86626221e-03 3.38605487e+00] [-1.19279930e-03 9.99997919e-01 1.65526637e-03 8.43815405e-02] [-3.86429037e-03 -1.65986451e-03 9.99991156e-01 4.87530848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7425578440001 meters 0.28256979962880435 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99991841e-01 1.12550109e-03 3.87955628e-03 3.38608581e+00] [-1.13132039e-03 9.99998238e-01 1.49812335e-03 8.50280902e-02] [-3.87786330e-03 -1.50250015e-03 9.99991352e-01 4.87412251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77255784400006 meters 0.2825154502056625 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99991875e-01 1.06864945e-03 3.88699538e-03 3.38602752e+00] [-1.07391437e-03 9.99998509e-01 1.35266072e-03 8.56269087e-02] [-3.88554406e-03 -1.35682403e-03 9.99991531e-01 4.87523507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80255784400003 meters 0.2847414572814323 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99991937e-01 1.00796277e-03 3.88706797e-03 3.38600894e+00] [-1.01261585e-03 9.99998773e-01 1.19528624e-03 8.62723579e-02] [-3.88585840e-03 -1.19921271e-03 9.99991731e-01 4.87590637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83255784400006 meters 0.28217235281792113 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99992122e-01 9.55704977e-04 3.85264720e-03 3.38613427e+00] [-9.59794152e-04 9.99998978e-01 1.05968446e-03 8.68351083e-02] [-3.85163051e-03 -1.06337386e-03 9.99992017e-01 4.87524932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86255784400004 meters 0.2823567005844706 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99992277e-01 8.89851743e-04 3.82800388e-03 3.38623940e+00] [-8.93269116e-04 9.99999204e-01 8.91112660e-04 8.75369510e-02] [-3.82720787e-03 -8.94525215e-04 9.99992276e-01 4.87452224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89255784400007 meters 0.2855938043951326 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99992314e-01 7.85337756e-04 3.84113796e-03 3.38610818e+00] [-7.87704406e-04 9.99999501e-01 6.14658491e-04 8.86693335e-02] [-3.84065333e-03 -6.17679448e-04 9.99992434e-01 4.87718384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92255784400004 meters 0.2847214974001619 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99992363e-01 7.65795152e-04 3.83245889e-03 3.38600402e+00] [-7.67960031e-04 9.99999546e-01 5.63440264e-04 8.88750632e-02] [-3.83202568e-03 -5.66379136e-04 9.99992497e-01 4.88017846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95255784400007 meters 0.2817730311724553 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99992575e-01 7.28904469e-04 3.78401674e-03 3.38603687e+00] [-7.30678754e-04 9.99999624e-01 4.67527939e-04 8.92713904e-02] [-3.78367453e-03 -4.70289368e-04 9.99992731e-01 4.88233327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98255784400004 meters 0.2845303551071826 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993048e-01 7.24395597e-04 3.65768474e-03 3.38629635e+00] [-7.26044759e-04 9.99999635e-01 4.49568282e-04 8.93431585e-02] [-3.65735774e-03 -4.52220800e-04 9.99993210e-01 4.88366745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01255784400007 meters 0.28271112128210735 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993491e-01 6.97321502e-04 3.54001573e-03 3.38665306e+00] [-6.98653459e-04 9.99999686e-01 3.75034839e-04 8.96637769e-02] [-3.53975310e-03 -3.77505642e-04 9.99993664e-01 4.88239787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04255784400004 meters 0.2842636654477221 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993153e-01 6.88619204e-04 3.63601455e-03 3.38613149e+00] [-6.89924593e-04 9.99999698e-01 3.57774275e-04 8.97611827e-02] [-3.63576708e-03 -3.60280401e-04 9.99993326e-01 4.88946543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0725578440001 meters 0.28221332503908386 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993051e-01 7.00977380e-04 3.66142944e-03 3.38584676e+00] [-7.02430651e-04 9.99999675e-01 3.95642622e-04 8.96041499e-02] [-3.66115091e-03 -3.98211773e-04 9.99993219e-01 4.89457240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10255784400005 meters 0.2812184866367012 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993110e-01 7.37600642e-04 3.63805949e-03 3.38578063e+00] [-7.39392291e-04 9.99999606e-01 4.91153457e-04 8.92060766e-02] [-3.63769579e-03 -4.93840027e-04 9.99993262e-01 4.89727146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1325578440001 meters 0.28090089620075065 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993166e-01 7.94023390e-04 3.61083119e-03 3.38571296e+00] [-7.96309146e-04 9.99999483e-01 6.31634019e-04 8.86196515e-02] [-3.61032780e-03 -6.34505040e-04 9.99993281e-01 4.90010866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16255784400005 meters 0.28090089620075065 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99993166e-01 7.94023390e-04 3.61083119e-03 3.38571296e+00] [-7.96309146e-04 9.99999483e-01 6.31634019e-04 8.86196515e-02] [-3.61032780e-03 -6.34505040e-04 9.99993281e-01 4.90010866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1925578440001 meters 0.28311670960436 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99996841e-01 5.35040019e-04 2.45615309e-03 3.42336115e+00] [-5.36666968e-04 9.99999637e-01 6.61785940e-04 8.42547394e-02] [-2.45579812e-03 -6.63101985e-04 9.99996765e-01 4.94358074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22255784400005 meters 0.2804119687407227 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99992143e-01 6.82044699e-04 3.90488188e-03 3.38459985e+00] [-6.85102973e-04 9.99999460e-01 7.81908375e-04 8.68675065e-02] [-3.90434647e-03 -7.84577478e-04 9.99992070e-01 4.91018818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2525578440001 meters 0.2825889242778772 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99997913e-01 1.06701427e-03 1.74245289e-03 3.42437194e+00] [-1.06911106e-03 9.99998705e-01 1.20286892e-03 8.36505656e-02] [-1.74116715e-03 -1.20472928e-03 9.99997758e-01 4.94160556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28255784400005 meters 0.28156887142254067 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99997953e-01 1.10669063e-03 1.69390333e-03 3.42449320e+00] [-1.10889709e-03 9.99998537e-01 1.30220661e-03 8.32485430e-02] [-1.69245971e-03 -1.30408231e-03 9.99997717e-01 4.94154109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3125578440001 meters 0.2828126834439004 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99998004e-01 1.11777649e-03 1.65601236e-03 3.42442212e+00] [-1.11997595e-03 9.99998491e-01 1.32783280e-03 8.31368600e-02] [-1.65452564e-03 -1.32968484e-03 9.99997747e-01 4.94508322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34255784400005 meters 0.2824197382774614 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99997973e-01 1.11723808e-03 1.67522863e-03 3.42430745e+00] [-1.11946418e-03 9.99998491e-01 1.32848250e-03 8.31361515e-02] [-1.67374187e-03 -1.33035516e-03 9.99997714e-01 4.94653182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3725578440001 meters 0.2805895894186419 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:0.49 [[ 9.99998175e-01 1.05280067e-03 1.59398801e-03 3.42473773e+00] [-1.05468356e-03 9.99998747e-01 1.18086666e-03 8.38059452e-02] [-1.59274280e-03 -1.18254566e-03 9.99998032e-01 4.94207778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40255784400006 meters 0.2828377247233476 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.49 [[ 9.99998334e-01 1.00006005e-03 1.52678700e-03 3.42502379e+00] [-1.00165577e-03 9.99998953e-01 1.04474218e-03 8.43759231e-02] [-1.52574060e-03 -1.04626976e-03 9.99998289e-01 4.93964676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4325578440001 meters 0.2819745811426339 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99998443e-01 9.16557707e-04 1.50771908e-03 3.42507051e+00] [-9.17805361e-04 9.99999237e-01 8.27027634e-04 8.52671253e-02] [-1.50695991e-03 -8.28410139e-04 9.99998521e-01 4.93996681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46255784400006 meters 0.2809452724108119 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99998590e-01 8.04783812e-04 1.47367318e-03 3.42514767e+00] [-8.05579623e-04 9.99999530e-01 5.39504661e-04 8.64474106e-02] [-1.47323830e-03 -5.40691061e-04 9.99998769e-01 4.94052892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4925578440001 meters 0.2823685136198546 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99998822e-01 6.47300487e-04 1.39145467e-03 3.42547818e+00] [-6.47489862e-04 9.99999781e-01 1.35651777e-04 8.81171354e-02] [-1.39136656e-03 -1.36552570e-04 9.99999023e-01 4.93830581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52255784400006 meters 0.2830383840045273 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99999033e-01 4.98931316e-04 1.29780525e-03 3.42590341e+00] [-4.98615136e-04 9.99999846e-01 -2.43938241e-04 8.97041622e-02] [-1.29792676e-03 2.43290899e-04 9.99999128e-01 4.93470822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55255784400003 meters 0.2821734808665615 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99999210e-01 2.88472379e-04 1.22379079e-03 3.42644458e+00] [-2.87516285e-04 9.99999653e-01 -7.81360622e-04 9.19656845e-02] [-1.22401577e-03 7.81008145e-04 9.99998946e-01 4.92717558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58255784400006 meters 0.28472647271217105 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99999306e-01 2.37982939e-04 1.15342387e-03 3.42673095e+00] [-2.36927005e-04 9.99999553e-01 -9.15528381e-04 9.25175597e-02] [-1.15364123e-03 9.15254469e-04 9.99998916e-01 4.92481196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61255784400004 meters 0.283347422896242 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.49 [[ 9.99999364e-01 1.92454778e-04 1.11115363e-03 3.42685732e+00] [-1.91304153e-04 9.99999446e-01 -1.03553638e-03 9.30121158e-02] [-1.11135231e-03 1.03532315e-03 9.99998847e-01 4.92451433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64255784400007 meters 0.28206547317984926 Centerline is valid? [False, False] Translation: X:3.40, Y:0.09, Z:0.49 [[ 9.99983220e-01 -5.73987035e-03 -7.83130422e-04 3.40436065e+00] [ 5.74149616e-03 9.99981334e-01 2.08984237e-03 9.44353059e-02] [ 7.71120380e-04 -2.09430365e-03 9.99997510e-01 4.93973710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67255784400004 meters 0.2811506359485586 Centerline is valid? [False, False] Translation: X:3.40, Y:0.09, Z:0.49 [[ 9.99982983e-01 -5.77904988e-03 -7.97590037e-04 3.40444185e+00] [ 5.78062578e-03 9.99981316e-01 1.98786943e-03 9.48567012e-02] [ 7.86087139e-04 -1.99244617e-03 9.99997706e-01 4.93880087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70255784400007 meters 0.28581618786175184 Centerline is valid? [False, False] Translation: X:3.40, Y:0.10, Z:0.49 [[ 9.99982900e-01 -5.80013206e-03 -7.47134565e-04 3.40436809e+00] [ 5.80156883e-03 9.99981298e-01 1.93544617e-03 9.50752047e-02] [ 7.35894748e-04 -1.93974763e-03 9.99997848e-01 4.93768252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73255784400004 meters 0.2818741494977837 Centerline is valid? [False, False] Translation: X:3.40, Y:0.09, Z:0.49 [[ 9.99983003e-01 -5.78898440e-03 -6.93975526e-04 3.40417265e+00] [ 5.79033877e-03 9.99981304e-01 1.96575002e-03 9.49395285e-02] [ 6.82582855e-04 -1.96973496e-03 9.99997827e-01 4.93911780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76255784400007 meters 0.28226780057790135 Centerline is valid? [False, False] Translation: X:3.40, Y:0.09, Z:0.49 [[ 9.99983062e-01 -5.77910935e-03 -6.90719511e-04 3.40413372e+00] [ 5.78047395e-03 9.99981312e-01 1.99022933e-03 9.48360009e-02] [ 6.79204850e-04 -1.99418830e-03 9.99997781e-01 4.93977456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79255784400004 meters 0.28738247854970866 Centerline is valid? [False, False] Translation: X:3.40, Y:0.09, Z:0.49 [[ 9.99983077e-01 -5.77091676e-03 -7.36124589e-04 3.40419502e+00] [ 5.77238538e-03 9.99981322e-01 2.00879363e-03 9.47561381e-02] [ 7.24518259e-04 -2.01300883e-03 9.99997711e-01 4.94093799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8225578440001 meters 0.28451865465983067 Centerline is valid? [False, False] Translation: X:3.42, Y:0.09, Z:0.49 [[ 9.99996465e-01 2.63413781e-03 3.62774409e-04 3.42408661e+00] [-2.63456592e-03 9.99995828e-01 1.18471462e-03 9.02583373e-02] [-3.59652194e-04 -1.18566619e-03 9.99999232e-01 4.94533928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85255784400005 meters 0.2850321760067211 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994711e-01 2.51230042e-03 2.06543804e-03 3.38489250e+00] [-2.51384692e-03 9.99996562e-01 7.46495309e-04 9.41351978e-02] [-2.06355552e-03 -7.51683556e-04 9.99997588e-01 4.91323459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8825578440001 meters 0.28052641921567883 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994827e-01 2.51348774e-03 2.00716684e-03 3.38499379e+00] [-2.51499532e-03 9.99996557e-01 7.48929417e-04 9.41293165e-02] [-2.00527750e-03 -7.53973558e-04 9.99997705e-01 4.91423095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91255784400005 meters 0.28223746578170383 Centerline is valid? [False, False] Translation: X:3.39, Y:0.09, Z:0.49 [[ 9.99994889e-01 2.55830176e-03 1.91760478e-03 3.38504006e+00] [-2.55995495e-03 9.99996353e-01 8.60154698e-04 9.36655602e-02] [-1.91539726e-03 -8.65059283e-04 9.99997791e-01 4.91797501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9425578440001 meters 0.28228116780192214 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994789e-01 2.58678698e-03 1.93126837e-03 3.38488931e+00] [-2.58859345e-03 9.99996214e-01 9.33468030e-04 9.33574924e-02] [-1.92884638e-03 -9.38462435e-04 9.99997699e-01 4.92044684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97255784400005 meters 0.28210561397212214 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994674e-01 2.62145451e-03 1.94432274e-03 3.38468570e+00] [-2.62344858e-03 9.99996035e-01 1.02374384e-03 9.29759709e-02] [-1.94163133e-03 -1.02883922e-03 9.99997586e-01 4.92413363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0025578440001 meters 0.2858783885076239 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994359e-01 2.71426420e-03 1.97871751e-03 3.38437165e+00] [-2.71677300e-03 9.99995508e-01 1.26630920e-03 9.19581419e-02] [-1.97527152e-03 -1.27167778e-03 9.99997241e-01 4.92902475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03255784400005 meters 0.28529224471431874 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99994118e-01 2.79515340e-03 1.98774444e-03 3.38431116e+00] [-2.79808416e-03 9.99995000e-01 1.47316847e-03 9.11030392e-02] [-1.98361677e-03 -1.47872168e-03 9.99996939e-01 4.92956802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0625578440001 meters 0.28097497000186467 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99993665e-01 2.90821370e-03 2.05253362e-03 3.38416497e+00] [-2.91183934e-03 9.99994202e-01 1.76565103e-03 8.98960300e-02] [-2.04738682e-03 -1.77161650e-03 9.99996335e-01 4.92889846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09255784400005 meters 0.28394479432072833 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99993023e-01 3.06302256e-03 2.13806972e-03 3.38392623e+00] [-3.06768077e-03 9.99992921e-01 2.17883278e-03 8.82071639e-02] [-2.13138077e-03 -2.18537650e-03 9.99995341e-01 4.92893987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1225578440001 meters 0.2844586107395801 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.49 [[ 9.99992438e-01 3.22685976e-03 2.17065975e-03 3.38384160e+00] [-3.23253510e-03 9.99991353e-01 2.61616357e-03 8.64256221e-02] [-2.16219899e-03 -2.62316052e-03 9.99994222e-01 4.92852141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15255784400006 meters 0.2818529610843951 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.49 [[ 9.99991863e-01 3.39395667e-03 2.18051233e-03 3.38385906e+00] [-3.40064338e-03 9.99989505e-01 3.07022658e-03 8.45863098e-02] [-2.17006923e-03 -3.07761674e-03 9.99992910e-01 4.92705142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1825578440001 meters 0.286765081663437 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.49 [[ 9.99983128e-01 -5.45326192e-03 2.00153828e-03 3.40652003e+00] [ 5.44429086e-03 9.99975232e-01 4.46049562e-03 8.03045664e-02] [-2.02581296e-03 -4.44952340e-03 9.99988049e-01 4.93124107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21255784400006 meters 0.28581540340952966 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.49 [[ 9.99995657e-01 2.78393334e-03 9.67420115e-04 3.38687336e+00] [-2.78740161e-03 9.99989626e-01 3.60240906e-03 7.55304459e-02] [-9.57381213e-04 -3.60509001e-03 9.99993043e-01 4.91918993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2425578440001 meters 0.2853649676333471 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.49 [[ 9.99995049e-01 2.96298358e-03 1.06003041e-03 3.38658225e+00] [-2.96726406e-03 9.99987358e-01 4.05955162e-03 7.36476381e-02] [-1.04798862e-03 -4.06267691e-03 9.99991198e-01 4.91985415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27255784400006 meters 0.28647383695131035 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.49 [[ 9.99998705e-01 -1.26692140e-03 9.92770253e-04 3.38657770e+00] [ 1.26690025e-03 9.99999197e-01 2.19309548e-05 7.25206862e-02] [-9.92797241e-04 -2.06731855e-05 9.99999507e-01 4.92310427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30255784400003 meters 0.28418724149525515 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.49 [[ 9.99989117e-01 4.54193969e-03 1.06645370e-03 3.36244406e+00] [-4.53893193e-03 9.99985762e-01 -2.80602547e-03 6.75634943e-02] [-1.07918332e-03 2.80115437e-03 9.99995494e-01 4.93546183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33255784400006 meters 0.2838379593211087 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.49 [[ 9.99988108e-01 4.77217995e-03 1.00470737e-03 3.36257440e+00] [-4.76991869e-03 9.99986112e-01 -2.24115354e-03 6.52261563e-02] [-1.01538861e-03 2.23633452e-03 9.99996984e-01 4.93509798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36255784400004 meters 0.283167379721019 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:0.49 [[ 9.99987207e-01 4.97104795e-03 9.35265678e-04 3.36273537e+00] [-4.96939692e-03 9.99986105e-01 -1.75941888e-03 6.32509581e-02] [-9.43998838e-04 1.75474867e-03 9.99998015e-01 4.93459163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39255784400007 meters 0.2855981216196749 Centerline is valid? [False, False] Translation: X:3.38, Y:0.06, Z:0.49 [[ 9.99990125e-01 -3.77712478e-03 2.34170066e-03 3.38394595e+00] [ 3.77921178e-03 9.99992465e-01 -8.87446639e-04 6.09595268e-02] [-2.33833101e-03 8.96287658e-04 9.99996864e-01 4.93521222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42255784400004 meters 0.2837873302864377 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:0.50 [[ 9.99996185e-01 2.76172184e-03 -4.47162707e-05 3.36128775e+00] [-2.76184639e-03 9.99991450e-01 -3.07782214e-03 6.05111597e-02] [ 3.62157997e-05 3.07793390e-03 9.99995262e-01 4.95580236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.45255784400007 meters 0.28532775389637066 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.49 [[ 9.99993919e-01 -2.76515858e-03 2.12490764e-03 3.38434398e+00] [ 2.76355260e-03 9.99995894e-01 7.58350987e-04 5.30816884e-02] [-2.12699588e-03 -7.52474081e-04 9.99997455e-01 4.93876242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48255784400004 meters 0.28373136007815586 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.49 [[ 9.99994425e-01 -2.63292000e-03 2.05375260e-03 3.38450010e+00] [ 2.63069304e-03 9.99995950e-01 1.08628558e-03 5.17449981e-02] [-2.05660438e-03 -1.08087673e-03 9.99997301e-01 4.93877881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.51255784400007 meters 0.28530272317247257 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.49 [[ 9.99994792e-01 -2.53137369e-03 2.00192264e-03 3.38457013e+00] [ 2.52868651e-03 9.99995900e-01 1.34369562e-03 5.06903551e-02] [-2.00531583e-03 -1.33862639e-03 9.99997093e-01 4.93979400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54255784400004 meters 0.2807182533403282 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:0.50 [[ 9.99993457e-01 3.53090964e-03 -7.86149950e-04 3.36321464e+00] [-3.53212143e-03 9.99992568e-01 -1.54540033e-03 5.21169713e-02] [ 7.80687439e-04 1.54816700e-03 9.99998497e-01 4.95256086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5725578440001 meters 0.28284722478107877 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.50 [[ 9.99985850e-01 -5.29403688e-03 -5.23420803e-04 3.38427180e+00] [ 5.29367904e-03 9.99985755e-01 -6.82695001e-04 5.26174794e-02] [ 5.27027560e-04 6.79914518e-04 9.99999630e-01 4.95562814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60255784400005 meters 0.2822504607617113 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.50 [[ 9.99985922e-01 -5.26861837e-03 -6.30206015e-04 3.38452144e+00] [ 5.26822842e-03 9.99985931e-01 -6.18839138e-04 5.23584348e-02] [ 6.33457576e-04 6.15510357e-04 9.99999610e-01 4.95592628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6325578440001 meters 0.28297316238709264 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.50 [[ 9.99986167e-01 -5.21296636e-03 -7.00281555e-04 3.38468277e+00] [ 5.21263312e-03 9.99986300e-01 -4.76851607e-04 5.17776517e-02] [ 7.02757772e-04 4.73194700e-04 9.99999641e-01 4.95610166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66255784400005 meters 0.28231903201449743 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.50 [[ 9.99986447e-01 -5.16264213e-03 -6.73042202e-04 3.38452526e+00] [ 5.16240699e-03 9.99986613e-01 -3.50640298e-04 5.12542351e-02] [ 6.74843422e-04 3.47161028e-04 9.99999712e-01 4.95792994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6925578440001 meters 0.28174703788061933 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:0.50 [[ 9.99986825e-01 -5.09869946e-03 -5.93820154e-04 3.38421362e+00] [ 5.09858777e-03 9.99986984e-01 -1.89451104e-04 5.05866150e-02] [ 5.94778379e-04 1.86420964e-04 9.99999806e-01 4.96031694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72255784400005 meters 0.28046840668744083 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:0.49 [[ 9.99995561e-01 2.94502734e-03 -4.51871402e-04 3.36369719e+00] [-2.94567009e-03 9.99994641e-01 -1.42840504e-03 4.73354678e-02] [ 4.47662288e-04 1.42972977e-03 9.99998878e-01 4.94738075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7525578440001 meters 0.28246866195556014 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:0.49 [[ 9.99995680e-01 2.89217256e-03 -5.23815794e-04 3.36402042e+00] [-2.89298974e-03 9.99994589e-01 -1.56607289e-03 4.79006454e-02] [ 5.19283607e-04 1.56758152e-03 9.99998637e-01 4.94427966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78255784400005 meters 0.2829922760021352 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:0.49 [[ 9.99996437e-01 -2.61256588e-03 5.47805940e-04 3.38794121e+00] [ 2.61158628e-03 9.99995003e-01 1.78139084e-03 4.78694598e-02] [-5.52457204e-04 -1.77995385e-03 9.99998263e-01 4.92782308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8125578440001 meters 0.28310211151046394 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:0.49 [[ 9.99996141e-01 -2.74622737e-03 4.20282517e-04 3.38845351e+00] [ 2.74562163e-03 9.99995201e-01 1.43511840e-03 4.93087823e-02] [-4.24221661e-04 -1.43395892e-03 9.99998882e-01 4.92378784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84255784400005 meters 0.2827417191694498 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:0.49 [[ 9.99995621e-01 -2.94527125e-03 2.87431818e-04 3.38886302e+00] [ 2.94502006e-03 9.99995285e-01 8.70483067e-04 5.15837128e-02] [-2.89994271e-04 -8.69632763e-04 9.99999580e-01 4.92228018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8725578440001 meters 0.2830151077358818 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:0.49 [[ 9.99995269e-01 -3.06169530e-03 2.96673142e-04 3.38877705e+00] [ 3.06152366e-03 9.99995147e-01 5.77298764e-04 5.27953087e-02] [-2.98439215e-04 -5.76387761e-04 9.99999789e-01 4.92378952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90255784400006 meters 0.2838500275007199 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:0.49 [[ 9.99994911e-01 -3.17634479e-03 2.98277474e-04 3.38866659e+00] [ 3.17626090e-03 9.99994916e-01 2.81293794e-04 5.40180263e-02] [-2.99169444e-04 -2.80344956e-04 9.99999916e-01 4.92631596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9325578440001 meters 0.28167146934922627 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99994374e-01 -3.34097131e-03 3.00110608e-04 3.38859149e+00] [ 3.34101264e-03 9.99994409e-01 -1.37329179e-04 5.57451658e-02] [-2.99650117e-04 1.38331079e-04 9.99999946e-01 4.92815714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96255784400006 meters 0.28241002562505807 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99993823e-01 -3.50829928e-03 2.11803138e-04 3.38877994e+00] [ 3.50841811e-03 9.99993687e-01 -5.63326232e-04 5.75010876e-02] [-2.09825484e-04 5.64065846e-04 9.99999819e-01 4.92918958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9925578440001 meters 0.28367639959342295 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99992730e-01 -3.80681401e-03 2.20653749e-04 3.38876177e+00] [ 3.80711560e-03 9.99991797e-01 -1.38286229e-03 6.07930109e-02] [-2.15387639e-04 1.38369229e-03 9.99999020e-01 4.92960523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02255784400006 meters 0.28128782732336405 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99991991e-01 -3.98774192e-03 3.39221156e-04 3.38834890e+00] [ 3.98836352e-03 9.99990332e-01 -1.85193694e-03 6.27310630e-02] [-3.31832829e-04 1.85327505e-03 9.99998228e-01 4.93244003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.05255784400003 meters 0.2826740886843274 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99991156e-01 -4.17987238e-03 4.64555720e-04 3.38789132e+00] [ 4.18095436e-03 9.99988491e-01 -2.35302948e-03 6.48097662e-02] [-4.54715011e-04 2.35495096e-03 9.99997124e-01 4.93568033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08255784400006 meters 0.2826740886843274 Centerline is valid? [False, False] Translation: X:3.39, Y:0.06, Z:0.49 [[ 9.99991156e-01 -4.17987238e-03 4.64555720e-04 3.38789132e+00] [ 4.18095436e-03 9.99988491e-01 -2.35302948e-03 6.48097662e-02] [-4.54715011e-04 2.35495096e-03 9.99997124e-01 4.93568033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11255784400004 meters 0.2816384743839124 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.49 [[ 9.99999816e-01 8.43799333e-05 6.00509092e-04 3.38740364e+00] [-8.54538911e-05 9.99998397e-01 1.78861136e-03 6.55301478e-02] [-6.00357207e-04 -1.78866235e-03 9.99998220e-01 4.93854433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14255784400007 meters 0.2816600096482295 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.49 [[ 9.99999844e-01 -2.16160849e-04 5.15955902e-04 3.38771166e+00] [ 2.15728987e-04 9.99999627e-01 8.36922157e-04 6.92783643e-02] [-5.16136619e-04 -8.36810719e-04 9.99999517e-01 4.93651962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17255784400004 meters 0.283327370847923 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:0.49 [[ 9.99999801e-01 -3.71311359e-04 5.09229390e-04 3.38775565e+00] [ 3.71091634e-04 9.99999838e-01 4.31512141e-04 7.09363990e-02] [-5.09389533e-04 -4.31323084e-04 9.99999777e-01 4.93608934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20255784400007 meters 0.2820891227885248 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.49 [[ 9.99996832e-01 9.29340045e-06 2.51714755e-03 3.34817063e+00] [-1.01913208e-05 9.99999936e-01 3.56708797e-04 7.48656893e-02] [-2.51714408e-03 -3.56733320e-04 9.99996768e-01 4.90670774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23255784400004 meters 0.28047761661954557 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99996686e-01 -1.20102360e-04 2.57160172e-03 3.34801513e+00] [ 1.20091331e-04 9.99999993e-01 4.44308840e-06 7.63005405e-02] [-2.57160223e-03 -4.13424661e-06 9.99996693e-01 4.90732915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26255784400007 meters 0.28042641512685096 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99996004e-01 -3.03125616e-04 2.81059344e-03 3.34731411e+00] [ 3.04777319e-04 9.99999781e-01 -5.87260790e-04 7.86446878e-02] [-2.81041481e-03 5.88115049e-04 9.99995878e-01 4.91119402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29255784400004 meters 0.2798464314222 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99995874e-01 -4.10074605e-04 2.84323525e-03 3.34719433e+00] [ 4.12578077e-04 9.99999528e-01 -8.79970689e-04 7.98350353e-02] [-2.84287305e-03 8.81140115e-04 9.99995571e-01 4.91211950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3225578440001 meters 0.2804771959052096 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99995986e-01 -5.17369796e-04 2.78579833e-03 3.34732216e+00] [ 5.20654652e-04 9.99999170e-01 -1.17854742e-03 8.10432138e-02] [-2.78518627e-03 1.17999313e-03 9.99995425e-01 4.91250893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35255784400005 meters 0.2807782865260206 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99995994e-01 -6.24440646e-04 2.76073121e-03 3.34735992e+00] [ 6.28533581e-04 9.99998704e-01 -1.48193582e-03 8.22593746e-02] [-2.75980225e-03 1.48366509e-03 9.99995091e-01 4.91313345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3825578440001 meters 0.28006278593546285 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99995929e-01 -7.16147266e-04 2.76210905e-03 3.34736292e+00] [ 7.20947529e-04 9.99998231e-01 -1.73729364e-03 8.32885882e-02] [-2.76086000e-03 1.73927791e-03 9.99994676e-01 4.91298919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41255784400005 meters 0.2802853481803118 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.49 [[ 9.99995840e-01 -7.83232244e-04 2.77605835e-03 3.34734973e+00] [ 7.88561397e-04 9.99997848e-01 -1.91910914e-03 8.40210949e-02] [-2.77454927e-03 1.92129025e-03 9.99994305e-01 4.91251450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4425578440001 meters 0.28064975949475446 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.49 [[ 9.99995874e-01 -8.91489639e-04 2.73085930e-03 3.34755480e+00] [ 8.97636972e-04 9.99997064e-01 -2.25066406e-03 8.53232956e-02] [-2.72884484e-03 2.25310609e-03 9.99993738e-01 4.91009114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47255784400005 meters 0.2804223752997392 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.49 [[ 9.99996083e-01 -9.72404552e-04 2.62445211e-03 3.34788832e+00] [ 9.78903228e-04 9.99996455e-01 -2.47605547e-03 8.62317547e-02] [-2.62203508e-03 2.47861485e-03 9.99993491e-01 4.90835569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5025578440001 meters 0.27954019866605023 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.49 [[ 9.99993325e-01 -1.58582941e-04 3.65038844e-03 3.31036268e+00] [ 1.64994495e-04 9.99998444e-01 -1.75616911e-03 8.76585667e-02] [-3.65010426e-03 1.75675968e-03 9.99991795e-01 4.86909601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53255784400005 meters 0.28130827420033844 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.49 [[ 9.99985030e-01 1.23617039e-03 5.33031723e-03 3.35398056e+00] [-1.23108491e-03 9.99998784e-01 -9.57241634e-04 9.00224071e-02] [-5.33149407e-03 9.50665231e-04 9.99985336e-01 4.86020002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5625578440001 meters 0.28327158498062477 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.49 [[ 9.99986579e-01 1.02252963e-03 5.07899510e-03 3.35463740e+00] [-1.01373615e-03 9.99997983e-01 -1.73361555e-03 9.30390731e-02] [-5.08075753e-03 1.72844352e-03 9.99985599e-01 4.85860048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.59255784400005 meters 0.28141809780912175 Centerline is valid? [False, False] Translation: X:3.33, Y:0.10, Z:0.49 [[ 9.99984972e-01 -4.47168416e-03 3.17183244e-03 3.33197773e+00] [ 4.46662908e-03 9.99988746e-01 1.59903822e-03 9.52496824e-02] [-3.17894714e-03 -1.58484679e-03 9.99993691e-01 4.87499068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6225578440001 meters 0.28256449522407606 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.49 [[ 9.99981518e-01 4.06128152e-03 4.52425747e-03 3.35216417e+00] [-4.06222562e-03 9.99991729e-01 1.99506217e-04 9.65659147e-02] [-4.52340980e-03 -2.17881084e-04 9.99989746e-01 4.88160234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.65255784400006 meters 0.2817940832391776 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.49 [[ 9.99982259e-01 3.86963828e-03 4.52842509e-03 3.35212118e+00] [-3.86819225e-03 9.99992465e-01 -3.28038042e-04 9.87168070e-02] [-4.52966036e-03 3.10515404e-04 9.99989693e-01 4.88230460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6825578440001 meters 0.28132920107585974 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.49 [[ 9.99982533e-01 3.54022747e-03 4.73285978e-03 3.35163012e+00] [-3.53399677e-03 9.99992879e-01 -1.32419343e-03 1.02740975e-01] [-4.73751402e-03 1.30744439e-03 9.99987923e-01 4.88213654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.71255784400006 meters 0.28098139277410217 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.49 [[ 9.99982964e-01 3.34977006e-03 4.78015142e-03 3.35153278e+00] [-3.34114667e-03 9.99992779e-01 -1.81084661e-03 1.04755086e-01] [-4.78618282e-03 1.79484458e-03 9.99986935e-01 4.88164888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7425578440001 meters 0.2812444419726035 Centerline is valid? [False, False] Translation: X:3.35, Y:0.11, Z:0.49 [[ 9.99983737e-01 3.17634706e-03 4.73675152e-03 3.35175109e+00] [-3.16571553e-03 9.99992457e-01 -2.25028826e-03 1.06571225e-01] [-4.74386349e-03 2.23525645e-03 9.99986250e-01 4.87928302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.77255784400006 meters 0.2800509110612316 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.49 [[ 9.99994829e-01 -2.42756187e-03 2.10904242e-03 3.32970693e+00] [ 2.42563492e-03 9.99996639e-01 9.15740859e-04 1.07503870e-01] [-2.11125835e-03 -9.10620358e-04 9.99997357e-01 4.89393981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80255784400003 meters 0.28090115772010227 Centerline is valid? [False, False] Translation: X:3.33, Y:0.11, Z:0.49 [[ 9.99994564e-01 -2.59947085e-03 2.02834237e-03 3.32996065e+00] [ 2.59849226e-03 9.99996506e-01 4.84943122e-04 1.09295775e-01] [-2.02959588e-03 -4.79669854e-04 9.99997825e-01 4.89263414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83255784400006 meters 0.2818935453914122 Centerline is valid? [False, False] Translation: X:3.35, Y:0.11, Z:0.49 [[ 9.99976519e-01 5.88615710e-03 3.50935071e-03 3.35024445e+00] [-5.88220099e-03 9.99982054e-01 -1.13656206e-03 1.13132781e-01] [-3.51597771e-03 1.11589266e-03 9.99993196e-01 4.89813015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86255784400004 meters 0.28128454058017033 Centerline is valid? [False, False] Translation: X:3.35, Y:0.11, Z:0.49 [[ 9.99977387e-01 5.71326778e-03 3.54732901e-03 3.35008767e+00] [-5.70771457e-03 9.99982473e-01 -1.57361707e-03 1.14961184e-01] [-3.55625733e-03 1.55333435e-03 9.99992470e-01 4.89943551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89255784400007 meters 0.28112756213218565 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.49 [[ 9.99992004e-01 -2.67400470e-03 2.97344506e-03 3.33040794e+00] [ 2.67624386e-03 9.99996138e-01 -7.49328629e-04 1.20507733e-01] [-2.97142987e-03 7.57280302e-04 9.99995299e-01 4.88818004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92255784400004 meters 0.28178425430746923 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.49 [[ 9.99991739e-01 -2.77470264e-03 2.97018576e-03 3.33040254e+00] [ 2.77769305e-03 9.99995639e-01 -1.00315891e-03 1.21557017e-01] [-2.96738934e-03 1.01140089e-03 9.99995086e-01 4.88838001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95255784400007 meters 0.28108770039371145 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.49 [[ 9.99991268e-01 -2.93420554e-03 2.97564785e-03 3.33022834e+00] [ 2.93839420e-03 9.99994697e-01 -1.40425102e-03 1.23234768e-01] [-2.97151170e-03 1.41298238e-03 9.99994587e-01 4.89173577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98255784400004 meters 0.2815700030295559 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.49 [[ 9.99990861e-01 -3.00623427e-03 3.03976053e-03 3.32994164e+00] [ 3.01106692e-03 9.99994208e-01 -1.58648935e-03 1.24003445e-01] [-3.03497357e-03 1.59562778e-03 9.99994121e-01 4.89449369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01255784400007 meters 0.2817450569747144 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.49 [[ 9.99990391e-01 -3.08918861e-03 3.11043949e-03 3.32965671e+00] [ 3.09478992e-03 9.99993595e-01 -1.79760706e-03 1.24889724e-01] [-3.10486642e-03 1.80721595e-03 9.99993547e-01 4.89679303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04255784400004 meters 0.28168585476902125 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99989218e-01 -3.24942087e-03 3.31745705e-03 3.32906383e+00] [ 3.25697755e-03 9.99992108e-01 -2.27499787e-03 1.26825244e-01] [-3.31003845e-03 2.28577822e-03 9.99991909e-01 4.89864106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0725578440001 meters 0.2819583813414904 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99989004e-01 -3.35251812e-03 3.27895724e-03 3.32920104e+00] [ 3.36088568e-03 9.99991102e-01 -2.54972397e-03 1.27949355e-01] [-3.27038006e-03 2.56071613e-03 9.99991374e-01 4.89752562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10255784400005 meters 0.28132277039349723 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99988905e-01 -3.46317079e-03 3.19313625e-03 3.32947913e+00] [ 3.47228757e-03 9.99989899e-01 -2.85400832e-03 1.29198662e-01] [-3.18322008e-03 2.86506414e-03 9.99990829e-01 4.89582790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1325578440001 meters 0.2820585520903929 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99988913e-01 -3.58521317e-03 3.05295371e-03 3.32995359e+00] [ 3.59496559e-03 9.99988434e-01 -3.19494691e-03 1.30592621e-01] [-3.04146383e-03 3.20588675e-03 9.99990236e-01 4.89249418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16255784400005 meters 0.2825342094589161 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99988869e-01 -3.69432246e-03 2.93504114e-03 3.33032754e+00] [ 3.70455965e-03 9.99987047e-01 -3.49017529e-03 1.31803809e-01] [-2.92210929e-03 3.50100948e-03 9.99989602e-01 4.89064839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1925578440001 meters 0.2815914769333161 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:0.49 [[ 9.99983549e-01 -1.50178666e-03 5.53588147e-03 3.28918647e+00] [ 1.51245574e-03 9.99997006e-01 -1.92357842e-03 1.32665095e-01] [-5.53297609e-03 1.93191955e-03 9.99982827e-01 4.86479732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22255784400005 meters 0.28342679972278595 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99982897e-01 -8.36928772e-04 5.78834295e-03 3.32779141e+00] [ 8.45033094e-04 9.99998666e-01 -1.39780699e-03 1.34640451e-01] [-5.78716536e-03 1.40267442e-03 9.99982270e-01 4.89196783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2525578440001 meters 0.2826908570127819 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99982564e-01 -8.52483172e-04 5.84343089e-03 3.32762661e+00] [ 8.60900577e-04 9.99998595e-01 -1.43812633e-03 1.34806588e-01] [-5.84219670e-03 1.44313186e-03 9.99981893e-01 4.89242434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28255784400005 meters 0.28356337049097774 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99983028e-01 -8.56124434e-04 5.76290903e-03 3.32798976e+00] [ 8.64474674e-04 9.99998580e-01 -1.44662774e-03 1.34832165e-01] [-5.76166235e-03 1.45158508e-03 9.99982348e-01 4.88911937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3125578440001 meters 0.2818246304643307 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:0.48 [[ 9.99984076e-01 -5.70199480e-04 5.61445572e-03 3.29371450e+00] [ 5.77184965e-04 9.99999061e-01 -1.24265460e-03 1.34288981e-01] [-5.61374189e-03 1.24587539e-03 9.99983467e-01 4.83095099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34255784400005 meters 0.2813992206251165 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:0.48 [[ 9.99984165e-01 -6.21299547e-04 5.59314570e-03 3.29380124e+00] [ 6.28977117e-04 9.99998862e-01 -1.37102043e-03 1.34824830e-01] [-5.59228752e-03 1.37451668e-03 9.99983418e-01 4.83015940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3725578440001 meters 0.28174320898854843 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984183e-01 -6.68017693e-04 5.58453145e-03 3.29371281e+00] [ 6.76350484e-04 9.99998661e-01 -1.49036446e-03 1.35325732e-01] [-5.58352838e-03 1.49411799e-03 9.99983296e-01 4.83256941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40255784400006 meters 0.28218266187935015 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984052e-01 -7.26073192e-04 5.60082134e-03 3.29360178e+00] [ 7.35268049e-04 9.99998385e-01 -1.63981360e-03 1.35949488e-01] [-5.59962167e-03 1.64390555e-03 9.99982971e-01 4.83407018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4325578440001 meters 0.2815727201719759 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984142e-01 -8.79760806e-04 5.56258075e-03 3.29374273e+00] [ 8.91059102e-04 9.99997545e-01 -2.02897290e-03 1.37561605e-01] [-5.56078208e-03 2.03389731e-03 9.99982470e-01 4.83290108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46255784400006 meters 0.2821711560281062 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984297e-01 -9.40967422e-04 5.52459351e-03 3.29399393e+00] [ 9.53045914e-04 9.99997161e-01 -2.18408779e-03 1.38207275e-01] [-5.52252267e-03 2.18931868e-03 9.99982354e-01 4.82941969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4925578440001 meters 0.28189990276835397 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984748e-01 -9.65703566e-04 5.43788043e-03 3.29435543e+00] [ 9.77935331e-04 9.99996997e-01 -2.24715316e-03 1.38461622e-01] [-5.43569402e-03 2.25243679e-03 9.99982690e-01 4.82622733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52255784400006 meters 0.28171267548076634 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99985281e-01 -9.51687515e-04 5.34163154e-03 3.29469307e+00] [ 9.63517457e-04 9.99997088e-01 -2.21253202e-03 1.38300360e-01] [-5.33951035e-03 2.21764621e-03 9.99983286e-01 4.82405474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55255784400003 meters 0.28099838952864453 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99985684e-01 -9.24987604e-04 5.27031170e-03 3.29488479e+00] [ 9.36297466e-04 9.99997264e-01 -2.14389394e-03 1.38008663e-01] [-5.26831420e-03 2.14879783e-03 9.99983814e-01 4.82379948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58255784400006 meters 0.28190050794525046 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99985757e-01 -8.84395773e-04 5.26342845e-03 3.29487251e+00] [ 8.95144092e-04 9.99997518e-01 -2.04007031e-03 1.37573724e-01] [-5.26161116e-03 2.04475278e-03 9.99984067e-01 4.82454484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61255784400004 meters 0.2816612269247828 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99985202e-01 -7.86943137e-04 5.38289515e-03 3.29438738e+00] [ 7.96554315e-04 9.99998092e-01 -1.78359264e-03 1.36469779e-01] [-5.38148129e-03 1.78785402e-03 9.99983921e-01 4.82945548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64255784400007 meters 0.2812695691231084 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:0.48 [[ 9.99984929e-01 -7.17555818e-04 5.44305772e-03 3.29418354e+00] [ 7.26342665e-04 9.99998436e-01 -1.61251688e-03 1.35743394e-01] [-5.44189213e-03 1.61644610e-03 9.99983886e-01 4.83067855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67255784400004 meters 0.281874691931499 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:0.48 [[ 9.99985381e-01 -6.28234260e-04 5.37064518e-03 3.29435270e+00] [ 6.35706495e-04 9.99998832e-01 -1.38971663e-03 1.34801536e-01] [-5.36976584e-03 1.39311047e-03 9.99984612e-01 4.83104317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70255784400007 meters 0.2825479138155065 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.49 [[ 9.99995692e-01 -7.69539937e-05 2.93419467e-03 3.33498933e+00] [ 7.91872405e-05 9.99999707e-01 -7.61002073e-04 1.34574042e-01] [-2.93413525e-03 7.61231146e-04 9.99995406e-01 4.85828714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.73255784400004 meters 0.28165965965681183 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99992384e-01 6.40760234e-04 3.84993216e-03 3.29711358e+00] [-6.40797300e-04 9.99999795e-01 8.39413233e-06 1.31754471e-01] [-3.84992600e-03 -1.08610945e-05 9.99992589e-01 4.82312895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76255784400007 meters 0.28183141808997186 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99992031e-01 6.43185269e-04 3.94004525e-03 3.29685202e+00] [-6.43256044e-04 9.99999793e-01 1.66958036e-05 1.31721512e-01] [-3.94003370e-03 -1.92301284e-05 9.99992238e-01 4.82416851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79255784400004 meters 0.2830877203876923 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99991685e-01 6.50605432e-04 4.02581532e-03 3.29664133e+00] [-6.50763835e-04 9.99999788e-01 3.80369984e-05 1.31637599e-01] [-4.02578972e-03 -4.06565372e-05 9.99991896e-01 4.82414209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8225578440001 meters 0.2826387517626463 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99991272e-01 7.03887338e-04 4.11838206e-03 3.29642836e+00] [-7.04598965e-04 9.99999737e-01 1.71344454e-04 1.31079462e-01] [-4.11826037e-03 -1.74244767e-04 9.99991505e-01 4.82386744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85255784400005 meters 0.28299420236789624 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99991117e-01 7.64727216e-04 4.14501288e-03 3.29639916e+00] [-7.66075354e-04 9.99999654e-01 3.23665608e-04 1.30448369e-01] [-4.14476393e-03 -3.26838125e-04 9.99991357e-01 4.82309510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8825578440001 meters 0.28267453832297235 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.48 [[ 9.99990731e-01 9.06459370e-04 4.20909911e-03 3.29619867e+00] [-9.09325218e-04 9.99999356e-01 6.79005720e-04 1.28976492e-01] [-4.20848091e-03 -6.82826866e-04 9.99990911e-01 4.82430614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91255784400005 meters 0.2843292388420503 Centerline is valid? [False, False] Translation: X:3.34, Y:0.13, Z:0.49 [[ 9.99996943e-01 8.20890477e-04 2.33246809e-03 3.33524520e+00] [-8.22570771e-04 9.99999403e-01 7.19525354e-04 1.29962120e-01] [-2.33187604e-03 -7.21441775e-04 9.99997021e-01 4.86000052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9425578440001 meters 0.28289856632628924 Centerline is valid? [False, False] Translation: X:3.34, Y:0.13, Z:0.49 [[ 9.99996984e-01 9.08455269e-04 2.28161744e-03 3.33541926e+00] [-9.10603597e-04 9.99999143e-01 9.40719111e-04 1.29037715e-01] [-2.28076088e-03 -9.42793923e-04 9.99996955e-01 4.85916896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97255784400005 meters 0.28289856632628924 Centerline is valid? [False, False] Translation: X:3.34, Y:0.13, Z:0.49 [[ 9.99996984e-01 9.08455269e-04 2.28161744e-03 3.33541926e+00] [-9.10603597e-04 9.99999143e-01 9.40719111e-04 1.29037715e-01] [-2.28076088e-03 -9.42793923e-04 9.99996955e-01 4.85916896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0025578440001 meters 0.28382454080757374 Centerline is valid? [False, False] Translation: X:3.34, Y:0.13, Z:0.49 [[ 9.99996914e-01 1.17675385e-03 2.18790529e-03 3.33592023e+00] [-1.18030732e-03 9.99997985e-01 1.62355971e-03 1.26150807e-01] [-2.18599035e-03 -1.62613710e-03 9.99996289e-01 4.85409347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03255784400005 meters 0.28479609487084145 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.49 [[ 9.99999938e-01 3.16676224e-04 -1.55932890e-04 3.37584978e+00] [-3.16494969e-04 9.99999276e-01 1.16104713e-03 1.25388747e-01] [ 1.56300453e-04 -1.16099770e-03 9.99999314e-01 4.88863755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0625578440001 meters 0.28363186596136614 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999871e-01 4.61330910e-04 -2.11079435e-04 3.37598244e+00] [-4.61009582e-04 9.99998739e-01 1.51983326e-03 1.23881293e-01] [ 2.11780315e-04 -1.51973575e-03 9.99998823e-01 4.88897535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09255784400005 meters 0.28323494409091504 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999799e-01 5.83922595e-04 -2.45734997e-04 3.37599656e+00] [-5.83472753e-04 9.99998161e-01 1.82670516e-03 1.22613731e-01] [ 2.46801199e-04 -1.82656142e-03 9.99998301e-01 4.89073314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1225578440001 meters 0.28305234518599176 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999606e-01 8.21426063e-04 -3.36215584e-04 3.37624243e+00] [-8.20618777e-04 9.99996797e-01 2.39423229e-03 1.20236730e-01] [ 3.38181192e-04 -2.39395544e-03 9.99997077e-01 4.89075321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15255784400006 meters 0.2827740535125789 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999536e-01 8.98738820e-04 -3.46714089e-04 3.37635660e+00] [-8.97839796e-04 9.99996257e-01 2.58448284e-03 1.19437883e-01] [ 3.49035566e-04 -2.58417035e-03 9.99996600e-01 4.88901921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1825578440001 meters 0.2832298585855351 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999524e-01 9.14842677e-04 -3.38877105e-04 3.37644284e+00] [-9.13949512e-04 9.99996133e-01 2.62650483e-03 1.19266842e-01] [ 3.41278633e-04 -2.62619387e-03 9.99996493e-01 4.88677718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21255784400006 meters 0.28475002643300446 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999514e-01 9.24194295e-04 -3.43196531e-04 3.37651005e+00] [-9.23280645e-04 9.99996055e-01 2.65285971e-03 1.19160754e-01] [ 3.45646935e-04 -2.65254156e-03 9.99996422e-01 4.88556819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2425578440001 meters 0.2840247270087901 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999518e-01 9.43376541e-04 -2.73802746e-04 3.37649425e+00] [-9.42631247e-04 9.99995885e-01 2.70949175e-03 1.18938002e-01] [ 2.76357690e-04 -2.70923235e-03 9.99996292e-01 4.88209696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27255784400006 meters 0.28390718285203786 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999522e-01 9.31033699e-04 -2.99711512e-04 3.37667662e+00] [-9.30226637e-04 9.99995971e-01 2.68176633e-03 1.19057650e-01] [ 3.02207119e-04 -2.68148625e-03 9.99996359e-01 4.87952737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30255784400003 meters 0.2836621247857853 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999516e-01 9.19457174e-04 -3.48983840e-04 3.37693962e+00] [-9.18527278e-04 9.99996052e-01 2.65545508e-03 1.19164155e-01] [ 3.51424040e-04 -2.65513324e-03 9.99996413e-01 4.87646288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.33255784400006 meters 0.2844932099650121 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999539e-01 8.86480173e-04 -3.69553381e-04 3.37709813e+00] [-8.85525192e-04 9.99996289e-01 2.57635301e-03 1.19497848e-01] [ 3.71835896e-04 -2.57602457e-03 9.99996613e-01 4.87405823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36255784400004 meters 0.2844454179460214 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999603e-01 8.31296322e-04 -3.20592967e-04 3.37700377e+00] [-8.30512499e-04 9.99996685e-01 2.43734848e-03 1.20088868e-01] [ 3.22618063e-04 -2.43708125e-03 9.99996978e-01 4.87329883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39255784400007 meters 0.2848665954765388 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999697e-01 7.42555089e-04 -2.33511210e-04 3.37676499e+00] [-7.42037861e-04 9.99997289e-01 2.20734285e-03 1.21060123e-01] [ 2.35149650e-04 -2.20716891e-03 9.99997537e-01 4.87352458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42255784400004 meters 0.2852895349283334 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.49 [[ 9.99999826e-01 5.79801568e-04 -1.11452462e-04 3.37652914e+00] [-5.79608775e-04 9.99998349e-01 1.72214370e-03 1.23029020e-01] [ 1.12450779e-04 -1.72207880e-03 9.99998511e-01 4.87170430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45255784400007 meters 0.28651495574865765 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.49 [[ 9.99971126e-01 6.94035787e-03 3.09506513e-03 3.39761909e+00] [-6.93617419e-03 9.99975019e-01 -1.36041937e-03 1.27335046e-01] [-3.10442961e-03 1.33891218e-03 9.99994285e-01 4.85561003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48255784400004 meters 0.28576092590738766 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997611e-01 -1.34832333e-03 1.72040961e-03 3.37847900e+00] [ 1.34873860e-03 9.99999062e-01 -2.40239488e-04 1.31047977e-01] [-1.72008408e-03 2.42559297e-04 9.99998491e-01 4.84268287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51255784400007 meters 0.28663937443283405 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997371e-01 -1.49506112e-03 1.73880673e-03 3.37842226e+00] [ 1.49610480e-03 9.99998701e-01 -5.99080939e-04 1.32565362e-01] [-1.73790881e-03 6.01680801e-04 9.99998309e-01 4.84254510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54255784400004 meters 0.28496141698224936 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997382e-01 -1.47096387e-03 1.75275088e-03 3.37833769e+00] [ 1.47191691e-03 9.99998770e-01 -5.42573854e-04 1.32324230e-01] [-1.75195062e-03 5.45152337e-04 9.99998317e-01 4.84365032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5725578440001 meters 0.2850099939368014 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997434e-01 -1.42247387e-03 1.76304815e-03 3.37823325e+00] [ 1.42321717e-03 9.99998899e-01 -4.20418833e-04 1.31818075e-01] [-1.76244818e-03 4.22926955e-04 9.99998357e-01 4.84549561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60255784400005 meters 0.2858475587869672 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997448e-01 -1.35940949e-03 1.80442121e-03 3.37808427e+00] [ 1.35988631e-03 9.99999041e-01 -2.63049923e-04 1.31162282e-01] [-1.80406189e-03 2.65503060e-04 9.99998337e-01 4.84661214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6325578440001 meters 0.2860540496195621 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997573e-01 -1.27939023e-03 1.79391868e-03 3.37810558e+00] [ 1.27950628e-03 9.99999179e-01 -6.35418406e-05 1.30319811e-01] [-1.79383592e-03 6.58370165e-05 9.99998389e-01 4.84695630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66255784400005 meters 0.286358638044847 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997845e-01 -1.23083287e-03 1.67196036e-03 3.37849514e+00] [ 1.23073769e-03 9.99999241e-01 5.79591825e-05 1.29796529e-01] [-1.67203043e-03 -5.59013130e-05 9.99998601e-01 4.84535621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6925578440001 meters 0.2861544187789281 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997986e-01 -1.19818835e-03 1.60979030e-03 3.37877302e+00] [ 1.19796699e-03 9.99999273e-01 1.38469519e-04 1.29439840e-01] [-1.60995504e-03 -1.36540764e-04 9.99998695e-01 4.84284197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72255784400005 meters 0.28526473243114875 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99998072e-01 -1.20142627e-03 1.55346171e-03 3.37902660e+00] [ 1.20122134e-03 9.99999270e-01 1.32844944e-04 1.29458993e-01] [-1.55362018e-03 -1.30978637e-04 9.99998785e-01 4.84045224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7525578440001 meters 0.28619218742622443 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997986e-01 -1.23470562e-03 1.58239624e-03 3.37897150e+00] [ 1.23462816e-03 9.99999237e-01 4.99213174e-05 1.29807129e-01] [-1.58245667e-03 -4.79675459e-05 9.99998747e-01 4.84000193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78255784400005 meters 0.28521919962363435 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997845e-01 -1.18919599e-03 1.70158744e-03 3.37852278e+00] [ 1.18893209e-03 9.99999281e-01 1.56093494e-04 1.29355934e-01] [-1.70177184e-03 -1.54070086e-04 9.99998540e-01 4.84326730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8125578440001 meters 0.28512089292163906 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99997993e-01 -1.17678056e-03 1.62171452e-03 3.37876514e+00] [ 1.17647868e-03 9.99999290e-01 1.87090463e-04 1.29211682e-01] [-1.62193354e-03 -1.85182175e-04 9.99998668e-01 4.84243643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84255784400005 meters 0.2857360199856681 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99998067e-01 -1.19065499e-03 1.56498961e-03 3.37908496e+00] [ 1.19041519e-03 9.99999280e-01 1.54148515e-04 1.29334247e-01] [-1.56517202e-03 -1.52285230e-04 9.99998764e-01 4.83859837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8725578440001 meters 0.2846439064586053 Centerline is valid? [False, False] Translation: X:3.38, Y:0.13, Z:0.48 [[ 9.99998175e-01 -1.19084567e-03 1.49375632e-03 3.37939210e+00] [ 1.19061541e-03 9.99999279e-01 1.55026955e-04 1.29313679e-01] [-1.49393985e-03 -1.53248182e-04 9.99998872e-01 4.83575836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90255784400006 meters 0.28633252810506493 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982994e-01 4.96072139e-03 3.06627376e-03 3.40284979e+00] [-4.95146827e-03 9.99983187e-01 -3.01796745e-03 1.30513309e-01] [-3.08119351e-03 3.00273357e-03 9.99990745e-01 4.81507558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9325578440001 meters 0.2858448670443178 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982767e-01 5.02901957e-03 3.02906563e-03 3.40296778e+00] [-5.02039160e-03 9.99983338e-01 -2.84929409e-03 1.29796907e-01] [-3.04334432e-03 2.83403789e-03 9.99991353e-01 4.81469863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96255784400006 meters 0.28554562334624944 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982567e-01 5.08510143e-03 3.00114166e-03 3.40306458e+00] [-5.07697849e-03 9.99983445e-01 -2.70805958e-03 1.29200046e-01] [-3.01486274e-03 2.69277564e-03 9.99991830e-01 4.81425092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9925578440001 meters 0.2863324507554742 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982620e-01 5.12241097e-03 2.91885813e-03 3.40330880e+00] [-5.11478974e-03 9.99983507e-01 -2.61253938e-03 1.28785952e-01] [-2.93219249e-03 2.59756463e-03 9.99992327e-01 4.81356034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02255784400006 meters 0.28540296206954074 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982545e-01 5.18884305e-03 2.82570741e-03 3.40347631e+00] [-5.18194668e-03 9.99983591e-01 -2.44245862e-03 1.28073096e-01] [-2.83833458e-03 2.42777332e-03 9.99993025e-01 4.81519733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05255784400003 meters 0.28590057144591313 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.48 [[ 9.99982158e-01 5.28714226e-03 2.78023446e-03 3.40348521e+00] [-5.28105482e-03 9.99983652e-01 -2.19234256e-03 1.27031760e-01] [-2.79178023e-03 2.17762088e-03 9.99993732e-01 4.81765065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08255784400006 meters 0.2857036390441461 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.48 [[ 9.99981064e-01 5.50224312e-03 2.75639623e-03 3.40331202e+00] [-5.49777177e-03 9.99983563e-01 -1.62712972e-03 1.24656688e-01] [-2.76530378e-03 1.61194487e-03 9.99994877e-01 4.82315131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11255784400004 meters 0.2858134218031649 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.48 [[ 9.99980463e-01 5.60310145e-03 2.77096833e-03 3.40327253e+00] [-5.59931663e-03 9.99983383e-01 -1.37176195e-03 1.23594678e-01] [-2.77860841e-03 1.35621962e-03 9.99995220e-01 4.82337374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14255784400007 meters 0.2834647324450032 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.48 [[ 9.99994600e-01 -2.97121718e-03 1.40414453e-03 3.38273738e+00] [ 2.97147316e-03 9.99995569e-01 -1.80255471e-04 1.23265648e-01] [-1.40360273e-03 1.84426876e-04 9.99998998e-01 4.81909871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17255784400004 meters 0.2854800604449217 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.48 [[ 9.99989385e-01 3.25944127e-03 3.25679173e-03 3.40553109e+00] [-3.24965546e-03 9.99990203e-01 -3.00552657e-03 1.21711339e-01] [-3.26655616e-03 2.99491122e-03 9.99990180e-01 4.80390439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20255784400007 meters 0.2854332445852443 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.48 [[ 9.99989295e-01 3.32886029e-03 3.21380383e-03 3.40569493e+00] [-3.31975815e-03 9.99990475e-01 -2.83339466e-03 1.20981330e-01] [-3.22320519e-03 2.82269528e-03 9.99990822e-01 4.80286395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23255784400004 meters 0.2851609434208134 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.48 [[ 9.99989441e-01 3.35821829e-03 3.13692874e-03 3.40598582e+00] [-3.34957595e-03 9.99990592e-01 -2.75623416e-03 1.20646153e-01] [-3.14615527e-03 2.74569768e-03 9.99991281e-01 4.80077355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26255784400007 meters 0.2840732435074242 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99986699e-01 -4.94228571e-03 1.47466758e-03 3.38711565e+00] [ 4.94437488e-03 9.99986773e-01 -1.41644023e-03 1.23047433e-01] [-1.46764762e-03 1.42371270e-03 9.99997910e-01 4.78980852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29255784400004 meters 0.28697123226878934 Centerline is valid? [False, False] Translation: X:3.43, Y:0.13, Z:0.48 [[ 9.99992720e-01 -3.55490966e-03 1.38685366e-03 3.42726593e+00] [ 3.55575210e-03 9.99993495e-01 -6.05459808e-04 1.25655257e-01] [-1.38469229e-03 6.10386708e-04 9.99998855e-01 4.81025200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3225578440001 meters 0.2864204331610803 Centerline is valid? [False, False] Translation: X:3.43, Y:0.13, Z:0.48 [[ 9.99992690e-01 -3.54203809e-03 1.43984811e-03 3.42710822e+00] [ 3.54286702e-03 9.99993560e-01 -5.73563010e-04 1.25528319e-01] [-1.43780726e-03 5.78660008e-04 9.99998799e-01 4.81076714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35255784400005 meters 0.2868978482593585 Centerline is valid? [False, False] Translation: X:3.43, Y:0.13, Z:0.48 [[ 9.99992389e-01 -3.56483975e-03 1.58570558e-03 3.42677372e+00] [ 3.56585180e-03 9.99993440e-01 -6.35864102e-04 1.25791399e-01] [-1.58342843e-03 6.41513653e-04 9.99998541e-01 4.80992586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3825578440001 meters 0.28433801482216603 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99989927e-01 -3.09109089e-03 3.25435938e-03 3.38738177e+00] [ 3.09020595e-03 9.99995187e-01 2.76918630e-04 1.22657609e-01] [-3.25519969e-03 -2.66859200e-04 9.99994666e-01 4.77851334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41255784400005 meters 0.28735055108908325 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99989574e-01 -3.16133927e-03 3.29511242e-03 3.38726134e+00] [ 3.16103698e-03 9.99994999e-01 9.69419733e-05 1.23412893e-01] [-3.29540240e-03 -8.65249904e-05 9.99994566e-01 4.77867696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4425578440001 meters 0.2864431253384737 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99988393e-01 -3.27958836e-03 3.52959291e-03 3.38656334e+00] [ 3.28046513e-03 9.99994590e-01 -2.42644374e-04 1.24849453e-01] [-3.52877804e-03 2.54220264e-04 9.99993742e-01 4.78104861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47255784400005 meters 0.2861575456895394 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99987949e-01 -3.35850342e-03 3.58091921e-03 3.38642016e+00] [ 3.36012691e-03 9.99994255e-01 -4.47451355e-04 1.25707062e-01] [-3.57939587e-03 4.59478306e-04 9.99993488e-01 4.78115237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5025578440001 meters 0.28523169919665015 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.48 [[ 9.99985307e-01 4.69830381e-03 2.70397916e-03 3.36650252e+00] [-4.69359222e-03 9.99987460e-01 -1.74618441e-03 1.23050918e-01] [-2.71214935e-03 1.73346738e-03 9.99994820e-01 4.77090227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53255784400005 meters 0.2861655843452249 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.48 [[ 9.99986087e-01 4.55436679e-03 2.66165683e-03 3.36672176e+00] [-4.54870006e-03 9.99987384e-01 -2.13121252e-03 1.24622134e-01] [-2.67132958e-03 2.11907578e-03 9.99994187e-01 4.76802479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5625578440001 meters 0.287394812676006 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99987028e-01 4.38210252e-03 2.59643539e-03 3.36704738e+00] [-4.37541426e-03 9.99987110e-01 -2.57604686e-03 1.26473563e-01] [-2.60769042e-03 2.56465296e-03 9.99993311e-01 4.76429333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59255784400005 meters 0.28579961794478576 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99988427e-01 4.11216124e-03 2.49734746e-03 3.36756399e+00] [-4.10388273e-03 9.99986097e-01 -3.31104816e-03 1.29568330e-01] [-2.51092830e-03 3.30076102e-03 9.99991400e-01 4.75777264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6225578440001 meters 0.28689338934831143 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99988982e-01 4.02822894e-03 2.41037953e-03 3.36779602e+00] [-4.01973495e-03 9.99985731e-01 -3.51845251e-03 1.30430762e-01] [-2.42451827e-03 3.50872466e-03 9.99990905e-01 4.75729338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65255784400006 meters 0.28745722976387117 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99989394e-01 3.96558599e-03 2.34211479e-03 3.36789045e+00] [-3.95696006e-03 9.99985414e-01 -3.67619001e-03 1.31090960e-01] [-2.35665888e-03 3.66688337e-03 9.99990500e-01 4.75884870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6825578440001 meters 0.28628970475473153 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99989795e-01 3.91638459e-03 2.25223920e-03 3.36799564e+00] [-3.90782177e-03 9.99985168e-01 -3.79382923e-03 1.31596022e-01] [-2.26706389e-03 3.78498916e-03 9.99990267e-01 4.76140066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71255784400006 meters 0.285649847954562 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99990177e-01 3.85617072e-03 2.18528453e-03 3.36810131e+00] [-3.84753693e-03 9.99984831e-01 -3.94140096e-03 1.32213347e-01] [-2.20045010e-03 3.93295428e-03 9.99989845e-01 4.76267405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7425578440001 meters 0.28774676962978796 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99990485e-01 3.80359372e-03 2.13607994e-03 3.36829244e+00] [-3.79487229e-03 9.99984508e-01 -4.07223266e-03 1.32754186e-01] [-2.15153597e-03 4.06408776e-03 9.99989427e-01 4.76112197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77255784400006 meters 0.2875776795794802 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99990958e-01 3.74709160e-03 2.01077263e-03 3.36870074e+00] [-3.73859055e-03 9.99984128e-01 -4.21498667e-03 1.33333383e-01] [-2.02653466e-03 4.20743110e-03 9.99989095e-01 4.75872423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80255784400003 meters 0.2846500661289422 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99989600e-01 -4.54966505e-03 3.17306556e-04 3.34860159e+00] [ 4.55061310e-03 9.99984982e-01 -3.05400424e-03 1.34500797e-01] [-3.03407094e-04 3.05541641e-03 9.99995286e-01 4.75233932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83255784400006 meters 0.2860669486669563 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99988773e-01 4.65179945e-03 9.02289472e-04 3.36934844e+00] [-4.64864758e-03 9.99983194e-01 -3.46438223e-03 1.31662035e-01] [-9.18389919e-04 3.46014891e-03 9.99993592e-01 4.75900416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86255784400004 meters 0.28475384963973877 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992299e-01 -3.89037674e-03 -5.17578144e-04 3.34925530e+00] [ 3.88912007e-03 9.99989540e-01 -2.40722849e-03 1.32684989e-01] [ 5.26937756e-04 2.40519702e-03 9.99996969e-01 4.75285484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89255784400007 meters 0.28475384963973877 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992299e-01 -3.89037674e-03 -5.17578144e-04 3.34925530e+00] [ 3.88912007e-03 9.99989540e-01 -2.40722849e-03 1.32684989e-01] [ 5.26937756e-04 2.40519702e-03 9.99996969e-01 4.75285484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92255784400004 meters 0.2867682336395604 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992439e-01 -3.84857069e-03 -5.57612182e-04 3.34938200e+00] [ 3.84727592e-03 9.99989943e-01 -2.30474053e-03 1.32245397e-01] [ 5.66476531e-04 2.30257781e-03 9.99997189e-01 4.75243090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95255784400007 meters 0.2863525334292387 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992551e-01 -3.82336033e-03 -5.28409399e-04 3.34933724e+00] [ 3.82216473e-03 9.99990175e-01 -2.24542843e-03 1.31986973e-01] [ 5.36989289e-04 2.24339204e-03 9.99997339e-01 4.75184570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98255784400004 meters 0.2885380178377532 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992591e-01 -3.82910988e-03 -3.93826294e-04 3.34892512e+00] [ 3.82820870e-03 9.99990109e-01 -2.26411241e-03 1.32080080e-01] [ 4.02491934e-04 2.26258799e-03 9.99997359e-01 4.75337272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01255784400007 meters 0.28456420996165543 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992525e-01 -3.85553720e-03 -2.91331033e-04 3.34853533e+00] [ 3.85484683e-03 9.99989846e-01 -2.33424935e-03 1.32390255e-01] [ 3.00327860e-04 2.33310886e-03 9.99997233e-01 4.75632669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04255784400004 meters 0.28745230781618747 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992575e-01 -3.84413341e-03 -2.69203241e-04 3.34817500e+00] [ 3.84350230e-03 9.99989953e-01 -2.30691587e-03 1.32287811e-01] [ 2.78068628e-04 2.30586405e-03 9.99997303e-01 4.76308269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0725578440001 meters 0.2865857592696018 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992696e-01 -3.80904550e-03 -3.15639165e-04 3.34826799e+00] [ 3.80833461e-03 9.99990277e-01 -2.22299990e-03 1.31921038e-01] [ 3.24103604e-04 2.22178160e-03 9.99997479e-01 4.76366599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10255784400005 meters 0.28609696318758054 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99992803e-01 -3.77663267e-03 -3.62742870e-04 3.34841777e+00] [ 3.77584712e-03 9.99990577e-01 -2.14239348e-03 1.31570841e-01] [ 3.70830485e-04 2.14100840e-03 9.99997639e-01 4.76308029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1325578440001 meters 0.2864482855251319 Centerline is valid? [False, False] Translation: X:3.37, Y:0.13, Z:0.48 [[ 9.99987737e-01 4.84443404e-03 1.02864227e-03 3.36896389e+00] [-4.84141153e-03 9.99984015e-01 -2.92079110e-03 1.29399164e-01] [-1.04277541e-03 2.91577520e-03 9.99995205e-01 4.76616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16255784400005 meters 0.2843280715476827 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994818e-01 -1.44411323e-03 -2.87722038e-03 3.34894818e+00] [ 1.44355346e-03 9.99998939e-01 -1.96620941e-04 1.25931753e-01] [ 2.87750127e-03 1.92466501e-04 9.99995841e-01 4.77456383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1925578440001 meters 0.2875375219726302 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994575e-01 -1.42759483e-03 -2.96846265e-03 3.34927367e+00] [ 1.42714840e-03 9.99998970e-01 -1.52503857e-04 1.25729204e-01] [ 2.96867731e-03 1.48266593e-04 9.99995582e-01 4.77251572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22255784400005 meters 0.28563448965390875 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994409e-01 -1.47268724e-03 -3.00226979e-03 3.34937300e+00] [ 1.47191034e-03 9.99998883e-01 -2.60962985e-04 1.26188239e-01] [ 3.00265076e-03 2.56542454e-04 9.99995459e-01 4.77213193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2525578440001 meters 0.2854448354625503 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994404e-01 -1.52286894e-03 -2.97878639e-03 3.34931752e+00] [ 1.52170799e-03 9.99998765e-01 -3.91965980e-04 1.26734898e-01] [ 2.97937962e-03 3.87430943e-04 9.99995487e-01 4.77192969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28255784400005 meters 0.28626350907173703 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994499e-01 -1.60900096e-03 -2.90053896e-03 3.34903015e+00] [ 1.60721187e-03 9.99998517e-01 -6.19038265e-04 1.27694422e-01] [ 2.90153069e-03 6.14373079e-04 9.99995602e-01 4.77370347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3125578440001 meters 0.2882189195904363 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994974e-01 -1.74068487e-03 -2.64993841e-03 3.34820993e+00] [ 1.73803262e-03 9.99997987e-01 -1.00284944e-03 1.29351013e-01] [ 2.65167872e-03 9.98238715e-04 9.99995986e-01 4.77824074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34255784400005 meters 0.28720329030301445 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994909e-01 -1.82941122e-03 -2.61432419e-03 3.34808107e+00] [ 1.82621467e-03 9.99997583e-01 -1.22457197e-03 1.30289262e-01] [ 2.61655812e-03 1.21979141e-03 9.99995833e-01 4.77885690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3725578440001 meters 0.2845641396395938 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994632e-01 -1.93083572e-03 -2.64721074e-03 3.34815394e+00] [ 1.92694232e-03 9.99997059e-01 -1.47251994e-03 1.31335585e-01] [ 2.65004615e-03 1.46741101e-03 9.99995412e-01 4.77889333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40255784400006 meters 0.2876083156763656 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994490e-01 -2.03432475e-03 -2.62320545e-03 3.34811111e+00] [ 2.02979631e-03 9.99996447e-01 -1.72780873e-03 1.32406876e-01] [ 2.62671105e-03 1.72247463e-03 9.99995067e-01 4.77824321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4325578440001 meters 0.287689151138595 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99994069e-01 -2.13849969e-03 -2.69983616e-03 3.34834748e+00] [ 2.13315491e-03 9.99995763e-01 -1.98099782e-03 1.33462697e-01] [ 2.70406109e-03 1.97522690e-03 9.99994393e-01 4.77713784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46255784400006 meters 0.2874103589267341 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99993735e-01 -2.23206120e-03 -2.74742636e-03 3.34848012e+00] [ 2.22599823e-03 9.99995085e-01 -2.20786403e-03 1.34414632e-01] [ 2.75234094e-03 2.20173443e-03 9.99993788e-01 4.77667885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4925578440001 meters 0.2882342345262406 Centerline is valid? [False, False] Translation: X:3.35, Y:0.14, Z:0.48 [[ 9.99993206e-01 -2.32947202e-03 -2.85684598e-03 3.34866916e+00] [ 2.32248893e-03 9.99994313e-01 -2.44522468e-03 1.35403976e-01] [ 2.86252582e-03 2.43857307e-03 9.99992930e-01 4.77814235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52255784400006 meters 0.2859533477888728 Centerline is valid? [False, False] Translation: X:3.35, Y:0.14, Z:0.48 [[ 9.99992992e-01 -2.32957760e-03 -2.93066820e-03 3.34875921e+00] [ 2.32240481e-03 9.99994306e-01 -2.44852072e-03 1.35408527e-01] [ 2.93635553e-03 2.44169736e-03 9.99992708e-01 4.78019889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55255784400003 meters 0.28182041725307627 Centerline is valid? [False, False] Translation: X:3.33, Y:0.13, Z:0.48 [[ 0.9999721 0.00612297 -0.00427781 3.32983463] [-0.00613736 0.99997553 -0.00335849 0.13041726] [ 0.00425714 0.00338465 0.99998521 0.47779433] [ 0. 0. 0. 1. ]] SLAMing on 500.58255784400006 meters 0.28391184579632595 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:0.48 [[ 9.99989625e-01 -2.28193994e-03 -3.94241727e-03 3.35075917e+00] [ 2.27227865e-03 9.99994409e-01 -2.45334228e-03 1.33716735e-01] [ 3.94799361e-03 2.44435855e-03 9.99989219e-01 4.78916606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61255784400004 meters 0.284446690740649 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99988552e-01 -4.67749609e-03 -1.00838771e-03 3.39305703e+00] [ 4.67319981e-03 9.99980169e-01 -4.22161694e-03 1.34291360e-01] [ 1.02811431e-03 4.21685621e-03 9.99990581e-01 4.78418766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64255784400007 meters 0.2838252522551947 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99989150e-01 -4.54252470e-03 -1.03198811e-03 3.39296643e+00] [ 4.53850335e-03 9.99982227e-01 -3.86618464e-03 1.32796480e-01] [ 1.04953201e-03 3.86145901e-03 9.99991994e-01 4.78773190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67255784400004 meters 0.2826671647981747 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99989698e-01 -4.42028476e-03 -1.03198660e-03 3.39293099e+00] [ 4.41658894e-03 9.99983922e-01 -3.55649326e-03 1.31500162e-01] [ 1.04769072e-03 3.55189877e-03 9.99993143e-01 4.78870465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70255784400007 meters 0.2824997925841968 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99999498e-01 -9.66816028e-04 -2.61300035e-04 3.39029700e+00] [ 9.66898455e-04 9.99999483e-01 3.15508346e-04 1.26622263e-01] [ 2.60994861e-04 -3.15760838e-04 9.99999916e-01 4.80215056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73255784400004 meters 0.28364883752039677 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.48 [[ 9.99999577e-01 -8.73953478e-04 -2.87095248e-04 3.39033873e+00] [ 8.74110331e-04 9.99999469e-01 5.46674657e-04 1.25654372e-01] [ 2.86617327e-04 -5.46925379e-04 9.99999809e-01 4.80282232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76255784400007 meters 0.2836835787647269 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99999630e-01 -8.01232920e-04 -3.12031027e-04 3.39046386e+00] [ 8.01459961e-04 9.99999414e-01 7.28180562e-04 1.24890040e-01] [ 3.11447402e-04 -7.28430373e-04 9.99999686e-01 4.80161356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79255784400004 meters 0.2847220223683852 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99999625e-01 -7.31235871e-04 -4.64638068e-04 3.39091290e+00] [ 7.31656770e-04 9.99999322e-01 9.06340186e-04 1.24143562e-01] [ 4.63975004e-04 -9.06679801e-04 9.99999481e-01 4.80025274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8225578440001 meters 0.28385895709310854 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.48 [[ 9.99999636e-01 -7.30434292e-04 -4.40615063e-04 3.39079947e+00] [ 7.30834534e-04 9.99999320e-01 9.08895515e-04 1.24139455e-01] [ 4.39950875e-04 -9.09217201e-04 9.99999490e-01 4.80144407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85255784400005 meters 0.2833630383574062 Centerline is valid? [False, False] Translation: X:3.41, Y:0.13, Z:0.48 [[ 9.99979581e-01 5.62911647e-03 3.02511513e-03 3.41170851e+00] [-5.62348646e-03 9.99982446e-01 -1.86638494e-03 1.27398704e-01] [-3.03556813e-03 1.84933514e-03 9.99993683e-01 4.78539619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8825578440001 meters 0.28454913297843953 Centerline is valid? [False, False] Translation: X:3.41, Y:0.13, Z:0.48 [[ 9.99979700e-01 5.55687845e-03 3.11784554e-03 3.41146655e+00] [-5.55049300e-03 9.99982489e-01 -2.05295968e-03 1.28199300e-01] [-3.12919899e-03 2.03561243e-03 9.99993032e-01 4.78543047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91255784400005 meters 0.2851426467146111 Centerline is valid? [False, False] Translation: X:3.41, Y:0.13, Z:0.48 [[ 9.99978918e-01 5.48534590e-03 3.47497348e-03 3.41048963e+00] [-5.47742699e-03 9.99982390e-01 -2.28427437e-03 1.29185793e-01] [-3.48744232e-03 2.26519230e-03 9.99991353e-01 4.78810265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9425578440001 meters 0.2849126010686595 Centerline is valid? [False, False] Translation: X:3.43, Y:0.13, Z:0.48 [[ 9.99987234e-01 -3.64046843e-05 5.05271123e-03 3.43327158e+00] [ 3.11334181e-05 9.99999455e-01 1.04332972e-03 1.31398869e-01] [-5.05274646e-03 -1.04315909e-03 9.99986691e-01 4.77273769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97255784400005 meters 0.28343064112804656 Centerline is valid? [False, False] Translation: X:3.41, Y:0.13, Z:0.48 [[ 9.99979707e-01 5.70965147e-03 2.82571379e-03 3.41168978e+00] [-5.70271549e-03 9.99980722e-01 -2.45659507e-03 1.32090623e-01] [-2.83968562e-03 2.44043097e-03 9.99992990e-01 4.78749571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0025578440001 meters 0.2849960502824982 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.48 [[ 9.99995724e-01 -2.61713381e-03 1.30463123e-03 3.39244960e+00] [ 2.61895926e-03 9.99995591e-01 -1.39947339e-03 1.35166362e-01] [-1.30096287e-03 1.40288419e-03 9.99998170e-01 4.77705310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03255784400005 meters 0.2865940212176725 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.48 [[ 9.99995607e-01 -2.68421954e-03 1.25719651e-03 3.39266827e+00] [ 2.68619191e-03 9.99995160e-01 -1.56981152e-03 1.35867911e-01] [-1.25297670e-03 1.57318169e-03 9.99997978e-01 4.77469115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0625578440001 meters 0.28335445458314473 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.48 [[ 9.99995135e-01 -2.90465304e-03 1.13714897e-03 3.39316614e+00] [ 2.90712579e-03 9.99993400e-01 -2.17893809e-03 1.38385836e-01] [-1.13081241e-03 2.18223332e-03 9.99996980e-01 4.76921886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09255784400005 meters 0.2823556114507592 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.48 [[ 9.99994777e-01 -3.04274442e-03 1.08984864e-03 3.39334162e+00] [ 3.04549584e-03 9.99992157e-01 -2.53189514e-03 1.39861056e-01] [-1.08213619e-03 2.53520105e-03 9.99996201e-01 4.76762316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1225578440001 meters 0.28400589395164527 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99998566e-01 -1.47499463e-03 -8.32333539e-04 3.43374198e+00] [ 1.47353643e-03 9.99997383e-01 -1.74984343e-03 1.45442417e-01] [ 8.34912371e-04 1.74861445e-03 9.99998123e-01 4.79443836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15255784400006 meters 0.28388490039709746 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99998333e-01 -1.63413270e-03 -8.15098073e-04 3.43368634e+00] [ 1.63238036e-03 9.99996365e-01 -2.14590804e-03 1.47100147e-01] [ 8.18601809e-04 2.14457391e-03 9.99997365e-01 4.79427494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1825578440001 meters 0.28408053647836273 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99997771e-01 -1.98044365e-03 -7.31382975e-04 3.43334974e+00] [ 1.97819315e-03 9.99993346e-01 -3.06504983e-03 1.50919872e-01] [ 7.37448267e-04 3.06359619e-03 9.99995035e-01 4.79612937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21255784400006 meters 0.28441608122406603 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99997412e-01 -2.16651653e-03 -6.94863006e-04 3.43325768e+00] [ 2.16405312e-03 9.99991440e-01 -3.52653991e-03 1.52841422e-01] [ 7.02497365e-04 3.52502706e-03 9.99993540e-01 4.79576779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2425578440001 meters 0.2843898637454954 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99997021e-01 -2.33837751e-03 -7.00063016e-04 3.43320137e+00] [ 2.33559476e-03 9.99989472e-01 -3.94976901e-03 1.54622036e-01] [ 7.09291697e-04 3.94812217e-03 9.99991955e-01 4.79680975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27255784400006 meters 0.284453696760704 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:0.48 [[ 9.99997680e-01 1.98538303e-03 -8.35057504e-04 3.43348314e+00] [-1.98511262e-03 9.99997977e-01 3.24523018e-04 1.54647692e-01] [ 8.35700118e-04 -3.22864582e-04 9.99999599e-01 4.79788978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30255784400003 meters 0.2828863487827745 Centerline is valid? [False, False] Translation: X:3.43, Y:0.16, Z:0.48 [[ 9.99998313e-01 1.69112457e-03 -7.16928429e-04 3.43300277e+00] [-1.69142288e-03 9.99998483e-01 -4.15690233e-04 1.57792405e-01] [ 7.16224358e-04 4.16902161e-04 9.99999657e-01 4.80103228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33255784400006 meters 0.2858155495159548 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:0.48 [[ 9.99992605e-01 -3.78853879e-03 6.61403426e-04 3.45515016e+00] [ 3.78646505e-03 9.99987998e-01 3.10894908e-03 1.60721314e-01] [-6.73173863e-04 -3.10642171e-03 9.99994948e-01 4.79203940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36255784400004 meters 0.2830692301681086 Centerline is valid? [False, False] Translation: X:3.43, Y:0.16, Z:0.48 [[ 9.99996190e-01 2.11979825e-03 -1.76800653e-03 3.43341851e+00] [-2.12029475e-03 9.99997713e-01 -2.78993956e-04 1.61776330e-01] [ 1.76741108e-03 2.82741589e-04 9.99998398e-01 4.81056166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39255784400007 meters 0.28266128056205875 Centerline is valid? [False, False] Translation: X:3.43, Y:0.16, Z:0.48 [[ 9.99996346e-01 1.99125623e-03 -1.82839506e-03 3.43346992e+00] [-1.99234307e-03 9.99997840e-01 -5.92793776e-04 1.63106434e-01] [ 1.82721071e-03 5.96434400e-04 9.99998153e-01 4.81239766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42255784400004 meters 0.28441168228567776 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:0.48 [[ 9.99993168e-01 -3.67608919e-03 -3.87795127e-04 3.45600162e+00] [ 3.67714925e-03 9.99989405e-01 2.76920619e-03 1.65708139e-01] [ 3.77611169e-04 -2.77061325e-03 9.99996091e-01 4.80015527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.45255784400007 meters 0.2849268308083464 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:0.48 [[ 9.99992978e-01 -3.73027020e-03 -3.58903802e-04 3.45578937e+00] [ 3.73120413e-03 9.99989560e-01 2.63769048e-03 1.66279429e-01] [ 3.49060757e-04 -2.63901111e-03 9.99996457e-01 4.80287071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48255784400004 meters 0.28313370342898053 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:0.48 [[ 9.99989500e-01 4.53895055e-03 -6.30495445e-04 3.43638922e+00] [-4.53814007e-03 9.99988882e-01 1.28100120e-03 1.62348875e-01] [ 6.36302837e-04 -1.27812647e-03 9.99998981e-01 4.79317183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.51255784400007 meters 0.28384325336602845 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:0.48 [[ 9.99989737e-01 4.48320621e-03 -6.53138975e-04 3.43647094e+00] [-4.48245564e-03 9.99989297e-01 1.14615054e-03 1.62919122e-01] [ 6.58270413e-04 -1.14321111e-03 9.99999130e-01 4.79252517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54255784400004 meters 0.2829960864952407 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.48 [[ 9.99991472e-01 -3.70584953e-03 -1.82257529e-03 3.41687655e+00] [ 3.71002026e-03 9.99990495e-01 2.29034106e-03 1.65485334e-01] [ 1.81407030e-03 -2.29708332e-03 9.99995716e-01 4.78079806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5725578440001 meters 0.282994889685749 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.48 [[ 9.99991214e-01 -3.77384943e-03 -1.82502904e-03 3.41696681e+00] [ 3.77771582e-03 9.99990618e-01 2.11974733e-03 1.66187650e-01] [ 1.81701231e-03 -2.12662314e-03 9.99996088e-01 4.77868089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60255784400005 meters 0.28365558498285315 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.48 [[ 9.99991044e-01 -3.82135034e-03 -1.81901537e-03 3.41697543e+00] [ 3.82499008e-03 9.99990681e-01 2.00168322e-03 1.66684861e-01] [ 1.81134929e-03 -2.00862300e-03 9.99996342e-01 4.77799634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6325578440001 meters 0.28255683386958264 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.48 [[ 9.99990885e-01 -3.88129355e-03 -1.77898396e-03 3.41691082e+00] [ 3.88458594e-03 9.99990742e-01 1.85100722e-03 1.67314099e-01] [ 1.77178319e-03 -1.85790096e-03 9.99996704e-01 4.77693693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66255784400005 meters 0.283551449123557 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99995458e-01 -1.32834931e-03 -2.70529132e-03 3.42149387e+00] [ 1.33860554e-03 9.99991911e-01 3.79289885e-03 1.72037081e-01] [ 2.70023114e-03 -3.79650294e-03 9.99989148e-01 4.74632531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6925578440001 meters 0.28424205346276393 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99995163e-01 -1.46520501e-03 -2.74366894e-03 3.42168084e+00] [ 1.47468214e-03 9.99992943e-01 3.45534688e-03 1.73454832e-01] [ 2.73858679e-03 -3.45937621e-03 9.99990266e-01 4.74397142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72255784400005 meters 0.2836059684759238 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.47 [[ 9.99973208e-01 6.30022216e-03 -3.72710033e-03 3.40319150e+00] [-6.29459049e-03 9.99979032e-01 1.52081081e-03 1.70587547e-01] [ 3.73660363e-03 -1.49730949e-03 9.99991898e-01 4.72761207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7525578440001 meters 0.284894669825713 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99994346e-01 -2.22433049e-03 -2.52180914e-03 3.42254723e+00] [ 2.22991894e-03 9.99995060e-01 2.21540696e-03 1.76585871e-01] [ 2.51686888e-03 -2.22101786e-03 9.99994366e-01 4.73439536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78255784400005 meters 0.284894669825713 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99994346e-01 -2.22433049e-03 -2.52180914e-03 3.42254723e+00] [ 2.22991894e-03 9.99995060e-01 2.21540696e-03 1.76585871e-01] [ 2.51686888e-03 -2.22101786e-03 9.99994366e-01 4.73439536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8125578440001 meters 0.2854595637669342 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99994334e-01 -2.29702488e-03 -2.46089894e-03 3.42230470e+00] [ 2.30204934e-03 9.99995268e-01 2.04083586e-03 1.77342766e-01] [ 2.45619944e-03 -2.04648941e-03 9.99994889e-01 4.73597063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84255784400005 meters 0.2839443943734242 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99994067e-01 -2.44011456e-03 -2.43155091e-03 3.42212101e+00] [ 2.44425249e-03 9.99995567e-01 1.70024966e-03 1.78789144e-01] [ 2.42739133e-03 -1.70618289e-03 9.99995598e-01 4.73763888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8725578440001 meters 0.28248969953201436 Centerline is valid? [False, False] Translation: X:3.40, Y:0.18, Z:0.47 [[ 9.99986959e-01 2.94853185e-03 -4.16993456e-03 3.39996700e+00] [-2.95774383e-03 9.99993195e-01 -2.20470454e-03 1.78275692e-01] [ 4.16340555e-03 2.21700939e-03 9.99988875e-01 4.74923370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90255784400006 meters 0.2872517775184517 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99990886e-01 -3.59676329e-03 -2.30045396e-03 3.42049595e+00] [ 3.59814818e-03 9.99993348e-01 5.98152648e-04 1.80655048e-01] [ 2.29828724e-03 -6.06424571e-04 9.99997175e-01 4.74224481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9325578440001 meters 0.28454672452545937 Centerline is valid? [False, False] Translation: X:3.44, Y:0.18, Z:0.48 [[ 9.99988599e-01 4.74379872e-03 -5.45419117e-04 3.44033830e+00] [-4.74403340e-03 9.99988655e-01 -4.29786924e-04 1.80271939e-01] [ 5.43374106e-04 4.32369511e-04 9.99999759e-01 4.75167665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96255784400006 meters 0.28511382293553744 Centerline is valid? [False, False] Translation: X:3.44, Y:0.18, Z:0.48 [[ 9.99988748e-01 4.71085046e-03 -5.57855359e-04 3.44030152e+00] [-4.71113458e-03 9.99988773e-01 -5.09097581e-04 1.80613907e-01] [ 5.55450813e-04 5.11719984e-04 9.99999715e-01 4.75305079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9925578440001 meters 0.2839240746256626 Centerline is valid? [False, False] Translation: X:3.40, Y:0.18, Z:0.47 [[ 9.99993772e-01 3.48281317e-03 5.71612844e-04 3.40001110e+00] [-3.48179735e-03 9.99992375e-01 -1.76859805e-03 1.78218802e-01] [-5.77768181e-04 1.76659679e-03 9.99998273e-01 4.73058303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02255784400006 meters 0.28383623591602664 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99992756e-01 -2.87315008e-03 2.49651171e-03 3.42195096e+00] [ 2.87006852e-03 9.99995116e-01 1.23705370e-03 1.78599907e-01] [-2.50005376e-03 -1.22987958e-03 9.99996119e-01 4.71477105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05255784400003 meters 0.28385904307248544 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99993233e-01 -2.79636914e-03 2.39054364e-03 3.42216685e+00] [ 2.79294803e-03 9.99995073e-01 1.43324327e-03 1.77763729e-01] [-2.39453974e-03 -1.42655691e-03 9.99996116e-01 4.71620533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08255784400006 meters 0.2833878980616112 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99993449e-01 -2.74266286e-03 2.36233628e-03 3.42217381e+00] [ 2.73895082e-03 9.99995012e-01 1.57314927e-03 1.77181952e-01] [-2.36663911e-03 -1.56666864e-03 9.99995972e-01 4.71779372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11255784400004 meters 0.2826526250213303 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:0.47 [[ 9.99993841e-01 -2.58304995e-03 2.37608848e-03 3.42196140e+00] [ 2.57820576e-03 9.99994597e-01 2.03953496e-03 1.75279246e-01] [-2.38134386e-03 -2.03339635e-03 9.99995097e-01 4.72267373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14255784400007 meters 0.28352714827230835 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99994171e-01 -2.49420021e-03 2.33176445e-03 3.42206625e+00] [ 2.48891973e-03 9.99994338e-01 2.26475228e-03 1.74332624e-01] [-2.33740000e-03 -2.25893551e-03 9.99994717e-01 4.72307271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17255784400004 meters 0.28308579561318864 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99994402e-01 -2.42878591e-03 2.30158567e-03 3.42214867e+00] [ 2.42320024e-03 9.99994120e-01 2.42656849e-03 1.73648094e-01] [-2.30746575e-03 -2.42097770e-03 9.99994407e-01 4.72312920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20255784400007 meters 0.283242024923319 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99994550e-01 -2.37719261e-03 2.29113647e-03 3.42239447e+00] [ 2.37134246e-03 9.99993930e-01 2.55272652e-03 1.73099142e-01] [-2.29719088e-03 -2.54727954e-03 9.99994117e-01 4.71854328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23255784400004 meters 0.28492995460554504 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.47 [[ 9.99980097e-01 6.08865013e-03 1.65356261e-03 3.40251264e+00] [-6.09123417e-03 9.99980228e-01 1.56219840e-03 1.69153272e-01] [-1.64401824e-03 -1.57223954e-03 9.99997413e-01 4.70915895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26255784400007 meters 0.28341712816705705 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99994237e-01 -2.42700727e-03 2.37379820e-03 3.42195039e+00] [ 2.42090823e-03 9.99993770e-01 2.56882383e-03 1.73871663e-01] [-2.38001797e-03 -2.56306228e-03 9.99993883e-01 4.71641661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29255784400004 meters 0.2822540961310387 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.47 [[ 9.99994228e-01 3.34837590e-03 5.76840918e-04 3.40032464e+00] [-3.34782584e-03 9.99993943e-01 -9.51913038e-04 1.72752062e-01] [-5.80024787e-04 9.49976380e-04 9.99999381e-01 4.72837895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3225578440001 meters 0.28265713465533227 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.47 [[ 9.99994021e-01 3.41448479e-03 5.47252991e-04 3.40035397e+00] [-3.41405390e-03 9.99993863e-01 -7.86379065e-04 1.72057094e-01] [-5.49934711e-04 7.84506011e-04 9.99999541e-01 4.72952764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35255784400005 meters 0.28214672793277307 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.47 [[ 9.99993376e-01 3.59424008e-03 5.73665399e-04 3.40017041e+00] [-3.59406104e-03 9.99993492e-01 -3.12818728e-04 1.70081749e-01] [-5.74786011e-04 3.10754868e-04 9.99999787e-01 4.73256756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3825578440001 meters 0.2830466280808128 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99988377e-01 -4.61665661e-03 1.38997394e-03 3.41961877e+00] [ 4.61508471e-03 9.99988710e-01 1.13197930e-03 1.73019705e-01] [-1.39518421e-03 -1.12555129e-03 9.99998393e-01 4.74317576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41255784400005 meters 0.28306166103352387 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99989033e-01 -4.47359774e-03 1.38613391e-03 3.41969065e+00] [ 4.47153743e-03 9.99988899e-01 1.48592354e-03 1.71515325e-01] [-1.39276594e-03 -1.47970909e-03 9.99997935e-01 4.74226876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4425578440001 meters 0.28292786002454523 Centerline is valid? [False, False] Translation: X:3.42, Y:0.17, Z:0.47 [[ 9.99989762e-01 -4.32444196e-03 1.33263847e-03 3.41987006e+00] [ 4.32195782e-03 9.99988928e-01 1.86135619e-03 1.69931728e-01] [-1.34067305e-03 -1.85557753e-03 9.99997380e-01 4.74174040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47255784400005 meters 0.2816536860259808 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:0.48 [[ 9.99999029e-01 1.39281672e-03 -5.17758762e-05 3.39729088e+00] [-1.39288672e-03 9.99998081e-01 -1.37734349e-03 1.66874308e-01] [ 4.98573899e-05 1.37741427e-03 9.99999050e-01 4.75528320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5025578440001 meters 0.2841246062850423 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:0.47 [[ 9.99995887e-01 1.61633255e-03 2.36923649e-03 3.44041751e+00] [-1.61493337e-03 9.99998521e-01 -5.92358868e-04 1.63665623e-01] [-2.37019043e-03 5.88530272e-04 9.99997018e-01 4.74727350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53255784400005 meters 0.28390276353782246 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:0.47 [[ 9.99995580e-01 1.75480235e-03 2.40017433e-03 3.44031214e+00] [-1.75418414e-03 9.99998428e-01 -2.59651703e-04 1.62255097e-01] [-2.40062619e-03 2.55440207e-04 9.99997086e-01 4.74812852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5625578440001 meters 0.28240332492332715 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.47 [[ 9.99976512e-01 -6.81419861e-03 7.36223312e-04 3.41994752e+00] [ 6.81372616e-03 9.99976580e-01 6.42324877e-04 1.62267682e-01] [-7.40582999e-04 -6.37293366e-04 9.99999523e-01 4.74572270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59255784400005 meters 0.2828079111471142 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.47 [[ 9.99977085e-01 -6.73509277e-03 6.83975746e-04 3.42018624e+00] [ 6.73451877e-03 9.99976972e-01 8.38072079e-04 1.61432911e-01] [-6.89604488e-04 -8.33446627e-04 9.99999415e-01 4.74371264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6225578440001 meters 0.28473053829049166 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.47 [[ 9.99977652e-01 -6.66848114e-03 4.76468581e-04 3.42098818e+00] [ 6.66798944e-03 9.99977242e-01 1.02620962e-03 1.60647446e-01] [-4.83300997e-04 -1.02300960e-03 9.99999360e-01 4.73653346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65255784400006 meters 0.2839389722450104 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.47 [[ 9.99977677e-01 -6.66262825e-03 5.04657227e-04 3.42100279e+00] [ 6.66210095e-03 9.99977268e-01 1.03944686e-03 1.60578702e-01] [-5.11571203e-04 -1.03606158e-03 9.99999332e-01 4.73467076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6825578440001 meters 0.2846788160836728 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.47 [[ 9.99977602e-01 -6.67161329e-03 5.34178043e-04 3.42085129e+00] [ 6.67106641e-03 9.99977229e-01 1.01909668e-03 1.60670928e-01] [-5.40964898e-04 -1.01551031e-03 9.99999338e-01 4.73630082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71255784400006 meters 0.28368992553008693 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:0.47 [[ 9.99998846e-01 1.45166347e-03 4.48133056e-04 3.40102548e+00] [-1.45159473e-03 9.99998935e-01 -1.53666023e-04 1.55639447e-01] [-4.48355650e-04 1.53015339e-04 9.99999888e-01 4.72315740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7425578440001 meters 0.2845047144192944 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:0.47 [[ 9.99998892e-01 1.39080827e-03 5.31071564e-04 3.40079256e+00] [-1.39064686e-03 9.99998987e-01 -3.04177150e-04 1.56289255e-01] [-5.31494079e-04 3.03438280e-04 9.99999813e-01 4.72352359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77255784400006 meters 0.2828760180224326 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99996921e-01 1.16185610e-03 2.19275310e-03 3.36117073e+00] [-1.16067145e-03 9.99999180e-01 -5.41451917e-04 1.53866728e-01] [-2.19338039e-03 5.38905184e-04 9.99997449e-01 4.69565475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80255784400003 meters 0.28402919540633886 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99988976e-01 -4.39478146e-03 1.65364469e-03 3.38446563e+00] [ 4.39016649e-03 9.99986487e-01 2.78414648e-03 1.59127114e-01] [-1.66585806e-03 -2.77685601e-03 9.99994757e-01 4.68592380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83255784400006 meters 0.2835718002430675 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99988424e-01 -4.53618970e-03 1.60466707e-03 3.38472722e+00] [ 4.53232603e-03 9.99986841e-01 2.40326848e-03 1.60702844e-01] [-1.61554764e-03 -2.39596779e-03 9.99995825e-01 4.68206476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86255784400004 meters 0.28459404645544334 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.47 [[ 9.99987695e-01 -4.71390845e-03 1.54583662e-03 3.38504652e+00] [ 4.71092454e-03 9.99987044e-01 1.92828362e-03 1.62672950e-01] [-1.55490635e-03 -1.92097757e-03 9.99996946e-01 4.67750031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89255784400007 meters 0.285417967359826 Centerline is valid? [False, False] Translation: X:3.37, Y:0.17, Z:0.47 [[ 9.99989547e-01 4.50673739e-03 -7.70966003e-04 3.36522374e+00] [-4.50583625e-03 9.99989168e-01 1.16660790e-03 1.65998522e-01] [ 7.76215247e-04 -1.16312186e-03 9.99999022e-01 4.67711330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92255784400004 meters 0.28489754214718516 Centerline is valid? [False, False] Translation: X:3.37, Y:0.17, Z:0.47 [[ 9.99990549e-01 4.28751997e-03 -7.20341209e-04 3.36503487e+00] [-4.28706757e-03 9.99990613e-01 6.28411962e-04 1.68292754e-01] [ 7.23028776e-04 -6.25317871e-04 9.99999543e-01 4.67769999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95255784400007 meters 0.2839925022165775 Centerline is valid? [False, False] Translation: X:3.36, Y:0.17, Z:0.47 [[ 9.99991155e-01 4.15387346e-03 -6.59510954e-04 3.36468329e+00] [-4.15367284e-03 9.99991327e-01 3.05283778e-04 1.69691368e-01] [ 6.60773344e-04 -3.02541685e-04 9.99999736e-01 4.68143780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98255784400004 meters 0.2833488416231697 Centerline is valid? [False, False] Translation: X:3.36, Y:0.17, Z:0.47 [[ 9.99991509e-01 4.07503676e-03 -6.13796230e-04 3.36425672e+00] [-4.07497589e-03 9.99991692e-01 1.00390405e-04 1.70589147e-01] [ 6.14200225e-04 -9.78883478e-05 9.99999807e-01 4.68825468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01255784400007 meters 0.2847594075273953 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:0.47 [[ 9.99996323e-01 -2.21412353e-03 1.56588593e-03 3.38524830e+00] [ 2.20931163e-03 9.99992853e-01 3.06804460e-03 1.72181185e-01] [-1.57266776e-03 -3.06457379e-03 9.99994068e-01 4.68398358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04255784400004 meters 0.2834276476224324 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:0.47 [[ 9.99996273e-01 -2.22120052e-03 1.58733097e-03 3.38505623e+00] [ 2.21635990e-03 9.99992908e-01 3.04481172e-03 1.72288135e-01] [-1.59408285e-03 -3.04128227e-03 9.99994105e-01 4.68718308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0725578440001 meters 0.2839893785752947 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:0.47 [[ 9.99996292e-01 -2.21900652e-03 1.57873699e-03 3.38513345e+00] [ 2.21418160e-03 9.99992893e-01 3.05140485e-03 1.72300571e-01] [-1.58549685e-03 -3.04789792e-03 9.99994098e-01 4.68610466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10255784400005 meters 0.28267179586516555 Centerline is valid? [False, False] Translation: X:3.36, Y:0.17, Z:0.47 [[ 9.99992024e-01 3.71613411e-03 1.46383163e-03 3.36275799e+00] [-3.71544726e-03 9.99992986e-01 -4.71648111e-04 1.69921087e-01] [-1.46557407e-03 4.66205559e-04 9.99998817e-01 4.69219076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1325578440001 meters 0.2840526930564036 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:0.47 [[ 9.99989156e-01 -2.29449714e-03 4.05247326e-03 3.38424530e+00] [ 2.28355992e-03 9.99993744e-01 2.70146685e-03 1.69784875e-01] [-4.05864642e-03 -2.69218349e-03 9.99988140e-01 4.67921094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16255784400005 meters 0.2835675795959146 Centerline is valid? [False, False] Translation: X:3.36, Y:0.17, Z:0.47 [[ 9.99987707e-01 3.64299683e-03 3.36371743e-03 3.36209951e+00] [-3.64035043e-03 9.99993060e-01 -7.92536842e-04 1.67677754e-01] [-3.36658130e-03 7.80281989e-04 9.99994029e-01 4.69046385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1925578440001 meters 0.28413010643122344 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:0.47 [[ 9.99980934e-01 -4.32831048e-03 4.40426240e-03 3.38086585e+00] [ 4.32496168e-03 9.99990351e-01 7.69596601e-04 1.71258996e-01] [-4.40755096e-03 -7.50533662e-04 9.99990005e-01 4.70539153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22255784400005 meters 0.28347852513363214 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:0.47 [[ 9.99981299e-01 -4.24024169e-03 4.40698082e-03 3.38081715e+00] [ 4.23595431e-03 9.99990546e-01 9.81740033e-04 1.70345320e-01] [-4.41110198e-03 -9.63053905e-04 9.99989807e-01 4.70645822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2525578440001 meters 0.283000551856356 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:0.47 [[ 9.99982226e-01 -4.03067525e-03 4.39323928e-03 3.38093111e+00] [ 4.02413450e-03 9.99990783e-01 1.49664532e-03 1.68134077e-01] [-4.39923128e-03 -1.47893974e-03 9.99989230e-01 4.70523340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28255784400005 meters 0.28466074041850264 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:0.47 [[ 9.99977105e-01 4.21070710e-03 5.29709327e-03 3.40107146e+00] [-4.21379100e-03 9.99990959e-01 5.71161360e-04 1.64147389e-01] [-5.29464039e-03 -5.93469128e-04 9.99985807e-01 4.71165050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3125578440001 meters 0.2830498592298474 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99987797e-01 -3.93309242e-03 2.98951159e-03 3.38124164e+00] [ 3.92760047e-03 9.99990593e-01 1.84072969e-03 1.62565158e-01] [-2.99672323e-03 -1.82896562e-03 9.99993837e-01 4.70702472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34255784400005 meters 0.2830873028185836 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99989607e-01 -3.58518934e-03 2.81660479e-03 3.38189656e+00] [ 3.57761089e-03 9.99989979e-01 2.69108018e-03 1.58924525e-01] [-2.82622460e-03 -2.68097550e-03 9.99992412e-01 4.70383135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3725578440001 meters 0.2834429218596545 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99990365e-01 -3.42479516e-03 2.74603704e-03 3.38224390e+00] [ 3.41632696e-03 9.99989413e-01 3.08257475e-03 1.57247948e-01] [-2.75656516e-03 -3.07316369e-03 9.99991478e-01 4.70072699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40255784400006 meters 0.28329777482636215 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99991010e-01 -3.29874476e-03 2.66423708e-03 3.38256114e+00] [ 3.28970552e-03 9.99988843e-01 3.39009027e-03 1.55925905e-01] [-2.67539039e-03 -3.38129524e-03 9.99990705e-01 4.69878322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4325578440001 meters 0.28412005438764737 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:0.47 [[ 9.99991509e-01 -3.18723925e-03 2.61211811e-03 3.38287788e+00] [ 3.17767036e-03 9.99988256e-01 3.65926732e-03 1.54759789e-01] [-2.62375039e-03 -3.65093580e-03 9.99989893e-01 4.69516272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46255784400006 meters 0.28358366508465815 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:0.47 [[ 9.99991867e-01 -3.11736373e-03 2.55907787e-03 3.38323272e+00] [ 3.10753704e-03 9.99987818e-01 3.83497266e-03 1.53991921e-01] [-2.57100170e-03 -3.82698904e-03 9.99989372e-01 4.69043602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4925578440001 meters 0.282846036264578 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99986368e-01 5.03175906e-03 1.39499566e-03 3.36375525e+00] [-5.03558806e-03 9.99983526e-01 2.75502300e-03 1.49661240e-01] [-1.38111007e-03 -2.76201007e-03 9.99995232e-01 4.67504792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52255784400006 meters 0.28427150947561 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99986736e-01 5.00818980e-03 1.20254673e-03 3.36453200e+00] [-5.01141492e-03 9.99983814e-01 2.69404443e-03 1.49942747e-01] [-1.18903498e-03 -2.70003516e-03 9.99995648e-01 4.66655662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55255784400003 meters 0.2861021115119514 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99992337e-01 -3.68271314e-03 1.32789525e-03 3.38430257e+00] [ 3.67818991e-03 9.99987480e-01 3.39282295e-03 1.56053427e-01] [-1.34037341e-03 -3.38791270e-03 9.99993363e-01 4.67234365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58255784400006 meters 0.2853005292659442 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99996698e-01 2.53257054e-03 -4.36427881e-04 3.36354421e+00] [-2.53248591e-03 9.99996774e-01 1.94347075e-04 1.54767481e-01] [ 4.36918671e-04 -1.93241185e-04 9.99999886e-01 4.68101255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61255784400004 meters 0.28402853758885 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:0.47 [[ 9.99996878e-01 2.48195816e-03 -2.89508733e-04 3.36298571e+00] [-2.48193887e-03 9.99996918e-01 6.69517582e-05 1.55359271e-01] [ 2.89674012e-04 -6.62330062e-05 9.99999956e-01 4.68499005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64255784400007 meters 0.2848507197007037 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99992929e-01 -2.87684940e-03 2.42208574e-03 3.38281255e+00] [ 2.86766962e-03 9.99988725e-01 3.78501099e-03 1.57513907e-01] [-2.43294734e-03 -3.77803848e-03 9.99989904e-01 4.68556726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67255784400004 meters 0.28452755645758043 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99992793e-01 -2.90605425e-03 2.44301438e-03 3.38269722e+00] [ 2.89696556e-03 9.99988901e-01 3.71561942e-03 1.57821509e-01] [-2.45378505e-03 -3.70851531e-03 9.99990113e-01 4.68675832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70255784400007 meters 0.28452755645758043 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99992793e-01 -2.90605425e-03 2.44301438e-03 3.38269722e+00] [ 2.89696556e-03 9.99988901e-01 3.71561942e-03 1.57821509e-01] [-2.45378505e-03 -3.70851531e-03 9.99990113e-01 4.68675832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73255784400004 meters 0.2831813323242256 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:0.47 [[ 9.99996779e-01 2.38834463e-03 8.58565690e-04 3.35985165e+00] [-2.38831703e-03 9.99997147e-01 -3.31656631e-05 1.57086891e-01] [-8.58642452e-04 3.11150292e-05 9.99999631e-01 4.70352021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76255784400007 meters 0.28257311653121303 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:0.47 [[ 9.99996796e-01 2.38854536e-03 8.38664173e-04 3.35976070e+00] [-2.38851797e-03 9.99997147e-01 -3.36544948e-05 1.57093765e-01] [-8.38742166e-04 3.16512225e-05 9.99999648e-01 4.70668678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79255784400004 meters 0.28421773442593884 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99983516e-01 -5.48220158e-03 1.70684202e-03 3.37861062e+00] [ 5.47965982e-03 9.99983876e-01 1.49029322e-03 1.60886271e-01] [-1.71498458e-03 -1.48091574e-03 9.99997433e-01 4.72775673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8225578440001 meters 0.28258819562360993 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99983574e-01 -5.47466002e-03 1.69690425e-03 3.37844981e+00] [ 5.47211001e-03 9.99983897e-01 1.50375851e-03 1.60824717e-01] [-1.70510949e-03 -1.49444816e-03 9.99997430e-01 4.73193729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85255784400005 meters 0.28272947722948993 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99983221e-01 -5.48914343e-03 1.85131234e-03 3.37788874e+00] [ 5.48642910e-03 9.99983872e-01 1.46807143e-03 1.61016830e-01] [-1.85934093e-03 -1.45788970e-03 9.99997209e-01 4.73656561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8825578440001 meters 0.28289164542929063 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99983309e-01 -5.48751101e-03 1.80813436e-03 3.37800430e+00] [ 5.48485303e-03 9.99983875e-01 1.47170419e-03 1.60995740e-01] [-1.81618120e-03 -1.46176227e-03 9.99997282e-01 4.73642476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91255784400005 meters 0.2831019360600482 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99983488e-01 -5.46369468e-03 1.78077094e-03 3.37808487e+00] [ 5.46097197e-03 9.99983918e-01 1.53024412e-03 1.60745189e-01] [-1.78910309e-03 -1.52049411e-03 9.99997244e-01 4.73626588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9425578440001 meters 0.2823732574013021 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:0.47 [[ 9.99997056e-01 2.38871105e-03 4.26251330e-04 3.35995061e+00] [-2.38866857e-03 9.99997142e-01 -1.00136154e-04 1.56581624e-01] [-4.26489308e-04 9.91176864e-05 9.99999904e-01 4.72122012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97255784400005 meters 0.2835053783122426 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99980636e-01 -6.15806014e-03 8.97800343e-04 3.38002638e+00] [ 6.15742848e-03 9.99980795e-01 7.04633173e-04 1.61107954e-01] [-9.02122274e-04 -6.99091387e-04 9.99999349e-01 4.72878343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0025578440001 meters 0.2828414361375747 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99980952e-01 -6.10372198e-03 9.16901792e-04 3.37999876e+00] [ 6.10296106e-03 9.99981032e-01 8.30403058e-04 1.60554710e-01] [-9.21952950e-04 -8.24791424e-04 9.99999235e-01 4.72852557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03255784400005 meters 0.2834346457343141 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99981253e-01 -6.04968923e-03 9.45732465e-04 3.37990444e+00] [ 6.04878403e-03 9.99981248e-01 9.57085421e-04 1.60003355e-01] [-9.51504800e-04 -9.51346947e-04 9.99999095e-01 4.72914247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0625578440001 meters 0.2819242512356744 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99997231e-01 2.31713393e-03 4.12140915e-04 3.36055716e+00] [-2.31714559e-03 9.99997315e-01 2.78028567e-05 1.54328528e-01] [-4.12075385e-04 -2.87577702e-05 9.99999915e-01 4.71932241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09255784400005 meters 0.281771074877349 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99997017e-01 2.42094508e-03 3.22861508e-04 3.36096432e+00] [-2.42103981e-03 9.99997026e-01 2.93356033e-04 1.53168528e-01] [-3.22150349e-04 -2.94136819e-04 9.99999905e-01 4.71544753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1225578440001 meters 0.2831555700808788 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.47 [[ 9.99977920e-01 -6.63791556e-03 3.12525661e-04 3.38242473e+00] [ 6.63768969e-03 9.99977712e-01 7.18320151e-04 1.56217831e-01] [-3.17286844e-04 -7.16229842e-04 9.99999693e-01 4.71325843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15255784400006 meters 0.2832407860560564 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:0.47 [[ 9.99997715e-01 1.47892569e-03 1.54386148e-03 3.40188705e+00] [-1.47820336e-03 9.99998798e-01 -4.68904802e-04 1.53104259e-01] [-1.54455310e-03 4.66621589e-04 9.99998698e-01 4.72598505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1825578440001 meters 0.28199896676016034 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99993253e-01 1.02768972e-03 3.52665581e-03 3.36136321e+00] [-1.02596924e-03 9.99999354e-01 -4.89623456e-04 1.49151277e-01] [-3.52715671e-03 4.86001913e-04 9.99993661e-01 4.70153542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21255784400006 meters 0.28092808889232196 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:0.47 [[ 9.99993308e-01 1.14128867e-03 3.47575666e-03 3.36145709e+00] [-1.14059753e-03 9.99999329e-01 -2.00822790e-04 1.47924869e-01] [-3.47598353e-03 1.96857007e-04 9.99993939e-01 4.70258257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2425578440001 meters 0.2835542606004331 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:0.47 [[ 9.99999447e-01 8.72887756e-04 5.87193746e-04 3.40252290e+00] [-8.72599123e-04 9.99999498e-01 -4.91623287e-04 1.49606664e-01] [-5.87622583e-04 4.91110631e-04 9.99999707e-01 4.72952970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27255784400006 meters 0.28354726293245464 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:0.47 [[ 9.99999400e-01 9.76665180e-04 4.95140920e-04 3.40283196e+00] [-9.76548223e-04 9.99999495e-01 -2.36396704e-04 1.48487149e-01] [-4.95371551e-04 2.35913033e-04 9.99999849e-01 4.72811692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30255784400003 meters 0.28317762142230746 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:0.47 [[ 9.99999300e-01 1.09543194e-03 4.46377498e-04 3.40293409e+00] [-1.09546093e-03 9.99999398e-01 6.47136417e-05 1.47213430e-01] [-4.46306340e-04 -6.52025855e-05 9.99999898e-01 4.72888568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33255784400006 meters 0.28355102546614336 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:0.47 [[ 9.99999158e-01 1.23671688e-03 3.92222508e-04 3.40305953e+00] [-1.23688432e-03 9.99999144e-01 4.26930446e-04 1.45678760e-01] [-3.91694180e-04 -4.27415221e-04 9.99999832e-01 4.72947212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36255784400004 meters 0.2825491186713979 Centerline is valid? [False, False] Translation: X:3.40, Y:0.14, Z:0.47 [[ 9.99998944e-01 1.41519524e-03 3.30674826e-04 3.40322018e+00] [-1.41549101e-03 9.99998597e-01 8.95902423e-04 1.43707888e-01] [-3.29406485e-04 -8.96369544e-04 9.99999544e-01 4.72960162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39255784400007 meters 0.2848158601351692 Centerline is valid? [False, False] Translation: X:3.40, Y:0.14, Z:0.47 [[ 9.99998458e-01 1.75569302e-03 -4.44008371e-05 3.40419417e+00] [-1.75559628e-03 9.99996270e-01 2.09216856e-03 1.38836706e-01] [ 4.80738773e-05 -2.09208739e-03 9.99997810e-01 4.72877755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42255784400004 meters 0.28246758980012254 Centerline is valid? [False, False] Translation: X:3.40, Y:0.14, Z:0.47 [[ 9.99997099e-01 -2.40792020e-03 -6.16161858e-05 3.40425969e+00] [ 2.40780382e-03 9.99995438e-01 -1.82379219e-03 1.37026274e-01] [ 6.60074507e-05 1.82363854e-03 9.99998335e-01 4.72873697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45255784400007 meters 0.28221490771584107 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.47 [[ 9.99997730e-01 -2.12719165e-03 -1.19947485e-04 3.40439435e+00] [ 2.12706911e-03 9.99997225e-01 -1.01271435e-03 1.33635236e-01] [ 1.22101389e-04 1.01245692e-03 9.99999480e-01 4.72932647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48255784400004 meters 0.2830106520357878 Centerline is valid? [False, False] Translation: X:3.40, Y:0.13, Z:0.47 [[ 9.99998347e-01 -1.81161414e-03 -1.52215078e-04 3.40448257e+00] [ 1.81159006e-03 9.99998347e-01 -1.58231331e-04 1.30031127e-01] [ 1.52501481e-04 1.57955318e-04 9.99999976e-01 4.72971857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51255784400007 meters 0.2829481553845832 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999174e-01 -1.25886203e-03 -2.58794392e-04 3.40469202e+00] [ 1.25919892e-03 9.99998355e-01 1.30577369e-03 1.23970235e-01] [ 2.57150177e-04 -1.30609849e-03 9.99999114e-01 4.73108457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54255784400004 meters 0.282712657017754 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999459e-01 -1.00273390e-03 -2.75766257e-04 3.40477238e+00] [ 1.00325871e-03 9.99997673e-01 1.90961635e-03 1.21374588e-01] [ 2.73850779e-04 -1.90989199e-03 9.99998139e-01 4.73085208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5725578440001 meters 0.28279764949678343 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999635e-01 -7.95224378e-04 -3.12188215e-04 3.40485247e+00] [ 7.95969094e-04 9.99996821e-01 2.39263692e-03 1.19306723e-01] [ 3.10284539e-04 -2.39288454e-03 9.99997089e-01 4.73163664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60255784400005 meters 0.2827634878058257 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999745e-01 -6.51109013e-04 -2.94256434e-04 3.40485536e+00] [ 6.51911294e-04 9.99996048e-01 2.73464813e-03 1.17845159e-01] [ 2.92474717e-04 -2.73483926e-03 9.99996218e-01 4.73108719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6325578440001 meters 0.28183741206304636 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999813e-01 -5.48825644e-04 -2.71215684e-04 3.40481305e+00] [ 5.49634842e-04 9.99995371e-01 2.99258107e-03 1.16761355e-01] [ 2.69572023e-04 -2.99272958e-03 9.99995485e-01 4.73116897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66255784400005 meters 0.282796765870971 Centerline is valid? [False, False] Translation: X:3.40, Y:0.12, Z:0.47 [[ 9.99999845e-01 -4.94975731e-04 -2.55980518e-04 3.40483836e+00] [ 4.95775233e-04 9.99994970e-01 3.13271760e-03 1.16174345e-01] [ 2.54428611e-04 -3.13284403e-03 9.99995060e-01 4.72990423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6925578440001 meters 0.2829409744846434 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99999836e-01 -4.55955803e-04 -3.46608790e-04 3.40530665e+00] [ 4.57075464e-04 9.99994656e-01 3.23714340e-03 1.15688358e-01] [ 3.45130944e-04 -3.23730129e-03 9.99994700e-01 4.72440748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72255784400005 meters 0.2853088659329753 Centerline is valid? [False, False] Translation: X:3.43, Y:0.12, Z:0.47 [[ 9.99977857e-01 6.05883458e-03 2.75252895e-03 3.42642293e+00] [-6.05997698e-03 9.99981555e-01 4.06884851e-04 1.18230970e-01] [-2.75001294e-03 -4.23556103e-04 9.99996129e-01 4.70746188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7525578440001 meters 0.2832476466696637 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99995541e-01 -2.61930566e-03 1.43429731e-03 3.40622096e+00] [ 2.61725173e-03 9.99995550e-01 1.43201635e-03 1.19692561e-01] [-1.43804181e-03 -1.42825605e-03 9.99997946e-01 4.70458250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78255784400005 meters 0.2826903749283309 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99995588e-01 -2.57116774e-03 1.48769957e-03 3.40596250e+00] [ 2.56887004e-03 9.99995508e-01 1.54432235e-03 1.19210174e-01] [-1.49166360e-03 -1.54049383e-03 9.99997701e-01 4.70736007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8125578440001 meters 0.28265744382401853 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99995908e-01 -2.45135451e-03 1.47453404e-03 3.40590669e+00] [ 2.44862544e-03 9.99995291e-01 1.84976630e-03 1.17920968e-01] [-1.47906153e-03 -1.84614815e-03 9.99997202e-01 4.70962880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84255784400005 meters 0.2824471706699056 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996045e-01 -2.39846036e-03 1.46913538e-03 3.40590047e+00] [ 2.39555130e-03 9.99995173e-01 1.97868692e-03 1.17371013e-01] [-1.47387409e-03 -1.97515971e-03 9.99996963e-01 4.71018801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8725578440001 meters 0.2833017581249915 Centerline is valid? [False, False] Translation: X:3.39, Y:0.11, Z:0.47 [[ 9.99981716e-01 6.00572232e-03 7.06968196e-04 3.38620963e+00] [-6.00662088e-03 9.99981146e-01 1.27582504e-03 1.12508148e-01] [-6.99292616e-04 -1.28004820e-03 9.99998936e-01 4.70296275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90255784400006 meters 0.2824020774829765 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996611e-01 -2.20820037e-03 1.37886167e-03 3.40659710e+00] [ 2.20535273e-03 9.99995440e-01 2.06332289e-03 1.17428452e-01] [-1.38341162e-03 -2.06027503e-03 9.99996921e-01 4.70697207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9325578440001 meters 0.28282048240204194 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996534e-01 -2.24077472e-03 1.38224780e-03 3.40656197e+00] [ 2.23802849e-03 9.99995525e-01 1.98514931e-03 1.17773493e-01] [-1.38668989e-03 -1.98204892e-03 9.99997074e-01 4.70747204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96255784400006 meters 0.2831636564051464 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996515e-01 -2.27478830e-03 1.33989329e-03 3.40643540e+00] [ 2.27223549e-03 9.99995606e-01 1.90368681e-03 1.18139634e-01] [-1.34421788e-03 -1.90063562e-03 9.99997290e-01 4.71236601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9925578440001 meters 0.28322072818558414 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.47 [[ 9.99994492e-01 3.23141544e-03 -7.57613497e-04 3.38393394e+00] [-3.23253203e-03 9.99993684e-01 -1.47726797e-03 1.18324236e-01] [ 7.52835046e-04 1.47970885e-03 9.99998622e-01 4.73165640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02255784400006 meters 0.2827741153785726 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996426e-01 -2.56082847e-03 7.68662861e-04 3.40545048e+00] [ 2.55942987e-03 9.99995077e-01 1.81503065e-03 1.20011755e-01] [-7.73307059e-04 -1.81305682e-03 9.99998057e-01 4.72249612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05255784400003 meters 0.28451344711327736 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996523e-01 -2.52201475e-03 7.70145502e-04 3.40547825e+00] [ 2.52054167e-03 9.99995004e-01 1.90774636e-03 1.19602804e-01] [-7.74953019e-04 -1.90579854e-03 9.99997884e-01 4.72191129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08255784400006 meters 0.2845662649728655 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996686e-01 -2.46193729e-03 7.52311140e-04 3.40555831e+00] [ 2.46038717e-03 9.99994863e-01 2.05449763e-03 1.18960964e-01] [-7.57365319e-04 -2.05263984e-03 9.99997607e-01 4.72135166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11255784400004 meters 0.2825824805561825 Centerline is valid? [False, False] Translation: X:3.41, Y:0.12, Z:0.47 [[ 9.99996920e-01 -2.38409041e-03 6.89789952e-04 3.40574267e+00] [ 2.38253280e-03 9.99994630e-01 2.25017372e-03 1.18110647e-01] [-6.95150865e-04 -2.24852334e-03 9.99997230e-01 4.72098293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14255784400007 meters 0.28371855030015425 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99975388e-01 7.01334914e-03 1.92448334e-04 3.42787470e+00] [-7.01374076e-03 9.99973165e-01 2.11588081e-03 1.13717499e-01] [-1.77603759e-04 -2.11717852e-03 9.99997743e-01 4.72176856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17255784400004 meters 0.2832551438377104 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99974880e-01 7.08632644e-03 1.50271594e-04 3.42798995e+00] [-7.08665244e-03 9.99972261e-01 2.29284394e-03 1.12950406e-01] [-1.34019585e-04 -2.29385127e-03 9.99997360e-01 4.72170943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20255784400007 meters 0.2840340590250553 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99997629e-01 -2.14111501e-03 -3.96905473e-04 3.40625195e+00] [ 2.14226130e-03 9.99993470e-01 2.91050206e-03 1.13526267e-01] [ 3.90671162e-04 -2.91134543e-03 9.99995686e-01 4.71940138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23255784400004 meters 0.28506893807193073 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99990330e-01 4.01834266e-03 1.78677579e-03 3.42753791e+00] [-4.01768497e-03 9.99991860e-01 -3.71523897e-04 1.13730376e-01] [-1.78825415e-03 3.64341602e-04 9.99998335e-01 4.71032911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26255784400007 meters 0.2833870498718406 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99990166e-01 4.09346060e-03 1.70650073e-03 3.42778505e+00] [-4.09314392e-03 9.99991605e-01 -1.89023907e-04 1.12941317e-01] [-1.70726017e-03 1.82037095e-04 9.99998526e-01 4.70961439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29255784400004 meters 0.28421162931687816 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99990622e-01 -4.32183855e-03 2.79089614e-04 3.40850245e+00] [ 4.32148711e-03 9.99989884e-01 1.24779115e-03 1.13747894e-01] [-2.84479542e-04 -1.24657337e-03 9.99999183e-01 4.69880218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3225578440001 meters 0.2836597008729229 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99990980e-01 -4.23425085e-03 3.33589982e-04 3.40832402e+00] [ 4.23375808e-03 9.99989966e-01 1.46426974e-03 1.12823435e-01] [-3.39786720e-04 -1.46284419e-03 9.99998872e-01 4.70000672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35255784400005 meters 0.2839172127086951 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99991351e-01 -4.14477407e-03 3.43510338e-04 3.40830462e+00] [ 4.14419209e-03 9.99990005e-01 1.67794790e-03 1.11885265e-01] [-3.50461620e-04 -1.67650981e-03 9.99998533e-01 4.70008482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3825578440001 meters 0.286811574248596 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993721e-01 2.37077895e-03 2.63400897e-03 3.42946584e+00] [-2.36735115e-03 9.99996348e-01 -1.30371696e-03 1.12569523e-01] [-2.63709018e-03 1.29747315e-03 9.99995681e-01 4.69098791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41255784400005 meters 0.28330632209153955 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993639e-01 2.41415960e-03 2.62574973e-03 3.42952650e+00] [-2.41102498e-03 9.99996378e-01 -1.19631039e-03 1.12110408e-01] [-2.62862831e-03 1.18997203e-03 9.99995837e-01 4.69020275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4425578440001 meters 0.28398060329623426 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99980939e-01 -6.08826907e-03 1.02674388e-03 3.40975661e+00] [ 6.08825108e-03 9.99981466e-01 2.06495745e-05 1.12778256e-01] [-1.02685057e-03 -1.43981064e-05 9.99999473e-01 4.68207462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47255784400005 meters 0.28519705316362004 Centerline is valid? [False, False] Translation: X:3.41, Y:0.11, Z:0.47 [[ 9.99981492e-01 -5.99641925e-03 1.02851067e-03 3.40970153e+00] [ 5.99617178e-03 9.99981993e-01 2.43527832e-04 1.11810424e-01] [-1.02995244e-03 -2.37356198e-04 9.99999441e-01 4.68344809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5025578440001 meters 0.28320437874609333 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99994245e-01 2.49326073e-03 2.30090369e-03 3.42934213e+00] [-2.49117805e-03 9.99996485e-01 -9.07583448e-04 1.09671473e-01] [-2.30315844e-03 9.01846264e-04 9.99996941e-01 4.69560940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53255784400005 meters 0.2864131459021697 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99994101e-01 2.54350016e-03 2.30822491e-03 3.42925045e+00] [-2.54169819e-03 9.99996463e-01 -7.83270490e-04 1.09151436e-01] [-2.31020900e-03 7.77399059e-04 9.99997029e-01 4.69729814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5625578440001 meters 0.28493275262612516 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993913e-01 2.60173992e-03 2.32496612e-03 3.42914021e+00] [-2.60025499e-03 9.99996414e-01 -6.41483550e-04 1.08550726e-01] [-2.32662675e-03 6.35434141e-04 9.99997092e-01 4.69881748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59255784400005 meters 0.28493275262612516 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993913e-01 2.60173992e-03 2.32496612e-03 3.42914021e+00] [-2.60025499e-03 9.99996414e-01 -6.41483550e-04 1.08550726e-01] [-2.32662675e-03 6.35434141e-04 9.99997092e-01 4.69881748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6225578440001 meters 0.28444485029359284 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993710e-01 2.66590713e-03 2.33946763e-03 3.42902140e+00] [-2.66478033e-03 9.99996332e-01 -4.84632913e-04 1.07889871e-01] [-2.34075104e-03 4.78395698e-04 9.99997146e-01 4.70074767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65255784400006 meters 0.28346763923630786 Centerline is valid? [False, False] Translation: X:3.43, Y:0.11, Z:0.47 [[ 9.99993489e-01 2.74405748e-03 2.34350225e-03 3.42896189e+00] [-2.74338821e-03 9.99996195e-01 -2.88751105e-04 1.07059237e-01] [-2.34428568e-03 2.82320088e-04 9.99997212e-01 4.70200104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6825578440001 meters 0.28336662530889906 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:0.47 [[ 9.99992753e-01 2.94246795e-03 2.41559369e-03 3.42860168e+00] [-2.94316403e-03 9.99995628e-01 2.84658998e-04 1.04682297e-01] [-2.41474553e-03 -2.91766424e-04 9.99997042e-01 4.70680712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71255784400006 meters 0.2835614554381277 Centerline is valid? [False, False] Translation: X:3.45, Y:0.11, Z:0.47 [[ 9.99980043e-01 -5.46924359e-03 3.16236896e-03 3.44969116e+00] [ 5.46572216e-03 9.99984434e-01 1.12111465e-03 1.06227960e-01] [-3.16845139e-03 -1.10380765e-03 9.99994371e-01 4.71160763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7425578440001 meters 0.2835406455800024 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.47 [[ 9.99981053e-01 -5.32153599e-03 3.09433930e-03 3.44987975e+00] [ 5.31692262e-03 9.99984744e-01 1.49722534e-03 1.04616421e-01] [-3.10225963e-03 -1.48074461e-03 9.99994092e-01 4.71154847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77255784400006 meters 0.284016184243644 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.47 [[ 9.99981895e-01 -5.19890120e-03 3.02992632e-03 3.45010100e+00] [ 5.19343255e-03 9.99984876e-01 1.80996042e-03 1.03268712e-01] [-3.03929030e-03 -1.79419194e-03 9.99993772e-01 4.71052812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80255784400003 meters 0.28330601851499565 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.47 [[ 9.99982846e-01 -5.05019984e-03 2.96706151e-03 3.45031040e+00] [ 5.04373076e-03 9.99984896e-01 2.18375028e-03 1.01659260e-01] [-2.97804507e-03 -2.16874776e-03 9.99993214e-01 4.70973200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83255784400006 meters 0.28371304340132353 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.47 [[ 9.99983802e-01 -4.89962318e-03 2.89642944e-03 3.45048695e+00] [ 4.89220018e-03 9.99984745e-01 2.56436687e-03 1.00037547e-01] [-2.90894969e-03 -2.55015542e-03 9.99992517e-01 4.71009335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86255784400004 meters 0.28285642692423163 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.47 [[ 9.99985410e-01 -4.58050125e-03 2.86318737e-03 3.45047183e+00] [ 4.57077080e-03 9.99983788e-01 3.39582036e-03 9.65084042e-02] [-2.87869551e-03 -3.38268385e-03 9.99990135e-01 4.71245202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89255784400007 meters 0.28216349878776664 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.47 [[ 9.99992419e-01 3.19401556e-03 2.22695158e-03 3.43207816e+00] [-3.19916981e-03 9.99992204e-01 2.31477562e-03 8.93395781e-02] [-2.21954078e-03 -2.32188247e-03 9.99994841e-01 4.69828595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92255784400004 meters 0.2815503662247423 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:0.47 [[ 9.99992037e-01 3.33814426e-03 2.18714586e-03 3.43220840e+00] [-3.34401358e-03 9.99990803e-01 2.68541021e-03 8.77700467e-02] [-2.17816145e-03 -2.69270267e-03 9.99994002e-01 4.69775826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95255784400007 meters 0.28291175082077463 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.47 [[ 9.99985575e-01 -4.95285172e-03 2.07836103e-03 3.45360802e+00] [ 4.94522628e-03 9.99981081e-01 3.65820487e-03 8.99928180e-02] [-2.09644026e-03 -3.64787414e-03 9.99991149e-01 4.70065920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98255784400004 meters 0.2832512024002987 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.47 [[ 9.99986496e-01 -4.80547293e-03 1.97889841e-03 3.45397057e+00] [ 4.79746678e-03 9.99980368e-01 4.03082913e-03 8.83936949e-02] [-1.99822960e-03 -4.02128100e-03 9.99989918e-01 4.69862308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01255784400007 meters 0.283117047839182 Centerline is valid? [False, False] Translation: X:3.45, Y:0.08, Z:0.47 [[ 9.99988066e-01 -4.47323477e-03 1.96399563e-03 3.45410336e+00] [ 4.46367292e-03 9.99978294e-01 4.84625210e-03 8.48692065e-02] [-1.98563142e-03 -4.83742763e-03 9.99986328e-01 4.69725288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04255784400004 meters 0.28399332366864216 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99988577e-01 2.04812201e-03 4.31867509e-03 3.47473872e+00] [-2.05660480e-03 9.99995963e-01 1.96068686e-03 8.36663237e-02] [-4.31464193e-03 -1.96954627e-03 9.99988752e-01 4.69165735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0725578440001 meters 0.2832812091201981 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99988176e-01 2.20506325e-03 4.33428451e-03 3.47457083e+00] [-2.21527610e-03 9.99994778e-01 2.35290680e-03 8.20045068e-02] [-4.32907357e-03 -2.36248062e-03 9.99987839e-01 4.69464275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10255784400005 meters 0.28212345398741806 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99987855e-01 2.38008732e-03 4.31569227e-03 3.47456385e+00] [-2.39217929e-03 9.99993222e-01 2.79886630e-03 8.01114202e-02] [-4.30900147e-03 -2.80915621e-03 9.99986770e-01 4.69600841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1325578440001 meters 0.2832940112687173 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99987614e-01 2.52581620e-03 4.28853597e-03 3.47467808e+00] [-2.53940343e-03 9.99991765e-01 3.16578482e-03 7.85471209e-02] [-4.28050446e-03 -3.17663594e-03 9.99985793e-01 4.69525231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16255784400005 meters 0.2837828740158298 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99987587e-01 2.65419816e-03 4.21675073e-03 3.47498115e+00] [-2.66891303e-03 9.99990356e-01 3.48783781e-03 7.71539041e-02] [-4.20745265e-03 -3.49904865e-03 9.99985027e-01 4.69287227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1925578440001 meters 0.28425619560565607 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.47 [[ 9.99987385e-01 2.86081250e-03 4.12870327e-03 3.47532627e+00] [-2.87720654e-03 9.99987979e-01 3.97028531e-03 7.50577392e-02] [-4.11729540e-03 -3.98211436e-03 9.99983595e-01 4.69091048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22255784400005 meters 0.28381776247474166 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.47 [[ 9.99987079e-01 2.92842286e-03 4.15528312e-03 3.47526878e+00] [-2.94560575e-03 9.99987112e-01 4.13511468e-03 7.43650664e-02] [-4.14312020e-03 -4.14730108e-03 9.99982817e-01 4.69082349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2525578440001 meters 0.28356869579524496 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.47 [[ 9.99986787e-01 2.96997700e-03 4.19592158e-03 3.47509710e+00] [-2.98774734e-03 9.99986568e-01 4.23524513e-03 7.39486569e-02] [-4.18328664e-03 -4.24772552e-03 9.99982228e-01 4.69243439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28255784400005 meters 0.2829044489205979 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99986362e-01 3.01005013e-03 4.26787178e-03 3.47482506e+00] [-3.02855032e-03 9.99986018e-01 4.33494132e-03 7.35479232e-02] [-4.25476372e-03 -4.34780767e-03 9.99981497e-01 4.69458562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3125578440001 meters 0.28371241672962244 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99986132e-01 3.05586840e-03 4.28914936e-03 3.47471110e+00] [-3.07494572e-03 9.99985379e-01 4.44828508e-03 7.30741839e-02] [-4.27549327e-03 -4.46141229e-03 9.99980908e-01 4.69599913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34255784400005 meters 0.28412412683489496 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.47 [[ 9.99986415e-01 3.12347039e-03 4.17301163e-03 3.47517466e+00] [-3.14276627e-03 9.99984364e-01 4.62544213e-03 7.22763157e-02] [-4.15849895e-03 -4.63849409e-03 9.99980595e-01 4.69227165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3725578440001 meters 0.2832803117737075 Centerline is valid? [False, False] Translation: X:3.45, Y:0.08, Z:0.47 [[ 9.99986996e-01 5.09267451e-03 2.69523706e-04 3.45362890e+00] [-5.09219977e-03 9.99985532e-01 -1.73372268e-03 7.52265274e-02] [-2.78349092e-04 1.73232767e-03 9.99998461e-01 4.71490510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40255784400006 meters 0.2836816408148057 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99986711e-01 5.15221479e-03 1.79787857e-04 3.45402684e+00] [-5.15192493e-03 9.99985485e-01 -1.57707908e-03 7.45173937e-02] [-1.87910698e-04 1.57613187e-03 9.99998740e-01 4.71106680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4325578440001 meters 0.28276922734184146 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99986379e-01 5.21671850e-03 1.68739264e-04 3.45406266e+00] [-5.21647463e-03 9.99985393e-01 -1.41478894e-03 7.38246175e-02] [-1.76117355e-04 1.41388944e-03 9.99998985e-01 4.71091652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46255784400006 meters 0.28229029208847106 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99985870e-01 5.31052438e-03 2.42840645e-04 3.45373444e+00] [-5.31023550e-03 9.99985210e-01 -1.17515770e-03 7.28182759e-02] [-2.49077757e-04 1.17385156e-03 9.99999280e-01 4.71425199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4925578440001 meters 0.28247283401965373 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99984735e-01 5.50946763e-03 4.17871748e-04 3.45302109e+00] [-5.50921669e-03 9.99984645e-01 -5.99305420e-04 7.03555188e-02] [-4.21167185e-04 5.96994126e-04 9.99999733e-01 4.72138467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52255784400006 meters 0.28176990671384017 Centerline is valid? [False, False] Translation: X:3.43, Y:0.07, Z:0.47 [[ 9.99995043e-01 -3.08081197e-03 -6.49668963e-04 3.43363015e+00] [ 3.08142421e-03 9.99994807e-01 9.43493325e-04 7.08981450e-02] [ 6.46758864e-04 -9.45490554e-04 9.99999344e-01 4.70968823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5525578440001 meters 0.28263747822598834 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991079e-01 3.74826964e-03 1.94743747e-03 3.45507765e+00] [-3.74485318e-03 9.99991448e-01 -1.75503204e-03 7.17421597e-02] [-1.95399915e-03 1.74772352e-03 9.99996564e-01 4.69284207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58255784400006 meters 0.28317092836342483 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991109e-01 3.75991761e-03 1.90892240e-03 3.45530978e+00] [-3.75662606e-03 9.99991456e-01 -1.72496517e-03 7.15952953e-02] [-1.91539182e-03 1.71777873e-03 9.99996690e-01 4.68984939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61255784400004 meters 0.2829967696889743 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99990999e-01 3.78776643e-03 1.91150827e-03 3.45541546e+00] [-3.78459956e-03 9.99991464e-01 -1.65764245e-03 7.12845926e-02] [-1.91777071e-03 1.65039324e-03 9.99996799e-01 4.68741384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64255784400007 meters 0.28426847223689017 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99990934e-01 3.83048808e-03 1.85998929e-03 3.45563455e+00] [-3.82761124e-03 9.99991477e-01 -1.54780274e-03 7.08129111e-02] [-1.86590228e-03 1.54066939e-03 9.99997072e-01 4.68552342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67255784400004 meters 0.28459892955710087 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99990854e-01 3.85789674e-03 1.84604253e-03 3.45571184e+00] [-3.85516621e-03 9.99991473e-01 -1.48040296e-03 7.05133530e-02] [-1.85173803e-03 1.47327262e-03 9.99997200e-01 4.68467315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70255784400007 meters 0.283550326004535 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99990961e-01 3.82624936e-03 1.85396506e-03 3.45566423e+00] [-3.82336369e-03 9.99991478e-01 -1.55753687e-03 7.08527174e-02] [-1.85990879e-03 1.55043441e-03 9.99997068e-01 4.68519749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73255784400004 meters 0.28368912363536847 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991032e-01 3.78854092e-03 1.89294466e-03 3.45556805e+00] [-3.78541618e-03 9.99991471e-01 -1.65159970e-03 7.12581058e-02] [-1.89918567e-03 1.64441931e-03 9.99996844e-01 4.68509994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76255784400007 meters 0.2834591644374466 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991176e-01 3.76486757e-03 1.86377723e-03 3.45553023e+00] [-3.76168260e-03 9.99991464e-01 -1.70944430e-03 7.15147365e-02] [-1.87019715e-03 1.70241828e-03 9.99996802e-01 4.68745750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79255784400004 meters 0.28350655754144577 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991406e-01 3.72706279e-03 1.81583964e-03 3.45566419e+00] [-3.72379027e-03 9.99991443e-01 -1.80226621e-03 7.19039428e-02] [-1.82254126e-03 1.79548892e-03 9.99996727e-01 4.68713713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8225578440001 meters 0.28345755686956947 Centerline is valid? [False, False] Translation: X:3.46, Y:0.07, Z:0.47 [[ 9.99991751e-01 3.60961542e-03 1.86228746e-03 3.45560516e+00] [-3.60570543e-03 9.99991297e-01 -2.09866590e-03 7.31683805e-02] [-1.86984663e-03 2.09193373e-03 9.99996064e-01 4.68559935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85255784400005 meters 0.28378176046181625 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99998304e-01 -1.58602014e-03 -9.35938916e-04 3.47013057e+00] [ 1.58604610e-03 9.99998742e-01 2.69951107e-05 7.64149098e-02] [ 9.35894924e-04 -2.84795072e-05 9.99999562e-01 4.73411526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8825578440001 meters 0.28341718413662015 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99980984e-01 6.01884403e-03 -1.34353248e-03 3.45062897e+00] [-6.02067620e-03 9.99980946e-01 -1.36383695e-03 7.26475129e-02] [ 1.33529816e-03 1.37189999e-03 9.99998167e-01 4.71666287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91255784400005 meters 0.28236465673268746 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99981186e-01 5.97998637e-03 -1.36628795e-03 3.45064375e+00] [-5.98197656e-03 9.99981046e-01 -1.45723050e-03 7.30580893e-02] [ 1.35754784e-03 1.46537619e-03 9.99998005e-01 4.71750040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9425578440001 meters 0.2832126929652737 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99998241e-01 -1.67198223e-03 -8.49804751e-04 3.46984785e+00] [ 1.67187062e-03 9.99998594e-01 -1.32024811e-04 7.70710110e-02] [ 8.50024299e-04 1.30603815e-04 9.99999630e-01 4.73377631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97255784400005 meters 0.2832221271815687 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99998245e-01 -1.63359580e-03 -9.16831714e-04 3.47008938e+00] [ 1.63356286e-03 9.99998665e-01 -3.66773468e-05 7.66435316e-02] [ 9.16890406e-04 3.51795802e-05 9.99999579e-01 4.73227844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0025578440001 meters 0.2839713794934142 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99998220e-01 -1.49382744e-03 -1.15222922e-03 3.47092296e+00] [ 1.49422046e-03 9.99998826e-01 3.40305651e-04 7.49131109e-02] [ 1.15171951e-03 -3.42026730e-04 9.99999278e-01 4.72710957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03255784400005 meters 0.2837589588037448 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99998293e-01 -1.41745191e-03 -1.18567454e-03 3.47106805e+00] [ 1.41807639e-03 9.99998856e-01 5.26018302e-04 7.41088777e-02] [ 1.18492758e-03 -5.27698781e-04 9.99999159e-01 4.72591204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0625578440001 meters 0.28317176286967227 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99998375e-01 -1.36395882e-03 -1.17889808e-03 3.47100126e+00] [ 1.36472939e-03 9.99998856e-01 6.53073640e-04 7.35575978e-02] [ 1.17800596e-03 -6.54681456e-04 9.99999092e-01 4.72708253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09255784400005 meters 0.28435369197723825 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99998543e-01 -1.35751948e-03 -1.03450477e-03 3.47062238e+00] [ 1.35820471e-03 9.99998859e-01 6.61967800e-04 7.35300615e-02] [ 1.03360496e-03 -6.63371905e-04 9.99999246e-01 4.72749277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1225578440001 meters 0.2834334912679521 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99986165e-01 4.35728250e-03 -2.94686111e-03 3.44865355e+00] [-4.36461037e-03 9.99987388e-01 -2.48482868e-03 7.36273607e-02] [ 2.93599684e-03 2.49765620e-03 9.99992571e-01 4.74085275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15255784400006 meters 0.28478655941281183 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.47 [[ 9.99983503e-01 5.72814245e-03 4.26882478e-04 3.49086825e+00] [-5.72712899e-03 9.99980865e-01 -2.33866212e-03 7.80921175e-02] [-4.40270499e-04 2.33617872e-03 9.99997174e-01 4.73538346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1825578440001 meters 0.28393281901703715 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99994580e-01 -2.99775473e-03 -1.36159645e-03 3.47142326e+00] [ 2.99600878e-03 9.99994690e-01 -1.28251361e-03 8.01643819e-02] [ 1.36543388e-03 1.27842731e-03 9.99998251e-01 4.72851643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21255784400006 meters 0.2829794109937851 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99994490e-01 -3.01525657e-03 -1.38876995e-03 3.47164401e+00] [ 3.01341536e-03 9.99994581e-01 -1.32597687e-03 8.03169753e-02] [ 1.39276059e-03 1.32178463e-03 9.99998157e-01 4.72516546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2425578440001 meters 0.2842637168903795 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99994385e-01 -3.02311421e-03 -1.44608319e-03 3.47192010e+00] [ 3.02116851e-03 9.99994531e-01 -1.34579548e-03 8.03766736e-02] [ 1.45014377e-03 1.34141906e-03 9.99998049e-01 4.72233984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27255784400006 meters 0.28347297419224815 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:0.47 [[ 9.99994364e-01 -2.99074588e-03 -1.52542952e-03 3.47218575e+00] [ 2.98881797e-03 9.99994734e-01 -1.26456697e-03 8.00063359e-02] [ 1.52920348e-03 1.26000061e-03 9.99998037e-01 4.72099836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3025578440001 meters 0.2829212205673949 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99985417e-01 4.73297450e-03 -2.60080954e-03 3.45411595e+00] [-4.73945608e-03 9.99985665e-01 -2.49165273e-03 7.46708084e-02] [ 2.58897933e-03 2.50394281e-03 9.99993514e-01 4.70693001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33255784400006 meters 0.2833352572620589 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.47 [[ 9.99991799e-01 -3.45037009e-03 -2.12078500e-03 3.47543758e+00] [ 3.44670309e-03 9.99992563e-01 -1.73030517e-03 7.66554935e-02] [ 2.12673942e-03 1.72298126e-03 9.99996254e-01 4.71701327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36255784400004 meters 0.28179436711338 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99984806e-01 5.23998527e-03 -1.71200138e-03 3.45421120e+00] [-5.24324974e-03 9.99984434e-01 -1.90792201e-03 7.12940002e-02] [ 1.70197725e-03 1.91686947e-03 9.99996714e-01 4.71770624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39255784400007 meters 0.2822577159003298 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99984634e-01 5.29182151e-03 -1.65155704e-03 3.45411007e+00] [-5.29476088e-03 9.99984398e-01 -1.78048492e-03 7.07480613e-02] [ 1.64210927e-03 1.78920217e-03 9.99997051e-01 4.71670417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42255784400004 meters 0.2818328054640323 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99984292e-01 5.35053139e-03 -1.66931773e-03 3.45416655e+00] [-5.35325928e-03 9.99984336e-01 -1.63396972e-03 7.01213725e-02] [ 1.66054898e-03 1.64288035e-03 9.99997272e-01 4.71643841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45255784400007 meters 0.28146857333878855 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99983955e-01 5.40796475e-03 -1.68656447e-03 3.45424917e+00] [-5.41047847e-03 9.99984254e-01 -1.48945715e-03 6.95016682e-02] [ 1.67848298e-03 1.49855837e-03 9.99997469e-01 4.71555485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48255784400004 meters 0.2815113844478347 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99983616e-01 5.45309188e-03 -1.74139014e-03 3.45448607e+00] [-5.45548918e-03 9.99984174e-01 -1.37488654e-03 6.89992739e-02] [ 1.73386520e-03 1.38436415e-03 9.99997539e-01 4.71340776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51255784400007 meters 0.2815113844478347 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:0.47 [[ 9.99983616e-01 5.45309188e-03 -1.74139014e-03 3.45448607e+00] [-5.45548918e-03 9.99984174e-01 -1.37488654e-03 6.89992739e-02] [ 1.73386520e-03 1.38436415e-03 9.99997539e-01 4.71340776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54255784400004 meters 0.2831047740065982 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99996770e-01 -2.26172859e-03 -1.15930630e-03 3.47399145e+00] [ 2.26155837e-03 9.99997432e-01 -1.48113686e-04 7.31605299e-02] [ 1.15963832e-03 1.45491369e-04 9.99999317e-01 4.72653399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5725578440001 meters 0.282797226673675 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99996844e-01 -2.22573130e-03 -1.16557743e-03 3.47390037e+00] [ 2.22566330e-03 9.99997521e-01 -5.96370424e-05 7.27943124e-02] [ 1.16570728e-03 5.70426713e-05 9.99999319e-01 4.72890643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60255784400005 meters 0.28393605092475815 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99996949e-01 -2.17111357e-03 -1.17799567e-03 3.47390004e+00] [ 2.17119909e-03 9.99997640e-01 7.13223208e-05 7.22318706e-02] [ 1.17783804e-03 -7.38797664e-05 9.99999304e-01 4.72970592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6325578440001 meters 0.28321774790411025 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99997099e-01 -2.09786061e-03 -1.18355147e-03 3.47386371e+00] [ 2.09815781e-03 9.99997768e-01 2.49919927e-04 7.14782116e-02] [ 1.18302453e-03 -2.52402480e-04 9.99999268e-01 4.73087182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66255784400005 meters 0.2827740124348457 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99997257e-01 -2.02421617e-03 -1.17813052e-03 3.47383665e+00] [ 2.02472346e-03 9.99997858e-01 4.29557162e-04 7.07092209e-02] [ 1.17725848e-03 -4.31941372e-04 9.99999214e-01 4.73126887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6925578440001 meters 0.28346194177590917 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99997391e-01 -1.94972851e-03 -1.19015362e-03 3.47386952e+00] [ 1.95046409e-03 9.99997907e-01 6.17207094e-04 6.99192843e-02] [ 1.18894774e-03 -6.19526836e-04 9.99999101e-01 4.73136130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72255784400005 meters 0.2821188494535389 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99997619e-01 -1.82600198e-03 -1.19471536e-03 3.47388933e+00] [ 1.82710866e-03 9.99997902e-01 9.25872490e-04 6.86098097e-02] [ 1.19302221e-03 -9.28053160e-04 9.99998858e-01 4.73141510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7525578440001 meters 0.2830487902621497 Centerline is valid? [False, False] Translation: X:3.47, Y:0.07, Z:0.47 [[ 9.99997738e-01 -1.59492433e-03 -1.40695185e-03 3.47448068e+00] [ 1.59713986e-03 9.99997484e-01 1.57498837e-03 6.58779319e-02] [ 1.40443633e-03 -1.57723190e-03 9.99997770e-01 4.73035787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78255784400005 meters 0.28264986008604365 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.47 [[ 9.99997884e-01 -1.41778795e-03 -1.49078717e-03 3.47467781e+00] [ 1.42081309e-03 9.99996930e-01 2.03012535e-03 6.39804414e-02] [ 1.48790431e-03 -2.03223919e-03 9.99996828e-01 4.73097713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8125578440001 meters 0.28234788542646944 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.47 [[ 9.99998015e-01 -1.20893210e-03 -1.58358617e-03 3.47487335e+00] [ 1.21298091e-03 9.99995992e-01 2.55827317e-03 6.17611316e-02] [ 1.58048705e-03 -2.56018895e-03 9.99995474e-01 4.73212039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84255784400005 meters 0.28234909427442106 Centerline is valid? [False, False] Translation: X:3.47, Y:0.06, Z:0.47 [[ 9.99998189e-01 -9.81566903e-04 -1.63079888e-03 3.47490377e+00] [ 9.86655750e-04 9.99994638e-01 3.12259407e-03 5.93972044e-02] [ 1.62772510e-03 -3.12419745e-03 9.99993795e-01 4.73431775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8725578440001 meters 0.2821063405694407 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.47 [[ 9.99998220e-01 -5.36378671e-04 -1.80918814e-03 3.47559548e+00] [ 5.43855795e-04 9.99991303e-01 4.13490479e-03 5.49679684e-02] [ 1.80695453e-03 -4.13588136e-03 9.99989815e-01 4.73061662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90255784400006 meters 0.2827406467347394 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:0.47 [[ 9.99998161e-01 -3.55279499e-04 -1.88450570e-03 3.47585030e+00] [ 3.63878618e-04 9.99989516e-01 4.56468536e-03 5.31452707e-02] [ 1.88286420e-03 -4.56536270e-03 9.99987806e-01 4.72956194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9325578440001 meters 0.2835144814063754 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.47 [[ 9.99975329e-01 6.91666054e-03 1.22512460e-03 3.49533955e+00] [-6.91975368e-03 9.99972835e-01 2.53876981e-03 4.89039828e-02] [-1.20753151e-03 -2.54718473e-03 9.99996027e-01 4.72798157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96255784400006 meters 0.2834478009369907 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.47 [[ 9.99994683e-01 2.80958045e-03 1.65515200e-03 3.49392411e+00] [-2.80738562e-03 9.99995179e-01 -1.32689638e-03 4.78027210e-02] [-1.65887204e-03 1.32224268e-03 9.99997750e-01 4.73500962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9925578440001 meters 0.2833334113102866 Centerline is valid? [False, False] Translation: X:3.49, Y:0.05, Z:0.47 [[ 9.99994020e-01 3.01563470e-03 1.69315362e-03 3.49368988e+00] [-3.01421186e-03 9.99995103e-01 -8.42269274e-04 4.57413136e-02] [-1.69568530e-03 8.37160714e-04 9.99998212e-01 4.73825076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02255784400006 meters 0.28335284466720795 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.47 [[ 9.99993441e-01 3.21749099e-03 1.66307604e-03 3.49374497e+00] [-3.21689255e-03 9.99994760e-01 -3.62386696e-04 4.37200827e-02] [-1.66423330e-03 3.57034382e-04 9.99998551e-01 4.73894857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0525578440001 meters 0.28393682208864823 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.47 [[ 9.99992194e-01 3.65351824e-03 1.50453051e-03 3.49422922e+00] [-3.65445134e-03 9.99993132e-01 6.17917706e-04 3.94868048e-02] [-1.50226260e-03 -6.23411116e-04 9.99998677e-01 4.73839604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08255784400006 meters 0.2840357429825212 Centerline is valid? [False, False] Translation: X:3.49, Y:0.04, Z:0.47 [[ 9.99991570e-01 3.84046341e-03 1.45278719e-03 3.49427695e+00] [-3.84200886e-03 9.99992055e-01 1.06248768e-03 3.76130220e-02] [-1.44869520e-03 -1.06806034e-03 9.99998380e-01 4.74035701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11255784400004 meters 0.2836580453551041 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99990315e-01 4.15588962e-03 1.44861534e-03 3.49402653e+00] [-4.15848355e-03 9.99989747e-01 1.79223414e-03 3.45392381e-02] [-1.44115216e-03 -1.79824083e-03 9.99997345e-01 4.74618926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14255784400007 meters 0.2835321835569132 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99989724e-01 4.28025419e-03 1.49387731e-03 3.49386994e+00] [-4.28337532e-03 9.99988637e-01 2.09236933e-03 3.32839802e-02] [-1.48490447e-03 -2.09874666e-03 9.99996695e-01 4.74723780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17255784400004 meters 0.283829269345427 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99989268e-01 4.37548396e-03 1.52252165e-03 3.49380258e+00] [-4.37901346e-03 9.99987715e-01 2.32263754e-03 3.23152789e-02] [-1.51234028e-03 -2.32927976e-03 9.99996144e-01 4.74726473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20255784400007 meters 0.28441004071419507 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99987910e-01 4.66834177e-03 1.54492721e-03 3.49372386e+00] [-4.67296743e-03 9.99984569e-01 3.00415433e-03 2.94053099e-02] [-1.53087895e-03 -3.01133740e-03 9.99994294e-01 4.74808000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23255784400004 meters 0.28396515698325264 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99987336e-01 4.81862176e-03 1.45237760e-03 3.49402951e+00] [-4.82350793e-03 9.99982655e-01 3.37974512e-03 2.78000044e-02] [-1.43606670e-03 -3.38670787e-03 9.99993234e-01 4.74687663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26255784400007 meters 0.28406422490307504 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99998816e-01 4.52364022e-04 1.47050765e-03 3.49425818e+00] [-4.50884246e-04 9.99999392e-01 -1.00647857e-03 2.83381511e-02] [-1.47096205e-03 1.00581435e-03 9.99998412e-01 4.74090264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29255784400004 meters 0.2845925339835978 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:0.47 [[ 9.99998890e-01 5.66647742e-04 1.37822088e-03 3.49461060e+00] [-5.65652764e-04 9.99999579e-01 -7.22212435e-04 2.70937963e-02] [-1.37862954e-03 7.21432039e-04 9.99998789e-01 4.73846531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3225578440001 meters 0.28462097741346515 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:0.47 [[ 9.99998953e-01 7.11676499e-04 1.25989751e-03 3.49510243e+00] [-7.11228038e-04 9.99999684e-01 -3.56362580e-04 2.54829354e-02] [-1.26015073e-03 3.55466132e-04 9.99999143e-01 4.73412243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35255784400005 meters 0.2860432580696594 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99998357e-01 1.78116325e-03 -3.35633269e-04 3.53368991e+00] [-1.78157597e-03 9.99997652e-01 -1.23340969e-03 2.79974635e-02] [ 3.33435577e-04 1.23400562e-03 9.99999183e-01 4.76757911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3825578440001 meters 0.2851209604858485 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99998320e-01 1.80805732e-03 -3.02060648e-04 3.53358833e+00] [-1.80840922e-03 9.99997682e-01 -1.16882711e-03 2.77318281e-02] [ 2.99946642e-04 1.16937140e-03 9.99999271e-01 4.76795209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.41255784400005 meters 0.2852768834636046 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99998229e-01 1.85719366e-03 -3.04770935e-04 3.53357073e+00] [-1.85751182e-03 9.99997727e-01 -1.04699300e-03 2.72207321e-02] [ 3.02825773e-04 1.04755726e-03 9.99999405e-01 4.76854848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4425578440001 meters 0.28455773607612234 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99998073e-01 1.93711426e-03 -3.17507681e-04 3.53357875e+00] [-1.93738469e-03 9.99997759e-01 -8.53659289e-04 2.63996977e-02] [ 3.15853334e-04 8.54272779e-04 9.99999585e-01 4.76921748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.47255784400005 meters 0.28507876456696163 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99997922e-01 2.00109577e-03 -3.90560866e-04 3.53374759e+00] [-2.00136677e-03 9.99997756e-01 -6.94726817e-04 2.57215576e-02] [ 3.89169774e-04 6.95507029e-04 9.99999682e-01 4.76967379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5025578440001 meters 0.2851989999419355 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.48 [[ 9.99997646e-01 2.09639218e-03 -5.59845476e-04 3.53413477e+00] [-2.09663956e-03 9.99997705e-01 -4.41641719e-04 2.46471084e-02] [ 5.58918336e-04 4.42814473e-04 9.99999746e-01 4.77055073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53255784400005 meters 0.2838213390367988 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.48 [[ 9.99997544e-01 2.14372143e-03 -5.62953457e-04 3.53401388e+00] [-2.14390619e-03 9.99997648e-01 -3.27795425e-04 2.41829884e-02] [ 5.62249431e-04 3.29001539e-04 9.99999788e-01 4.77336128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5625578440001 meters 0.2834492072526056 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.48 [[ 9.99997486e-01 2.16636435e-03 -5.77861404e-04 3.53388942e+00] [-2.16652097e-03 9.99997616e-01 -2.70548863e-04 2.39737408e-02] [ 5.77273920e-04 2.71800132e-04 9.99999796e-01 4.77688200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59255784400005 meters 0.28583463743692483 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.48 [[ 9.99997715e-01 2.09468665e-03 -4.26037060e-04 3.53333246e+00] [-2.09487817e-03 9.99997705e-01 -4.49595893e-04 2.48383623e-02] [ 4.25094320e-04 4.50487361e-04 9.99999808e-01 4.78065234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6225578440001 meters 0.28511903420572354 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99997936e-01 1.99687696e-03 -3.74577625e-04 3.53327512e+00] [-1.99713566e-03 9.99997767e-01 -6.91539692e-04 2.58592130e-02] [ 3.73195869e-04 6.92286347e-04 9.99999691e-01 4.77886405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65255784400006 meters 0.2848034890665319 Centerline is valid? [False, False] Translation: X:3.53, Y:0.03, Z:0.48 [[ 9.99998209e-01 1.83169630e-03 -4.77032271e-04 3.53360911e+00] [-1.83223396e-03 9.99997684e-01 -1.12909752e-03 2.76827918e-02] [ 4.74963002e-04 1.12996953e-03 9.99999249e-01 4.77668544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6825578440001 meters 0.2844657119223049 Centerline is valid? [False, False] Translation: X:3.56, Y:0.03, Z:0.48 [[ 9.99995478e-01 -2.79426408e-03 1.11194584e-03 3.55675585e+00] [ 2.79162706e-03 9.99993304e-01 2.36606396e-03 2.91374555e-02] [-1.11854980e-03 -2.36294913e-03 9.99996583e-01 4.76319516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71255784400006 meters 0.2851237914262186 Centerline is valid? [False, False] Translation: X:3.56, Y:0.03, Z:0.48 [[ 9.99995349e-01 -2.84804581e-03 1.09084890e-03 3.55679900e+00] [ 2.84559848e-03 9.99993446e-01 2.23853041e-03 2.96785707e-02] [-1.09721719e-03 -2.23541588e-03 9.99996900e-01 4.76331418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7425578440001 meters 0.2837195804130079 Centerline is valid? [False, False] Translation: X:3.54, Y:0.03, Z:0.48 [[ 9.99996833e-01 2.12042898e-03 -1.35571347e-03 3.53504437e+00] [-2.12212300e-03 9.99996968e-01 -1.24932353e-03 3.02823076e-02] [ 1.35306026e-03 1.25219657e-03 9.99998301e-01 4.77900947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77255784400006 meters 0.28509443694538184 Centerline is valid? [False, False] Translation: X:3.54, Y:0.03, Z:0.48 [[ 9.99996981e-01 2.04074170e-03 -1.36839424e-03 3.53510792e+00] [-2.04272143e-03 9.99996867e-01 -1.44692156e-03 3.11079791e-02] [ 1.36543716e-03 1.44971244e-03 9.99998017e-01 4.77823693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8025578440001 meters 0.28521242755940046 Centerline is valid? [False, False] Translation: X:3.54, Y:0.03, Z:0.48 [[ 9.99997068e-01 1.96874920e-03 -1.40984596e-03 3.53526683e+00] [-1.97102622e-03 9.99996753e-01 -1.61551564e-03 3.18151988e-02] [ 1.40666083e-03 1.61828974e-03 9.99997701e-01 4.77699306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83255784400006 meters 0.28520106326755046 Centerline is valid? [False, False] Translation: X:3.54, Y:0.03, Z:0.48 [[ 9.99997254e-01 1.87542382e-03 -1.40562211e-03 3.53536293e+00] [-1.87800331e-03 9.99996551e-01 -1.83605943e-03 3.27352728e-02] [ 1.40217387e-03 1.83869415e-03 9.99997327e-01 4.77462309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86255784400004 meters 0.2859843598672773 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:0.48 [[ 9.99985225e-01 -5.41114884e-03 -5.18053163e-04 3.55332687e+00] [ 5.41082629e-03 9.99985168e-01 -6.22007302e-04 3.98557331e-02] [ 5.21411253e-04 6.19195016e-04 9.99999672e-01 4.79204503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89255784400007 meters 0.28720671827499966 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:0.48 [[ 9.99994860e-01 2.92902147e-03 -1.30447491e-03 3.53160565e+00] [-2.93102781e-03 9.99994521e-01 -1.53879164e-03 4.15670748e-02] [ 1.29996061e-03 1.54260718e-03 9.99997965e-01 4.79051020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92255784400004 meters 0.2882170218300484 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:0.48 [[ 9.99998186e-01 -1.88580579e-03 -2.67825150e-04 3.55578244e+00] [ 1.88618225e-03 9.99997224e-01 1.41241865e-03 4.61277547e-02] [ 2.65160859e-04 -1.41292125e-03 9.99998967e-01 4.76725990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95255784400007 meters 0.29000614398753227 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:0.48 [[ 9.99982554e-01 4.04424928e-03 -4.30531873e-03 3.53533531e+00] [-4.05073456e-03 9.99990673e-01 -1.49868877e-03 5.45977813e-02] [ 4.29921750e-03 1.51610233e-03 9.99989609e-01 4.77557834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98255784400004 meters 0.2897071227926918 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:0.48 [[ 9.99983777e-01 3.76585343e-03 -4.27376040e-03 3.53542878e+00] [-3.77515874e-03 9.99990517e-01 -2.17133791e-03 5.74240959e-02] [ 4.26554293e-03 2.18743680e-03 9.99988510e-01 4.77146429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01255784400007 meters 0.2911118816961473 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:0.48 [[ 9.99984838e-01 3.52567558e-03 -4.22999032e-03 3.53529586e+00] [-3.53727745e-03 9.99989994e-01 -2.73842596e-03 5.98224881e-02] [ 4.22029319e-03 2.75334709e-03 9.99987304e-01 4.77131994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04255784400004 meters 0.2894146712674691 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.48 [[ 9.99986130e-01 3.17022265e-03 -4.20593565e-03 3.53486493e+00] [-3.18506160e-03 9.99988711e-01 -3.52610225e-03 6.32414794e-02] [ 4.19470964e-03 3.53944951e-03 9.99984938e-01 4.77748081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0725578440001 meters 0.29107323890950504 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.48 [[ 9.99986460e-01 3.04223678e-03 -4.22185379e-03 3.53490838e+00] [-3.05837120e-03 9.99988025e-01 -3.82046254e-03 6.44910459e-02] [ 4.21018048e-03 3.83332280e-03 9.99983790e-01 4.77709484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10255784400005 meters 0.28964390141120694 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:0.48 [[ 9.99986717e-01 2.91998669e-03 -4.24738796e-03 3.53506156e+00] [-2.93739674e-03 9.99987287e-01 -4.09855579e-03 6.56570718e-02] [ 4.23536623e-03 4.11097761e-03 9.99982581e-01 4.77507284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1325578440001 meters 0.29193081570498314 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:0.48 [[ 9.99986924e-01 2.73667598e-03 -4.32008078e-03 3.53539995e+00] [-2.75616252e-03 9.99986026e-01 -4.51119990e-03 6.73976109e-02] [ 4.30767472e-03 4.52304775e-03 9.99980493e-01 4.77146933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16255784400005 meters 0.2932673227474763 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.48 [[ 9.99984379e-01 -4.74004653e-03 -2.96198647e-03 3.55450897e+00] [ 4.73003584e-03 9.99983109e-01 -3.37763365e-03 7.26446616e-02] [ 2.97794658e-03 3.36357059e-03 9.99989909e-01 4.78240027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1925578440001 meters 0.2947812350040937 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.48 [[ 9.99995387e-01 -3.78063341e-04 -3.01396741e-03 3.55466317e+00] [ 3.81159821e-04 9.99999400e-01 1.02686843e-03 7.19368099e-02] [ 3.01357738e-03 -1.02801249e-03 9.99994931e-01 4.78314482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22255784400005 meters 0.29542151394516936 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.48 [[ 9.99995363e-01 -4.33288629e-04 -3.01420698e-03 3.55449751e+00] [ 4.36003409e-04 9.99999500e-01 9.00062446e-04 7.25016072e-02] [ 3.01381549e-03 -9.01372477e-04 9.99995052e-01 4.78638870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2525578440001 meters 0.2971366342104921 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.48 [[ 9.99995250e-01 -5.49878114e-04 -3.03285207e-03 3.55425671e+00] [ 5.51797018e-04 9.99999648e-01 6.31905620e-04 7.36809841e-02] [ 3.03250353e-03 -6.33576137e-04 9.99995201e-01 4.79197564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28255784400005 meters 0.29791655321663024 Centerline is valid? [False, False] Translation: X:3.55, Y:0.07, Z:0.48 [[ 9.99995297e-01 -5.99049173e-04 -3.00778100e-03 3.55418143e+00] [ 6.00604095e-04 9.99999686e-01 5.16089892e-04 7.41734027e-02] [ 3.00747089e-03 -5.17893950e-04 9.99995343e-01 4.79210056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3125578440001 meters 0.3007838765542036 Centerline is valid? [False, False] Translation: X:3.58, Y:0.08, Z:0.48 [[ 9.99982036e-01 5.98794336e-03 -2.69820455e-04 3.57507534e+00] [-5.98866077e-03 9.99978310e-01 -2.74149340e-03 7.71347122e-02] [ 2.53398695e-04 2.74306001e-03 9.99996206e-01 4.78190481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34255784400005 meters 0.3032565562657578 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:0.48 [[ 9.99983161e-01 5.80085676e-03 -1.67016970e-04 3.57466213e+00] [-5.80135695e-03 9.99978151e-01 -3.16882638e-03 7.90286741e-02] [ 1.48631413e-04 3.16974194e-03 9.99994965e-01 4.78423687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3725578440001 meters 0.3018664057425757 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.48 [[ 9.99998302e-01 -1.07199091e-03 -1.49907723e-03 3.55266394e+00] [ 1.07179887e-03 9.99999417e-01 -1.28906376e-04 7.95605663e-02] [ 1.49921454e-03 1.27299448e-04 9.99998868e-01 4.79234300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40255784400006 meters 0.3018664057425757 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.48 [[ 9.99998302e-01 -1.07199091e-03 -1.49907723e-03 3.55266394e+00] [ 1.07179887e-03 9.99999417e-01 -1.28906376e-04 7.95605663e-02] [ 1.49921454e-03 1.27299448e-04 9.99998868e-01 4.79234300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4325578440001 meters 0.3019921589693732 Centerline is valid? [False, False] Translation: X:3.55, Y:0.08, Z:0.48 [[ 9.99998393e-01 -1.10066681e-03 -1.41504515e-03 3.55235179e+00] [ 1.10039012e-03 9.99999375e-01 -1.96297664e-04 7.98667745e-02] [ 1.41526033e-03 1.94740246e-04 9.99998980e-01 4.79429898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46255784400006 meters 0.3073121010155998 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998309e-01 -2.31070840e-04 -1.82455629e-03 3.59078847e+00] [ 2.29894459e-04 9.99999766e-01 -6.44932496e-04 8.30760044e-02] [ 1.82470489e-03 6.44511950e-04 9.99998128e-01 4.82570605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4925578440001 meters 0.3101209474784363 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998291e-01 -1.51831650e-04 -1.84236505e-03 3.59087947e+00] [ 1.50967334e-04 9.99999879e-01 -4.69263878e-04 8.23032617e-02] [ 1.84243608e-03 4.68984940e-04 9.99998193e-01 4.82507067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52255784400006 meters 0.30948825455463835 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998249e-01 -5.99416110e-05 -1.87035588e-03 3.59090079e+00] [ 5.94645616e-05 9.99999966e-01 -2.55112653e-04 8.13913903e-02] [ 1.87037111e-03 2.55000987e-04 9.99998218e-01 4.82627573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5525578440001 meters 0.3101809448858347 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998292e-01 1.66536638e-04 -1.84075972e-03 3.59065956e+00] [-1.66023130e-04 9.99999947e-01 2.79114473e-04 7.90815977e-02] [ 1.84080611e-03 -2.78808388e-04 9.99998267e-01 4.82985956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58255784400006 meters 0.31312337879892926 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998240e-01 2.84091923e-04 -1.85452447e-03 3.59081219e+00] [-2.83095591e-04 9.99999815e-01 5.37484416e-04 7.79376247e-02] [ 1.85467683e-03 -5.36958463e-04 9.99998136e-01 4.82785686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61255784400004 meters 0.3151236012958983 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998263e-01 3.85515215e-04 -1.82381716e-03 3.59094554e+00] [-3.84135392e-04 9.99999640e-01 7.56847993e-04 7.69583396e-02] [ 1.82410828e-03 -7.56146086e-04 9.99998050e-01 4.82402381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64255784400007 meters 0.3188384843028159 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998310e-01 5.46779979e-04 -1.75547277e-03 3.59134255e+00] [-5.44888257e-04 9.99999271e-01 1.07791145e-03 7.54069129e-02] [ 1.75606087e-03 -1.07695309e-03 9.99997878e-01 4.81477525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67255784400004 meters 0.32489698602869277 Centerline is valid? [False, False] Translation: X:3.62, Y:0.07, Z:0.48 [[ 9.99991993e-01 -3.99914411e-03 1.44406244e-04 3.61536241e+00] [ 3.99839325e-03 9.99980141e-01 4.87137125e-03 7.39718659e-02] [-1.63884692e-04 -4.87075485e-03 9.99988124e-01 4.79036822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70255784400007 meters 0.3196551429573066 Centerline is valid? [False, False] Translation: X:3.59, Y:0.07, Z:0.48 [[ 9.99995056e-01 1.24488451e-03 -2.88745568e-03 3.59360569e+00] [-1.24010419e-03 9.99997859e-01 1.65674749e-03 7.46235040e-02] [ 2.88951196e-03 -1.65315855e-03 9.99994459e-01 4.80535621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73255784400004 meters 0.32797347827030743 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99995787e-01 1.08492718e-03 -2.69230295e-03 3.59400011e+00] [-1.08143925e-03 9.99998575e-01 1.29663723e-03 7.59756287e-02] [ 2.69370587e-03 -1.29372021e-03 9.99995535e-01 4.79090018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76255784400007 meters 0.3296310374215575 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99996463e-01 9.51046233e-04 -2.48386311e-03 3.59386826e+00] [-9.48556552e-04 9.99999047e-01 1.00332830e-03 7.72673535e-02] [ 2.48481495e-03 -1.00096866e-03 9.99996412e-01 4.78334936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79255784400004 meters 0.334119795528209 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99997152e-01 7.90630924e-04 -2.25204034e-03 3.59373965e+00] [-7.89140523e-04 9.99999469e-01 6.62611806e-04 7.87810283e-02] [ 2.25256303e-03 -6.60832742e-04 9.99997245e-01 4.77488302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8225578440001 meters 0.33292615544666515 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99997626e-01 6.25104579e-04 -2.08755706e-03 3.59372823e+00] [-6.24450023e-04 9.99999756e-01 3.14188174e-04 8.03736327e-02] [ 2.08775295e-03 -3.12883853e-04 9.99997772e-01 4.76712750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85255784400005 meters 0.3428365814193239 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99997982e-01 3.20505751e-04 -1.98330891e-03 3.59424057e+00] [-3.21094717e-04 9.99999904e-01 -2.96650051e-04 8.31007217e-02] [ 1.98321364e-03 2.97286282e-04 9.99997989e-01 4.75485911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8825578440001 meters 0.35523916966294117 Centerline is valid? [False, False] Translation: X:3.59, Y:0.08, Z:0.48 [[ 9.99998320e-01 1.88666078e-04 -1.82304716e-03 3.59403304e+00] [-1.89688225e-04 9.99999825e-01 -5.60523784e-04 8.43285009e-02] [ 1.82294109e-03 5.60868653e-04 9.99998181e-01 4.75087979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91255784400005 meters 0.4031532399496479 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.47 [[ 9.99989063e-01 -3.66838379e-03 2.90117292e-03 3.61410089e+00] [ 3.65800552e-03 9.99986921e-01 3.57452076e-03 8.72181119e-02] [-2.91424769e-03 -3.56386916e-03 9.99989403e-01 4.71950037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9425578440001 meters 0.42090512196805424 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.47 [[ 9.99988120e-01 -3.76468307e-03 3.09617300e-03 3.61349101e+00] [ 3.75418450e-03 9.99987208e-01 3.38967074e-03 8.81701360e-02] [-3.10889443e-03 -3.37800686e-03 9.99989462e-01 4.72063828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97255784400005 meters 0.41463910464566806 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.47 [[ 9.99987194e-01 -3.83519365e-03 3.30197941e-03 3.61298673e+00] [ 3.82445591e-03 9.99987399e-01 3.25210512e-03 8.88559202e-02] [-3.31441026e-03 -3.23943520e-03 9.99989260e-01 4.71937623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0025578440001 meters 0.45004775324464075 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.47 [[ 9.99985749e-01 -4.19825893e-03 3.29792056e-03 3.61355213e+00] [ 4.18960960e-03 9.99987778e-01 2.62520767e-03 9.19317077e-02] [-3.30890156e-03 -2.61135326e-03 9.99991116e-01 4.71152980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03255784400005 meters 0.8565779707236956 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99989671e-01 3.14280088e-03 3.28351101e-03 3.59469616e+00] [-3.14574372e-03 9.99994655e-01 8.91467279e-04 9.10607141e-02] [-3.28069175e-03 -9.01787155e-04 9.99994212e-01 4.67391394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0625578440001 meters 0.857060291023236 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99989696e-01 3.00414232e-03 3.40340690e-03 3.59460210e+00] [-3.00630420e-03 9.99995282e-01 6.30272850e-04 9.23365556e-02] [-3.40149741e-03 -6.40498032e-04 9.99994010e-01 4.66999818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09255784400005 meters 0.874984723266572 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99988980e-01 3.05287350e-03 3.56637861e-03 3.59350369e+00] [-3.05540889e-03 9.99995083e-01 7.05682429e-04 9.20894459e-02] [-3.56420672e-03 -7.16571398e-04 9.99993391e-01 4.67935533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1225578440001 meters 0.8733823810524753 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99988228e-01 3.10935698e-03 3.72502637e-03 3.59311810e+00] [-3.11236421e-03 9.99994835e-01 8.01780581e-04 9.15685076e-02] [-3.72251411e-03 -8.13364782e-04 9.99992741e-01 4.67833530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15255784400006 meters 0.8821971558607261 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99987755e-01 3.14611856e-03 3.81991382e-03 3.59315706e+00] [-3.14943371e-03 9.99994669e-01 8.62153247e-04 9.11668896e-02] [-3.81718102e-03 -8.74173255e-04 9.99992332e-01 4.67355479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1825578440001 meters 0.5695622861217933 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99988234e-01 3.22956689e-03 3.61950304e-03 3.59438841e+00] [-3.23341486e-03 9.99994213e-01 1.05777307e-03 8.97156479e-02] [-3.61606594e-03 -1.06946398e-03 9.99992890e-01 4.66541137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21255784400006 meters 0.5406090883746255 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99987636e-01 3.29892822e-03 3.72080205e-03 3.59439737e+00] [-3.30332597e-03 9.99993852e-01 1.17640956e-03 8.90372176e-02] [-3.71689829e-03 -1.18868604e-03 9.99992386e-01 4.66020577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2425578440001 meters 0.5165604092882442 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.47 [[ 9.99987112e-01 3.29134445e-03 3.86554464e-03 3.59435382e+00] [-3.29584550e-03 9.99993897e-01 1.15860965e-03 8.90491660e-02] [-3.86170767e-03 -1.17133496e-03 9.99991858e-01 4.65397647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27255784400006 meters 0.5638643396560921 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.46 [[ 9.99986593e-01 3.19287855e-03 4.07673545e-03 3.59413335e+00] [-3.19689865e-03 9.99994410e-01 9.79970968e-04 8.98727840e-02] [-4.07358373e-03 -9.92990739e-04 9.99991210e-01 4.64768556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3025578440001 meters 0.5379221093136939 Centerline is valid? [False, False] Translation: X:3.59, Y:0.09, Z:0.46 [[ 9.99987227e-01 2.82897559e-03 4.18835101e-03 3.59429136e+00] [-2.83036196e-03 9.99995942e-01 3.25116512e-04 9.33148594e-02] [-4.18741427e-03 -3.36966909e-04 9.99991176e-01 4.64078220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33255784400006 meters 0.5694778366948418 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.46 [[ 9.99980159e-01 4.17884657e-03 4.71360294e-03 3.59738571e+00] [-4.18759105e-03 9.99989527e-01 1.84681875e-03 9.12741011e-02] [-4.70583600e-03 -1.86652075e-03 9.99987186e-01 4.58900953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36255784400004 meters 0.5855192878058627 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.46 [[ 9.99979695e-01 4.09303785e-03 4.88438506e-03 3.59730745e+00] [-4.10136953e-03 9.99990149e-01 1.69698318e-03 9.19917837e-02] [-4.87739113e-03 -1.71698139e-03 9.99986631e-01 4.58180029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39255784400007 meters 0.5761814183847753 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.46 [[ 9.99979117e-01 4.11090183e-03 4.98667580e-03 3.59684909e+00] [-4.11955917e-03 9.99990023e-01 1.72706817e-03 9.17765603e-02] [-4.97952624e-03 -1.74757501e-03 9.99986075e-01 4.58322767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42255784400004 meters 0.5673943229414758 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.46 [[ 9.99979185e-01 4.07527985e-03 5.00209488e-03 3.59725150e+00] [-4.08366176e-03 9.99990273e-01 1.66661281e-03 9.19797567e-02] [-4.99525431e-03 -1.68700499e-03 9.99986101e-01 4.57606080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45255784400007 meters 0.5946471596580784 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99986784e-01 2.57501231e-03 4.44987235e-03 3.60293462e+00] [-2.57550099e-03 9.99996678e-01 1.04092455e-04 9.47413830e-02] [-4.44958952e-03 -1.15551729e-04 9.99990094e-01 4.52852741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48255784400004 meters 0.6087744493605757 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99986622e-01 2.66766663e-03 4.43160895e-03 3.60346811e+00] [-2.66894712e-03 9.99996398e-01 2.83057402e-04 9.35864595e-02] [-4.43083788e-03 -2.94881345e-04 9.99990140e-01 4.52105652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51255784400007 meters 0.577642178354299 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99985988e-01 2.77734514e-03 4.50674874e-03 3.60349134e+00] [-2.77951630e-03 9.99996024e-01 4.75566956e-04 9.24822882e-02] [-4.50541001e-03 -4.88086873e-04 9.99989731e-01 4.51636945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54255784400004 meters 0.6162680575798346 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99985792e-01 2.79098193e-03 4.54158585e-03 3.60335079e+00] [-2.79330210e-03 9.99995971e-01 5.04610664e-04 9.23406891e-02] [-4.54015919e-03 -5.17289516e-04 9.99989560e-01 4.51672174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5725578440001 meters 0.6033645053456853 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99985521e-01 2.70941164e-03 4.64930286e-03 3.60322870e+00] [-2.71111229e-03 9.99996260e-01 3.59522684e-04 9.31036524e-02] [-4.64831138e-03 -3.72122261e-04 9.99989127e-01 4.51277174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60255784400005 meters 0.6058303226769428 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.45 [[ 9.99985371e-01 2.61344313e-03 4.73573719e-03 3.60335897e+00] [-2.61440357e-03 9.99996563e-01 1.96627534e-04 9.39147210e-02] [-4.73520704e-03 -2.09005786e-04 9.99988767e-01 4.50598177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6325578440001 meters 0.6227573664428866 Centerline is valid? [False, False] Translation: X:3.60, Y:0.10, Z:0.45 [[ 9.99985557e-01 2.45887296e-03 4.77914193e-03 3.60395324e+00] [-2.45862290e-03 9.99996976e-01 -5.81967123e-05 9.50926291e-02] [-4.77927057e-03 4.64457639e-05 9.99988578e-01 4.49435950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66255784400005 meters 0.6368658803515043 Centerline is valid? [False, False] Translation: X:3.61, Y:0.09, Z:0.44 [[ 9.99981763e-01 3.92652955e-03 4.58867071e-03 3.60903485e+00] [-3.93217865e-03 9.99991521e-01 1.22272324e-03 9.40879287e-02] [-4.58383075e-03 -1.24074442e-03 9.99988724e-01 4.44111384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6925578440001 meters 0.6559203702020746 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.44 [[ 9.99982067e-01 3.67841640e-03 4.72605365e-03 3.60893416e+00] [-3.68219865e-03 9.99992907e-01 7.91846248e-04 9.64217381e-02] [-4.72310739e-03 -8.09234316e-04 9.99988519e-01 4.43504050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72255784400005 meters 0.6094516848916393 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.44 [[ 9.99981779e-01 3.42954077e-03 4.96797146e-03 3.60830854e+00] [-3.43124387e-03 9.99994057e-01 3.34333223e-04 9.89715869e-02] [-4.96679532e-03 -3.51373452e-04 9.99987604e-01 4.43134658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7525578440001 meters 0.7075950980082217 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.44 [[ 9.99980476e-01 3.17826897e-03 5.38025458e-03 3.60671461e+00] [-3.17679383e-03 9.99994914e-01 -2.82701917e-04 1.02865711e-01] [-5.38112572e-03 2.65604437e-04 9.99985486e-01 4.43440216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78255784400005 meters 0.7105627093696455 Centerline is valid? [False, False] Translation: X:3.61, Y:0.10, Z:0.44 [[ 9.99980569e-01 2.97803692e-03 5.47648822e-03 3.60678782e+00] [-2.97461443e-03 9.99995375e-01 -6.32981955e-04 1.04758785e-01] [-5.47834794e-03 6.16679215e-04 9.99984804e-01 4.42737242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8125578440001 meters 0.705428663248318 Centerline is valid? [False, False] Translation: X:3.61, Y:0.11, Z:0.44 [[ 9.99981415e-01 2.48021341e-03 5.56935071e-03 3.60695511e+00] [-2.47117848e-03 9.99995621e-01 -1.62855501e-03 1.10582868e-01] [-5.57336549e-03 1.61476188e-03 9.99983165e-01 4.41917144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84255784400005 meters 0.7982608420090161 Centerline is valid? [False, False] Translation: X:3.61, Y:0.11, Z:0.44 [[ 9.99981624e-01 2.18398892e-03 5.65533130e-03 3.60708511e+00] [-2.17186180e-03 9.99995331e-01 -2.14962457e-03 1.13432099e-01] [-5.65999965e-03 2.13730246e-03 9.99981698e-01 4.41207193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8725578440001 meters 0.7216830144097857 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:0.44 [[ 9.99981756e-01 1.92229896e-03 5.72639238e-03 3.60722194e+00] [-1.90739068e-03 9.99994781e-01 -2.60775728e-03 1.15936594e-01] [-5.73137538e-03 2.59678724e-03 9.99980204e-01 4.40550545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90255784400006 meters 0.741947249528593 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:0.44 [[ 9.99982761e-01 1.51182598e-03 5.67383635e-03 3.60793587e+00] [-1.49278276e-03 9.99993244e-01 -3.35905673e-03 1.20238030e-01] [-5.67887633e-03 3.35052901e-03 9.99978262e-01 4.39749193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9325578440001 meters 0.7497431840378709 Centerline is valid? [False, False] Translation: X:3.61, Y:0.12, Z:0.44 [[ 9.99983094e-01 1.20906393e-03 5.68767745e-03 3.60839688e+00] [-1.18698470e-03 9.99991754e-01 -3.88371637e-03 1.23108769e-01] [-5.69232621e-03 3.87689953e-03 9.99976283e-01 4.38894715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96255784400006 meters 0.7497566815509527 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.44 [[ 9.99983137e-01 9.14881809e-04 5.73493129e-03 3.60864118e+00] [-8.89679352e-04 9.99989944e-01 -4.39556436e-03 1.25951583e-01] [-5.73889504e-03 4.39038799e-03 9.99973894e-01 4.38203778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9925578440001 meters 0.7657846188947921 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.44 [[ 9.99982937e-01 6.38465140e-04 5.80668627e-03 3.60876016e+00] [-6.10157751e-04 9.99987929e-01 -4.87543015e-03 1.28597840e-01] [-5.80972897e-03 4.87180396e-03 9.99971256e-01 4.37574456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02255784400006 meters 0.7888557129850589 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.43 [[ 9.99980562e-01 3.23151895e-03 5.33218309e-03 3.61401123e+00] [-3.22016798e-03 9.99992534e-01 -2.13597887e-03 1.31303576e-01] [-5.33904573e-03 2.11876682e-03 9.99983503e-01 4.33125628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0525578440001 meters 0.5276147858997338 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.43 [[ 9.99981635e-01 2.90421908e-03 5.31932655e-03 3.61447349e+00] [-2.88990768e-03 9.99992190e-01 -2.69616499e-03 1.34450972e-01] [-5.32711525e-03 2.68074311e-03 9.99982218e-01 4.32441268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08255784400006 meters 0.5259040412093947 Centerline is valid? [False, False] Translation: X:3.62, Y:0.14, Z:0.43 [[ 9.99983068e-01 2.59528630e-03 5.20846518e-03 3.61543106e+00] [-2.57856745e-03 9.99991510e-01 -3.21408994e-03 1.37329910e-01] [-5.21676244e-03 3.20060514e-03 9.99981271e-01 4.31564949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11255784400004 meters 0.5189277063396268 Centerline is valid? [False, False] Translation: X:3.62, Y:0.14, Z:0.43 [[ 9.99981948e-01 3.65602210e-03 4.76836678e-03 3.62139989e+00] [-3.64459930e-03 9.99990474e-01 -2.40203155e-03 1.37739251e-01] [-4.77710323e-03 2.38460940e-03 9.99985746e-01 4.26361640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14255784400007 meters 0.5167547554597277 Centerline is valid? [False, False] Translation: X:3.62, Y:0.14, Z:0.43 [[ 9.99982915e-01 3.47972429e-03 4.69704211e-03 3.62208900e+00] [-3.46707188e-03 9.99990347e-01 -2.69915751e-03 1.39356866e-01] [-4.70638910e-03 2.68282641e-03 9.99985326e-01 4.25647173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17255784400004 meters 0.5043997296228618 Centerline is valid? [False, False] Translation: X:3.62, Y:0.14, Z:0.43 [[ 9.99983768e-01 3.25514746e-03 4.67622919e-03 3.62248138e+00] [-3.24074123e-03 9.99989990e-01 -3.08501757e-03 1.41484167e-01] [-4.68622457e-03 3.06981304e-03 9.99984308e-01 4.25120927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20255784400007 meters 0.5209876689711233 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.42 [[ 9.99950740e-01 -2.77128510e-03 9.53082698e-03 3.64727644e+00] [ 2.77600565e-03 9.99996031e-01 -4.82099488e-04 1.47859186e-01] [-9.52945311e-03 5.08533369e-04 9.99954464e-01 4.17578569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23255784400004 meters 0.7819166754517207 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.42 [[ 9.99950616e-01 -2.98484254e-03 9.47928376e-03 3.64780484e+00] [ 2.99305842e-03 9.99995157e-01 -8.52651799e-04 1.49893238e-01] [-9.47669282e-03 8.80981741e-04 9.99954707e-01 4.16999180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26255784400007 meters 0.7934323291136979 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.42 [[ 9.99949124e-01 -3.44449890e-03 9.48071815e-03 3.64799526e+00] [ 3.46153529e-03 9.99992423e-01 -1.78112920e-03 1.55577809e-01] [-9.47451122e-03 1.81385642e-03 9.99953471e-01 4.16561632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29255784400004 meters 0.7913965268353483 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.42 [[ 9.99947921e-01 -3.80147745e-03 9.47124065e-03 3.64836018e+00] [ 3.82449590e-03 9.99989774e-01 -2.41342756e-03 1.59140052e-01] [-9.46196921e-03 2.44952459e-03 9.99952234e-01 4.15971349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3225578440001 meters 0.7913965268353483 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.42 [[ 9.99947921e-01 -3.80147745e-03 9.47124065e-03 3.64836018e+00] [ 3.82449590e-03 9.99989774e-01 -2.41342756e-03 1.59140052e-01] [-9.46196921e-03 2.44952459e-03 9.99952234e-01 4.15971349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35255784400005 meters 0.8018494570155413 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.41 [[ 9.99960409e-01 -1.17457150e-03 8.82052312e-03 3.65460071e+00] [ 1.16990819e-03 9.99999173e-01 5.33830459e-04 1.60181136e-01] [-8.82114285e-03 -5.23490122e-04 9.99960956e-01 4.10819564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3825578440001 meters 0.8032172256589226 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.41 [[ 9.99960309e-01 -1.37438508e-03 8.80290831e-03 3.65486409e+00] [ 1.37281880e-03 9.99999041e-01 1.83967308e-04 1.62136619e-01] [-8.80315271e-03 -1.71875208e-04 9.99961237e-01 4.10466248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41255784400005 meters 0.7832119870462325 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:0.41 [[ 9.99960492e-01 -1.45333267e-03 8.76939648e-03 3.65482188e+00] [ 1.45244708e-03 9.99998939e-01 1.07353842e-04 1.62439303e-01] [-8.76954320e-03 -9.46125163e-05 9.99961542e-01 4.10785136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4425578440001 meters 0.7624412248275445 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99961576e-01 -1.41231215e-03 8.65167838e-03 3.65530268e+00] [ 1.41080002e-03 9.99998988e-01 1.80879334e-04 1.62040992e-01] [-8.65192508e-03 -1.68666596e-04 9.99962557e-01 4.10692498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47255784400005 meters 0.7809534236748561 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99962544e-01 -1.39795005e-03 8.54140721e-03 3.65586189e+00] [ 1.39602996e-03 9.99998999e-01 2.30755927e-04 1.61709551e-01] [-8.54172124e-03 -2.18823223e-04 9.99963495e-01 4.10423746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5025578440001 meters 0.7310297311937843 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99961711e-01 -1.42189391e-03 8.63450703e-03 3.65533547e+00] [ 1.41840791e-03 9.99998910e-01 4.09839670e-04 1.60481879e-01] [-8.63508037e-03 -3.97576725e-04 9.99962638e-01 4.11001277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53255784400005 meters 0.7033505728644157 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99962651e-01 -1.33740615e-03 8.53860867e-03 3.65574666e+00] [ 1.33249376e-03 9.99998943e-01 5.80978324e-04 1.59527293e-01] [-8.53937665e-03 -5.69578983e-04 9.99963377e-01 4.10873368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5625578440001 meters 0.6733588337987133 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99963971e-01 -1.26848307e-03 8.39329046e-03 3.65650610e+00] [ 1.26241283e-03 9.99998938e-01 7.28483301e-04 1.58666403e-01] [-8.39420561e-03 -7.17861257e-04 9.99964510e-01 4.10460415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.59255784400005 meters 0.7051871285942692 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99963104e-01 -1.27060376e-03 8.49567246e-03 3.65608181e+00] [ 1.26469121e-03 9.99998954e-01 7.01283695e-04 1.58793121e-01] [-8.49655463e-03 -6.90513418e-04 9.99963665e-01 4.10580711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6225578440001 meters 0.6469918992997535 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99963805e-01 -1.35640960e-03 8.39935055e-03 3.65670980e+00] [ 1.35189615e-03 9.99998939e-01 5.43012338e-04 1.59609651e-01] [-8.40007819e-03 -5.31637633e-04 9.99964577e-01 4.10069068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65255784400006 meters 0.7177218968403164 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99964835e-01 -1.46076291e-03 8.25801779e-03 3.65759980e+00] [ 1.45789555e-03 9.99998875e-01 3.53230445e-04 1.60581526e-01] [-8.25852449e-03 -3.41178697e-04 9.99965840e-01 4.09364944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6825578440001 meters 0.6364226026648901 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99966414e-01 -1.60987882e-03 8.03612369e-03 3.65869245e+00] [ 1.60992889e-03 9.99998704e-01 2.37632314e-07 1.62590062e-01] [-8.03611366e-03 1.26999634e-05 9.99967710e-01 4.08786067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71255784400006 meters 0.6043369663606765 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99967176e-01 -1.75967702e-03 7.90886080e-03 3.65944056e+00] [ 1.76210048e-03 9.99998403e-01 -2.99466269e-04 1.64188904e-01] [-7.90832120e-03 3.13392646e-04 9.99968680e-01 4.08196733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7425578440001 meters 0.6712991780567872 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99967954e-01 -1.95301106e-03 7.76380615e-03 3.66018961e+00] [ 1.95846756e-03 9.99997840e-01 -6.95272786e-04 1.66302453e-01] [-7.76243151e-03 7.10455668e-04 9.99969619e-01 4.07725688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.77255784400006 meters 0.7067754904710278 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99966605e-01 -2.26021649e-03 7.85370652e-03 3.65981090e+00] [ 2.27127206e-03 9.99996442e-01 -1.39905420e-03 1.70558085e-01] [-7.85051642e-03 1.41684538e-03 9.99968180e-01 4.07777747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8025578440001 meters 0.5986858195498257 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99966849e-01 -2.32253602e-03 7.80426484e-03 3.65990372e+00] [ 2.33457100e-03 9.99996099e-01 -1.53334705e-03 1.71295194e-01] [-7.80067314e-03 1.55151583e-03 9.99968371e-01 4.07941118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.83255784400006 meters 0.5772354442967025 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99967742e-01 -2.32588876e-03 7.68797501e-03 3.66032141e+00] [ 2.33780115e-03 9.99996080e-01 -1.54086036e-03 1.71316568e-01] [-7.68436101e-03 1.55878361e-03 9.99969260e-01 4.07913589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86255784400004 meters 0.5948760280427167 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99969714e-01 -2.31573748e-03 7.43022193e-03 3.66140377e+00] [ 2.32687713e-03 9.99996181e-01 -1.49094144e-03 1.70962771e-01] [-7.42674093e-03 1.50818549e-03 9.99971284e-01 4.07554766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89255784400007 meters 0.599334277167076 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99974186e-01 -2.47944775e-03 6.74390386e-03 3.66391198e+00] [ 2.48998511e-03 9.99995692e-01 -1.55455537e-03 1.70947972e-01] [-6.74002036e-03 1.57130746e-03 9.99976051e-01 4.07045904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92255784400004 meters 0.6183246242845958 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99975230e-01 -2.55111715e-03 6.55986111e-03 3.66468020e+00] [ 2.56227817e-03 9.99995283e-01 -1.69356882e-03 1.71666787e-01] [-6.55550968e-03 1.71033506e-03 9.99977050e-01 4.06836102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95255784400007 meters SLAMing on 511.98255784400004 meters 0.5266419067883813 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99960169e-01 -4.52731138e-03 7.69174753e-03 3.65733924e+00] [ 4.55312905e-03 9.99984049e-01 -3.34235232e-03 1.72065312e-01] [-7.67649297e-03 3.37724071e-03 9.99964832e-01 4.12195859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.012557844 meters 0.5111540128865181 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99962160e-01 -4.39548211e-03 7.50728169e-03 3.65804493e+00] [ 4.41843675e-03 9.99985606e-01 -3.04380596e-03 1.70455029e-01] [-7.49379464e-03 3.07686123e-03 9.99967187e-01 4.12030303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.042557844 meters 0.47095949754374233 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99964111e-01 -4.30474460e-03 7.29701487e-03 3.65884097e+00] [ 4.32548115e-03 9.99986645e-01 -2.82839041e-03 1.69283456e-01] [-7.28474192e-03 2.85985200e-03 9.99969376e-01 4.11843773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.072557844 meters 0.48572771920584207 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:0.41 [[ 9.99966500e-01 -4.10031274e-03 7.08426257e-03 3.65963915e+00] [ 4.11694867e-03 9.99988798e-01 -2.33530909e-03 1.66624815e-01] [-7.07460772e-03 2.36439640e-03 9.99972179e-01 4.11707074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters 0.47330114720404065 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99967925e-01 -3.93816264e-03 6.97416120e-03 3.66008815e+00] [ 3.95195924e-03 9.99990259e-01 -1.96557038e-03 1.64672726e-01] [-6.96635253e-03 1.99306894e-03 9.99973748e-01 4.11502707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.132557844 meters 0.4787439330173594 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99969158e-01 -3.77548867e-03 6.88685984e-03 3.66043803e+00] [ 3.78658351e-03 9.99991553e-01 -1.59868938e-03 1.62725624e-01] [-6.88076583e-03 1.62471774e-03 9.99975007e-01 4.11356790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.162557844 meters 0.671671007811641 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99970679e-01 -3.61048423e-03 6.75322560e-03 3.66093657e+00] [ 3.61878621e-03 9.99992711e-01 -1.21752045e-03 1.60715282e-01] [-6.74878053e-03 1.24192323e-03 9.99976456e-01 4.11221217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.192557844 meters 0.677510642175337 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:0.41 [[ 9.99971864e-01 -3.38991614e-03 6.69174453e-03 3.66125640e+00] [ 3.39469785e-03 9.99993991e-01 -7.03338379e-04 1.57986733e-01] [-6.68932006e-03 7.26035041e-04 9.99977363e-01 4.11040529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters 0.4835134037525224 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:0.41 [[ 9.99968393e-01 4.72416379e-03 6.39500394e-03 3.68743767e+00] [-4.70443490e-03 9.99984140e-01 -3.09658178e-03 1.57310869e-01] [-6.40953127e-03 3.06639902e-03 9.99974757e-01 4.08776594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.252557844 meters 0.6950640702781961 Centerline is valid? [False, False] Translation: X:3.69, Y:0.16, Z:0.41 [[ 9.99966989e-01 4.88000816e-03 6.49659325e-03 3.68740059e+00] [-4.86220509e-03 9.99984389e-01 -2.75334870e-03 1.55367133e-01] [-6.50992819e-03 2.72167004e-03 9.99975106e-01 4.08253360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.282557844 meters 0.6374761513040607 Centerline is valid? [False, False] Translation: X:3.69, Y:0.15, Z:0.41 [[ 9.99967044e-01 4.93523653e-03 6.44625099e-03 3.68759340e+00] [-4.91845659e-03 9.99984482e-01 -2.61631775e-03 1.54645206e-01] [-6.45906310e-03 2.58452592e-03 9.99975800e-01 4.08167426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.312557844 meters 0.5126392640640943 Centerline is valid? [False, False] Translation: X:3.76, Y:0.16, Z:0.41 [[ 9.99959083e-01 6.51057222e-03 -6.28049222e-03 3.75570310e+00] [-6.52843191e-03 9.99974692e-01 -2.82737943e-03 1.56508170e-01] [ 6.26192542e-03 2.86826551e-03 9.99976280e-01 4.10867873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters 0.7317161104556589 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.41 [[ 9.99957864e-01 6.74585891e-03 -6.22605527e-03 3.75588741e+00] [-6.76028017e-03 9.99974508e-01 -2.29814417e-03 1.53460530e-01] [ 6.21039360e-03 2.34013721e-03 9.99977977e-01 4.10392249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.372557844 meters SLAMing on 512.4025578440001 meters 0.4180083091935048 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.41 [[ 9.99957169e-01 6.88872945e-03 -6.18105722e-03 3.75599364e+00] [-6.90105046e-03 9.99974239e-01 -1.97423940e-03 1.51699597e-01] [ 6.16729799e-03 2.01681062e-03 9.99978948e-01 4.09902915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.432557844 meters 0.6366851219381974 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.41 [[ 9.99955883e-01 7.04334530e-03 -6.21471154e-03 3.75599760e+00] [-7.05352266e-03 9.99973816e-01 -1.61722896e-03 1.49888366e-01] [ 6.20315811e-03 1.66099322e-03 9.99979381e-01 4.10073685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters 0.5768543708033761 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.41 [[ 9.99953791e-01 7.16552624e-03 -6.40871478e-03 3.75667108e+00] [-7.17412025e-03 9.99973396e-01 -1.31900594e-03 1.48304333e-01] [ 6.39909291e-03 1.36492188e-03 9.99978594e-01 4.09950863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.492557844 meters 0.6880831534699111 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.41 [[ 9.99950954e-01 7.38638806e-03 -6.59781333e-03 3.75727425e+00] [-7.39186332e-03 9.99972355e-01 -8.05859855e-04 1.45638157e-01] [ 6.59167854e-03 8.54590465e-04 9.99977909e-01 4.09901299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5225578440001 meters 0.755878585592702 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.41 [[ 9.99998868e-01 9.28796900e-04 -1.18339480e-03 3.77867755e+00] [-9.26320014e-04 9.99997383e-01 2.09186602e-03 1.42731642e-01] [ 1.18533463e-03 -2.09076745e-03 9.99997112e-01 4.05359350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.552557844 meters SLAMing on 512.582557844 meters 0.7481621395723491 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.41 [[ 9.99998908e-01 9.61095062e-04 -1.12299785e-03 3.77848668e+00] [-9.58652757e-04 9.99997179e-01 2.17332701e-03 1.42308834e-01] [ 1.12508346e-03 -2.17224807e-03 9.99997008e-01 4.05389512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.612557844 meters SLAMing on 512.642557844 meters 0.4218064704786521 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.41 [[ 9.99998970e-01 1.11915448e-03 -8.98551240e-04 3.77798463e+00] [-1.11688654e-03 9.99996200e-01 2.52054725e-03 1.40329304e-01] [ 9.01368707e-04 -2.51954107e-03 9.99996420e-01 4.05124977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.672557844 meters 0.4229790096426851 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.40 [[ 9.99998999e-01 9.99068981e-04 -1.00146357e-03 3.77862657e+00] [-9.96795853e-04 9.99996932e-01 2.26774122e-03 1.41550001e-01] [ 1.00372613e-03 -2.26674069e-03 9.99996927e-01 4.04482391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.702557844 meters 0.42876180832929023 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.40 [[ 9.99998881e-01 9.33168568e-04 -1.16921252e-03 3.77940663e+00] [-9.30666117e-04 9.99997279e-01 2.13900661e-03 1.42119218e-01] [ 1.17120539e-03 -2.13791607e-03 9.99997029e-01 4.03979882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.732557844 meters 0.4350451134846653 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:0.40 [[ 9.99997824e-01 -6.53261085e-04 -1.98131606e-03 3.78547632e+00] [ 6.54564141e-04 9.99999570e-01 6.57094397e-04 1.42101331e-01] [ 1.98088595e-03 -6.58389866e-04 9.99997821e-01 3.99398902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters 0.5559234113054482 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:0.40 [[ 9.99997643e-01 -4.32942889e-04 -2.12755615e-03 3.78579753e+00] [ 4.35413472e-04 9.99999231e-01 1.16090462e-03 1.39527667e-01] [ 2.12705191e-03 -1.16182825e-03 9.99997063e-01 3.99648166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.792557844 meters 0.571840159322101 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:0.40 [[ 9.99997184e-01 -2.56860525e-04 -2.35909938e-03 3.78635521e+00] [ 2.60573467e-04 9.99998728e-01 1.57370847e-03 1.37425009e-01] [ 2.35869216e-03 -1.57431875e-03 9.99995979e-01 4.00003649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.822557844 meters 0.5579450350398993 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:0.40 [[ 9.99996812e-01 4.95084951e-05 -2.52452692e-03 3.78670487e+00] [-4.29114966e-05 9.99996585e-01 2.61314946e-03 1.31752890e-01] [ 2.52464768e-03 -2.61303280e-03 9.99993399e-01 4.00525874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.852557844 meters 0.602519140408218 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:0.40 [[ 9.99995855e-01 3.36371404e-04 -2.85955521e-03 3.78788333e+00] [-3.26958336e-04 9.99994529e-01 3.29162506e-03 1.28145857e-01] [ 2.86064677e-03 -3.29067646e-03 9.99990494e-01 4.00339597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters 0.5315102272312757 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:0.40 [[ 9.99995111e-01 6.27258774e-04 -3.06344550e-03 3.78869605e+00] [-6.15149509e-04 9.99992001e-01 3.95216924e-03 1.24643085e-01] [ 3.06590002e-03 -3.95026544e-03 9.99987498e-01 3.99984479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.912557844 meters 0.578797175350086 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:0.40 [[ 9.99994435e-01 1.08315319e-03 -3.15539322e-03 3.78920811e+00] [-1.06737630e-03 9.99986943e-01 4.99737643e-03 1.18868283e-01] [ 3.16076495e-03 -4.99398063e-03 9.99982535e-01 3.99514329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.942557844 meters 0.5889683745833914 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:0.40 [[ 9.99993843e-01 1.30653271e-03 -3.25687572e-03 3.78962549e+00] [-1.28872269e-03 9.99984239e-01 5.46455196e-03 1.16341191e-01] [ 3.26396401e-03 -5.46032110e-03 9.99979766e-01 3.99333028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.972557844 meters 0.6386072597840141 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:0.40 [[ 9.99993261e-01 1.50873900e-03 -3.34700387e-03 3.78993602e+00] [-1.48901211e-03 9.99981554e-01 5.88857837e-03 1.14068367e-01] [ 3.35582645e-03 -5.88355495e-03 9.99977061e-01 3.99288224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters SLAMing on 513.032557844 meters SLAMing on 513.062557844 meters SLAMing on 513.092557844 meters SLAMing on 513.122557844 meters SLAMing on 513.1525578440001 meters 0.8671566042071025 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:0.39 [[ 9.99945738e-01 1.03528723e-02 1.15699864e-03 3.81248135e+00] [-1.03583423e-02 9.99934704e-01 4.82621855e-03 1.04025023e-01] [-1.10695787e-03 -4.83794126e-03 9.99987684e-01 3.94704532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.182557844 meters 0.8671566042071025 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:0.39 [[ 9.99983999e-01 5.53778505e-03 1.15525359e-03 3.81260278e+00] [-5.53717934e-03 9.99984531e-01 -5.26852137e-04 1.09424261e-01] [-1.15815331e-03 5.20446860e-04 9.99999194e-01 3.94334718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.212557844 meters SLAMing on 513.242557844 meters SLAMing on 513.2725578440001 meters 1.14087685397752 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:0.39 [[ 9.99982790e-01 5.73013678e-03 1.25869015e-03 3.81260334e+00] [-5.72919200e-03 9.99983305e-01 -7.52930239e-04 1.11139736e-01] [-1.26298353e-03 7.45706004e-04 9.99998924e-01 3.93411329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.302557844 meters 1.1465254744428595 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:0.39 [[ 9.99983824e-01 5.56621034e-03 1.17021713e-03 3.81325337e+00] [-5.56496126e-03 9.99983945e-01 -1.06794773e-03 1.12786964e-01] [-1.17614277e-03 1.06141825e-03 9.99998745e-01 3.92819745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.332557844 meters SLAMing on 513.362557844 meters 1.135925720074459 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:0.39 [[ 9.99983480e-01 5.52883616e-03 1.57204009e-03 3.81191764e+00] [-5.52583911e-03 9.99982919e-01 -1.90446766e-03 1.18456440e-01] [-1.58254273e-03 1.89574936e-03 9.99996951e-01 3.92655509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.392557844 meters 1.1445438824229446 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:0.39 [[ 9.99984996e-01 5.26480180e-03 1.51343895e-03 3.81249844e+00] [-5.26112458e-03 9.99983223e-01 -2.42351021e-03 1.21255573e-01] [-1.52617286e-03 2.41551146e-03 9.99995918e-01 3.92022694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.422557844 meters 1.1268425911848545 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:0.39 [[ 9.99987183e-01 4.82799556e-03 1.52439889e-03 3.81298426e+00] [-4.82242138e-03 9.99981749e-01 -3.63938014e-03 1.28135693e-01] [-1.54194198e-03 3.63198220e-03 9.99992216e-01 3.90638306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.452557844 meters 1.132789500205768 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:0.39 [[ 9.99988522e-01 4.56262789e-03 1.46256818e-03 3.81350851e+00] [-4.55650341e-03 9.99980950e-01 -4.16381705e-03 1.31008367e-01] [-1.48153826e-03 4.15710506e-03 9.99990262e-01 3.90132124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters SLAMing on 513.512557844 meters 1.1215404754877178 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:0.39 [[ 9.99961844e-01 8.61152113e-03 1.46725901e-03 3.81350235e+00] [-8.61106335e-03 9.99962874e-01 -3.18030195e-04 1.33567615e-01] [-1.46994326e-03 3.05383400e-04 9.99998873e-01 3.90519625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.542557844 meters 1.112665563443526 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:0.39 [[ 9.99964778e-01 8.27396508e-03 1.40834895e-03 3.81383558e+00] [-8.27262082e-03 9.99965323e-01 -9.57658140e-04 1.37197623e-01] [-1.41622374e-03 9.45973673e-04 9.99998550e-01 3.90386595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.572557844 meters 1.1303642913157075 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:0.39 [[ 9.99967472e-01 7.95615408e-03 1.32452551e-03 3.81439864e+00] [-7.95410447e-03 9.99967171e-01 -1.54557636e-03 1.40497771e-01] [-1.33677887e-03 1.53499067e-03 9.99997928e-01 3.89999764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.602557844 meters 1.1138025998983314 Centerline is valid? [False, False] Translation: X:3.82, Y:0.14, Z:0.39 [[ 9.99969776e-01 7.67865831e-03 1.21870782e-03 3.81503176e+00] [-7.67612138e-03 9.99968390e-01 -2.07286396e-03 1.43468998e-01] [-1.23458611e-03 2.06344637e-03 9.99997109e-01 3.89606858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.632557844 meters 1.1151052835755504 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:0.39 [[ 9.99973581e-01 7.18360975e-03 1.11069659e-03 3.81552072e+00] [-7.18022385e-03 9.99969653e-01 -3.02295975e-03 1.48971252e-01] [-1.13237865e-03 3.01490484e-03 9.99994814e-01 3.89394272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.662557844 meters 1.1048707846818975 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:0.39 [[ 9.99975231e-01 6.96742549e-03 9.96421118e-04 3.81592621e+00] [-6.96397720e-03 9.99969892e-01 -3.42326286e-03 1.51294693e-01] [-1.02024245e-03 3.41623901e-03 9.99993644e-01 3.89564142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.692557844 meters 1.103141125878756 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:0.38 [[ 9.99973493e-01 1.87157759e-03 7.03638854e-03 3.84114101e+00] [-1.87765286e-03 9.99997870e-01 8.56899272e-04 1.53608726e-01] [-7.03476980e-03 -8.70088453e-04 9.99974877e-01 3.79889330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters 0.9216982614548432 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99974286e-01 1.66872462e-03 6.97437793e-03 3.84136818e+00] [-1.67208090e-03 9.99998489e-01 4.75426599e-04 1.55833421e-01] [-6.97357404e-03 -4.87076098e-04 9.99975566e-01 3.79964844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.752557844 meters 1.0969093750454564 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99975138e-01 1.46131125e-03 6.89838165e-03 3.84181430e+00] [-1.46193644e-03 9.99998928e-01 8.55865810e-05 1.58067556e-01] [-6.89824919e-03 -9.56694487e-05 9.99976202e-01 3.79707231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.782557844 meters 0.9335270029820871 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99976215e-01 1.24530598e-03 6.78370850e-03 3.84260318e+00] [-1.24321016e-03 9.99999178e-01 -3.13157144e-04 1.60311284e-01] [-6.78409290e-03 3.04716120e-04 9.99976941e-01 3.79084134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.812557844 meters 0.9412525812590294 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99977203e-01 9.43893162e-04 6.68598547e-03 3.84337183e+00] [-9.37997595e-04 9.99999169e-01 -8.84860550e-04 1.63543687e-01] [-6.68681513e-03 8.78568940e-04 9.99977257e-01 3.78196644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters 0.9127319671608883 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99977980e-01 8.99628082e-04 6.57501795e-03 3.84384121e+00] [-8.93319523e-04 9.99999138e-01 -9.62347858e-04 1.63985728e-01] [-6.57587804e-03 9.56453075e-04 9.99977921e-01 3.78180759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.872557844 meters 0.9078029199222284 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99978772e-01 9.22472850e-04 6.45014156e-03 3.84427042e+00] [-9.16591762e-04 9.99999162e-01 -9.14673253e-04 1.63707895e-01] [-6.45097992e-03 9.08741690e-04 9.99978779e-01 3.78345308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9025578440001 meters 0.9561127769153133 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99979767e-01 1.00017003e-03 6.28220724e-03 3.84487406e+00] [-9.95428515e-04 9.99999217e-01 -7.57834572e-04 1.62781337e-01] [-6.28296029e-03 7.51565750e-04 9.99979980e-01 3.78524884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.932557844 meters 0.941704747880752 Centerline is valid? [False, False] Translation: X:3.84, Y:0.16, Z:0.38 [[ 9.99980053e-01 1.10248131e-03 6.21915868e-03 3.84497168e+00] [-1.09938692e-03 9.99999270e-01 -5.00954196e-04 1.61293534e-01] [-6.21970643e-03 4.94106942e-04 9.99980535e-01 3.78838480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 22606.83 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%| | 0/17105 [00:00